TWI689390B - Cantilever system of mechanical arm - Google Patents
Cantilever system of mechanical arm Download PDFInfo
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- TWI689390B TWI689390B TW108138889A TW108138889A TWI689390B TW I689390 B TWI689390 B TW I689390B TW 108138889 A TW108138889 A TW 108138889A TW 108138889 A TW108138889 A TW 108138889A TW I689390 B TWI689390 B TW I689390B
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Abstract
本發明係為一種機械手臂之懸臂系統,主要包含一動力單元及由動力單元帶動旋轉之螺桿機構和以螺桿機構帶動之懸臂機構;其中該螺桿機構包括第一螺桿及第二螺桿,且該第一螺桿及第二螺桿上各螺合有一固接體,以該第一螺桿之第一固接體鎖固一固定座而連動第一懸臂移動,並透過第二螺桿之第二固接體固接一滑塊使第二懸臂結合於第一懸臂下方,且受該滑塊連動第二懸臂滑移,藉由第一螺桿及第二螺桿之螺牙採不同向旋轉帶動及不同牙距,使第一懸臂與第二懸臂產生一起前伸後縮之伸縮作動,據此,用以減少機械體積、且強化懸臂結構強度。 The invention is a cantilever system of a mechanical arm, which mainly includes a power unit and a screw mechanism driven by the power unit and a cantilever mechanism driven by the screw mechanism; wherein the screw mechanism includes a first screw and a second screw, and the first A fixed body is screwed on each of the screw and the second screw, and the first fixed body of the first screw locks a fixed seat to move the first cantilever, and is fixed by the second fixed body of the second screw Connect a slider to make the second cantilever beneath the first cantilever, and the second cantilever slides in conjunction with the slider. The screw of the first screw and the second screw are driven by different directions of rotation and different pitches. The first cantilever arm and the second cantilever arm extend and retract together, according to which, the mechanical volume is reduced and the structural strength of the cantilever arm is strengthened.
Description
本發明係涉及一種機械手臂之懸臂系統,特別係指一種運用單一動力單元即可連動兩懸臂伸縮作動之機械設計。 The invention relates to a cantilever system of a mechanical arm, in particular to a mechanical design that can use a single power unit to link two cantilever telescopically.
傳統機械手臂之懸臂結構,通常採單滑台結構設計,利用單滑台懸臂結合升降台及旋轉台構成機械手臂之主體結構,且單滑台懸臂係由一動力單元提供動力,整體懸臂並非呈現可伸縮長度之型態表現,以既有之懸臂長度於旋轉動作時,會造成單滑台懸臂之旋轉半徑過大,必須提供較大空間使單滑台懸臂能夠旋轉,形成空間上之浪費,產生之危險亦相對增加。 The cantilever structure of the traditional mechanical arm is usually designed with a single sliding table structure. The single sliding table cantilever is combined with the lifting table and the rotating table to form the main structure of the mechanical arm. The single sliding table cantilever is powered by a power unit, and the overall cantilever is not presented. The performance of the retractable length, with the existing cantilever length during the rotation action, will cause the rotation radius of the single-slide cantilever to be too large, and a larger space must be provided to allow the single-slide cantilever to rotate, resulting in a waste of space, resulting in The danger is also relatively increased.
再者,目前滑台式懸臂機構,欲展現伸縮長度之結構型態,必須增加懸臂數量,且以相同數量之動力單元各別提供動力,使各懸臂產生伸縮動作,然而,一對一提供動力之方式,除成本較大外,機台體積亦相對增大,尤其在伸縮作動上,準確度並無法有效掌控,因此,目前之單滑台懸臂或雙滑台式懸臂仍存在待改良之缺點。 In addition, the current sliding table cantilever mechanism must increase the number of cantilevers in order to show the structure of the telescopic length, and provide power with the same number of power units to make each cantilever produce telescopic action. However, one-to-one power supply In addition to the relatively large cost, the volume of the machine is also relatively increased. Especially in the telescopic operation, the accuracy cannot be effectively controlled. Therefore, the current single-slider cantilever or double-slider cantilever still have shortcomings to be improved.
本發明之主要目的在於提供一種機械手臂之懸臂系統,利用螺桿機構之第一螺桿與第二螺桿設為不同向螺牙及不同牙距之結構,且由 單一動力單元同步帶動兩螺桿旋轉,分別帶動第一懸臂及第二懸臂一併向前推進或向後縮回,產生伸縮之動作;據此,用以減少懸臂所佔之機械體積、且強化懸臂結構強度。 The main purpose of the present invention is to provide a cantilever system for a mechanical arm. The first screw and the second screw of the screw mechanism are configured with different-direction screw teeth and different pitches, and The single power unit synchronously drives the two screws to rotate, respectively driving the first cantilever and the second cantilever to move forward or back together, generating a telescopic action; accordingly, it is used to reduce the mechanical volume occupied by the cantilever and strengthen the cantilever structure strength.
為達成上述目的,本發明公開之懸臂系統,係結合在機械手臂之滑座下端,使懸臂系統得以隨滑座上下移位及旋轉移位;主要包含一固定座及一螺桿機構和一懸臂機構:其中; In order to achieve the above object, the cantilever system disclosed in the present invention is combined with the lower end of the sliding seat of the mechanical arm, so that the cantilever system can be displaced up and down and rotated with the sliding seat; it mainly includes a fixed seat and a screw mechanism and a cantilever mechanism :among them;
該固定座,其上端設有一個以上之固接面,用以固接於機械手臂之滑座下端,連接兩固接面之平板下端並設有一縱向孔槽,供該螺桿機構之第一螺桿穿設,且將螺合在第一螺桿上可移位之第一固接體固接在該固定座之縱向孔槽外端,藉此使第一螺桿與固定座結合在一起; The upper end of the fixing seat is provided with more than one fixing surface for fixing to the lower end of the sliding seat of the mechanical arm, and the lower end of the flat plate connecting the two fixing surfaces is provided with a longitudinal hole slot for the first screw of the screw mechanism Pass through, and fix the displaceable first fixing body screwed on the first screw to the outer end of the longitudinal hole of the fixing seat, thereby combining the first screw with the fixing seat;
該螺桿機構,包含有第一螺桿及第二螺桿;其中該第一螺桿及第二螺桿係呈上下排列固置在一固定板上,且該第一螺桿與第二螺桿之桿身螺牙係呈不同向之牙向設計(即第一螺桿為反向,而第二螺桿為正向),而其螺牙間距之設計亦不同,第一螺桿之牙距較寬,第二螺桿之牙距較窄,該第一螺桿及第二螺桿一端連接有帶動輪,且該帶動輪受一動力單元以帶動皮帶同步帶動第一螺桿與第二螺桿旋轉;又該第一螺桿與第二螺桿之另端則以一定位板,藉此將第一螺桿與第二螺桿定位設置於該懸臂機構之第一懸臂上下形成之上、下凹槽內; The screw mechanism includes a first screw and a second screw; wherein the first screw and the second screw are arranged in an up-and-down arrangement on a fixed plate, and the shaft threads of the first screw and the second screw are The teeth are designed in different directions (that is, the first screw is reversed, and the second screw is forward), and the design of the screw pitch is also different. The pitch of the first screw is wider, and the pitch of the second screw Narrow, one end of the first screw and the second screw is connected with a driving wheel, and the driving wheel is driven by a power unit to drive the belt to synchronize the rotation of the first screw and the second screw; the other of the first screw and the second screw At the end, a positioning plate is used to position the first screw and the second screw in the upper and lower grooves formed on the first cantilever of the cantilever mechanism;
該懸臂機構包括有第一懸臂及第二懸臂,其中該第一懸臂係結合於該固定座之下方空間,且該第一懸臂之上、下端各別開設有上凹槽及下凹槽,供第一螺桿與第二螺桿設於該上、下凹槽內,且該上、下凹槽兩側外端各形成有一容置槽,於該容置槽內可設置一滑軌裝置,再利用該 滑軌裝置與固定座對應結合,使第一懸臂藉滑軌裝置受第一螺桿旋動之作用而可前後滑移;而該第二螺桿上另螺合之第二固接體,係固接於一滑塊之溝槽而使第二螺桿設於該溝槽內,且該第一懸臂的下凹槽兩側外端形成有容置槽,於容置槽可設置滑軌裝置,再將滑軌裝置對應與滑塊結合,使該滑塊藉滑軌裝置之作用而受第二螺桿旋動可前後滑移,因此將滑塊結合於第一懸臂下方,使該滑塊得以在第一懸臂下方移位,另該滑塊下端向內延伸有插板,用以結合第二懸臂; The cantilever mechanism includes a first cantilever and a second cantilever, wherein the first cantilever is coupled to the space below the fixing base, and upper and lower ends of the first cantilever are respectively provided with an upper groove and a lower groove for The first screw and the second screw are arranged in the upper and lower grooves, and the outer ends of both sides of the upper and lower grooves are respectively formed with an accommodating groove. A sliding rail device can be arranged in the accommodating groove for reuse The The sliding rail device is correspondingly combined with the fixed seat, so that the first cantilever can slide forward and backward by the first screw through the sliding rail device; and the second fixed body screwed on the second screw is fixed The groove of a slide block allows the second screw to be arranged in the groove, and the outer ends of both sides of the lower groove of the first cantilever are formed with accommodating grooves. The accommodating grooves can be provided with slide rail devices. The slide rail device is correspondingly combined with the slider, so that the slider can be slid back and forth by the rotation of the second screw by the action of the slide rail device, so the slider is combined under the first cantilever, so that the slider can be placed in the first The cantilever is shifted underneath, and the lower end of the slider is extended with an inboard to join the second cantilever;
該第二懸臂,於上端兩側形成有插槽,供該滑塊下端延伸之插板插入而將該第二懸臂固接於滑塊下端,受滑塊移位帶動而呈現伸縮狀態,藉此,利用單一動力單元帶動第一懸臂與第二懸臂展現伸縮之作動,運用於機械手臂範疇,得以減少懸臂之機械體積、且強化懸臂結構。 The second cantilever is formed with slots on both sides of the upper end for insertion of a plug board extending from the lower end of the slider to fix the second cantilever to the lower end of the slider, and the telescopic state is caused by the displacement of the slider, thereby It uses a single power unit to drive the first cantilever and the second cantilever to exhibit telescopic motion, which is used in the category of mechanical arms, which can reduce the mechanical volume of the cantilever and strengthen the cantilever structure.
關於本發明之技術核心,主要利用單一動力單元同步帶動第一螺桿與第二螺桿呈順時針旋轉,經由該第一螺桿與第二螺桿之螺牙設計特別設為不同向之螺牙(即第一螺桿為反向螺牙,而第二螺桿為正向螺牙),且第一螺桿與第二螺桿之螺牙間距亦設為不同(第一螺桿螺牙距較寬,第二螺桿螺牙距較窄,設為2比1之比例);因此,當第一螺桿旋轉時,螺桿上之反向螺牙原本會帶動第一懸臂向後,但因第一固接體係固定在固定座上不動,形成一個支點,所以造成第一螺桿會向前推進,故使第一懸臂受第一螺桿連動而向前推進;而第二螺桿旋轉時,第二螺桿上之正向螺牙會因第二固接體向前帶動滑塊,再藉由滑塊帶動第二懸臂向前推進,透過如此之結構技術,使第一懸臂與第二懸臂一起向前伸展或縮回;其次,因第一懸臂與第二懸臂之移位距離不同,為使第一懸臂與第二懸臂伸展順 暢,本發明特別將第一螺桿與第二螺桿之牙距設為不同間距,透過不同之牙距,使第一懸臂與第二懸臂前進速度產生差異,令懸臂之伸縮更為準確順暢。 Regarding the technical core of the present invention, a single power unit is mainly used to synchronously drive the first screw and the second screw to rotate clockwise. The screw design of the first screw and the second screw is specifically set to a different direction screw (i.e. One screw is a reverse screw, and the second screw is a positive screw), and the pitch of the first screw and the second screw are also set different (the screw pitch of the first screw is wider, the screw of the second screw is wider) The distance is narrow, set to a ratio of 2 to 1); therefore, when the first screw rotates, the reverse thread on the screw will originally drive the first cantilever backward, but it does not move because the first fixing system is fixed on the fixed seat , Forming a fulcrum, so that the first screw will advance forward, so the first cantilever is forwarded by the first screw linkage; and when the second screw rotates, the positive thread on the second screw will be due to the second The fixed body drives the slider forward, and then drives the second cantilever forward by the slider. Through such a structural technology, the first cantilever and the second cantilever are extended or retracted together; secondly, because the first cantilever Different from the displacement distance of the second cantilever, in order to make the first cantilever and the second cantilever extend smoothly In the present invention, the tooth pitch of the first screw and the second screw are set to different pitches. Through different pitches, the advancement speed of the first cantilever and the second cantilever are different, so that the cantilever can expand and contract more accurately and smoothly.
1‧‧‧機械手臂 1‧‧‧Robot
10‧‧‧滑座 10‧‧‧slide
2‧‧‧固定座 2‧‧‧Fixed seat
20‧‧‧固接面 20‧‧‧Fixed surface
200‧‧‧螺孔 200‧‧‧Screw hole
21‧‧‧固接面 21‧‧‧Fixed surface
22‧‧‧縱向孔槽 22‧‧‧Longitudinal hole
220‧‧‧螺孔 220‧‧‧Screw hole
3‧‧‧第一螺桿 3‧‧‧The first screw
30‧‧‧第一固接體 30‧‧‧The first fixed body
300‧‧‧鎖定塊 300‧‧‧locking block
301‧‧‧透孔 301‧‧‧Through hole
302‧‧‧中心螺孔 302‧‧‧Center screw hole
303‧‧‧套筒 303‧‧‧Sleeve
31‧‧‧第二螺桿 31‧‧‧Second screw
32‧‧‧固定板 32‧‧‧Fixed board
320‧‧‧帶動輪 320‧‧‧Drive wheel
330‧‧‧帶動輪 330‧‧‧Drive wheel
34‧‧‧定位板 34‧‧‧Locating plate
340‧‧‧定位孔 340‧‧‧Locating hole
4‧‧‧動力單元 4‧‧‧Power unit
40‧‧‧帶動皮帶 40‧‧‧Drive belt
5‧‧‧第一懸臂 5‧‧‧The first cantilever
50‧‧‧第二懸臂本體 50‧‧‧Second cantilever body
51‧‧‧上凹槽 51‧‧‧Upper groove
510‧‧‧容置槽 510‧‧‧Accommodation slot
511‧‧‧容置槽 511‧‧‧accommodation slot
512‧‧‧頂板 512‧‧‧Top plate
513‧‧‧滑軌 513‧‧‧slide
514‧‧‧滑動體 514‧‧‧sliding body
515‧‧‧滑軌 515‧‧‧slide
516‧‧‧滑動體 516‧‧‧sliding body
52‧‧‧下凹槽 52‧‧‧Lower groove
520‧‧‧頂板 520‧‧‧Top plate
523‧‧‧容置槽 523‧‧‧Accommodation slot
53‧‧‧第二固接體 53‧‧‧Second fixed body
6‧‧‧滑塊 6‧‧‧slider
60‧‧‧溝槽 60‧‧‧Groove
61‧‧‧插板 61‧‧‧Board
62‧‧‧插板 62‧‧‧Board
70‧‧‧插槽 70‧‧‧slot
71‧‧‧插槽 71‧‧‧slot
72‧‧‧螺孔 72‧‧‧Screw hole
第1圖係本發明運用於機械手臂示意圖。 Figure 1 is a schematic diagram of the present invention applied to a robot arm.
第2圖係本發明之立體分解圖。 Fig. 2 is an exploded perspective view of the present invention.
第3圖係本發明之組合剖視圖。 Figure 3 is a combined cross-sectional view of the present invention.
第4圖係本發明之帶動體立體圖。 Fig. 4 is a perspective view of the driving body of the present invention.
第5圖係本發明之螺桿機構立體圖。 Fig. 5 is a perspective view of the screw mechanism of the present invention.
第6圖係本發明之馬達帶動示意圖。 Figure 6 is a schematic diagram of the motor driving of the present invention.
第7圖係本發明之剖視圖。 Figure 7 is a cross-sectional view of the present invention.
第8圖係本發明之伸展示意圖。 Figure 8 is a schematic view of the present invention.
第9圖係本發明之伸展完成圖。 Fig. 9 is a drawing showing the completion of stretching of the present invention.
請參閱第1、2、3圖所示,本發明之實施例係運用於機械手臂上,主要將本發明之懸臂系統結合於機械手臂1之滑座10下端,使懸臂結構得以隨著滑座10上下移位及旋轉移位,該懸臂系統包括有一固定座及一螺桿機構和一懸臂機構;其中,該固定座2(參閱第2、3圖)上端兩側設有一個以上之固接面20、21,該固接面20、21端面上開設有數螺孔200,利用螺絲將固定座2固置在滑座10之下端,另該固定座2連接兩固接面20、21之平板下端設有一開口向下之縱向孔槽2
2,該縱向孔槽22外端面開設有數螺孔220,可供該螺桿機構之第一螺桿3穿設該縱向孔槽22後,將螺合在第一螺桿3上之第一固接體30,以螺絲對應鎖定在縱向孔槽22的外端面,形成一支撐定位點,使第一螺桿3與固定座2結合;其中該第一固接體30(同時參閱第2、4圖)一端設有鎖定塊300,於該鎖定塊300之端面上設有對應縱向孔槽22外端面螺孔220之螺孔301,且該鎖定塊300中央處則開設一供第一螺桿3螺合之中心螺孔302,該中心螺孔302並貫通於鎖定塊300一端之套筒303,供第一螺桿3穿設結合,經由第一螺桿3之旋動而帶動該懸臂機構之第一懸臂移位;
Please refer to Figures 1, 2, and 3, the embodiment of the present invention is applied to a robot arm, and the cantilever system of the present invention is mainly combined with the lower end of the sliding
該螺桿機構(同時參閱第2、5圖),包含採反向螺牙設計之第一螺桿3及正向螺牙設計之第二螺桿31,且該第一螺桿3之牙距較寬而第二螺桿31之牙距較窄,並以上下排列固置在一固定板32上,該第一螺桿3與第二螺桿31穿設出固定板32之凸出端連接有帶動輪320、330,該帶動輪320、330並受一動力單元4以帶動皮帶40帶動第一螺桿3與第二螺桿31皆呈順時針旋轉(參閱第6圖),而第一螺桿3與第二螺桿31之另端則以一定位板34上之定位孔340加以定位(同時參閱第2圖),藉此將螺桿機構與該懸臂機構之第一懸臂相互組合;
The screw mechanism (also see Figures 2 and 5) includes a
該懸臂機構(參閱第2、3圖),包括第一懸臂5及第二懸臂,其中該第一懸臂5之上下端各別形成有一上凹槽51及下凹槽52,且兩側橫設有不等高之頂板512、522,以該上、下凹槽51、52供第一螺桿3及第二螺桿31分別穿設於內,進而將固定座2蓋合於第一懸臂5上方,使固定座2之縱向孔槽22埋設於該第一懸臂5上方的上凹槽5
1內,該上凹槽51兩側外端另開設有容置槽510、511,於該容置槽510、511內可設置一滑軌裝置(參閱第3圖),將滑軌裝置之滑軌513設於容置槽510處,而滑動體514則設於固定座2,以該滑軌裝置將第一懸臂5與固定座2對應結合,使第一懸臂5因滑軌裝置之作用而受第一螺桿3之旋動可前後滑移;關於該第二懸臂之組接,包含有第二懸臂本體50及一滑塊6,係利用第二螺桿31上螺合之第二固接體53,固接於該滑塊6之溝槽60外端,而使第二螺桿31設於該溝槽60內而穿設過第二固接體53固接至定位板34,透過固定板32與定位板34由兩側端定位,而將該滑塊6設於第一懸臂5之兩頂板512、522的下方;該第一懸臂5的下凹槽52兩側外端相同形成有容置槽520、523,於兩容置槽520、523內可設置滑軌裝置,將滑軌裝置之滑軌515設於容置槽520、523處而滑動體516則設於滑塊6,以該滑軌裝置將第一懸臂5與滑塊6結合(參閱第3圖所示),使該滑塊6因滑軌裝置之作用而受第二螺桿31旋動可前後滑移,使滑塊6得在第一懸臂5下方移位,又該滑塊6下端向內延伸有插板61、62,用以結合第二懸臂本體50;
The cantilever mechanism (see Figures 2 and 3) includes a
該第二懸臂本體50(參閱第2圖),係於上端兩側形成兩插槽70、71,且該兩插槽70、71上開設有螺孔72,供滑塊6下端對應延伸之插板61、62插入後,藉由螺絲鎖固而固定為一體,受滑塊6移位帶動而呈現伸縮移位狀態。
The second cantilever body 50 (see FIG. 2) is formed with two
藉由上述各元件之組合,即構成懸臂系統之整體結構,請再參閱第7、8圖所示,係關於本發明懸臂系統產生伸縮型態之說明,主要利
用動力單元4啟動動力經帶動皮帶40連動兩帶動輪32、33呈順時針旋轉,進而連動第一螺桿3及第二螺桿31呈現順時針旋轉,由於本發明第一螺桿3及第二螺桿31之螺牙設為不同向螺牙(即第一螺桿3為反向螺牙,而第二螺桿31則為正向螺牙)且第一螺桿3與第二螺桿31之螺牙間距亦寬窄不同;因此,當第一螺桿3旋轉時,第一螺桿3上之反向螺牙應使結合之第一懸臂5呈現向後移位,但因為第一固接體30係固定在固定座不動而成為一個定位點支撐,如此會使第一螺桿3向前推進,驅使第一懸臂5連同動力單元4向前推進;而與第一螺桿3一起旋轉之第二螺桿31旋動時,第二螺桿31之正向螺牙會使第二固接體53向前移位,因第二固接體53與滑塊6固定為一體,因此,第二固接體53會一併使滑塊6移位,進而以滑塊6將結合一起之第二懸臂主體50向前推進,藉使第一懸臂5及第二懸臂主體50一併產生伸展或縮回之伸縮功能,可加以運用於機械手臂;其次,由於第一懸臂5與第二懸臂主體50之伸展距離不同,為使伸縮順暢,本發明特別將第一螺桿3及第二螺桿31牙距採比例設計(2比1)透過不同牙距,使第一懸臂5與第二懸臂主體50之推進速度形成不同(即第一懸臂5移位較快、第二懸臂主體50移位較慢),令懸臂之伸縮更為滑順且準確。
The combination of the above components constitutes the overall structure of the cantilever system. Please refer to Figures 7 and 8 for the description of the telescopic type of the cantilever system of the present invention.
Starting power with the
10‧‧‧滑座 10‧‧‧slide
2‧‧‧固定座 2‧‧‧Fixed seat
20‧‧‧固接面 20‧‧‧Fixed surface
200‧‧‧螺孔 200‧‧‧Screw hole
21‧‧‧固接面 21‧‧‧Fixed surface
22‧‧‧縱向孔槽 22‧‧‧Longitudinal hole
220‧‧‧螺孔 220‧‧‧Screw hole
3‧‧‧第一螺桿 3‧‧‧The first screw
30‧‧‧第一固接體 30‧‧‧The first fixed body
300‧‧‧鎖定塊 300‧‧‧locking block
301‧‧‧螺孔 301‧‧‧Screw hole
302‧‧‧中心螺孔 302‧‧‧Center screw hole
303‧‧‧套筒 303‧‧‧Sleeve
31‧‧‧第二螺桿 31‧‧‧Second screw
32‧‧‧固定板 32‧‧‧Fixed board
34‧‧‧定位板 34‧‧‧Locating plate
340‧‧‧定位孔 340‧‧‧Locating hole
4‧‧‧動力單元 4‧‧‧Power unit
5‧‧‧第一懸臂 5‧‧‧The first cantilever
50‧‧‧第二懸臂本體 50‧‧‧Second cantilever body
51‧‧‧上凹槽 51‧‧‧Upper groove
510‧‧‧容置槽 510‧‧‧Accommodation slot
511‧‧‧容置槽 511‧‧‧accommodation slot
512‧‧‧頂板 512‧‧‧Top plate
52‧‧‧下凹槽 52‧‧‧Lower groove
520‧‧‧容置槽 520‧‧‧accommodation slot
522‧‧‧頂板 522‧‧‧Top plate
523‧‧‧容置槽 523‧‧‧Accommodation slot
53‧‧‧第二固接體 53‧‧‧Second fixed body
6‧‧‧滑塊 6‧‧‧slider
60‧‧‧溝槽 60‧‧‧Groove
61‧‧‧插板 61‧‧‧Board
62‧‧‧插板 62‧‧‧Board
70‧‧‧插槽 70‧‧‧slot
71‧‧‧插槽 71‧‧‧slot
72‧‧‧螺孔 72‧‧‧Screw hole
Claims (5)
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TW108138889A TWI689390B (en) | 2019-10-28 | 2019-10-28 | Cantilever system of mechanical arm |
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TW108138889A TWI689390B (en) | 2019-10-28 | 2019-10-28 | Cantilever system of mechanical arm |
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TW202116508A TW202116508A (en) | 2021-05-01 |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW201139255A (en) * | 2010-05-04 | 2011-11-16 | Hon Hai Prec Ind Co Ltd | Palletizing robot |
CN104786214A (en) * | 2015-04-14 | 2015-07-22 | 山东交通学院 | Full-automatic bidirectional stacker robot |
CN107552665A (en) * | 2017-09-27 | 2018-01-09 | 常熟凯博智能装备有限公司 | Four-degree-of-freedom robot arm device |
CN108638044A (en) * | 2018-04-12 | 2018-10-12 | 邢明的 | A kind of full-automatic material-feeding machine people |
-
2019
- 2019-10-28 TW TW108138889A patent/TWI689390B/en active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW201139255A (en) * | 2010-05-04 | 2011-11-16 | Hon Hai Prec Ind Co Ltd | Palletizing robot |
CN104786214A (en) * | 2015-04-14 | 2015-07-22 | 山东交通学院 | Full-automatic bidirectional stacker robot |
CN107552665A (en) * | 2017-09-27 | 2018-01-09 | 常熟凯博智能装备有限公司 | Four-degree-of-freedom robot arm device |
CN108638044A (en) * | 2018-04-12 | 2018-10-12 | 邢明的 | A kind of full-automatic material-feeding machine people |
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