CN208962007U - A kind of multi-shaft interlocked manipulator - Google Patents
A kind of multi-shaft interlocked manipulator Download PDFInfo
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- CN208962007U CN208962007U CN201821612435.1U CN201821612435U CN208962007U CN 208962007 U CN208962007 U CN 208962007U CN 201821612435 U CN201821612435 U CN 201821612435U CN 208962007 U CN208962007 U CN 208962007U
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Abstract
The utility model discloses a kind of multi-shaft interlocked manipulators, including robot support frame, horizontal guide rail is provided on the robot support frame, the manipulator mounting base that can be moved horizontally on the horizontal guide rail is installed on the horizontal guide rail, horizontal drive component is provided in the manipulator mounting base, hollow screw rod, screw rod goes up and down driving assembly and screw rod rotate driving component, internal shaft is provided in the internal cavities of the hollow screw rod, hollow screw rod upper end is provided with the shaft driving assembly for driving internal shaft rotation, the lower end of hollow screw rod is provided with manipulator clamping component, the manipulator clamping component connect with the lower end of the internal shaft and drives it to realize holding action by internal shaft.This kind of multi-shaft interlocked manipulator has the advantages that simple structure, small in size, reliable performance, stability are high, work efficiency is high, reduces not available for the prior arts such as cost of labor.
Description
Technical field
The utility model relates to circuit board manufacture field, especially a kind of multi-shaft interlocked manipulator.
Background technique
In circuit board printing process, to reduce cost of labor, improving the degree of automation, generally use all kinds of
Manipulator carry out various automatic operations.However, due to the limitation in design or structure, existing manipulator in the art
Device is generally existing, and structure is complicated, the space occupied volume is big, brings greatly to the control of manipulator in the actual implementation process
Difficulty, enforcement difficulty and implementation cost are high, there is stability in actual application and reliability is relatively low, movement effect
The low disadvantage of rate, further reduced working efficiency.
The many disadvantages of the prior art seriously limit this field and develop and promote and apply further along.
It is lacked in view of this, the purpose of this utility model is to provide a kind of new technical solutions with solving existing technology
It falls into.
Utility model content
For overcome the deficiencies in the prior art, the utility model provides a kind of multi-shaft interlocked manipulator, solves existing
The technological deficiencies such as structure is complicated, volume is big, implementation cost is high, working efficiency is low existing for technology.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of multi-shaft interlocked manipulator, including robot support frame are provided with level on the robot support frame and lead
Rail is equipped with the manipulator mounting base that can be moved horizontally on the horizontal guide rail, the manipulator mounting base on the horizontal guide rail
On be provided with horizontal drive component, hollow screw rod, screw rod lifting driving assembly and screw rod rotate driving component, the hollow screw rod
Internal cavities in be provided with internal shaft, hollow screw rod upper end is provided with the shaft driving for driving internal shaft rotation
Component, the lower end of hollow screw rod are provided with manipulator clamping component, the manipulator clamping component and the internal shaft
Lower end connection simultaneously drives it to realize holding action by internal shaft.
As an improvement of the above technical solution, the horizontal drive component includes the level being mounted in manipulator mounting base
Driving motor and the horizontal drive gear that the horizontal drive motor output end is arranged in are provided on the robot support frame
Cooperate the horizontal drive rack gear of the horizontal drive gear, the horizontal drive gear and horizontal drive rack gear, which are matched, is combined into gear
Rack structure, the horizontal drive motor can be by horizontal drive gears and horizontal drive rack drives manipulator mounting base in water
It is slided on level gauge.
As a further improvement of the above technical scheme, the screw rod lifting driving assembly includes installation manipulator mounting base
On lifting driving motor and the feed screw nut that is equipped on hollow screw rod, the feed screw nut and manipulator mounting base axis
To fixation, the output end of the lifting driving motor is provided with lifting active synchronization wheel, and lifting is provided on the feed screw nut
Driven synchronizing wheel, is arranged with lifting synchronous belt between the lifting active synchronization wheel and the driven synchronizing wheel of lifting, the lifting is driven
Dynamic motor can drive feed screw nut's rotation and further by lifting active synchronization wheel, lifting synchronous belt and the driven synchronizing wheel of lifting
Hollow screw rod is driven to rise or fall.
As a further improvement of the above technical scheme, the screw rod rotate driving component includes being mounted on manipulator installation
Rotational drive motor on seat, the rotation active synchronization wheel being arranged on rotational drive motor output end and it is arranged in hollow screw rod
On the driven synchronizing wheel of rotation, be arranged with rotation synchronous belt, institute between the rotation active synchronization wheel and the driven synchronizing wheel of rotation
Stating rotational drive motor can drive hollow screw rod to turn by rotation active synchronization wheel, rotation synchronous belt and the driven synchronizing wheel of rotation
It is dynamic.
As a further improvement of the above technical scheme, the shaft driving assembly includes being fixedly mounted on hollow screw rod
The top connector of end and the shaft driving motor being mounted on above the connector of top, the shaft driving motor pass through motor
Mounting base is mounted on the connector of top, the top connector be hollow connector and its be internally provided with shaft upper axis
It holds, the upper end of the internal shaft is mounted in the inner ring of the shaft upper bearing, the output end of the shaft driving motor
Shaft coupling is provided between the upper end of internal shaft.
As a further improvement of the above technical scheme, manipulator clamping component includes being fixedly mounted on hollow screw lower end
Clamp assemblies mounting plate, clamp assemblies mounting base and the clamp assemblies anchor tip in portion, the clamp assemblies mounting base and clamping
Be provided with clamp assemblies guide-rail plate between component anchor tip, the clamp assemblies anchor tip be hollow joint and its inside set
It is equipped with shaft lower bearing, the lower end of the internal shaft is mounted on the inner ring of the shaft lower bearing and reaches clamping group
The lower section of part anchor tip, the both ends of the clamp assemblies guide-rail plate are respectively arranged with the first clamping slide and the second clamping is slided
, it is provided with the first clamping drive rack and the first grip block on the first clamping slide, is set on the second clamping slide
It is equipped with the second clamping drive rack and the second grip block, the lower end of the internal shaft is provided with clamping driving gear, described
Clamping driving gear two sides respectively with first clamping drive rack and second clamping drive rack engage, clamping driving gear and
First clamping drive rack, the second clamping drive rack can pass through clamping with gear & rack structure, the internal shaft is combined into
Driving gear and the first clamping drive rack, second the first clamping slide of clamping drive rack driving and the second clamping slide are being pressed from both sides
It holds and is slided on package traces plate.
As a further improvement of the above technical scheme, clamp assemblies mounting base lower part is provided with rack gear side guiding
Idler wheel and rack gear bottom guide roller, rack gear side guide roller are mounted on the side of clamp assemblies mounting base and for leading
To the side wall of the first clamping drive rack and the second clamping drive rack, rack gear bottom guide roller is mounted on clamp assemblies
The bottom of mounting base and the bottom wall for being used to be oriented to the first clamping drive rack and the second clamping drive rack；First grip block
On be provided with clamping adjustable plate, offer strip adjustment hole on the clamping adjustable plate.
As a further improvement of the above technical scheme, the first mounting plate and second are provided in the manipulator mounting base
Mounting plate is provided with the first installation sleeve and the second installation sleeve on first mounting plate and the second mounting plate, described hollow
Screw rod is mounted in first installation sleeve and the second installation sleeve.
As a further improvement of the above technical scheme, it is provided with level sensor in the manipulator mounting base,
The horizontal position sensing chip for cooperating the level sensor, the manipulator installation are provided on the robot support frame
Seat is installed on the horizontal guide rail by horizontal guide rail slide.
As a further improvement of the above technical scheme, the robot support frame includes two support rods and is arranged at two
Support beam between strut, the support rod bottom are provided with support leg, above-mentioned level are provided in the support beam
Guide rail.
The beneficial effects of the utility model are: the utility model provides a kind of multi-shaft interlocked manipulator, this kind of multiaxis
The manipulator of linkage goes up and down driving assembly, screw rod rotate driving component, shaft by horizontal drive component, hollow screw rod, screw rod
Driving assembly and manipulator clamping component realize the automatic operation of manipulator, and entire manipulator is simple with structure, it is empty to occupy
Between feature small in size, have the advantages that be swift in motion in the specific application process, stable and reliable for performance, work efficiency is high, into
One step can promote working efficiency, reduce cost of labor.
In short, this kind of multi-shaft interlocked manipulator solves, of the existing technology structure is complicated, volume is big, implementation cost
The high, technological deficiencies such as working efficiency is low.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the assembling schematic diagram of the utility model；
Fig. 2 is that the utility model removes the assembling schematic diagram after manipulator support frame；
Fig. 3 is the assembling schematic diagram that the utility model removes another angle after manipulator support frame；
Fig. 4 is the assembling schematic diagram that the utility model removes third angle after manipulator support frame；
Fig. 5 is the assembling schematic diagram that the utility model removes fourth angle after manipulator support frame；
Fig. 6 is the cross-sectional view in the direction A-A in Fig. 5.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the utility model, specific structure and generation
It clearly and completely describes, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is a part of the embodiment of the utility model, rather than whole embodiments, it is based on the embodiments of the present invention, the skill of this field
Art personnel other embodiments obtained without creative efforts belong to the model of the utility model protection
It encloses.In addition, all connection/connection relationships being related in patent, not singly refer to that component directly connects, and referring to can be according to specific
Performance, by adding or reducing couple auxiliary, Lai Zucheng more preferably coupling structure.Each skill in the utility model creation
Art feature, under the premise of not conflicting conflict can with combination of interactions, referring to Fig.1-6.
A kind of multi-shaft interlocked manipulator, including robot support frame 1 are provided with level on the robot support frame 1
Guide rail 11 is equipped with the manipulator mounting base 2 that can be moved horizontally on horizontal guide rail 11, the machine on the horizontal guide rail 11
Horizontal drive component 4, hollow screw rod 3, screw rod lifting driving assembly 5 and screw rod rotate driving group are provided in tool hand mounting base 2
Part 6 is provided with internal shaft 31 in the internal cavities of the hollow screw rod 3, and hollow 3 upper end of screw rod is provided with for driving
The shaft driving assembly 7 that internal shaft 31 rotates, the lower end of hollow screw rod 3 is provided with manipulator clamping component 8, the machine
Tool hand clamp assemblies 8 connect with the lower end of the internal shaft 31 and drive it to realize holding action by internal shaft 31.
When the utility model is embodied, the horizontal drive component 4 can realize moving horizontally for manipulator, the silk
Bar lifting driving assembly 5 can realize that manipulator is gone up and down, and the screw rod rotate driving component can carry out the adjusting of angle to manipulator
To reach more suitable claming angle, the automatic of manipulator is realized in the shaft driving assembly 7 and the cooperation of manipulator clamping component 8
Clamp work.
Preferably, the horizontal drive component 4 includes the horizontal drive motor 41 being mounted in manipulator mounting base 2 and sets
The horizontal drive gear 42 in 41 output end of horizontal drive motor is set, cooperation institute is provided on the robot support frame 1
The horizontal drive rack gear 43 of horizontal drive gear 42 is stated, the horizontal drive gear 42 and horizontal drive rack gear 43, which are matched, is combined into tooth
Rack structure is taken turns, the horizontal drive motor 41 can be pacified by horizontal drive gear 42 and 43 driving manipulator of horizontal drive rack gear
Dress seat 2 slides on horizontal guide rail 11.
Preferably, screw rod lifting driving assembly 5 include lifting driving motor 51 in installation manipulator mounting base 2 and
The feed screw nut being equipped on hollow screw rod 3, the feed screw nut and 2 axial restraint of manipulator mounting base, the lifting
The output end of driving motor 51 is provided with lifting active synchronization wheel 52, and the driven synchronizing wheel of lifting is provided on the feed screw nut
53, lifting synchronous belt 54, the lifting driving are arranged between the lifting active synchronization wheel 52 and the driven synchronizing wheel 53 of lifting
Motor 51 can drive feed screw nut's rotation by lifting active synchronization wheel 52, lifting synchronous belt 54 and the driven synchronizing wheel 53 of lifting
And hollow screw rod 3 is further driven to rise or fall.
Preferably, the screw rod rotate driving component 6 includes the rotational drive motor being mounted in manipulator mounting base 2
61, the rotation active synchronization wheel 62 being arranged on 61 output end of rotational drive motor and the rotation being arranged on hollow screw rod 3 from
Dynamic synchronizing wheel 63 is arranged with rotation synchronous belt 64 between the rotation active synchronization wheel 62 and the driven synchronizing wheel 63 of rotation, described
Rotational drive motor 61 can drive macaroni yarn by rotation active synchronization wheel 62, rotation synchronous belt 64 and the driven synchronizing wheel 63 of rotation
Bar 3 rotates.
Preferably, the shaft driving assembly 7 include be fixedly mounted on hollow 3 upper end of screw rod top connector 71 and
It is mounted on the shaft driving motor 72 of 71 top of top connector, the shaft driving motor 72 is installed by motor mount 73
On top connector 71, the top connector 71 be hollow connector and its be internally provided with shaft upper bearing 74, institute
The upper end for stating internal shaft 31 is mounted in the inner ring of the shaft upper bearing 74, the output end of the shaft driving motor 72
Shaft coupling 75 is provided between the upper end of internal shaft 31.
Preferably, manipulator clamping component 8 includes the clamp assemblies mounting plate for being fixedly mounted on hollow 3 lower end of screw rod
81, clamp assemblies mounting base 82 and clamp assemblies anchor tip 83, the clamp assemblies mounting base 82 connect with clamp assemblies fixation
Be provided with clamp assemblies guide-rail plate 84 between first 83, the clamp assemblies anchor tip 83 be hollow joint and its be internally provided with
The lower end of shaft lower bearing 85, the internal shaft 31 is mounted on the inner ring of the shaft lower bearing 85 and reaches folder
Hold the lower section of component anchor tip 83, the both ends of the clamp assemblies guide-rail plate 84 be respectively arranged with the first clamping slide 861 and
Second clamps slide 862, is provided with the first clamping drive rack 871 and the first grip block on the first clamping slide 861
881, the second clamping drive rack 872 and the second grip block 882 are provided on the second clamping slide 862, and the inside turns
The lower end of axis 31 is provided with clamping driving gear 89, and the two sides of the clamping driving gear 89 clamp sliding tooth with first respectively
Item 871 and the second clamping drive rack 872 engage, and clamping driving gear 89 and the first clamping clamping of drive rack 871, second are driven
Carry-over bar 872 can be driven with gear & rack structure, the internal shaft 31 is combined by clamping driving gear 89 and the first clamping
Carry-over bar 871, second clamps first clamping slide 861 of the driving of drive rack 872 and the second clamping slide 862 is led in clamp assemblies
It is slided on rail plate 84.
Preferably, 82 lower part of clamp assemblies mounting base is provided with rack gear side guide roller 821 and rack gear bottom is led
Way roller 822, rack gear side guide roller 821 are mounted on the side of clamp assemblies mounting base 82 and for being oriented to the first folder
The side wall of drive rack 871 and the second clamping drive rack 872 is held, rack gear bottom guide roller 822 is mounted on clamping group
The bottom of part mounting base 82 and the bottom wall for being used to be oriented to the first clamping drive rack 871 and the second clamping drive rack 872；It is described
It is provided with clamping adjustable plate 883 on first grip block 881, offers strip adjustment hole on the clamping adjustable plate 883.
Preferably, the first mounting plate 21 and the second mounting plate 22, first peace are provided in the manipulator mounting base 2
The first installation sleeve 23 and the second installation sleeve 24 are provided in loading board 21 and the second mounting plate 22, the hollow screw rod 3 is installed
In first installation sleeve 23 and the second installation sleeve 24.
Preferably, level sensor 25 is provided in the manipulator mounting base 2, on the robot support frame 1
It is provided with the horizontal position sensing chip for cooperating the level sensor 25, the manipulator mounting base 2 passes through horizontal guide rail
Slide 12 is mounted on horizontal guide rail 11.
Preferably, the robot support frame 1 includes two support rods 101 and the support being arranged between two support rods 101
Crossbeam 102,101 bottom of support rod are provided with support leg 103, are provided with above-mentioned level in the support beam 102 and lead
Rail 11.
It is to be illustrated to the preferable implementation of the utility model, but the utility model creation is not limited to institute above
Embodiment is stated, those skilled in the art can also make various be equal without departing from the spirit of the present invention
Deformation or replacement, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of multi-shaft interlocked manipulator, it is characterised in that: including robot support frame (1), the robot support frame (1)
On be provided with horizontal guide rail (11), the machinery that can be moved horizontally on horizontal guide rail (11) is installed on the horizontal guide rail (11)
Hand mounting base (2) is provided with horizontal drive component (4) on the manipulator mounting base (2), hollow screw rod (3), screw rod lifting are driven
Component (5) and screw rod rotate driving component (6) are moved, is provided with internal shaft (31) in the internal cavities of the hollow screw rod (3),
Hollow screw rod (3) upper end is provided with the shaft driving assembly (7) for driving internal shaft (31) to rotate, hollow screw rod (3)
Lower end be provided with manipulator clamping component (8), the lower end of the manipulator clamping component (8) and the internal shaft (31)
It connects and drives it to realize holding action by internal shaft (31).
2. the multi-shaft interlocked manipulator of one kind according to claim 1, it is characterised in that: the horizontal drive component (4)
It is exported including the horizontal drive motor (41) being mounted on manipulator mounting base (2) and setting in the horizontal drive motor (41)
The horizontal drive gear (42) at end is provided with the water for cooperating the horizontal drive gear (42) on the robot support frame (1)
Flat drive rack (43), the horizontal drive gear (42) and horizontal drive rack gear (43), which are matched, is combined into gear & rack structure, institute
Stating horizontal drive motor (41) can be by horizontal drive gear (42) and horizontal drive rack gear (43) driving manipulator mounting base (2)
It is slided on horizontal guide rail (11).
3. the multi-shaft interlocked manipulator of one kind according to claim 1, it is characterised in that: the screw rod goes up and down driving assembly
It (5) include lifting driving motor (51) on installation manipulator mounting base (2) and the screw rod being equipped on hollow screw rod (3)
The output end of nut, the feed screw nut and manipulator mounting base (2) axial restraint, lifting driving motor (51) is provided with
It goes up and down active synchronization wheel (52), the driven synchronizing wheel (53) of lifting, the lifting active synchronization wheel is provided on the feed screw nut
(52) it is arranged with lifting synchronous belt (54) between the driven synchronizing wheel (53) of lifting, the lifting driving motor (51) can pass through liter
Drop active synchronization wheel (52), lifting synchronous belt (54) and the driven synchronizing wheel (53) of lifting drive feed screw nut to rotate and further drive
Hollow screw rod (3) is moved to rise or fall.
4. the multi-shaft interlocked manipulator of one kind according to claim 1, it is characterised in that: the screw rod rotate driving component
(6) include the rotational drive motor (61) being mounted on manipulator mounting base (2), be arranged in rotational drive motor (61) output end
On rotation active synchronization wheel (62) and the driven synchronizing wheel of rotation (63) on hollow screw rod (3) is set, the rotation active
It is arranged with rotation synchronous belt (64) between synchronizing wheel (62) and the driven synchronizing wheel (63) of rotation, the rotational drive motor (61) can
Hollow screw rod (3) rotation is driven by rotation active synchronization wheel (62), rotation synchronous belt (64) and the driven synchronizing wheel (63) of rotation.
5. the multi-shaft interlocked manipulator of one kind according to claim 1, it is characterised in that: the shaft driving assembly (7)
Turn including being fixedly mounted on the top connector (71) of hollow screw rod (3) upper end and being mounted on above top connector (71)
Axis driving motor (72), the shaft driving motor (72) are mounted on top connector (71) by motor mount (73),
The top connector (71) be hollow connector and its be internally provided with shaft upper bearing (74), the internal shaft (31)
Upper end be mounted in the inner ring of the shaft upper bearing (74), the output end of the shaft driving motor (72) and internal turn
Shaft coupling (75) are provided between the upper end of axis (31).
6. the multi-shaft interlocked manipulator of one kind according to claim 1, it is characterised in that: manipulator clamping component (8) packet
Include the clamp assemblies mounting plate (81) for being fixedly mounted on hollow screw rod (3) lower end, clamp assemblies mounting base (82) and clamping group
Part anchor tip (83) is provided with clamp assemblies between the clamp assemblies mounting base (82) and clamp assemblies anchor tip (83)
Guide-rail plate (84), the clamp assemblies anchor tip (83) be hollow joint and its be internally provided with shaft lower bearing (85),
The lower end of the internal shaft (31) is mounted on the inner ring of the shaft lower bearing (85) and reaches clamp assemblies fixation and connects
The lower section of head (83), the both ends of the clamp assemblies guide-rail plate (84) are respectively arranged with the first clamping slide (861) and the second folder
It holds slide (862), is provided with the first clamping drive rack (871) and the first grip block in first clamping slide (861)
(881), the second clamping drive rack (872) and the second grip block (882), institute are provided in second clamping slide (862)
State internal shaft (31) lower end be provided with clamping driving gear (89), it is described clamping driving gear (89) two sides respectively with
First clamping drive rack (871) and the second clamping drive rack (872) engagement, clamping driving gear (89) are driven with the first clamping
Carry-over bar (871), the second clamping drive rack (872) can pass through with gear & rack structure, the internal shaft (31) is combined into
Clamping driving gear (89) and the first clamping drive rack (871), second clamping drive rack (872) driving the first clamping slide
(861) and the second clamping slide (862) is slided on clamp assemblies guide-rail plate (84).
7. the multi-shaft interlocked manipulator of one kind according to claim 6, it is characterised in that: the clamp assemblies mounting base
(82) lower part is provided with rack gear side guide roller (821) and rack gear bottom guide roller (822), rack gear side orienting roll
Wheel (821) is mounted on the side of clamp assemblies mounting base (82) and for being oriented to the first clamping drive rack (871) and the second folder
The side wall of drive rack (872) is held, rack gear bottom guide roller (822) is mounted on the bottom of clamp assemblies mounting base (82)
And the bottom wall for being oriented to the first clamping drive rack (871) and the second clamping drive rack (872)；First grip block
(881) it is provided with clamping adjustable plate (883) on, offers strip adjustment hole on the clamping adjustable plate (883).
8. the multi-shaft interlocked manipulator of one kind according to claim 1, it is characterised in that: the manipulator mounting base (2)
On be provided with the first mounting plate (21) and the second mounting plate (22), set on first mounting plate (21) and the second mounting plate (22)
It is equipped with the first installation sleeve (23) and the second installation sleeve (24), the hollow screw rod (3) is mounted on first installation sleeve
(23) and in the second installation sleeve (24).
9. the multi-shaft interlocked manipulator of one kind according to claim 1, it is characterised in that: the manipulator mounting base (2)
On be provided with level sensor (25), the cooperation level sensor is provided on the robot support frame (1)
(25) horizontal position sensing chip, the manipulator mounting base (2) are mounted on horizontal guide rail by horizontal guide rail slide (12)
(11) on.
10. the multi-shaft interlocked manipulator of one kind according to claim 1, it is characterised in that: the robot support frame (1)
Including two support rods (101) and the support beam (102) being arranged between two support rods (101), support rod (101) bottom
It is provided with support leg (103), is provided with above-mentioned horizontal guide rail (11) on the support beam (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821612435.1U CN208962007U (en) | 2018-09-30 | 2018-09-30 | A kind of multi-shaft interlocked manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821612435.1U CN208962007U (en) | 2018-09-30 | 2018-09-30 | A kind of multi-shaft interlocked manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208962007U true CN208962007U (en) | 2019-06-11 |
Family
ID=66757901
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821612435.1U Active CN208962007U (en) | 2018-09-30 | 2018-09-30 | A kind of multi-shaft interlocked manipulator |
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| Country | Link |
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| CN (1) | CN208962007U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176495A (en) * | 2018-09-30 | 2019-01-11 | 深圳市易通智能自动化装备制造有限公司 | A kind of multi-shaft interlocked manipulator |
| CN110405735A (en) * | 2019-08-05 | 2019-11-05 | 姚聪 | A kind of intelligent robot grabbing device |
-
2018
- 2018-09-30 CN CN201821612435.1U patent/CN208962007U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176495A (en) * | 2018-09-30 | 2019-01-11 | 深圳市易通智能自动化装备制造有限公司 | A kind of multi-shaft interlocked manipulator |
| CN109176495B (en) * | 2018-09-30 | 2024-07-26 | 深圳市易通自动化设备有限公司 | Multi-axis linkage manipulator |
| CN110405735A (en) * | 2019-08-05 | 2019-11-05 | 姚聪 | A kind of intelligent robot grabbing device |
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Effective date of registration: 20210129 Address after: 518000 Room 301, building 1, No. 9, Yongyue Road, East District, baishixia community, Fuyong street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN ETON AUTOMATION EQUIPMENT Co.,Ltd. Address before: 518000 2nd floor, building 44, Cuigang Industrial Zone 5, Huaide, Fuyong street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN ETON AUTOMATION EQUIPMENT Co.,Ltd. |