CN104441691A - Self-balancing cellosilk placement manipulator arm - Google Patents
Self-balancing cellosilk placement manipulator arm Download PDFInfo
- Publication number
- CN104441691A CN104441691A CN201410676392.3A CN201410676392A CN104441691A CN 104441691 A CN104441691 A CN 104441691A CN 201410676392 A CN201410676392 A CN 201410676392A CN 104441691 A CN104441691 A CN 104441691A
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- rotating shaft
- swing arm
- pressure
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
- B29C70/382—Automated fiber placement [AFP]
- B29C70/384—Fiber placement heads, e.g. component parts, details or accessories
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a self-balancing cellosilk placement manipulator arm which comprises a fixed standing column, a rotary standing column, a control cabinet, swinging arms, a main arm, a small arm, a plumbing arm, an air cylinder and a pneumatic balancing system, wherein the fixed standing column is fixed on the ground or a trolley; the upper end of the fixed standing column is connected with the lower end of the rotary standing column; the top end of the rotary standing column is connected with the swinging arms; the swinging arms can swing around the rotary standing column; the tail ends of the swinging arms are connected with the push rod of the air cylinder; the cylinder body of the air cylinder is connected with the rotary standing column; the other ends of the swinging arms are sequentially connected with the main arm, the small arm and the plumbing arm, which can all rotate by 360 degrees; the tail end of the plumbing arm is used for fixing a placement head; the pneumatic balancing system can keep the moment balance of the swinging arms by virtue of the extension and retraction of the push rod of the air cylinder; a control switch for the pneumatic balancing system is arranged inside the control cabinet. The self-balancing cellosilk placement manipulator arm can move along different tracks in working space and can keep a balanced state under any working condition and at any position; an operator can push the manipulator arm to work with light force; the self-balancing cellosilk placement manipulator arm reduces the physical labor of workers and greatly increases the production efficiency.
Description
Technical field
The present invention relates to a kind of mechanical arm, be specifically related to a kind of self-balancing filament lay mechanical arm.
Background technology
Fiber placement in these years develops the most rapidly, one of Composites Molding Techniques that production efficiency is the highest.This new forming technique starts to be mainly used in the middle of aerospace most, and along with the development of fiber placement, this technology is widely used in all trades and professions at present.
Current domestic fiber placement is still based on manual laying, and workman needs the operation placement head of requiring great effort to carry out lay in laid course, and this manual lay mode efficiency is low, and stock utilization is not high, is not suitable for modern large-scale production.
Summary of the invention
The present invention provides a kind of self-balancing filament lay mechanical arm according to the problems referred to above, this self-balancing filament lay mechanical arm can be finished the work the lay work of all positions in space, workman just can promote self-balancing lay mechanical arm by very little power and carry out lay work, and this self-balancing filament lay mechanical arm automatically can maintain poised state under any operating mode and any position.
The invention provides a kind of self-balancing filament lay mechanical arm to solve above-mentioned technical problem, comprising vertical columns, Rotary cloumn, control cabinet, swing arm, principal arm, forearm, plumbing arm, cylinder and pneumatic counterbalance system; Vertical columns is fixed on ground or dolly, vertical columns upper end is connected with Rotary cloumn lower end, the top of Rotary cloumn is connected with swing arm, swing arm can swing around Rotary cloumn fixing point, the tail end of swing arm is connected with the push rod of cylinder, and the cylinder body of cylinder is fixed on Rotary cloumn, and the other end of swing arm connects principal arm, forearm and plumbing arm successively, principal arm, forearm and plumbing arm can 360 ° of rotations, and plumbing arm end is used for fixing placement head; Described pneumatic counterbalance system is by the flexible equalising torque that can maintain swing arm of the push rod of control cylinder, and the gauge tap of pneumatic counterbalance system is arranged on control cabinet inside.
The top of described Rotary cloumn is provided with U-shaped opening, U-shaped open interior is provided with fixed axis, the side of swing arm is provided with through hole, through hole is located near swing arm tail end, fixed axis through the through hole of swing arm side make swing arm and Rotary cloumn hinged, the top of the push rod of cylinder is provided with monaural ring, and the tail end of swing arm is hinged by monaural ring and cylinder, and it is hinged that the cylinder body of cylinder and Rotary cloumn pass through rotating shaft.
Be connected with rotating shaft by main bearing seat between described vertical columns and Rotary cloumn; Described main bearing seat is fixed on vertical columns, is provided with shoulder block in the dead eye of main bearing seat, and the lower end of Rotary cloumn is provided with the rotating shaft of minor diameter, and the upper end of rotating shaft is provided with the shaft shoulder, lower end is provided with screw thread; Pair of bearings is enclosed within rotating shaft, and the outer ring of bearing is by shoulder block axial location, and the inner ring of bearing is by shaft shoulder axial location; Double nut is spun in rotating shaft and with the bottom surface of bearing and contacts.
Described swing arm, principal arm, be all be connected with rotating shaft by rotating shaft holder between forearm and plumbing arm; The relevant position of swing arm, principal arm and forearm is fixed with rotating shaft holder respectively, rotating shaft top is inserted in rotating shaft holder, bottom is inserted in next attaching parts; Rotating shaft holder dead eye in be provided with shoulder block, be provided with in the middle part of rotating shaft to be provided with below keyway, keyway below the shaft shoulder, the shaft shoulder and be provided with screw thread; Pair of bearings is enclosed within rotating shaft, and bearing outer ring is by shoulder block axial restraint, and the inner ring of bearing is by shaft shoulder axial restraint, and carry out axial restraint by sleeve between two bearings, rotating shaft is connected with next attaching parts by key; The upper end cover of rotating shaft has shaft end ring, and shaft end ring contacts with the end face of bearing, and round nut is spun on rotating shaft lower end, and round nut contacts with the bottom surface of next attaching parts.
Described pneumatic counterbalance system comprises source of the gas processing components, the first check valve, the second check valve, pressure vent valve, unloaded pressure-reducing valve, has and carry pressure-reducing valve, the first reversal valve, the second reversal valve, hand-operated direction valve, external control type precise pressure regulating valve, lock valve, the first one-way throttle valve, the second one-way throttle valve, fast-discharge valve, cylinder; Air-flow connects hand-operated direction valve, the first reversal valve, the first check valve, the second check valve and the first one-way throttle valve respectively after the process of source of the gas processing components; The outlet Bonding pressure drain valve of the first described check valve, the outlet of pressure vent valve connects unloaded pressure-reducing valve respectively and has carries pressure-reducing valve, unloaded pressure-reducing valve and the external control end having the outlet of carrying pressure-reducing valve to be connected the second reversal valve, the second one-way overflow valve, pressure vent valve and external control type precise pressure regulating valve successively; Outlet Bonding pressure drain valve, external control type precise pressure regulating valve, lock valve, pressure vent valve and the cylinder successively of the second described check valve; The outlet of the first described one-way overflow valve connects the external control end of fast-discharge valve and lock valve successively; The outlet of described hand-operated direction valve connects the external control end of the first reversal valve, and the outlet of the first reversal valve connects the external control end of the second reversal valve.
The invention has the beneficial effects as follows:
Operating personnel just can promote self-balancing filament lay mechanical arm by very light power and realize moving up and down of placement head, alleviate the manual labor of staff, significantly improve production efficiency.Self-balancing filament lay mechanical arm in space can according to various different orbiting motion, and under any operating mode and optional position, still can keep poised state, handling safety is reliable.
Accompanying drawing explanation
Fig. 1 is the structural representation of entirety of the present invention.
Fig. 2 is the sectional view of main bearing seat of the present invention.
Fig. 3 is the sectional view of rotating shaft holder of the present invention.
Fig. 4 is the pneumatic schematic diagram of pneumatic counterbalance system of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, described self-balancing filament lay mechanical arm comprises vertical columns 1, Rotary cloumn 2, control cabinet 3, swing arm 7, principal arm 8, forearm 9, plumbing arm 10, cylinder 4 and pneumatic counterbalance system; Vertical columns 1 is fixed on ground or dolly, vertical columns 1 upper end is connected with Rotary cloumn 2 lower end, the top of Rotary cloumn 2 is connected with swing arm 7, swing arm 7 can swing around Rotary cloumn 2, the tail end of swing arm 7 is connected with cylinder push-rod 5, and the cylinder body of cylinder 4 is connected with Rotary cloumn 2, and the other end of swing arm 7 connects principal arm 8, forearm 9 and plumbing arm 10 successively, principal arm 8, forearm 9 and plumbing arm 10 can 360 ° of rotations, and plumbing arm 10 end is used for fixing placement head 11; Described pneumatic counterbalance system is by the flexible equalising torque that can maintain swing arm 7 of control cylinder push rod 5, and the gauge tap of pneumatic counterbalance system is arranged on control cabinet 3 inside.By the motion in suitable swing arm 7, principal arm 8, forearm 9 and each joint of plumbing arm 10, thus the placement head 11 that its end is carried can realize the compound movement of various track in space.
As shown in Figure 1, the top of Rotary cloumn 2 described is in the present embodiment provided with U-shaped opening, U-shaped open interior is provided with fixed axis 6, swing arm 7 side is provided with through hole, fixed axis 6 makes swing arm 7 and Rotary cloumn 2 hinged through through hole, the safe and reliable swing arm 7 that can make of this connected mode swings around fixed axis 6 on Rotary cloumn 2, the top of cylinder push-rod 5 is provided with monaural ring, the tail end of swing arm 7 by monaural ring and cylinder 4 hinged.
In the present embodiment, described vertical columns is fixed on ground or dolly by foundation bolt.
As depicted in figs. 1 and 2, be connected with rotating shaft 14 by main bearing seat 12 between described vertical columns 1 and Rotary cloumn 2; Described main bearing seat 12 is fixed on vertical columns 1, shoulder block is provided with in the dead eye of main bearing seat 14, the rotating shaft 14(that the lower end of Rotary cloumn 2 is provided with minor diameter in the present embodiment Rotary cloumn and rotating shaft as a whole), the upper end of rotating shaft 14 is provided with the shaft shoulder, lower end is provided with screw thread; Pair of bearings 15 is enclosed within rotating shaft 14, and the outer ring of bearing 15 is by shoulder block axial location, and the inner ring of bearing 15 is by shaft shoulder axial location; Double nut 16 to be spun in rotating shaft 14 and to contact with bearing 15 bottom surface.Rotary cloumn 2 can realize 360 ° rotating freely, and double nut 16 can not only bear very large axial load and can also produce not along with the additonal pressure of extraneous load change, and additonal pressure acts on screw thread attached middle school, can prevent nut loosening.
In the present embodiment, described pair of bearings 15 is taper roll bearing, and taper roll bearing both can bear radial load, can bear larger axial load again; Described vertical columns and bearing seat are bolted.
As shown in figures 1 and 3, described swing arm 7, principal arm 8, be all be connected with rotating shaft 17 by rotating shaft holder 13 between forearm 9 and plumbing arm 10; The relevant position of swing arm 7, principal arm 8 and forearm 9 is fixed with respectively rotating shaft holder 13(or as a whole), rotating shaft 17 top is inserted in rotating shaft holder 13, bottom is inserted in next attaching parts; Rotating shaft holder 13 dead eye in be provided with shoulder block, be provided with in the middle part of rotating shaft to be provided with below keyway, keyway below the shaft shoulder, the shaft shoulder and be provided with screw thread; Pair of bearings 18 is enclosed within rotating shaft 17, and the outer ring of bearing 18 is by shoulder block axial restraint, and the inner ring of bearing 18, by shaft shoulder axial restraint, carries out axial restraint by sleeve 19 between two bearings 18, and rotating shaft 17 is connected with next attaching parts by key 20; The upper end of rotating shaft 17 is provided with shaft end ring 22, and shaft end ring 22 contacts with the end face of bearing 18, and round nut 21 is spun on the lower end of rotating shaft 17, round nut 21 and next attaching parts contact outside.In the present embodiment, described bearing 18 is taper roll bearing.
As shown in Figure 4, described pneumatic counterbalance system comprises source of the gas processing components 23, first check valve 26, second check valve 27, pressure vent valve 36, unloaded pressure-reducing valve 29, has and carry pressure-reducing valve 30, first reversal valve 25, second reversal valve 31, hand-operated direction valve 24, external control type precise pressure regulating valve 23, lock valve 34, first one-way throttle valve 28, second one-way throttle valve 32, fast-discharge valve 35, cylinder 4; Air-flow connects hand-operated direction valve 24, first reversal valve 25, first check valve 26, second check valve 27 and the first one-way throttle valve 28 respectively after the process of source of the gas processing components 23; The outlet Bonding pressure drain valve 36 of the first described check valve 26, the outlet of pressure vent valve 36 connects unloaded pressure-reducing valve 29 respectively and has carries pressure-reducing valve 30, unloaded pressure-reducing valve 29 and the external control end having the outlet of carrying pressure-reducing valve 30 to be connected the second reversal valve 31, second one-way overflow valve 32, pressure vent valve 36 and external control type precise pressure regulating valve 33 successively; Outlet Bonding pressure drain valve 36, external control type precise pressure regulating valve 33, lock valve 34, pressure vent valve 36 and the cylinder 4 successively of the second described check valve 27; The outlet of the first described one-way overflow valve 28 connects the external control end of fast-discharge valve 35 and lock valve 34 successively; The outlet of described hand-operated direction valve 24 connects the external control end of the first reversal valve 25, and the outlet of the first reversal valve 25 connects the external control end of the second reversal valve 31.
The poised state of pneumatic counterbalance system is divided into unloaded balance and has carries balance, and its specific works process is as follows:
1) unloaded balance
Open the switch of air-source, pneumatic system starts air feed, and reversal valve is now in the state shown in figure, and unloaded pressure-reducing valve 29 works, its output pressure acts on the external control end of external control type precise pressure regulating valve 33, and the pressure that external control type precise pressure regulating valve 33 is exported is identical with unloaded pressure-reducing valve 29.Because system is in normally for gaseity, now lock valve 34 is in opening, and the output pressure of external control type precise pressure regulating valve 33 can normally enter into cylinder 4, and cylinder 4 moves and produces pressure, realizes the equalising torque of swing arm 7.
First one-way throttle valve 28 opens lock valve 34 after can making external control type precise pressure regulating valve 33 build-up pressure again, prevents the piston of cylinder 4 at the moved downward of laying mechanism gravity, thus causes laying mechanism to swing in space.The aperture Time dependent of the first one-way throttle valve 28 opening time of lock valve 34.
2) a year balance is had
Staff manually pulls hand-operated direction valve 24, and whole system has been in and carries duty, the pressure that now load produces acts on the right-hand member of the first reversal valve 25, and the first reversal valve 25 switches, and the second commutation 31 valves switch thereupon.Now there is a year pressure-reducing valve 30 to work, have the output pressure carrying pressure-reducing valve 30 to act on the external control end of external control type precise pressure regulating valve 33, make the pressure carrying pressure-reducing valve 30 output identical with external control type precise pressure regulating valve 33.Because system is in normally for gaseity, now lock valve 34 is in opening, and the output pressure of external control type precise pressure regulating valve 33 can normally enter into cylinder 4, is realized the equalising torque of swing arm 7 by cylinder 4 motion.
The effect of the second one-way throttle valve 32 is the control ends that can make slowly to act on into whole load pressure external control type precise pressure regulating valve outer 33 when reversal valve carries out the switching of pressure, the output pressure of external control type precise pressure regulating valve 33 is slowly changed, sudden change can not be produced, the vibration produced because pressure change is excessive can be avoided like this, more be conducive to the operation of manual lay, improve the quality of lay.
Above embodiment is only the preferred version of the present invention; but not limitation of the present invention; person skilled in the relevant technique; without departing from the spirit and scope of the present invention; various conversion or modification can also be made; therefore all equivalent technical schemes, all fall into protection scope of the present invention.
Claims (5)
1. a self-balancing filament lay mechanical arm, is characterized in that: comprise vertical columns, Rotary cloumn, control cabinet, swing arm, principal arm, forearm, plumbing arm, cylinder and pneumatic counterbalance system; Vertical columns is fixed on ground or dolly, vertical columns upper end is connected with Rotary cloumn lower end, the top of Rotary cloumn is connected with swing arm, swing arm can swing around Rotary cloumn fixing point, the tail end of swing arm is connected with the push rod of cylinder, and the cylinder body of cylinder is connected with Rotary cloumn, and the other end of swing arm connects principal arm, forearm and plumbing arm successively, principal arm, forearm and plumbing arm can 360 ° of rotations, and plumbing arm end is used for fixing placement head; Described pneumatic counterbalance system is by the flexible equalising torque that can maintain swing arm of the push rod of control cylinder, and the gauge tap of pneumatic counterbalance system is arranged on control cabinet inside.
2. described a kind of self-balancing filament lay mechanical arm as claimed in claim 1, it is characterized in that: the top of Rotary cloumn is provided with U-shaped opening, U-shaped open interior is provided with fixed axis, the side of swing arm is provided with through hole, through hole is located near swing arm tail end, fixed axis through the through hole of swing arm side make swing arm and Rotary cloumn hinged, the top of the push rod of cylinder is provided with monaural ring, the tail end of swing arm is hinged by monaural ring and cylinder, and it is hinged that the cylinder body of cylinder and Rotary cloumn pass through rotating shaft.
3. described a kind of self-balancing filament lay mechanical arm as claimed in claim 1, be is characterized in that: be connected with rotating shaft by main bearing seat between described vertical columns and Rotary cloumn; Described main bearing seat is fixed on vertical columns, is provided with shoulder block in the dead eye of main bearing seat, and the lower end of Rotary cloumn is provided with the rotating shaft of minor diameter, and the upper end of rotating shaft is provided with the shaft shoulder, lower end is provided with screw thread; Pair of bearings is enclosed within rotating shaft, and the outer ring of bearing is by shoulder block axial location, and the inner ring of bearing is by shaft shoulder axial location; Double nut is spun in rotating shaft and with the bottom surface of bearing and contacts.
4. a kind of self-balancing filament lay mechanical arm as claimed in claim 1 described, is characterized in that: described swing arm, principal arm, be all be connected with rotating shaft by rotating shaft holder between forearm and plumbing arm; The relevant position of swing arm, principal arm and forearm is fixed with rotating shaft holder respectively, rotating shaft top is inserted in rotating shaft holder, bottom is inserted in next attaching parts; Rotating shaft holder dead eye in be provided with shoulder block, be provided with in the middle part of rotating shaft to be provided with below keyway, keyway below the shaft shoulder, the shaft shoulder and be provided with screw thread; Pair of bearings is enclosed within rotating shaft, and bearing outer ring is by shoulder block axial restraint, and the inner ring of bearing is by shaft shoulder axial restraint, and carry out axial restraint by sleeve between two bearings, rotating shaft is connected with next attaching parts by key; The upper end cover of rotating shaft has shaft end ring, and shaft end ring contacts with the end face of bearing, and round nut is spun on rotating shaft lower end, and round nut contacts with the bottom surface of next attaching parts.
5. described a kind of self-balancing filament lay mechanical arm as claimed in claim 1, is characterized in that: described pneumatic counterbalance system comprises source of the gas processing components, the first check valve, the second check valve, pressure vent valve, unloaded pressure-reducing valve, has and carry pressure-reducing valve, the first reversal valve, the second reversal valve, hand-operated direction valve, external control type precise pressure regulating valve, lock valve, the first one-way throttle valve, the second one-way throttle valve, fast-discharge valve and cylinder; Air-flow connects hand-operated direction valve, the first reversal valve, the first check valve, the second check valve and the first one-way throttle valve respectively after the process of source of the gas processing components; The outlet Bonding pressure drain valve of the first described check valve, the outlet of pressure vent valve connects unloaded pressure-reducing valve respectively and has carries pressure-reducing valve, unloaded pressure-reducing valve and the external control end having the outlet of carrying pressure-reducing valve to be connected the second reversal valve, the second one-way overflow valve, pressure vent valve and external control type precise pressure regulating valve successively; Outlet Bonding pressure drain valve, external control type precise pressure regulating valve, lock valve, pressure vent valve and the cylinder successively of the second described check valve; The outlet of the first described one-way overflow valve connects the external control end of fast-discharge valve and lock valve successively; The outlet of described hand-operated direction valve connects the external control end of the first reversal valve, and the outlet of the first reversal valve connects the external control end of the second reversal valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410676392.3A CN104441691A (en) | 2014-11-24 | 2014-11-24 | Self-balancing cellosilk placement manipulator arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410676392.3A CN104441691A (en) | 2014-11-24 | 2014-11-24 | Self-balancing cellosilk placement manipulator arm |
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| Publication Number | Publication Date |
|---|---|
| CN104441691A true CN104441691A (en) | 2015-03-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410676392.3A Pending CN104441691A (en) | 2014-11-24 | 2014-11-24 | Self-balancing cellosilk placement manipulator arm |
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| Country | Link |
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| CN (1) | CN104441691A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959997A (en) * | 2015-06-30 | 2015-10-07 | 山东科技大学 | Balancing device allowing forearm pull of mechanical arm to be adjusted and parameter optimizing design method thereof |
| CN104959998A (en) * | 2015-06-30 | 2015-10-07 | 山东科技大学 | Balancing device allowing big arm supporting force of mechanical arm to be adjusted and parameter optimizing design method thereof |
| CN108357944A (en) * | 2018-04-14 | 2018-08-03 | 昆明小宇科技有限公司 | A kind of intelligent balance movement charging crane handling object locking device |
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| CN2039766U (en) * | 1988-05-14 | 1989-06-21 | 上海青浦商榻机械厂 | Coupling joint |
| US20080302483A1 (en) * | 2007-06-06 | 2008-12-11 | Vaniglia Milo M | Motorized Cut and Feed Head |
| CN201511364U (en) * | 2009-09-16 | 2010-06-23 | 重庆延锋江森座椅有限公司 | Pneumatic balance assisted manipulator |
| CN201763833U (en) * | 2010-09-16 | 2011-03-16 | 北京中远通科技有限公司 | System and device for fastening mechanical rotating equipment |
| CN204249371U (en) * | 2014-11-24 | 2015-04-08 | 武汉理工大学 | Self-balancing filament lay mechanical arm |
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2014
- 2014-11-24 CN CN201410676392.3A patent/CN104441691A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2039766U (en) * | 1988-05-14 | 1989-06-21 | 上海青浦商榻机械厂 | Coupling joint |
| US20080302483A1 (en) * | 2007-06-06 | 2008-12-11 | Vaniglia Milo M | Motorized Cut and Feed Head |
| CN201511364U (en) * | 2009-09-16 | 2010-06-23 | 重庆延锋江森座椅有限公司 | Pneumatic balance assisted manipulator |
| CN201763833U (en) * | 2010-09-16 | 2011-03-16 | 北京中远通科技有限公司 | System and device for fastening mechanical rotating equipment |
| CN204249371U (en) * | 2014-11-24 | 2015-04-08 | 武汉理工大学 | Self-balancing filament lay mechanical arm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959997A (en) * | 2015-06-30 | 2015-10-07 | 山东科技大学 | Balancing device allowing forearm pull of mechanical arm to be adjusted and parameter optimizing design method thereof |
| CN104959998A (en) * | 2015-06-30 | 2015-10-07 | 山东科技大学 | Balancing device allowing big arm supporting force of mechanical arm to be adjusted and parameter optimizing design method thereof |
| CN108357944A (en) * | 2018-04-14 | 2018-08-03 | 昆明小宇科技有限公司 | A kind of intelligent balance movement charging crane handling object locking device |
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Application publication date: 20150325 |
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