CN102039599B - 一种弧焊机器人手腕的中空机械机构 - Google Patents
一种弧焊机器人手腕的中空机械机构 Download PDFInfo
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- CN102039599B CN102039599B CN2010105569097A CN201010556909A CN102039599B CN 102039599 B CN102039599 B CN 102039599B CN 2010105569097 A CN2010105569097 A CN 2010105569097A CN 201010556909 A CN201010556909 A CN 201010556909A CN 102039599 B CN102039599 B CN 102039599B
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CN2010105569097A CN102039599B (zh) | 2010-11-24 | 2010-11-24 | 一种弧焊机器人手腕的中空机械机构 |
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CN2010105569097A CN102039599B (zh) | 2010-11-24 | 2010-11-24 | 一种弧焊机器人手腕的中空机械机构 |
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CN102039599A CN102039599A (zh) | 2011-05-04 |
CN102039599B true CN102039599B (zh) | 2012-01-11 |
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CN2010105569097A Expired - Fee Related CN102039599B (zh) | 2010-11-24 | 2010-11-24 | 一种弧焊机器人手腕的中空机械机构 |
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Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN102554935A (zh) * | 2012-03-08 | 2012-07-11 | 南京埃斯顿机器人工程有限公司 | 一种低负载工业机器人腕部传动机构 |
CN104959973B (zh) * | 2015-07-06 | 2017-01-18 | 江苏小铁人机床有限公司 | 一种多用途的六轴工业机器人 |
CN106313097B (zh) * | 2016-11-09 | 2018-01-12 | 常州机电职业技术学院 | 一种单元组合式机器人手腕 |
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Publication number | Priority date | Publication date | Assignee | Title |
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US4579016A (en) * | 1983-03-01 | 1986-04-01 | Westinghouse Electric Corp. | Self-contained two-axis wrist module |
JPH0911163A (ja) * | 1995-06-26 | 1997-01-14 | Hitachi Ltd | 回転機械およびマニピュレータ |
CN2877987Y (zh) * | 2006-03-31 | 2007-03-14 | 中国科学院沈阳自动化研究所 | 水下电动机械手旋转关节结构 |
CN100544902C (zh) * | 2007-08-29 | 2009-09-30 | 哈尔滨工业大学 | 空间机械臂垂直式模块化关节 |
CN101585190B (zh) * | 2009-06-24 | 2011-01-05 | 北京理工大学 | 一种机器人关节及其辅助设计方法和装置 |
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EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20110504 Assignee: Shaanxi Robot Automation Technology Co., Ltd. Assignor: Harbin Institute of Technology Contract record no.: 2013610000003 Denomination of invention: Hollow mechanical mechanism of arc welding robot wrist Granted publication date: 20120111 License type: Exclusive License Record date: 20130306 |
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Granted publication date: 20120111 Termination date: 20141124 |
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