CN117464656A - Novel five-degree-of-freedom industrial robot - Google Patents
Novel five-degree-of-freedom industrial robot Download PDFInfo
- Publication number
- CN117464656A CN117464656A CN202311454446.7A CN202311454446A CN117464656A CN 117464656 A CN117464656 A CN 117464656A CN 202311454446 A CN202311454446 A CN 202311454446A CN 117464656 A CN117464656 A CN 117464656A
- Authority
- CN
- China
- Prior art keywords
- joint shaft
- component
- industrial robot
- novel
- hollow
- 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims description 19
- 230000009467 reduction Effects 0.000 claims description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000003466 welding Methods 0.000 abstract description 25
- 230000033001 locomotion Effects 0.000 abstract description 10
- 238000004804 winding Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract 1
- 238000005520 cutting process Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000002737 fuel gas Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a novel five-degree-of-freedom industrial robot, which comprises at least two plumb joint shaft components and a hollow joint shaft component, wherein a first plumb joint shaft component is arranged on an installation base, a rotary arm lever component is arranged between the first plumb joint shaft component and a second plumb joint shaft component, and a rotary seat component and a horizontal joint shaft component are arranged on the second plumb joint shaft component; the hollow joint shaft part is arranged on the translation seat part, the connecting rod part is arranged between the rotary swing seat part and the translation seat part, and the rocker arm part is arranged between the horizontal joint shaft part and the translation seat part; the device disclosed by the invention can be used for adjusting the pose in a narrow space, avoiding motion interference and avoiding welding cable winding problem.
Description
Technical Field
The invention belongs to the technical field of multi-joint industrial robots, and particularly relates to a novel five-degree-of-freedom industrial robot.
Background
As a multi-degree-of-freedom flexible machine device, the industrial robot can replace manpower to complete long-time and high-intensity repeated labor under various complex working conditions and high-risk harmful environments, and the work can be performed with high automation. Has wide market and application prospect in the fields of welding, cutting, carrying, assembling, grinding and the like.
With the deep popularization and application of industrial robots in various industries of industrial production, new challenges are provided for the industrial robots, container products are welded and cut as an example, the welding and cutting parts relate to the fields of petroleum, chemical industry, fuel gas, electric power, ships, maritime work, nuclear power, municipal administration, medicines, food, water treatment and the like, the welding and cutting parts relate to various intersecting line tracks, are all closed track applications and are limited by welding space and welding process methods, a welding gun of the robot is required to continuously rotate around the axis of a welded pipe, the compliance of the traditional industrial robots with specific production process applications is difficult to achieve the required application purpose and application effect, and the market provides new requirements for the working space and the gesture range of an end execution joint of the industrial robot.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a novel five-degree-of-freedom industrial robot, the robot joint structure can be used for adjusting the independent position and the posture, and the robot tail end executing tool can perform pitching and swaying movement, so that continuous rotation around a fixed shaft under the condition that a cable is not wound is realized, further, the application of closed track welding and cutting is realized, the off-line parameterization programming working condition is met, the industrial robot is favorably popularized to specialized industrial application, and the industrial robot is a huge revolutionary progress for the existing industrial robot. Meanwhile, in most production application scenes, the robot clamping tools are straight handles (straight lines) and plane bending tools (planes), the robot joint structure can independently adjust the position and the posture, and the five-axis industrial robot clamps straight lines and plane type tools, so that the six-axis industrial robot application effect can still be generated, and the robot is intuitive in application and simple and convenient to operate.
In order to achieve the above purpose, the invention adopts the technical scheme that: the novel five-degree-of-freedom industrial robot comprises a mounting base, a first plumb joint shaft component, a second plumb joint shaft component, a horizontal joint shaft component, a hollow joint shaft component and an output flange;
the first vertical joint shaft component is arranged on the mounting base, a rotary arm rod component is fixedly connected between the first vertical joint shaft component and the second vertical joint shaft component, a rotary swing seat component is arranged at the output end of the second vertical joint shaft component, and the horizontal joint shaft component is arranged on the rotary swing seat component;
the hollow joint shaft part is arranged on the translation seat part, a connecting rod part is arranged between the rotary swing seat part and the translation seat part, and a rocker arm part is arranged between the horizontal joint shaft part and the translation seat part;
the output shaft end of the hollow joint shaft component is provided with a wrist arm component, the tail end of the wrist arm component comprises the output flange, the output end of the output flange is provided with an executing tool, and the rotary arm rod component and the rotary swing seat component are provided with cable components;
the first vertical joint shaft member, the second vertical joint shaft member, and the hollow joint shaft member are parallel to each other, and the swivel seat member, the link member, the translation seat member, and the rocker arm member constitute a parallelogram mechanism.
Further, the hollow joint shaft member and the wrist member move on an XY plane in a cartesian coordinate system. The position and the posture of the robot joint are decoupled, and the posture of the independent position is adjusted.
Further, the output flange is perpendicular to the axis of the hollow joint shaft member and intersects at a point.
Further, the hollow joint shaft component and the output flange work together, so that the executing tool rotates around the fixed shaft, and the closed track welding and cutting application is realized.
Further, the rotary arm lever component adopts a crank lever structure.
Further, the first vertical joint shaft member, the second vertical joint shaft member, the wrist member, and the hollow joint shaft member each include a servo motor and an RV reduction gear, and the servo motor is a shaft joint servo motor.
Further, the swing seat member is made of a material heavier than the swing arm lever member.
Further, the hollow joint shaft component comprises a hollow shaft joint seat, a fourth servo motor, a fourth RV speed reducer and a hollow output shaft.
Further, the wrist arm component comprises a cast aluminum wrist arm, a fifth servo motor, a gear transmission device and a fifth RV reduction device.
Further, the axis of the second vertical joint shaft member is perpendicular to the axis of the horizontal joint shaft member.
The beneficial technical effects of the invention are as follows: the invention discloses a novel five-degree-of-freedom industrial robot, which comprises at least two plumb joint shaft components and a hollow joint shaft component, wherein a first plumb joint shaft component is arranged on a mounting base, a rotary arm rod component is arranged between the first plumb joint shaft component and a second plumb joint shaft component, and a rotary seat component and a horizontal joint shaft component are arranged on the second plumb joint shaft component; the hollow joint shaft part is arranged on the translation seat part, the connecting rod part is arranged between the rotary swing seat part and the translation seat part, and the rocker arm part is arranged between the horizontal joint shaft part and the translation seat part; the hollow joint shaft component is provided with the cantilever component, the output flange of the cantilever component is provided with the executing tool, the rotary swinging seat component, the connecting rod component, the translational seat component and the rocker arm component form a parallelogram mechanism, the decoupling of the joint position and the posture of the robot is realized, the posture adjustment of the independent position and the posture is realized, the linear type and plane type tools are clamped, the application effect of the 6-axis industrial robot is generated, the application is visual, the operation is simple and convenient, the requirement of the welding and cutting of the closed track of the large connecting pipe component of the container product is met, and the technical blank that the existing serial joint five-axis industrial robot at home and abroad is applied to the welding of the container product is filled.
The welding device meets the welding requirement of the container product intensive saddle pipe bundle, the working area of the robot end tool has no position and attitude dead angle, and the position and the attitude of a welding gun required by welding can be constructed in a narrow closed space.
The welding machine meets the requirement of all-position welding of the tube plates 2G of container products, the tube plates of the container products are welded widely, and unlike the traditional tube plate welding robot equipment, the industrial robot is only used as a carrying carrier, and realizes the welding industrialization by combining a special welding device.
The position and posture decoupling of the robot is realized, the robot working range is improved, and the robot has a Cartesian coordinate robot programming application environment. The method is convenient to operate and accords with production application under the offline parameterized programming working condition. The application scene of the industrial robot is pushed from the application end of the flexible tool to the application end of the intelligent flexible process equipment, so that the application of specialized industrial robot products combined with the production process is realized.
The method has obvious advantages in the aspects of robot kinematics and dynamics algorithm optimization and application function optimization, the inverse kinematics analysis and solution algorithm of the robot is simple, the occupied memory of the program is small, and the operation speed is high. The application advantage feature of the robot is realized.
Drawings
FIG. 1 is a perspective view of a novel five degree of freedom industrial robot according to an embodiment of the present invention;
FIG. 2 is a front view of a novel five degree of freedom industrial robot shown in an embodiment of the present invention;
FIG. 3 is a top view of a novel five degree of freedom industrial robot shown in an embodiment of the present invention;
wherein: 1-mounting base, 2-first vertical joint axis component, 201-first servo motor, 202-first RV reducer, 3-rotary arm component, 4-second vertical joint axis component, 401-second servo motor, 402-second RV reducer, 5-rotary pendulum base component, 6-horizontal joint axis component, 601-third servo motor, 602-third RV reducer, 7-rocker arm component, 8-connecting rod component, 9-translation base component, 10-output flange, 11-hollow joint axis component, 1101-hollow shaft joint base, 1102-fourth servo motor, 1103-fourth RV reducer, 1104-hollow output shaft, 12-wrist component, 1201-cast aluminum wrist, 1202-fifth servo motor, 1203-fifth RV reducer, 13-executing tool, 14-cable assembly.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
Example 1
As shown in fig. 1, the embodiment of the invention provides a novel five-degree-of-freedom industrial robot, which comprises a mounting base 1, a first vertical joint shaft component 2 mounted on the mounting base 1, a rotary arm rod component 3 fixedly connected with the first vertical joint shaft component 2, a second vertical joint shaft component 4 mounted at the tail end of the rotary arm rod component 3, a rotary swing seat component 5 mounted at the output end of the second vertical joint shaft component 4, a horizontal joint shaft component 6 mounted on the rotary swing seat component 5, a rocker arm component 7 mounted at the output end of the horizontal joint shaft component 6, and a translation seat component 9 mounted at the tail end of the rocker arm component 7 and connected with a rotary joint pair of the rocker arm component 7; a link member 8 mounted on the rotary pendulum base member 5 and the translational base member 9; the device comprises a hollow joint shaft part 11, a cantilever part 12, an output flange 10, an actuating tool 13 and a cable assembly 14, wherein the hollow joint shaft part 11 is arranged on a translation seat part 9, the cantilever part 12 is arranged at the output shaft end of the hollow joint shaft part 11, the output flange 10 is arranged at the tail end of the cantilever part 12, and the actuating tool 13 is arranged at the output end of the output flange 10. The hollow joint shaft member 11 serves as a third vertical joint shaft, and the output flange 10 is perpendicular to the axis of the hollow joint shaft member 11 and intersects at a point.
The mounting base 1 is used for fixing the robot, the first plumb joint shaft component 2 is used for driving the rotary arm rod component 3 to rotate, and the rotary arm rod component 3 is used for connecting the first plumb joint shaft component 2 and the second plumb joint shaft component 4. The second plumb joint shaft component 4 is used for driving the rotary swinging seat component 5 to rotate, the rotary swinging seat component 5 is used for installing the horizontal joint shaft component 6 and the connecting rod component 8, the horizontal joint shaft component 6 is used for driving the rocker arm component 7 to rotate, and the rocker arm component 7 is connected with the rotary pair of the translation seat component 9.
As shown in fig. 2, the translational seat member 9 is coupled with the swing arm member 7 and the link member 8 in a pair of gyrations, and the translational seat member 9, the swing arm member 5, the swing arm member 7 and the link member 8 form a parallelogram mechanism, and maintain translational motion during movement. The translation seat component 9 is used for driving the hollow joint shaft component 11 to rotate, the hollow joint shaft component 11 is used for driving the wrist arm component 12 to rotate, the wrist arm component 12 is used for installing the output flange 10, the output flange 10 is used for driving the end execution tool 13 to rotate, the end execution tool 13 comprises a straight shank welding gun, a cutting gun, a spray gun and the like, the tail part of the end execution tool 13 is connected with a welding cable, and the welding cable is required to be ensured not to be wound when the continuous rotation is applied.
The novel five-degree-of-freedom industrial robot provided by the embodiment of the invention adopts a 5-axis 6-joint mechanism, R/R T R/R R T R robot joint arrangement. The first vertical joint axis member 2 and the second vertical joint axis member 4 are axially parallel; the axis of the second vertical joint shaft member 4 is perpendicular to the axis of the horizontal joint shaft member 6. The rotary swing seat member 5, the rocker arm member 7, the translational seat member 9 and the link member 8 constitute a parallelogram mechanism.
Assuming that the Z axis of the robot base coordinate system is vertical to the ground, an X-Y plane coordinate system is established on the ground plane according to the right hand rule, and the translation seat component 9 can realize the movement of three coordinates of XYZ under the Cartesian coordinate system, and the posture is kept unchanged. The hollow joint shaft component 11 arranged on the translation seat component 9 is parallel to the axes of the first plumb joint shaft component 2 and the second plumb joint shaft component 4 to form three-parallel shaft joint characteristics, so that the terminal tool of the robot has simple kinematic analysis solution.
The hollow joint shaft member 11 and the wrist arm member 12 move on an XY plane in a cartesian coordinate system, and redundant arm applications are realized for pen tools (straight shank guns, cutting guns, and the like). The output flange 10 is perpendicular to the axis of the hollow joint shaft part 11 and intersects at a point, and the pitching and swaying movement of the end tool is realized under a Cartesian coordinate system. The hollow joint shaft part 11 and the output flange 10 cooperate to enable the end effector 13 to move about a virtual axis of space, enabling continuous endless swiveling of the robotic end effector 13 about the virtual axis without welding cables.
The rotary arm rod part 3 adopts a crank arm rod structure mode, so that the movement space of other robot parts is saved, the arm rod robot can be conveniently folded in situ, and the transportation is convenient.
The vertical joint axis member 2 includes a first servo motor 201 and a first RV reduction gear 202; the rotary arm lever component 3 fixedly connected with the plumb joint shaft component 2 adopts a cast aluminum arm lever structure; the second vertical joint axis member 4 includes a second servomotor 401 and a second RV reduction gear 402.
As shown in fig. 3, the rotary pendulum base member 5 has a cast iron structure, and the horizontal joint shaft member 6 includes a third servo motor 601 and a third RV reduction gear 602. By adopting the material heavier than the rotary arm lever part 3 for the rotary swing seat part 5, the coordination of the dynamic performance of the robot is improved.
The third vertical joint axis member 10 includes a translation seat 1001, a fourth servo motor 1002, and a fourth RV reduction gear 1003, and the fourth servo motor 1002 is an axis joint servo motor.
The hollow joint shaft member 11 includes a hollow shaft joint holder 1101, a fourth servo motor 1102, a fourth RV reduction 1103, and a hollow output shaft 1104.
The wrist member 12 is mounted on a hollow output shaft 1104, and the wrist member 12 includes a cast aluminum wrist 1201, a fifth servo motor 1202, a gear assembly 1203, and a fifth RV reduction 1204. An output flange 10 is mounted on the end of the arm member 12, and an execution tool 13 is mounted on the end of the output flange 10. The cable assembly 14 is fixed to the swing arm 3 and the swing seat 5.
According to the embodiment, the novel five-degree-of-freedom industrial robot disclosed by the invention can realize decoupling of the position and the gesture of the serial joint robot, realize independent adjustment of the position and the gesture of the robot, and improve the accessibility of any position and gesture in a robot motion space. The 360-degree spherical space gesture of the robot tail end executing tool is adjusted randomly, and the robot tail end executing tool can revolve around a workpiece in a narrow space, so that motion interference is avoided. The clamping tool of the output shaft of the tail end execution joint can perform pitching deflection movement, so that continuous infinite revolution around a virtual shaft is realized under the condition that a cable is not wound, and the problem of cable winding is avoided. The off-line parameterized programming working condition is met, and the industrial robot application is promoted to specialized industrial application. The continuous infinite rotary welding of the container connecting pipe part can be realized, and the method can be applied to offline parameterization programming working conditions. And the kinematic performance of the robot is improved qualitatively, the application characteristic of the rectangular coordinate robot is achieved, the posture of the tail end joint shaft is strong in intuitiveness, the operation is convenient, and the robot can be combined with a production process.
The device according to the invention is not limited to the examples described in the specific embodiments, and a person skilled in the art obtains other embodiments according to the technical solution of the invention, which also belong to the technical innovation scope of the invention.
Claims (10)
1. Novel five-degree-of-freedom industrial robot is characterized in that: the device comprises a mounting base, a first plumb joint shaft component, a second plumb joint shaft component, a horizontal joint shaft component, a hollow joint shaft component and an output flange;
the first vertical joint shaft component is arranged on the mounting base, a rotary arm rod component is fixedly connected between the first vertical joint shaft component and the second vertical joint shaft component, a rotary swing seat component is arranged at the output end of the second vertical joint shaft component, and the horizontal joint shaft component is arranged on the rotary swing seat component;
the hollow joint shaft part is arranged on the translation seat part, a connecting rod part is arranged between the rotary swing seat part and the translation seat part, and a rocker arm part is arranged between the horizontal joint shaft part and the translation seat part;
the output shaft end of the hollow joint shaft component is provided with a wrist arm component, the tail end of the wrist arm component comprises the output flange, the output end of the output flange is provided with an executing tool, and the rotary arm rod component and the rotary swing seat component are provided with cable components;
the first vertical joint shaft member, the second vertical joint shaft member, and the hollow joint shaft member are parallel to each other, and the swivel seat member, the link member, the translation seat member, and the rocker arm member constitute a parallelogram mechanism.
2. The novel five degree of freedom industrial robot of claim 1 wherein: the hollow joint shaft member and the wrist member move on an XY plane in a Cartesian coordinate system.
3. The novel five degree of freedom industrial robot of claim 1 wherein: the output flange is perpendicular to the axis of the hollow joint shaft component and intersects at a point.
4. The novel five degree of freedom industrial robot of claim 1 wherein: the hollow joint shaft component and the output flange cooperate to move the implement about a virtual axis of space.
5. The novel five degree of freedom industrial robot of claim 1 wherein: the rotary arm rod part adopts a crank arm rod structure.
6. The novel five degree of freedom industrial robot of claim 1 wherein: the first vertical joint shaft component, the second vertical joint shaft component, the wrist arm component and the hollow joint shaft component all comprise a servo motor and an RV speed reducer, and the servo motor is a shaft joint servo motor.
7. The novel five degree of freedom industrial robot of claim 1 wherein: the swing seat part is made of a material heavier than the swing arm rod part.
8. The novel five degree of freedom industrial robot of claim 1 wherein: the hollow joint shaft part comprises a hollow shaft joint seat, a fourth servo motor, a fourth RV speed reducer and a hollow output shaft.
9. The novel five degree of freedom industrial robot of claim 1 wherein: the wrist arm component comprises a cast aluminum wrist arm, a fifth servo motor, a gear transmission device and a fifth RV speed reduction device.
10. The novel five degree of freedom industrial robot of claim 1 wherein: the axis of the second vertical joint shaft member is perpendicular to the axis of the horizontal joint shaft member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311454446.7A CN117464656A (en) | 2023-11-03 | 2023-11-03 | Novel five-degree-of-freedom industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311454446.7A CN117464656A (en) | 2023-11-03 | 2023-11-03 | Novel five-degree-of-freedom industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117464656A true CN117464656A (en) | 2024-01-30 |
Family
ID=89625207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311454446.7A Pending CN117464656A (en) | 2023-11-03 | 2023-11-03 | Novel five-degree-of-freedom industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117464656A (en) |
-
2023
- 2023-11-03 CN CN202311454446.7A patent/CN117464656A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8231117B2 (en) | Robot system | |
| CN105058382A (en) | Novel series-parallel five-axis-linkage intelligent welding platform | |
| CN201881377U (en) | Five-degree of freedom twelve-rod welded robot mechanism with controllable space | |
| CN204868868U (en) | Novel series -parallel connection five -axle linkage intelligence welded platform | |
| JP3511485B2 (en) | robot | |
| CN102601791A (en) | Three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot | |
| CN111438679A (en) | Long-stroke heavy-load high-precision multi-angle truss series-parallel robot | |
| US11731265B2 (en) | Parallel-kinematic machine with versatile tool orientation | |
| JP2001054889A (en) | Vertical articulated robot for assembly | |
| CN117464656A (en) | Novel five-degree-of-freedom industrial robot | |
| CN110743736B (en) | Suspension type six-degree-of-freedom series-parallel spraying robot | |
| CN117506877A (en) | Novel six-degree-of-freedom industrial robot | |
| CN117464655A (en) | Novel seven-degree-of-freedom industrial robot | |
| CN209175756U (en) | A kind of six axis all positon cutting robots | |
| CN215966789U (en) | Quick cutting processing equipment of return bend | |
| CN212794938U (en) | Flexible industrial robot device with redundancy characteristic | |
| Haihua et al. | Cooperative motion planning of dual industrial robots via offline programming | |
| CN209887586U (en) | (2PRU-PUR) -PP five-axis linkage hybrid robot | |
| CN209598523U (en) | A kind of five axis all-position welding industrial robots | |
| CN209664650U (en) | A kind of six axis all-position welding machines | |
| CN117464654A (en) | Novel six-degree-of-freedom heavy-load carrying and assembling industrial robot | |
| JPH08323661A (en) | Automatic assembly machine | |
| CN219725045U (en) | Robot welding device for vehicle manufacturing | |
| CN117464249A (en) | Special saddle welding industrial robot | |
| CN217991243U (en) | Six header long tube joint welding industrial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |