CN102785239A - Industrial robot of six-degrees of freedom - Google Patents

Industrial robot of six-degrees of freedom Download PDF

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Publication number
CN102785239A
CN102785239A CN2012102559533A CN201210255953A CN102785239A CN 102785239 A CN102785239 A CN 102785239A CN 2012102559533 A CN2012102559533 A CN 2012102559533A CN 201210255953 A CN201210255953 A CN 201210255953A CN 102785239 A CN102785239 A CN 102785239A
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China
Prior art keywords
parts
industrial robot
degree
actuating arm
component
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Granted
Application number
CN2012102559533A
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Chinese (zh)
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CN102785239B (en
Inventor
刘冠峰
吴上伟
俞春华
杜浩藩
石金博
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QKM TECHNOLOGY (DONGGUAN) CO., LTD.
Original Assignee
DONGGUAN LIE GROUP AUTOMATION EQUIPMENT Co Ltd
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Application filed by DONGGUAN LIE GROUP AUTOMATION EQUIPMENT Co Ltd filed Critical DONGGUAN LIE GROUP AUTOMATION EQUIPMENT Co Ltd
Priority to CN201210255953.3A priority Critical patent/CN102785239B/en
Publication of CN102785239A publication Critical patent/CN102785239A/en
Application granted granted Critical
Publication of CN102785239B publication Critical patent/CN102785239B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention provides an industrial robot of six-degrees of freedom. The industrial robot comprises a base, a first component, a second component, a third component, a fourth component, a fifth component and a sixth component, wherein the fifth component and the sixth component are connected with each other through double revolute pairs; the sixth component comprises a lower seat and four third connecting rods; and a first linear module and a second linear module drive a first crank shaft-sliding block structure and a second crank shaft-sliding block structure to conduct linear movement respectively, so as to drive a first connecting rod and a second connecting rod to conduct linear movement respectively, drive a first actuating arm and a second actuating arm to rotate respectively, and drive the fifth component and the sixth component to rotate together. According to the invention, a serial mechanism and a serial mechanism are combined to design the industrial robot with parallel large rotation wrists, so as to realize large angle rotation; and due to the parallel wrists, singular points which are inevitable to a common industrial robot of six-degrees of freedom are avoided. Therefore, the movement of the robot is quicker and smoother, and the robot can be widely applied to industrial operation.

Description

A kind of six degree of freedom industrial robot
Technical field
The present invention relates to the industrial robot field, be meant a kind of six degree of freedom industrial robot especially.
Background technology
Existing in the market six-DOF robot is the same basically, all is to adopt series system, and such robot singular point can occur inevitably when motion, causes the robot free degree to reduce, and in practical application, causes inconvenience.What generally adopt at present is to solve this problem through in the robot motion, avoiding singular point, perhaps solve through research novel machine people algorithm, but very reasonable solution easily not also at present.
Summary of the invention
The present invention proposes a kind of six degree of freedom industrial robot; It combines to be designed with the also six degree of freedom industrial robot of the United Nations General Assembly's rotation wrist with serial mechanism with parallel institution, version novelty of the present invention is special, and can realize the wide-angle rotation; Good rigidly; Simultaneously, make this robot not have the inevitable singular point of general six-DOF robot, thereby make the action of robot quicker, more smooth owing to add parallelly connected wrist.
Technical scheme of the present invention is achieved in that
A kind of six degree of freedom industrial robot comprises the 5th parts and the 6th parts, and said the 5th parts are connected through two revolute pairs with said the 6th parts; Said the 6th parts comprise lower bottom base and four third connecting rods, and said third connecting rod evenly is arranged at the said lower bottom base outside; Said the 5th parts comprise first driving mechanism; Said first driving mechanism comprises the first linear module, first slider-crank mechanism that is connected with the said first linear module and the first connecting rod that is connected with the said first crank block structure, and said first connecting rod is connected with first actuating arm; Said the 5th parts also comprise second driving mechanism; Said second driving mechanism comprises the second linear module, the second crank block structure that is connected with the said second linear module and the second connecting rod that is connected with the said second crank block structure, and said second connecting rod is connected with second actuating arm; The said first linear module and the said second linear module drive the said first crank block structure respectively and said second slider-crank mechanism is done linear movement; Thereby drive said first connecting rod respectively and said second connecting rod is done linear movement; Drive said first actuating arm and said second actuating arm respectively and rotate, drive said the 5th parts and said the 6th parts co-rotation.
Further, said six degree of freedom industrial robot also comprises pedestal, first parts, second parts, the 3rd parts and the 4th parts; Said the 5th parts one end is arranged at an end of said the 4th parts, and said the 4th parts other end is inserted in said the 3rd parts, and said the 4th parts can rotate around said the 3rd parts central shaft.
Further, said the 3rd parts of an end that said the 3rd parts one end is arranged at said second parts rotatably can rotate around second parts, one end central shaft; The said second parts other end is arranged at an end of said first parts rotatably, and said second parts can rotate around said first parts, one end; The said first parts other end is arranged at the top of said pedestal, and said first parts can rotate around said pedestal.
Further, said the 5th parts also comprise upper bed-plate and two slave arms, and said two slave arms and said first actuating arm and said second actuating arm evenly are arranged at the said upper bed-plate outside.
Further, said the 6th parts one end is connected with the adpting flange that connects nipper and welding gun instrument.
Further, first actuating arm in said the 5th parts, second actuating arm and two slave arms are connected through said pair of revolute pair with four third connecting rods in said the 6th parts; Said upper bed-plate and said lower bottom base maximum can form 100 degree corners.
Further, said the 5th parts and said the 6th member driving mechanism can be selected servomotor and stepper motor for use.
The beneficial effect of the invention is: version novelty of the present invention is special, and can realize wide-angle rotation, good rigidly.The present invention realizes the rotation and the pitching in each joint of robot; The particularly also design of the United Nations General Assembly's rotation wrist; Can realize the wide-angle rotation of wrist, and the parallelly connected wrist of the 5th the 6th usefulness of general six degree of freedom industrial robot is replaced, can make the singular point of general six-DOF robot disappear; Thereby make the robot motion quicker, track is more level and smooth smooth.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work property, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the planar structure sketch map of an embodiment of a kind of six degree of freedom industrial robot of the present invention;
Fig. 2 is the local structure for amplifying sketch map of the A of six degree of freedom industrial robot shown in Figure 1;
Fig. 3 is the plan structure sketch map of six degree of freedom industrial robot shown in Figure 1.
Among the figure: pedestal 1; First parts 2; Second parts 3; The 3rd parts 4; The 4th parts 5; The 5th parts 6; First actuating arm 61; Second actuating arm 62; First driving mechanism 63; The first linear module 631; First slider-crank mechanism 632; First connecting rod 633; Second driving mechanism 64; The second linear module 641; Second slider-crank mechanism 642; Second connecting rod 643; Upper bed-plate 65; Slave arm 66; The 6th parts 7; Lower bottom base 71; Adpting flange 72; Third connecting rod 73; Two revolute pairs 74.
The specific embodiment
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
According to Fig. 1-preferred embodiment shown in Figure 3, a kind of six degree of freedom industrial robot comprises pedestal 1, first parts 2, second parts 3, the 3rd parts 4, the 4th parts 5, the 5th parts 6 and the 6th parts 7; Said first parts, 2 one ends are arranged at the top of said pedestal 1; Said second parts, 3 one ends are arranged at the other end of said first parts 2 rotatably; Said the 3rd parts 4 one ends are arranged at the other end of said second parts 3 rotatably; Said the 4th parts 5 one ends are arranged at the adjacent other end of said the 3rd parts 4 one ends, and said the 5th parts 6 one ends are arranged at the other end of said the 4th parts 5, and said the 5th parts 6 are connected through two revolute pairs 74 with said the 6th parts 7; Said the 5th parts 6 comprise first actuating arm 61, second actuating arm 62, first driving mechanism 63 and second driving mechanism 64; Said first actuating arm 61 is arranged at said the 5th parts 6 outsides with said second actuating arm 62, and said first driving mechanism 63 is arranged at said the 4th parts 5 outsides respectively with said second driving mechanism 64; Said first driving mechanism 63 comprises the first linear module 631, first slider-crank mechanism 632 that is connected with the said first linear module 631 and the first connecting rod 633 that is connected with the said first crank block structure 632; Said second driving mechanism 64 comprises the second linear module 641, the second crank block structure 642 that is connected with the said second linear module 641 and the second connecting rod 643 that is connected with the said second crank block structure 642; Said first connecting rod 633 is connected with said first actuating arm 61, and said second connecting rod 643 is connected with said second actuating arm 62; The first linear module 631 in said first driving mechanism 63 drives the said first crank block structure 632 respectively with the second linear module 641 in said second driving mechanism 64 and does linear movement with said second slider-crank mechanism 642; Thereby drive said first connecting rod 633 and said second connecting rod 643 linear movements; Drive said first actuating arm 61 and rotate, thereby drive said the 5th parts 6 and said the 6th parts 7 co-rotation with said second actuating arm 62; Under the effect of driving force, said six degree of freedom industrial robot is through operating the coordination of above-mentioned six parts.
Said first parts, 2 one ends are connected with said pedestal 1 top; Said first parts 2 can rotate on pedestal 1 top; Said first parts, 2 central shafts are the waist joint of said six-DOF robot, and said first parts 2 can be done 360 degree around waist joint and rotatablely move.
Said second parts, 3 one ends are arranged at the other end of said first parts 2 rotatably, and said first parts, 2 other end central shafts are the shoulder joint of said six-DOF robot, and said second parts 3 can be done relative rotary motion around said shoulder joint.
Said the 3rd parts 4 one ends are arranged at the other end of said second parts 3 rotatably, and said second parts, 3 other ends are the elbow joint of said six-DOF robot, and said the 3rd parts 4 can be done relative rotary motion around said elbow joint.
Said the 4th parts 5 one ends are arranged at the adjacent other end of said the 3rd parts 4 one ends, and said the 4th parts 5 central shafts are the arm of said six-DOF robot, and said the 4th parts 5 can rotate around said arm.
Said the 5th parts 6 also comprise upper bed-plate 65 and two slave arms 66, and said two slave arms 66 evenly are arranged at said the 5th parts 6 outsides with said first actuating arm 61 with said second actuating arm 62; Said the 6th parts 7 comprise lower bottom base 71, adpting flange 72 and four third connecting rods 73, and said third connecting rod 73 evenly is arranged at said the 6th parts 7 outsides, and said adpting flange 72 is arranged at said the 6th parts 7 one ends.
Said first driving mechanism 63 that is fixed in said the 4th parts 5 outsides drives the said first linear sliding group 631 with said second driving mechanism 64 and does linear movement with the said second linear sliding group 641; Drive said first connecting rod 633 and said second connecting rod 643 motions; Thereby driving said first actuating arm 61 rotates with said second actuating arm 62; Thereby make said the 5th parts 6 and said the 6th parts 7 co-rotation; The wrist joint of said the 5th parts 6 and the said six-DOF robot of said the 6th parts 7 compositions, said wrist joint is that parallel institution connects.
First actuating arm 61, second actuating arm 62 and two slave arms 66 in said the 5th parts 6 are connected through said pair of revolute pair 74 with four third connecting rods 73 in said the 6th parts 7, and said upper bed-plate 65 can form 100 degree corners with said lower bottom base 71 maximums; Said adpting flange 72 can connect nipper and welding gun instrument, is convenient to carry out various industrial operations.
Said the 5th parts 6 can be selected servomotor and stepper motor for use with said the 6th parts 7 driving mechanisms; The driving mechanism that drives wrist is preferentially selected the less relatively motor of power for use; The decelerator of said motor can be selected common decelerator harmonic decelerator for use; Preferentially select common decelerator for use, can reduce the whole cost of robot.
The operation principle of said six degree of freedom industrial robot is: said six degree of freedom industrial robot can be realized three attitudes of robot in spatial movement in practical work process; Comprise pitching, lift-over and driftage; It can realize the motion of optional position and free position, is convenient to carry out various industrial operations.
The present invention realizes the rotation and the pitching in each joint of robot; The particularly also design of the United Nations General Assembly's rotation wrist; Can realize the wide-angle rotation of wrist, and the parallelly connected wrist of the 5th the 6th usefulness of general six degree of freedom industrial robot is replaced, can make the singular point of general six degree of freedom industrial robot disappear; Thereby make the robot motion quicker, track is more level and smooth smooth.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (8)

1. six degree of freedom industrial robot is characterized in that: comprise the 5th parts (6) and the 6th parts (7), said the 5th parts (6) are connected through two revolute pairs (74) with said the 6th parts (7); Said the 6th parts (7) comprise lower bottom base (71) and four third connecting rods (73), and said third connecting rod (73) evenly is arranged at said lower bottom base (71) outside; Said the 5th parts (6) comprise first driving mechanism (63); Said first driving mechanism (63) comprises the first linear module (631), first slider-crank mechanism (632) that is connected with the said first linear module (631) and the first connecting rod (633) that is connected with the said first crank block structure (632), and said first connecting rod (633) is connected with first actuating arm (61); Said the 5th parts also comprise second driving mechanism (64); Said second driving mechanism (64) comprises the second linear module (641), the second crank block structure (642) that is connected with the said second linear module (641) and the second connecting rod (643) that is connected with the said second crank block structure (642), and said second connecting rod (643) is connected with second actuating arm (62); The said first linear module (631) and the said second linear module (641) drive the said first crank block structure (632) respectively and said second slider-crank mechanism (642) is done linear movement; Thereby drive said first connecting rod (633) respectively and said second connecting rod (643) is done linear movement; Drive said first actuating arm (61) and said second actuating arm (62) respectively and rotate, drive said the 5th parts (6) and said the 6th parts (7) co-rotation.
2. six degree of freedom industrial robot according to claim 1 is characterized in that: said six degree of freedom industrial robot also comprises pedestal (1), first parts (2), second parts (3), the 3rd parts (4) and the 4th parts (5); Said the 5th parts (6) one ends are arranged at an end of said the 4th parts (5), and said the 4th parts (5) other end is inserted in said the 3rd parts (4), and said the 4th parts (5) can rotate around said the 3rd parts (4) central shaft.
3. six degree of freedom industrial robot according to claim 2; It is characterized in that: said the 3rd parts (4) one ends are arranged at an end of said second parts (3) rotatably, and said the 3rd parts (4) can rotate around second parts (3) one end central shafts; Said second parts (3) other end is arranged at an end of said first parts (2) rotatably, and said second parts (3) can rotate around said first parts (2) one ends; Said first parts (2) other end is arranged at the top of said pedestal (1), and said first parts (2) can rotate around said pedestal (1).
4. six degree of freedom industrial robot according to claim 1; It is characterized in that: said the 5th parts (6) also comprise upper bed-plate (65) and two slave arms (66), and said two slave arms (66) evenly are arranged at said upper bed-plate (65) outside with said first actuating arm (61) and said second actuating arm (62).
5. six degree of freedom industrial robot according to claim 1 is characterized in that: said the 6th parts (7) one ends are connected with the adpting flange (72) that connects nipper and welding gun instrument.
6. according to the six degree of freedom industrial robot described in claim 1 or 4, it is characterized in that: first actuating arm (61) in said the 5th parts (6), second actuating arm (62) and two slave arms (66) are connected through said pair of revolute pair (74) with four third connecting rods (73) in said the 6th parts (7).
7. according to the six degree of freedom industrial robot described in claim 1 or 4, it is characterized in that: said upper bed-plate (65) and said lower bottom base (71) maximum can form 100 degree corners.
8. according to each described six degree of freedom industrial robot among the claim 1-7, it is characterized in that: said the 5th parts (6) and said the 6th parts (7) driving mechanism can be selected servomotor and stepper motor for use.
CN201210255953.3A 2012-07-23 2012-07-23 Industrial robot of six-degrees of freedom Expired - Fee Related CN102785239B (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103085061A (en) * 2013-01-21 2013-05-08 广东工业大学 Macro-micro compound five free degree light-emitting diode (LED) bonding machine actuating mechanism
CN103267688A (en) * 2013-05-10 2013-08-28 东南大学 Double-shaft notebook computer rotating shaft torsion test method
CN103640011A (en) * 2013-11-26 2014-03-19 东莞华中科技大学制造工程研究院 Three-degree of freedom mechanical wrist and novel six-degree of freedom DELTA robot
CN104339347A (en) * 2013-08-01 2015-02-11 常州金刚文化科技集团有限公司 Spatial six-degree-of-freedom robot
CN104552294A (en) * 2014-12-16 2015-04-29 广西大学 Large-space six-degree-of-freedom controllable mechanical manipulator
CN105415363A (en) * 2015-12-23 2016-03-23 珠海格力电器股份有限公司 Displacement device, robot and singular point processing method for robot
CN107127502A (en) * 2017-07-04 2017-09-05 广西大学 A kind of six degree of freedom controllable-mechanism type high speed Bai Han robots
CN108743369A (en) * 2018-07-06 2018-11-06 贺婷 A kind of automation acupuncture bed
EP3446836A4 (en) * 2016-04-20 2019-04-24 NTN Corporation Work device and dual-arm work device
EP3473389A4 (en) * 2016-06-15 2020-01-15 NTN Corporation Work device and dual-arm work device

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CN201664923U (en) * 2010-04-09 2010-12-08 南京信息工程大学 Six-DOF industrial robot
CN202805186U (en) * 2012-07-23 2013-03-20 东莞市李群自动化设备有限公司 Six-degree-of-freedom industrial robot

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103085061B (en) * 2013-01-21 2016-06-01 广东工业大学 Grand micro-compound five degree of freedom LED bonding equipment topworks
CN103085061A (en) * 2013-01-21 2013-05-08 广东工业大学 Macro-micro compound five free degree light-emitting diode (LED) bonding machine actuating mechanism
CN103267688A (en) * 2013-05-10 2013-08-28 东南大学 Double-shaft notebook computer rotating shaft torsion test method
CN104339347A (en) * 2013-08-01 2015-02-11 常州金刚文化科技集团有限公司 Spatial six-degree-of-freedom robot
CN103640011A (en) * 2013-11-26 2014-03-19 东莞华中科技大学制造工程研究院 Three-degree of freedom mechanical wrist and novel six-degree of freedom DELTA robot
CN103640011B (en) * 2013-11-26 2015-10-14 东莞华中科技大学制造工程研究院 Three Degree Of Freedom wrist and Novel six freedom DELTA robot
CN104552294A (en) * 2014-12-16 2015-04-29 广西大学 Large-space six-degree-of-freedom controllable mechanical manipulator
CN104552294B (en) * 2014-12-16 2016-01-20 广西大学 A kind of large space six degree of freedom controllable-mechanism type manipulator
CN105415363A (en) * 2015-12-23 2016-03-23 珠海格力电器股份有限公司 Displacement device, robot and singular point processing method for robot
CN105415363B (en) * 2015-12-23 2017-11-17 珠海格力电器股份有限公司 Robot singular point processing method
EP3446836A4 (en) * 2016-04-20 2019-04-24 NTN Corporation Work device and dual-arm work device
US11154994B2 (en) 2016-04-20 2021-10-26 Ntn Corporation Work device and dual-arm work device
EP3473389A4 (en) * 2016-06-15 2020-01-15 NTN Corporation Work device and dual-arm work device
US11247329B2 (en) 2016-06-15 2022-02-15 Ntn Corportion Work device and dual-arm work device
CN107127502A (en) * 2017-07-04 2017-09-05 广西大学 A kind of six degree of freedom controllable-mechanism type high speed Bai Han robots
CN108743369A (en) * 2018-07-06 2018-11-06 贺婷 A kind of automation acupuncture bed

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