CN101559597A - Multifunctional gantry type seven-shaft industrial robot - Google Patents

Multifunctional gantry type seven-shaft industrial robot Download PDF

Info

Publication number
CN101559597A
CN101559597A CN 200910072010 CN200910072010A CN101559597A CN 101559597 A CN101559597 A CN 101559597A CN 200910072010 CN200910072010 CN 200910072010 CN 200910072010 A CN200910072010 A CN 200910072010A CN 101559597 A CN101559597 A CN 101559597A
Authority
CN
China
Prior art keywords
joint
axis
arm
rotating
shaft
Prior art date
Application number
CN 200910072010
Other languages
Chinese (zh)
Other versions
CN101559597B (en
Inventor
刘少刚
庞永刚
杜宏旺
王宗义
赵亚楠
Original Assignee
哈尔滨工程大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 哈尔滨工程大学 filed Critical 哈尔滨工程大学
Priority to CN 200910072010 priority Critical patent/CN101559597B/en
Publication of CN101559597A publication Critical patent/CN101559597A/en
Application granted granted Critical
Publication of CN101559597B publication Critical patent/CN101559597B/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • B25J9/026Gantry-type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-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
    • B25J9/046Revolute coordinate type

Abstract

The invention provides a multifunctional gantry type seven-shaft industrial robot. A first upright post (3) and a second upright post (6) are arranged on a first rail (1) and a second rail (4) respectively through a first movable joint shaft (2) and a second movable joint shaft (5); a crossbeam (7) is arranged between the first upright post (3) and the second upright post (6); a movable arm (9) is arranged on the crossbeam (7) through a third movable joint shaft (8); a hoisting arm (11) is arranged on the movable arm (9) through a fourth movable joint shaft (10); a first rotating arm (13) is arranged on the end part of the hoisting arm (11) through a first rotating joint shaft (12); a second rotating arm (15) is arranged on the first rotating arm (13) through a second rotating joint shaft (14); a third rotating arm (17) is arranged on the second rotating arm (15) through a third rotating joint shaft (16); and a terminal actuator (19) is arranged on the end part of the third rotating arm (17) through a fourth rotating joint shaft (18) The robot has seven free degrees, wherein four free degrees are movable joints, and three free degrees are rotating joints. The robot is the industrial robot capable of completing various operations and large space operations.

Description

多功能龙门式七轴工业机器人 Multifunction gantry seven-axis industrial robots

(一) 技术领域 (A) Technical Field

本发明涉及的是一种工业用机器人,主要涉及一种七个自由度、串连、龙门结构可以完成多种作业的工业用机器人结构。 The present invention relates to an industrial robot, mainly directed to a seven degrees of freedom, in series, a variety of operations can be accomplished gantry industrial robot configuration.

(二) 背景技术 (B) Background Art

目前,机器人广泛被应用于检测、喷砂、装配、搬运、焊接等各种加工作业当中,工业用串连式机器人结构基本四种一下基本结构:直角坐标型机器人、圆柱坐标型机器人、极坐标型机器人和多关节机器人,其中直角坐标机器人,它的精度和位置分辨率不随工作场合而变化,容易达到高精度,但是它的操作范围小, 手臂收縮的同时,向相反方向伸出并妨碍工作。 Currently, the robot is widely applied to the detection, sandblasting, assembly, handling, welding and other processing operations among industrial robot series basic structure about the basic structure of four kinds: rectangular coordinate type robot, cylindrical coordinates robots, polar coordinates and robot multi-joint robot, wherein the Cartesian robot, its accuracy and spatial resolution does not change with the workplace, easy to achieve high precision, but its small operating range, while the contraction of the arm, extending in opposite directions, and obstruct the work . 圆柱坐标型机器人可以绕中心轴旋转一个角度,因此其工作范围可以相对扩大,且计算简单,但是它的手臂可以到达的空间受到限制,不能到达靠近立柱或地面的空间;极坐标型机器人又称为球坐标型机器人,可以绕中心轴旋转,在中心支架附近的工作范围相对较大,但是,它的坐标系复杂,难以控制。 Cylindrical coordinates type robot can be rotated by an angle around the central axis, so that the working range may be relatively enlarged and a simple calculation, but it can reach arm is limited space, can not reach the ground close to the column or a space; polar coordinate type robot, also known as spherical coordinate type robot, it can be rotated about a central axis, a relatively large operating range in the vicinity of the central support, but its coordinates in complex, difficult to control. 多关节机器人可以实现多方向的自由运动,其中的类型也较多,给出了它的各种类型,因其安装固定方式致使运动范围受到限制。 Articulated robot can achieve free movement in multiple directions, wherein the type is also greater, given its types, its installation in a fixed manner so that the range of motion is restricted.

因传统工业用机器人结构的限制,致使其作业空间受限和无法完成大空间作业;而采用爬行或者移动式机器人完成所要求的作业,其运动精度低并且控制算法相对较难,无法胜任大空间作业,现多处于研究阶段,还无法达到实用。 By traditional industrial robot with the restriction structure, resulting in the working space is limited and a large space can not be completed job; the use of the mobile robot or crawl complete the requested operation, and low precision motion control algorithm is relatively difficult, a large space can not be qualified job, now more in the research stage, can not reach practical. 现实中急需能完成多种作业和能胜任大空间作业的一种工业用机器人新结构。 In reality urgent need to complete a variety of assignments and competent, an industrial robot with a large work space the new structure.

(三) 发明内容 (Iii) Disclosure of the Invention

本发明的目的在于提供一种能完成多种作业和能胜任大空间作业的多功能龙门式七轴工业机器人。 Object of the present invention is to provide a more complete job and competent multifunctional gantry seven-axis industrial robot job large space.

本发明的目的是这样实现的- Object of the present invention is implemented -

第一立柱3、第二立柱6分别通过第一移动关节轴2、第二移动关节轴5安装于第一轨道1与第二轨道4上,横梁7安装于第一立柱3和第二立柱6之间。 3 the first column, the second column 6 through the first movement of the joint shaft 2, a second movement of the joint shaft 5 mounted on the first rail 1 and second rail 4, the cross member 7 is mounted to the first pillar and the second pillar 3 6 between. 移动臂9通过第三移动关节轴8安装于横梁7上。 Moving the mobile arm 9 by a third joint shaft 8 is mounted on the beam 7. 升降臂11通过第四移动关节 Moving the lift arm 11 by a fourth joint

3轴10安装在移动臂9上。 3 is mounted on the shaft 10 moving arm 9. 第一旋转臂13通过第一旋转关节轴12安装在升降臂11端部。 The first rotary arm 13 by a first pivot joint shaft 12 is mounted at an end portion of the lift arm 11. 第二旋转臂15通过第二旋转关节轴14安装在第一旋转臂13上。 The second arm 15 of the second rotary shaft 14 is mounted in a pivot joint on the first rotary arm 13 by. 第三旋转臂17通过第三旋转关节轴16安装在第二旋转臂15上。 The third arm 17 by the rotation of the third rotation shaft 16 is mounted on a joint rotation of the second arm 15. 末端执行器19通过第四旋转关节轴18安装在第三旋转臂17的端部。 The end effector 19 via a fourth pivot joint shaft 18 mounted at the end of third rotating arm 17.

第一轨道l、第一移动关节轴2、第一立柱3、第二轨道4、第二移动关节轴5、第二立柱6和横梁7构成X关节,立柱3、立柱6和横梁7构成龙门架,第一移动关节轴2和第二移动关节轴5互相平行;第三移动关节轴8和移动臂9构成Y关节,Y关节的移动方向与X关节的移动方向相垂直;第四移动关节轴10和升降臂11构成Z关节,Z关节的移动方向与Y关节的移动方向和X关节的移动方向相互垂直;第一旋转关节轴12和第一旋转臂13构成U关节,其中第一旋转关节轴12的轴心与Z关节的移动方向相平行;第二旋转关节轴14和第二旋转臂15构成V关节,其中第二旋转关节轴14的轴心与第一旋转关节轴12的轴心相垂直;第三旋转关节轴16和末端执行器17构成W关节,其中第三旋转关节轴16的轴心与旋转关节轴14的轴心相平行;第四旋转关节轴18和末端执行器19构成R关节,第四旋转关节轴18的旋 First track L, a first movement of the joint shaft 2, 3 a first column, a second rail 4, the second movement of the joint shaft 5, the second cross member 7 constituting the uprights 6 and X joints, column 3, column 6 and 7 constituting the gantry beam frame, a first shaft 2 and a second movement of the joint movement of the joint axis 5 parallel to each other; and the third mobile articulation axis moving arm 8 Y 9 constituting a joint, the joint moving direction Y of the moving direction X perpendicular to the joint; fourth mobile articulation the lift arm 10 and the shaft 11 constitute a joint Z, a moving direction of the moving direction and the moving direction Z joint X and Y joints joints perpendicular to each other; a first rotary shaft 12 and the joint 13 constitute a first rotary arm U joint, wherein the first rotating Z axial direction of the moving shaft 12 and the joints parallel; second rotary shaft 14 and the second joint arm rotating joint 15 V configuration, wherein the second rotation axis of the shaft 14 and the first joint axis of rotation of the joint shaft 12 heart perpendicular; third rotation shaft 16 and the joint 17 constitute the end effector W joint, wherein the axis of the joint shaft 14 and the rotation axis of the third rotation shaft 16 parallel to the joint; the fourth rotation shaft 18 and the joint end R 19 constituting the joint, the fourth rotation shaft 18 of the pivot joint 轴心与第三旋转关节轴16的旋转轴心相垂直。 The third rotation axis and the rotation axis 16 perpendicular to the joint axis.

为了实现在大空间范围内实现检测、喷丸、喷涂、清刷、搬运、装配和各种加工作业,本发明采用串连式结构,具有七个自由度,其中三个为移动关节,四个为转动关节,可以认为是由X、 Y、 Z三坐标机器人加上一个四关节手臂的机器人相组合而成,相对于多功能龙门式6轴工业机器人机构而言,具有更大工作空间和作业灵活性。 To achieve the achieve the detection, blasting, spraying, brushing, handling, and assembly of the various processing operations in a large spatial range, the present invention employs a tandem type structure, having seven degrees of freedom, wherein movement of the joint is three, four is a revolute joint, may be considered by the X, Y, Z coordinate robot with an articulated arm robot with four combination, with respect to the multi-purpose 6-axis industrial robot gantry mechanism, it has a larger working space, and working flexibility.

为了实现大空间作业,相对于其安装固定位置,在龙门架上连续采用三个移动自由度;在龙门架两个底脚处,为第一个移动关节,按照龙门跨度来决定采用是单边驱动还是双边驱动,无论是单边驱动还是双边驱动都不改变此处只有一个 In order to achieve a large work space, fixed position relative thereto, using three consecutive freedom of movement on the gantry; gantry in two at the foot, for the first movement of the joint, in accordance with the goal to determine which span unilateral bilateral drive or drive, whether unilateral or bilateral drive drive is not only a change here

自由度的性质,并命名此处为X关节;在龙门架横梁上实现第二移动关节,沿着 The nature of freedom, here designated X and joints; a second movement of the joint implemented in the gantry beam along

横梁纵向移动,并命名此处为Y关节;在横梁上相对于与X关节移动方向和Y关节移动方向都垂直的方向上实现第三个移动关节;并命名为Z关节;因此,以龙门架为基础实现了x, y禾nz三个方向的运动,其中的大空间是以这三个自由度实现的。 Beam longitudinal movement, and here designated Y joint; achieve the third movement of the joint with respect to the X and Y direction movement of the joint movement of the joint in a direction perpendicular directions relative to the cross member; Z named joint; Thus, in the gantry based movement to achieve the three directions of x, y Wo nz, which is a large space of the three degrees of freedom to achieve. 在Z关节的手臂下端,即升降臂的下端安装第一个旋转关节,并且此关节的旋转轴心与Z关节上升降臂的移动方向相同,并命名为U关节;在U关节手臂上安装旋转关节V,并且V关节的旋转轴心与U关节的旋转轴心互相垂直;V关节手臂上安装W旋转关节,并且使W旋转关节的轴心与V旋转轴心相平行;在W关节臂上安装旋转关节R,并使R关节的轴心与W关节的轴心相垂直;通过上述七自由度的串连结构的协调运动,从而实现空间位姿的调整,即而实现了在大空间内确定位置和姿态。 The lower end of the Z arm joints, i.e., the lower end of the lift arm is mounted a first rotary joint, and the same movement direction of the lifting arm on the rotation axis Z of this joint and the joints, and the joints, namely U; U is mounted on the rotating arm joints V joint, and the rotation axis of the rotary joint with axis V U joints perpendicular to each other; W is mounted on a rotary joint articulated arm V, and the V axis and W axis of rotation parallel to the rotary joint; W articulated arm in mounting the rotary joint R, and R axis W and the axis of the joint perpendicular to the joint; coordinated motion by the above series of seven degrees of freedom of the structure, thereby achieving the adjustment of the spatial position and orientation, i.e., is achieved in a large space determining the position and attitude.

(四) 附图说明 (Iv) Brief Description of Drawings

图1为本发明的总体结构示意图。 1 a schematic view of the overall structure of the present invention.

(五) 具体实施方式下面结合附图举例对本发明做更详细地描述: (V) in conjunction with the following drawings illustrate specific embodiments of the present invention is described in more detail:

结合图l,本发明的组成包括第一轨道l、第一移动关节轴2、第一立柱3、第二轨道4、第二移动关节轴5、第二立柱6、横梁7、第三移动关节轴8、移动臂9、第四移动关节轴IO、升降臂ll、第一旋转关节轴12、第一旋转臂13、第二旋转关节轴14、第二旋转臂15、第三旋转关节轴16、第三旋转臂17、第四旋转关节轴18和末端执行器19。 FIG conjunction with L, the composition of the present invention comprises a first track L, a first movement of the joint shaft 2, 3 a first column, a second rail 4, the second movement of the joint shaft 5, a second column 6, the cross member 7, the third movement of the joint shaft 8, the moving arm 9, the IO fourth mobile articulation axis, the lift arm ll, a first pivot joint shaft 12, the first rotating arm 13, a second pivot joint shaft 14, the second rotating arm 15, the third rotation shaft joint 16 , a third rotary arm 17, the fourth rotation shaft 18 and the joint end 19.

第一立柱3、第二立柱6分别通过第一移动关节轴2、第二移动关节轴5安装于第一轨道1与第二轨道4上,横梁7安装于第一立柱3和第二立柱6之间。 3 the first column, the second column 6 through the first movement of the joint shaft 2, a second movement of the joint shaft 5 mounted on the first rail 1 and second rail 4, the cross member 7 is mounted to the first pillar and the second pillar 3 6 between. 移动臂9通过第三移动关节轴8安装于横梁7上。 Moving the mobile arm 9 by a third joint shaft 8 is mounted on the beam 7. 升降臂11通过第四移动关节轴10安装在移动臂9上。 Moving the lift arm 11 by a fourth joint shaft is mounted on a movable arm 910. 第一旋转臂13通过第一旋转关节轴12安装在升降臂11端部。 The first rotary arm 13 by a first pivot joint shaft 12 is mounted at an end portion of the lift arm 11. 第二旋转臂15通过第二旋转关节轴14安装在第一旋转臂13上。 The second arm 15 of the second rotary shaft 14 is mounted in a pivot joint on the first rotary arm 13 by. 末端执行器17通过第三旋转关节轴16安装在第二旋转臂15的端部。 The end effector 17 through a third pivot joint shaft 16 mounted at the end of the second rotating arm 15.

X关节由第一轨道l、第一移动关节轴2、第一立柱3、第二轨道4、第二移动关节轴5、第二立柱6和横梁7构成,第一立柱3、第二立柱6和横梁7构成龙门架,第一移动关节轴2和第二移动关节轴5互相平行,根据龙门架的跨度, X joints, a first joint shaft 2 moves, the first upright 3, a second rail 4, the second movement of the joint shaft 5, and 6 a second column 7 is constituted by a first track beam L, a first upright 3, second column 6 7 and the cross gantry configuration, a first shaft 2 and a second movement of the joint movement of the joint axis 5 parallel to each other, according to the span of the gantry,

来确定是采用单边驱动还是双边驱动,但无论是单边驱动还是双边驱动其仍为一个自由度;Y关节是由第三移动关节轴8和移动臂9构成,Y关节的移动方向与X关节的移动方向相垂直;Z关节是由第四移动关节轴10和升降臂11构成,Z关节的移动方向与Y关节的移动方向和X关节的移动方向相互垂直;U关节是由第一旋转关节轴12和第一旋转臂13构成,其中第一旋转关节轴12的轴心与Z关节的移动方向相平行;V关节是由第二旋转关节轴14和第二旋转臂15构成,其中第二旋转关节轴14的轴心与第一旋转关节轴12的轴心相垂直;W关节是由第三旋转关节轴16和第三旋转臂17构成,其中点旋转关节轴16的轴心与第二旋转关节轴14的轴心相平行;R关节是由第四旋转关节轴18和末端执行器19构成,第四旋转关节轴18的旋转轴心与第三旋转关节轴16的旋转轴心相垂直。 Is determined using a single-drive or bilateral drive, but whether unilateral or bilateral driving driver which is still one degree of freedom; Y is constituted by a third mobile articulation joint shaft 8 and the moving arm 9, the moving direction of the X-Y joints perpendicular to the moving direction of the joint; Z is constituted by the fourth mobile articulation joint shaft 10 and the lift arm 11, the moving direction Z of movement of the joint direction and the Y direction of movement of the joint and joint mutually perpendicular X; the U-joint by a first rotary a first joint shaft 12 and the rotary arm 13 configuration, wherein the axis Z direction of the moving joints of the first rotation shaft 12 is parallel joint; V is formed by a second joint shaft 14 and the second rotary joint rotary arm 15, wherein the first second rotation axis of the shaft 14 of the joint axis of the first rotational shaft 12 perpendicular to the joint; W is articulated is constituted by a third pivot joint shaft 16 and the third rotary arm 17, wherein the joint point of the rotary axis of the shaft 16 of the first second rotation axis parallel to the joint shaft 14; R & lt joint is constituted by a fourth pivot joint shaft 18 and the end effector 19, rotation of the rotary axis of the rotary axis of the fourth joint shaft 18 and the third rotation shaft 16 relative to the joint vertical. 其中各轴的驱动方式可以根据使用环境、定位精度、重复定位精度和具体的作业情况来确定。 Wherein each axis drive system may be used in accordance with the environment, the positioning accuracy, repeatability and the specific circumstances of the job is determined.

Claims (2)

1、一种多功能龙门式七轴工业机器人,其特征是:第一立柱(3)、第二立柱(6)分别通过第一移动关节轴(2)、第二移动关节轴(5)安装于第一轨道(1)与第二轨道(4)上,横梁(7)安装于第一立柱(3)和第二立柱(6)之间;移动臂(9)通过第三移动关节轴(8)安装于横梁(7)上;升降臂(11)通过第四移动关节轴(10)安装在移动臂(9)上;第一旋转臂(13)通过第一旋转关节轴(12)安装在升降臂(11)端部;第二旋转臂(15)通过第二旋转关节轴(14)安装在第一旋转臂(13)上;第三旋转臂(17)通过第三旋转关节轴(16)安装在第二旋转臂(15)上;末端执行器(19)通过第四旋转关节轴(18)安装在第三旋转臂(17)的端部。 1, a multifunctional gantry seven-axis industrial robot, characterized in that: the first column (3), a second column (6), respectively, by a first mobile articulation axis (2), the second mobile articulation axis (5) is mounted a first rail (1) and the second rail (4), the beam (7) is attached to the upright between a first (3) and a second column (6); a moving arm (9) by moving the third joint axis ( 8) mounted on the cross member (7); lifting arm (11) by the fourth mobile articulation axis (10) mounted on the mobile arm (9); a first rotary arm (13) is mounted by a first pivot joint axis (12) the lifting arm (11) end portion; a second rotary arm (15) via a second rotating joint axis (14) mounted on the first rotating arm (13); a third rotary arm (17) via a third pivot joint axis ( 16) mounted on the second rotating arm (15); an end effector (19) by a fourth joint axis of rotation (18) mounted at the end of the third rotary arm (17).
2、 根据权利要求l所述的多功能龙门式六轴工业机器人,其特征是:第一轨道(l)、第一移动关节轴(2)、第一立柱(3)、第二轨道(4)、第二移动关节轴(5)、第二立柱(6)和横梁(7)构成X关节,立柱(3)、立柱(6)和横梁(7)构成龙门架,第一移动关节轴(2)和第二移动关节轴(5)互相平行;第三移动关节轴(8) 和移动臂(9)构成Y关节,Y关节的移动方向与X关节的移动方向相垂直;第四移动关节轴(10)和升降臂(11)构成Z关节,Z关节的移动方向与Y关节的移动方向和X关节的移动方向相互垂直;第一旋转关节轴(12)和第一旋转臂(13)构成U关节,其中第一旋转关节轴(12)的轴心与Z关节的移动方向相平行;第二旋转关节轴(14)和第二旋转臂(15)构成V关节,其中第二旋转关节轴(14)的轴心与第一旋转关节轴(12)的轴心相垂直;第三旋转关节轴(16)和末端执行器(17) 构成W关节 2. The multifunctional gantry six-axis industrial robot according to claim l, wherein: the first track (l), moving a first joint shaft (2), a first column (3), a second rail (4 ), the second mobile articulation axis (5), a second column (6) and the cross member (7) constituting the articulation X, column (3), column (6) and the cross member (7) constituting the gantry, the first movement of the joint axis ( 2) and a second mobile articulation axis (5) parallel to each other; third mobile articulation axis (8) and a mobile arm (9) Y joint configuration, the moving direction of the moving joints Y direction X perpendicular to the joint; fourth mobile articulation shaft (10) and the lifting arm (11) constituting the joint Z, a moving direction of the moving direction and the moving direction Z joint X and Y joints joints perpendicular to each other; a first rotating joint axis (12) and a first rotary arm (13) U constituting the joint, the joint axis to the movement direction of the Z axis wherein a first rotary joint (12) in parallel; second rotating joint axis (14) and a second rotating arm (15) constituting the joint V, wherein the second rotary joint the axial center of the shaft (14) of the first rotating joint axis (12) perpendicular to; third rotating joint axis (16) and the end (17) constituting the joint W 其中第三旋转关节轴(16)的轴心与旋转关节轴(14)的轴心相平行; 第四旋转关节轴(18)和末端执行器(19)构成R关节,第四旋转关节轴(18)的旋转轴心与第三旋转关节轴(16)的旋转轴心相垂直。 Wherein the axis of rotation of the third joint axis (16) and the axis of rotation of the joint shaft (14) is parallel; fourth joint axis of rotation (18) and the end (19) constituting the R joint, fourth joint axis of rotation ( 18) the axis of rotation of the rotation axis of the third joint axis of rotation (16) perpendicular.
CN 200910072010 2009-05-12 2009-05-12 Multifunctional gantry type seven-shaft industrial robot CN101559597B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200910072010 CN101559597B (en) 2009-05-12 2009-05-12 Multifunctional gantry type seven-shaft industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200910072010 CN101559597B (en) 2009-05-12 2009-05-12 Multifunctional gantry type seven-shaft industrial robot

Publications (2)

Publication Number Publication Date
CN101559597A true CN101559597A (en) 2009-10-21
CN101559597B CN101559597B (en) 2011-04-20

Family

ID=41218657

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 200910072010 CN101559597B (en) 2009-05-12 2009-05-12 Multifunctional gantry type seven-shaft industrial robot

Country Status (1)

Country Link
CN (1) CN101559597B (en)

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102718090A (en) * 2012-06-20 2012-10-10 贺凌崑 Gantry-type double-arm palletizing robot and corrugated paper palletizing device with gantry-type palletizing robot
CN103433795A (en) * 2013-09-03 2013-12-11 常熟市惠一机电有限公司 Manipulator for numerical control machine tool
CN103586865A (en) * 2012-08-17 2014-02-19 利勃海尔-齿轮技术有限责任公司 Device for the automated removal of workpieces arranged in a container
CN103785725A (en) * 2014-01-14 2014-05-14 湖北诺伯特科技有限公司 Seven-shaft elbow robot
CN104029194A (en) * 2014-06-18 2014-09-10 宁波伟立机器人科技有限公司 Hybrid type industrial robot
EP2353820B1 (en) 2010-02-10 2015-03-11 Hans Hundegger Wood processing assembly
CN104742119A (en) * 2015-03-31 2015-07-01 宁波伟立机器人科技有限公司 Parallel-series robot
CN105171620A (en) * 2015-09-28 2015-12-23 上海广成涂装技术工程有限公司 Automatic sand blasting system of three-dimensional mechanical arm
CN105312808A (en) * 2015-11-30 2016-02-10 马鞍山万普实业发展有限公司 High-degree-of-freedom visual micro spot welding robot
CN105403476A (en) * 2015-12-23 2016-03-16 济南兰光机电技术有限公司 Multiple-cavity weighting-method water-vapor permeability testing system and testing method
CN105415352A (en) * 2016-01-19 2016-03-23 付艺晗 Six-DOF (degrees of freedom) three-dimensional-manipulation robot
CN105522066A (en) * 2015-12-24 2016-04-27 惠州市仨联自动化设备有限公司 Suspension type deflection mechanical hand and stamping production line thereof
CN105945496A (en) * 2016-06-29 2016-09-21 上海交通大学 Multi-point flexible clamping device for spatial special-shaped pipeline welding
CN106144574A (en) * 2015-04-16 2016-11-23 株式会社安川电机 A kind of handling system and transfer robot
CN106141931A (en) * 2016-08-23 2016-11-23 昆山开信精工机械股份有限公司 A kind of axle slide rail shot-peening or sand blasting machine people
CN106493020A (en) * 2016-12-12 2017-03-15 江苏钢锐精密机械有限公司 Automatic spraying device for large-scale wind electricity product
WO2017045786A1 (en) * 2015-09-16 2017-03-23 Hans Hundegger Wood-processing system
CN107029928A (en) * 2016-12-12 2017-08-11 江苏钢锐精密机械有限公司 Automatic machinery people's spray-painting production line for large-scale wind electricity product
CN107029923A (en) * 2017-05-23 2017-08-11 李培培 One kind is used for automobile and processes spray-painting plant
CN107088891A (en) * 2017-03-29 2017-08-25 山东开泰抛丸机械股份有限公司 A kind of intelligent sand blasting machine people based on crown platform
CN107498235A (en) * 2017-07-06 2017-12-22 中车青岛四方机车车辆股份有限公司 A kind of welding system and apply its framework welding method
CN108147121A (en) * 2018-01-04 2018-06-12 李大德 Crusher roll insert automatic transportation equipment
CN108672689A (en) * 2018-05-20 2018-10-19 佛山市高芯科技服务有限公司 A kind of rare-earth smelting seven-axis linkage robot
CN108818253A (en) * 2018-06-15 2018-11-16 张弘历 A kind of equipment for surface treatment
CN108811714A (en) * 2018-06-21 2018-11-16 湖北工业大学 Rail mounted ratooning rice harvesting device

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2465893Y (en) 2001-01-20 2001-12-19 中国科学院沈阳自动化研究所 Vertical joint type robot operator
CN1775488A (en) 2005-12-21 2006-05-24 王满宜 Modular orthopedic robot for auxiliary intra medullary nail far-end locking
CN100560308C (en) 2007-09-27 2009-11-18 上海交通大学 Safe type mechanical arm
CN101229639A (en) 2007-12-16 2008-07-30 沈孝芹 Gantry type bolt installing robot

Cited By (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2353820B1 (en) 2010-02-10 2015-03-11 Hans Hundegger Wood processing assembly
EP2353820B2 (en) 2010-02-10 2019-04-10 Hans Hundegger Wood processing assembly
CN102718090B (en) * 2012-06-20 2015-04-22 贺凌崑 Gantry-type double-arm palletizing robot and corrugated paper palletizing device with gantry-type palletizing robot
CN102718090A (en) * 2012-06-20 2012-10-10 贺凌崑 Gantry-type double-arm palletizing robot and corrugated paper palletizing device with gantry-type palletizing robot
US9902066B2 (en) 2012-08-17 2018-02-27 Liebherr-Verzahntechnik Gmbh Apparatus for automated removal of workpieces arranged in a container
CN103586865A (en) * 2012-08-17 2014-02-19 利勃海尔-齿轮技术有限责任公司 Device for the automated removal of workpieces arranged in a container
EP2698234A3 (en) * 2012-08-17 2018-08-08 LIEBHERR-VERZAHNTECHNIK GmbH Device for the automated removal of workpieces arranged in a container
CN103586865B (en) * 2012-08-17 2018-04-10 利勃海尔-齿轮技术有限责任公司 For automatically taking out the device of the workpiece of arrangement in a reservoir
CN103433795A (en) * 2013-09-03 2013-12-11 常熟市惠一机电有限公司 Manipulator for numerical control machine tool
CN103785725A (en) * 2014-01-14 2014-05-14 湖北诺伯特科技有限公司 Seven-shaft elbow robot
CN103785725B (en) * 2014-01-14 2016-08-17 湖北诺伯特科技有限公司 Seven axle bend pipe robots
CN104029194A (en) * 2014-06-18 2014-09-10 宁波伟立机器人科技有限公司 Hybrid type industrial robot
CN104029194B (en) * 2014-06-18 2016-04-06 宁波伟立机器人科技有限公司 A kind of mixed type industrial robot
CN104742119A (en) * 2015-03-31 2015-07-01 宁波伟立机器人科技有限公司 Parallel-series robot
CN106144574A (en) * 2015-04-16 2016-11-23 株式会社安川电机 A kind of handling system and transfer robot
WO2017045786A1 (en) * 2015-09-16 2017-03-23 Hans Hundegger Wood-processing system
CN105171620A (en) * 2015-09-28 2015-12-23 上海广成涂装技术工程有限公司 Automatic sand blasting system of three-dimensional mechanical arm
CN105312808A (en) * 2015-11-30 2016-02-10 马鞍山万普实业发展有限公司 High-degree-of-freedom visual micro spot welding robot
CN105403476A (en) * 2015-12-23 2016-03-16 济南兰光机电技术有限公司 Multiple-cavity weighting-method water-vapor permeability testing system and testing method
CN105522066A (en) * 2015-12-24 2016-04-27 惠州市仨联自动化设备有限公司 Suspension type deflection mechanical hand and stamping production line thereof
CN105415352A (en) * 2016-01-19 2016-03-23 付艺晗 Six-DOF (degrees of freedom) three-dimensional-manipulation robot
CN105945496B (en) * 2016-06-29 2017-07-18 上海交通大学 The multi-point flexibly clamping device welded for spatial special pipeline
CN105945496A (en) * 2016-06-29 2016-09-21 上海交通大学 Multi-point flexible clamping device for spatial special-shaped pipeline welding
CN106141931A (en) * 2016-08-23 2016-11-23 昆山开信精工机械股份有限公司 A kind of axle slide rail shot-peening or sand blasting machine people
CN107029928A (en) * 2016-12-12 2017-08-11 江苏钢锐精密机械有限公司 Automatic machinery people's spray-painting production line for large-scale wind electricity product
CN106493020A (en) * 2016-12-12 2017-03-15 江苏钢锐精密机械有限公司 Automatic spraying device for large-scale wind electricity product
CN107029928B (en) * 2016-12-12 2018-12-18 江苏钢锐精密机械有限公司 Automatic machinery people's spray-painting production line for large-scale wind electricity product
CN107088891A (en) * 2017-03-29 2017-08-25 山东开泰抛丸机械股份有限公司 A kind of intelligent sand blasting machine people based on crown platform
CN107029923A (en) * 2017-05-23 2017-08-11 李培培 One kind is used for automobile and processes spray-painting plant
CN107498235A (en) * 2017-07-06 2017-12-22 中车青岛四方机车车辆股份有限公司 A kind of welding system and apply its framework welding method
CN108147121A (en) * 2018-01-04 2018-06-12 李大德 Crusher roll insert automatic transportation equipment
CN108672689A (en) * 2018-05-20 2018-10-19 佛山市高芯科技服务有限公司 A kind of rare-earth smelting seven-axis linkage robot
CN108818253A (en) * 2018-06-15 2018-11-16 张弘历 A kind of equipment for surface treatment
CN108811714A (en) * 2018-06-21 2018-11-16 湖北工业大学 Rail mounted ratooning rice harvesting device

Also Published As

Publication number Publication date
CN101559597B (en) 2011-04-20

Similar Documents

Publication Publication Date Title
US6516681B1 (en) Four-degree-of-freedom parallel robot
JP5499647B2 (en) Robot and robot system
KR101323918B1 (en) Multi-joint manipulator
US4805477A (en) Multiple joint robot part
US7445260B2 (en) Gripping type hand
JP5146621B2 (en) Articulated arm robot, control method and control program
US20040149064A1 (en) Articulated robot
CN1170658C (en) Four-freedom parallel robot mechanism
CA2633395C (en) Parallel manipulator
JP2014159078A (en) Humanoid robot
KR20010054444A (en) 6 Degree-of-freedom Parallel Mechanism for Micro-positioning Task
CN101456182A (en) Intelligent robot welding device using large-scale workpiece
CN101518898B (en) Parallel mechanism with three freedom degrees of twice rotation and once motion
CN1819901A (en) Lower body module for two legged walking robot
CN201669703U (en) Turnover mechanical arm
JP4528312B2 (en) Dual-arm robot shoulder width limiting device and dual-arm robot equipped with the device
EP2055448A1 (en) Parallel cinematic device
CN201808063U (en) Six-degrees-of-freedom parallel robot device
CN102026781A (en) Robotic system including foldable robotic arm
US20040103739A1 (en) Industrial robot
DE102009014074B4 (en) Robot and method for controlling a cooperative work of the robot
CN101863035B (en) Flexible waist for robot
CN1472046A (en) Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism
Wang et al. Analysis of a novel cylindrical 3-DoF parallel robot
CN1546287A (en) Spatial five freedom degree parallel robot mechanism

Legal Events

Date Code Title Description
C06 Publication
C10 Entry into substantive examination
C14 Grant of patent or utility model
CF01