CN104440865B - Spring self-balancing boosting manipulator - Google Patents
Spring self-balancing boosting manipulator Download PDFInfo
- Publication number
- CN104440865B CN104440865B CN201410648632.9A CN201410648632A CN104440865B CN 104440865 B CN104440865 B CN 104440865B CN 201410648632 A CN201410648632 A CN 201410648632A CN 104440865 B CN104440865 B CN 104440865B
- Authority
- CN
- China
- Prior art keywords
- spring
- bar
- assembly
- connecting rod
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 230000001105 regulatory effect Effects 0.000 claims description 15
- 230000003319 supportive effect Effects 0.000 claims description 6
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000007812 deficiency Effects 0.000 abstract description 2
- 238000005381 potential energy Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000004146 energy storage Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 101100437784 Drosophila melanogaster bocks gene Proteins 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of spring self-balancing boosting manipulator, be made up of travelling car, five degree of freedom cascade machine mechanical arm and spring balancing system three part; Described five degree of freedom cascade machine mechanical arm is fixed on travelling car by waist joint upper bed-plate, and spring balancing system is positioned at five degree of freedom cascade machine mechanical arm rear, installs supporting seat and be fixedly mounted on the rotating disk of waist joint in its spring adjustment mounting assembly.Advantage is: overcome existing boosting manipulator manufacturing cost high, power unit is comparatively complicated, is not suitable for the deficiency of light-duty simple and easy workplace, is mainly used in the material handling of lightweight occasion, and structure is simple, and be easy to operation, load is adjustable, strong adaptability.Five degree-of-freedom manipulator achieves the movement of material in space, and spring balancing system is used for balanced load, plays power-assisted effect, mechanism can be balanced at an arbitrary position, by adjusting screw nut body, changes spring initial length, to meet different loads requirement.
Description
Technical field
The present invention relates to a kind of plant equipment, particularly relate to a kind of boosting manipulator for laborsaving operation when material handling and installation.
Background technology
Along with China's industry develops fast, in the industrial production, people often will have in the environment of harmful substances at high temperature, corrosion and toxic gas etc. and work, and increase the labour intensity of workman.There is provided very good assist transportation and assembling tool for manipulator for material rolling off the production line and producing article assembling, the three dimensions move loading actions such as crawl at noon, carrying, upset, docking, vernier angle can be completed, be thus used widely.Domestic existing technology generally adopts automatically controlled driving, hydraulic-driven and air pressure to drive, there is larger load capacity, but it must be equipped with many relevant devices such as corresponding motor, hydraulic cylinder or pneumatic cylinder, and drag cable power supply is provided, this adds its manufacturing cost undoubtedly, and install comparatively complicated, be not suitable for light-duty, portable occasion.
Summary of the invention
Technical problem to be solved by this invention is: provide a kind of spring self-balancing boosting manipulator that gravitional force and elastic potential energy of the spring conservation can be utilized to realize self-balancing.
Know-why of the present invention is, utilize potential energy conservation principle, by energy-storage travelling wave tube spring, the gravitional force of structure is converted to elastic potential energy, realize the standing balance of mechanism, by reasonable Arrangement spring hanging point, the initial pretightning force of regulating spring, the local derviation that can make total potential energy E in whole motion process is zero, and then realizes the self-balancing of mechanism optional position in space.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is: spring self-balancing boosting manipulator, is made up of travelling car, five degree of freedom cascade machine mechanical arm and spring balancing system three part, described five degree of freedom cascade machine mechanical arm is fixed on travelling car by waist joint upper bed-plate, and spring balancing system is positioned at five degree of freedom cascade machine mechanical arm rear, installs supporting seat and be fixedly mounted on the rotating disk of waist joint in its spring adjustment mounting assembly, described five degree of freedom cascade machine mechanical arm 1 comprises: end executive module five part that waist joint, bar I assembly, bar II assembly, bar III assembly and bar IV are formed, wherein, waist joint, built with turntable bearing, can make rotating disk around base 360 ° rotation, form the first joint, the bearing block of bar I assembly is fixed on the rotating disk of waist joint, and bearing pin A one end is through the installing hole of the U-shaped crotch in connecting rod I lower end, and be interference fit, the other end is connected with bearing block middle (center) bearing inner ring, make bar I assembly and waist joint capable become hinged relationship, formation second joint, the connecting rod II of bar II assembly, its both sides, front end have installing hole, position is about wherein axial plane is symmetrical, bearing pin B mono-end link II front end installing hole connects, and be interference fit, the other end matches with bearing inner race, finally bearing is installed in the U-shaped crotch installing hole of connecting rod I upper end, and compress with upper cover, bar II assembly and bar I assembly form hinged relationship in junction, connecting rod I upper end thus, form the 3rd joint, in bar II assembly, connecting rod II inside is hollow-core construction, its front and back end all has installing hole, inside be provided with bearing, connecting axle with inner through connecting rod II, matches with two bearings inner ring respectively respectively, therefore connecting axle can rotate around the axis of connecting rod II, connecting rod III element end is connected mutually with connecting axle front end, and therefore, connecting rod III assembly and connecting rod II assembly form revolute pair, both can relatively rotate around its axis, form the 4th joint, the U-shaped crotch of the end executive module that bar IV is formed and bar III assembly front end is hinged, forms the 5th joint, described spring balancing system comprises: spring regulates mounting assembly, spring I, spring II tri-part, wherein, spring regulates mounting assembly by installing supporting seat, screw slider regulating system I, screw slider regulating system II forms, in screw slider regulating system I, leading screw seat A is vertically fixed on by screw and installs on supporting seat, leading screw A, slide bar A is respectively by the mounting-positioning holes on leading screw seat A, connect, slide block A has holes, leading screw A passes through screwed hole, to drive slide block to move, slide bar A passes through unthreaded hole, play a supportive role, spring I hanging point II slide block A is equipped with, for linking springs I, in screw slider system II, leading screw seat B is vertically fixed on by screw and installs on supporting seat, and leading screw B, slide bar B are respectively by the mounting-positioning holes on leading screw seat B, connect, slide block B has three holes, leading screw B is by middle screwed hole, to drive slide block to move, two slide bar B, by unthreaded hole, play a supportive role, slide block B are equipped with spring II hanging point II, for linking springs II, hanging point bilateral symmetry, can make mechanism bear larger load, and spring compartment position can be made again more reasonable, spring I one end is connected with the spring I hanging point I on connecting rod I, and the other end is connected with spring I hanging point II on slide block A in screw slider system I, spring II one end is connected with the spring II hanging point I of connecting rod II end, and the other end is connected with spring II hanging point II in slide block B in screw slider system II.
Advantage of the present invention is: above-mentioned spring self-balancing boosting manipulator, overcome existing boosting manipulator manufacturing cost high, power unit is comparatively complicated, be not suitable for the deficiency of light-duty simple and easy workplace, be mainly used in the material handling of lightweight occasion, structure is simple, is easy to operation, load is adjustable, strong adaptability.Five degree-of-freedom manipulator achieves the movement of material in space, and spring balancing system is used for balanced load, plays power-assisted effect, mechanism can be balanced at an arbitrary position, by adjusting screw nut body, changes spring initial length, to meet different loads requirement.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of spring self-balancing boosting manipulator of the present invention;
Fig. 2 is the explosive view of five degree of freedom cascade machine mechanical arm in Fig. 1;
Fig. 3 is the longitudinal profile structural map of Fig. 2 king-rod I assembly;
Fig. 4 is the longitudinal profile structural map of Fig. 2 king-rod II assembly;
Fig. 5 is the structural representation of spring balance sysmte in Fig. 1;
Fig. 6 is the structural representation that in Fig. 5, spring regulates mounting assembly.
In figure: 1, five degree of freedom cascade machine mechanical arm, 2, spring regulating system, 3, travelling car, 101, waist joint, 102, bar I assembly, 103, bar II assembly, 104, bar III assembly, 105, end executive module, 102a, bearing block, 102b, bearing pin A, 102c, spring I hanging point I, 102d, connecting rod I, 103a, connecting rod II, 103b, connecting axle, 103c, bearing pin B, 103d, spring II hanging point I, 301, spring I, 302, screw slider regulating system I, 303, spring regulates mounting assembly, 304, screw slider regulating system II, 305, spring II, 303a, leading screw seat A, 303b, leading screw A, 303c, spring I hanging point II, 303d, slide block A, 303e, slide bar A, 303f, leading screw seat B, 303g, slide bar B, 303h, supporting seat is installed, 303n, spring II hanging point II, 303p, slide block B, 303q, leading screw B.
Detailed description of the invention
Particular content of the present invention is described in detail below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, spring self-balancing boosting manipulator, is made up of travelling car 3, five degree of freedom cascade machine mechanical arm 1 and spring balancing system 2 three part, described five degree of freedom cascade machine mechanical arm 1 is fixed on travelling car 3 by waist joint 101 upper bed-plate, spring balancing system 2 is positioned at five degree of freedom cascade machine mechanical arm 1 rear, installs supporting seat 303h and be fixedly mounted on the rotating disk of waist joint 101 in its spring adjustment mounting assembly 303, described five degree of freedom cascade machine mechanical arm 1 comprises: end executive module 105 5 part that waist joint 101, bar I assembly 102, bar II assembly 103, bar III assembly 104 and bar IV are formed, wherein, waist joint 101, built with turntable bearing, can make rotating disk around base 360 ° rotation, form the first joint, the bearing block 102a of bar I assembly 102 is fixed on the rotating disk of waist joint 101, bearing pin A102b one end is through the installing hole of the U-shaped crotch in connecting rod I102d lower end, for interference fit, the other end is connected with bearing block 102a middle (center) bearing inner ring, make bar I assembly 102 become hinged relationship with waist joint 101 row, form second joint, the connecting rod II103a of bar II assembly 103, its both sides, front end have installing hole, position is about wherein axial plane is symmetrical, bearing pin B103c mono-end link II103a front end installing hole connects, and be interference fit, the other end matches with bearing inner race, finally bearing is installed in the U-shaped crotch installing hole of connecting rod I102d upper end, and compress with upper cover, bar II assembly 103 and bar I assembly 102 form hinged relationship in junction, connecting rod I102d upper end thus, form the 3rd joint, in bar II assembly 103, connecting rod II103a inside is hollow-core construction, its front and back end all has installing hole, inside be provided with bearing, connecting axle 103b with inner through connecting rod II103a, matches with two bearings inner ring respectively respectively, therefore connecting axle 103b can rotate around the axis of connecting rod II103a, connecting rod III assembly 104 end is connected mutually with connecting axle 103b front end, and therefore, connecting rod III assembly and connecting rod II assembly form revolute pair, both can relatively rotate around its axis, form the 4th joint, the end executive module 105 that bar IV is formed is hinged with the U-shaped crotch of bar III assembly 104 front end, forms the 5th joint, described spring balancing system 3 comprises: spring regulates mounting assembly 303, spring I301, spring II305 tri-part, wherein, spring regulates mounting assembly 303 by installation supporting seat 303h, screw slider regulating system I302, screw slider regulating system II304 forms, in screw slider regulating system I302, leading screw seat A303a is vertically fixed on by screw and installs on supporting seat 303h, leading screw A303b, slide bar A303e is respectively by the mounting-positioning holes on leading screw seat A303a, connect, slide block A303d has holes, leading screw A303b passes through screwed hole, to drive slide block A303d to move, slide bar A303e passes through unthreaded hole, play a supportive role, spring I hanging point II303c slide block A303d is equipped with, for linking springs I301, in screw slider system II304, leading screw seat B303f is vertically fixed on by screw and installs on supporting seat 303h, leading screw B303q, slide bar B303g is respectively by the mounting-positioning holes on leading screw seat B303p, connect, slide block B 303p has three holes, leading screw B303q is by middle screwed hole, to drive slide block B 303p to move, two slide bar B303g pass through unthreaded hole, play a supportive role, spring II hanging point II303n slide block B 303p is equipped with, for linking springs II305, hanging point bilateral symmetry, mechanism can be made to bear larger load, spring compartment position can be made again more reasonable, spring I one end is connected with the spring I hanging point I102c on connecting rod I102d, and the other end is connected with spring I hanging point II303c on slide block A303d in screw slider system I302, spring II one end is connected with the spring II hanging point I103d of connecting rod II103a end, and the other end is connected with spring II hanging point II303n on slide block B 303p in screw slider system II.
Above-mentioned spring self-balancing boosting manipulator, has travelling car 3, five degree of freedom cascade machine mechanical arm 1 and spring balancing system 2 three part; Stating five degree of freedom cascade machine mechanical arm 1 is fixed on travelling car 3 by base, can realize the movement of integrated model; Five degree of freedom cascade machine mechanical arm 1 has five frees degree, and working space is large, and motion flexibly; Spring balancing system 2 is positioned at the rear of five degree of freedom cascade machine mechanical arm 1, and it regulates bearing to be fixed on the rotating disk of the waist joint 101 of five degree of freedom cascade machine mechanical arm 1, for material handling provides power-assisted; Spring balancing system 2 utilizes potential energy conservation principle, by energy-storage travelling wave tube spring, the gravitional force of structure is converted to elastic potential energy, realizes the standing balance of mechanism.
Described five degree of freedom cascade machine mechanical arm 1 has five frees degree, and end movement can realize 3 movements, 2 rotations; Five degree of freedom cascade machine mechanical arm 1 mainly comprises end executive module 105 5 part that waist joint 101, bar I assembly 102, bar II assembly 103, bar III assembly 104 and bar IV are formed, wherein waist joint 101 and bar I assembly 102, bar I assembly 102 are hinged relationship with bar II assembly 103, bar III assembly 103 and bar IV assembly 104, bar II assembly 103 and bar III assembly 104 form bearing revolute pair, can relatively rotate around its axis.
Described bar I assembly 102 is made up of bearing block 102a, connecting rod I102d, connecting rod I102d lower end forms hinged relationship by bearing pin and bearing bearing pin A102b and bearing block bearing seat 102a, connecting rod I102d upper end and bar II assembly 103 form hinged relationship, wherein connecting rod two ends are U-shaped link, overall structure is symmetrical, and stress performance is good.
Described spring balancing system 2 regulates mounting assembly 303 by spring, spring I301, spring II305 form, concrete mode is: spring regulates mounting assembly 303 to be positioned at the rear of five degree of freedom cascade machine mechanical arm 1, be fixedly mounted on waist joint 1 rotating disk, spring I301 two ends are connected with the hanging point on governor motion and connecting rod I102d respectively, and spring II305 two ends are connected with the hanging point of governor motion and connecting rod II103a, end respectively; When moving heavy object, spring force balances a part of gravity, plays power-assisted effect, in addition, select suitable hanging point, make weight in moving process, gravitional force and elastic potential energy are changed mutually, and overall potential energy conservation all the time, mechanism can realize self-balancing at an arbitrary position.
By regulating, the load capacity of system can be changed, to adapt to different loads; By the screw turns in adjusting screw slip bocks system, can slide position be changed, slide block has hanging point, and then change the position of two groups of spring hanging points, reach the object regulating its load capacity.
Claims (1)
1. spring self-balancing boosting manipulator, is characterized in that: be made up of travelling car, five degree of freedom cascade machine mechanical arm and spring balancing system three part, described five degree of freedom cascade machine mechanical arm is fixed on travelling car by waist joint upper bed-plate, and spring balancing system is positioned at five degree of freedom cascade machine mechanical arm rear, installs supporting seat and be fixedly mounted on the rotating disk of waist joint in its spring adjustment mounting assembly, described five degree of freedom cascade machine mechanical arm (1) comprising: end executive module five part that waist joint, bar I assembly, bar II assembly, bar III assembly and bar IV are formed, wherein, waist joint, built with turntable bearing, can make rotating disk around base 360 ° rotation, form the first joint, the bearing block of bar I assembly is fixed on the rotating disk of waist joint, and bearing pin A one end is through the installing hole of the U-shaped crotch in connecting rod I lower end, and be interference fit, the other end is connected with bearing block middle (center) bearing inner ring, make bar I assembly and waist joint capable become hinged relationship, formation second joint, the connecting rod II of bar II assembly, its both sides, front end have installing hole, position is about wherein axial plane is symmetrical, bearing pin B mono-end link II front end installing hole connects, and be interference fit, the other end matches with bearing inner race, finally bearing is installed in the U-shaped crotch installing hole of connecting rod I upper end, and compress with upper cover, bar II assembly and bar I assembly form hinged relationship in junction, connecting rod I upper end thus, form the 3rd joint, in bar II assembly, connecting rod II inside is hollow-core construction, its front and back end all has installing hole, inside be provided with bearing, connecting axle is inner through connecting rod II, matches respectively with two bearings inner ring, therefore connecting axle can rotate around the axis of connecting rod II, connecting rod III element end is connected mutually with connecting axle front end, and therefore, connecting rod III assembly and connecting rod II assembly form revolute pair, both can relatively rotate around its axis, form the 4th joint, the U-shaped crotch of the end executive module that bar IV is formed and bar III assembly front end is hinged, forms the 5th joint, described spring balancing system comprises: spring regulates mounting assembly, spring I, spring II tri-part, wherein, spring regulates mounting assembly by installing supporting seat, screw slider regulating system I, screw slider regulating system II forms, in screw slider regulating system I, leading screw seat A is vertically fixed on by screw and installs on supporting seat, leading screw A, slide bar A is respectively by the mounting-positioning holes on leading screw seat A, connect, slide block A has holes, leading screw A passes through screwed hole, to drive slide block to move, slide bar A passes through unthreaded hole, play a supportive role, spring I hanging point II slide block A is equipped with, for linking springs I, in screw slider system II, leading screw seat B is vertically fixed on by screw and installs on supporting seat, and leading screw B, slide bar B are respectively by the mounting-positioning holes on leading screw seat B, connect, slide block B has three holes, leading screw B is by middle screwed hole, to drive slide block to move, two slide bar B, by unthreaded hole, play a supportive role, slide block B are equipped with spring II hanging point II, for linking springs II, hanging point bilateral symmetry, can make mechanism bear larger load, and spring compartment position can be made again more reasonable, spring I one end is connected with the spring I hanging point I on connecting rod I, and the other end is connected with spring I hanging point II on slide block A in screw slider system I, spring II one end is connected with the spring II hanging point I of connecting rod II end, and the other end is connected with spring II hanging point II in slide block B in screw slider system II.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410648632.9A CN104440865B (en) | 2014-11-14 | 2014-11-14 | Spring self-balancing boosting manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410648632.9A CN104440865B (en) | 2014-11-14 | 2014-11-14 | Spring self-balancing boosting manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104440865A CN104440865A (en) | 2015-03-25 |
| CN104440865B true CN104440865B (en) | 2016-04-06 |
Family
ID=52888015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410648632.9A Active CN104440865B (en) | 2014-11-14 | 2014-11-14 | Spring self-balancing boosting manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104440865B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016169787A1 (en) * | 2015-04-21 | 2016-10-27 | Koninklijke Philips N.V. | An adjustable arm for a patient monitoring device |
| CN107351120B (en) * | 2016-05-10 | 2023-11-10 | 尚可 | Gravity load balance arm and mechanical arm |
| CN106671139A (en) * | 2016-08-30 | 2017-05-17 | 佛山市新鹏机器人技术有限公司 | Balanced teaching mechanical arm |
| CN110039575A (en) * | 2019-04-25 | 2019-07-23 | 合肥工业大学 | Spring loaded cylinder optimum position configuration method in four axis robots |
| CN110251197A (en) * | 2019-07-05 | 2019-09-20 | 四川大学 | An auxiliary device for spinal drilling surgery |
| CN110614644B (en) * | 2019-09-11 | 2022-06-17 | 常州大学 | A multi-stable structure clamping manipulator |
| CN110549318B (en) * | 2019-09-19 | 2020-11-03 | 郑州科技学院 | A high-end equipment manufacturing robotic arm bracket |
| DE102020112613B3 (en) * | 2020-05-11 | 2021-08-19 | Aida Europe Gmbh | Transfer system for presses and press arrangement |
| CN113649995B (en) * | 2021-09-03 | 2022-08-30 | 江苏昱博自动化设备有限公司 | Spring self-balancing assistance manipulator capable of meeting different load requirements |
| CN117049046A (en) * | 2023-07-31 | 2023-11-14 | 香港中文大学（深圳） | Loading and unloading robot end effector and robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4592697A (en) * | 1983-04-26 | 1986-06-03 | Kabushiki Kaisha Kobe Seiko Sho | Gravity balancing device for rocking arm |
| JPH01109088A (en) * | 1987-10-20 | 1989-04-26 | Tokico Ltd | Industrial robot |
| US5402690A (en) * | 1992-09-30 | 1995-04-04 | Mitsubishi Denki Kabushiki Kaisha | Robot |
| CN1103475A (en) * | 1993-11-29 | 1995-06-07 | 山东矿业学院济南分院 | Five-freedom large-argument self-balancing device |
| CN1634685A (en) * | 2005-01-05 | 2005-07-06 | 天津大学 | Master Operator with Gripping Feel |
| CN101505926A (en) * | 2006-09-27 | 2009-08-12 | Abb公司 | Industrial robot with pressurized air supply in balancing device |
| CN202147277U (en) * | 2011-07-23 | 2012-02-22 | 莱芜精瑞模具有限公司 | Pneumatic self-balancing type manipulator |
| CN204322065U (en) * | 2014-11-14 | 2015-05-13 | 江苏苏力机械集团有限公司 | Spring self-balancing boosting manipulator |
-
2014
- 2014-11-14 CN CN201410648632.9A patent/CN104440865B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4592697A (en) * | 1983-04-26 | 1986-06-03 | Kabushiki Kaisha Kobe Seiko Sho | Gravity balancing device for rocking arm |
| JPH01109088A (en) * | 1987-10-20 | 1989-04-26 | Tokico Ltd | Industrial robot |
| US5402690A (en) * | 1992-09-30 | 1995-04-04 | Mitsubishi Denki Kabushiki Kaisha | Robot |
| CN1103475A (en) * | 1993-11-29 | 1995-06-07 | 山东矿业学院济南分院 | Five-freedom large-argument self-balancing device |
| CN1634685A (en) * | 2005-01-05 | 2005-07-06 | 天津大学 | Master Operator with Gripping Feel |
| CN101505926A (en) * | 2006-09-27 | 2009-08-12 | Abb公司 | Industrial robot with pressurized air supply in balancing device |
| CN202147277U (en) * | 2011-07-23 | 2012-02-22 | 莱芜精瑞模具有限公司 | Pneumatic self-balancing type manipulator |
| CN204322065U (en) * | 2014-11-14 | 2015-05-13 | 江苏苏力机械集团有限公司 | Spring self-balancing boosting manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104440865A (en) | 2015-03-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104440865B (en) | Spring self-balancing boosting manipulator | |
| CN107520859B (en) | High-precision positioning robot arm | |
| CN106855462A (en) | A kind of Combined Loading device for robot joint speed reducer performance test | |
| CN102179807A (en) | Parallel mechanism with changeable freedom degree | |
| CN102642204B (en) | Alternating-current servo direct drive type series-parallel composite robot | |
| CN104552288A (en) | Flexible six-shaft robot | |
| CN205068863U (en) | Motion that structural parameters is adjustable parallelly connected platform with cluster spring bears branch | |
| CN103033380A (en) | Landing gear retractable test loading device and method | |
| CN102601795B (en) | Power head capable of realizing five-shaft linkage operation | |
| CN106078688B (en) | A heavy-load self-balancing three-degree-of-freedom parallel mechanism | |
| CN204322065U (en) | Spring self-balancing boosting manipulator | |
| CN104209958B (en) | A kind of forcing press Special handling robot | |
| CN106482972B (en) | A kind of binary channels Electromechanical Actuators experimental facilities | |
| CN103158150B (en) | Flexible joint analog device with adjustable gaps of space manipulator | |
| CN207359054U (en) | A kind of mechanical arm | |
| CN105226564A (en) | A kind of ultra-high-tension power transmission line online assignment motion arm | |
| CN204265392U (en) | A kind of all-around mobile liftable shipping platform | |
| CN204123406U (en) | A kind of telescopic arm on transfer robot | |
| CN104827485A (en) | Linear drive robot joint with bar linkage mechanism | |
| CN104625517A (en) | Seven-degree-of-freedom controllable mechanism type movable welding hand | |
| CN204525462U (en) | A kind of flexible six-joint robot | |
| CN208906929U (en) | Double sided slider bar column examines anti-gravity charging manipulator | |
| CN102887186A (en) | Wind turbine pole climbing robot | |
| CN102941576A (en) | Pole climbing robot for wind power tower pole | |
| CN202219507U (en) | A human hip joint simulating mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |