CN104308832A - Four-axis swing-arm articulated robot - Google Patents
Four-axis swing-arm articulated robot Download PDFInfo
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- CN104308832A CN104308832A CN201410572653.7A CN201410572653A CN104308832A CN 104308832 A CN104308832 A CN 104308832A CN 201410572653 A CN201410572653 A CN 201410572653A CN 104308832 A CN104308832 A CN 104308832A
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Abstract
The invention relates to a robot applied to industrial manufacture and the related technical fields, in particular to a four-axis swing-arm articulated robot. The four-axis swing-arm articulated robot comprises a serial machine structure composed of a base component, a biaxial component, a triaxial component and a four-axis component used for picking and placing workpieces, the biaxial component is fixed on the base component vertically, the base component drives the biaxial component to rotate axially, the triaxial component is arranged horizontally with one end slidably connected to the biaxial component, the triaxial component can move on the biaxial component vertically, the four-axis component is arranged horizontally as well with one end rotationally connected to one end, away from the biaxial component, of the triaxial component, and the position, around the joint of the four-axis component and the triaxial component, of the four-axis component is in axial horizontal rotation. By the four-axis swing-arm articulated robot, the problems that conventional four-axis robots are low in safety factor during working, communication lines between axes are damaged easily and the robots cannot work normally in narrow working places and are unsuitable for popularization during production operation on assembly lines for low-price products due to high cost are solved.
Description
Technical field
The present invention relates to a kind of industrial robot, particularly a kind of robot being applied to industrial production manufacture and correlative technology field, namely a kind of four axle swing arm articulated robots.
Background technology
Four axle robots on market, have that structure is simple, smooth running, efficiency comparatively advantages of higher, by every profession and trade extensive use, its end will realize vertical direction and move up and down and spin with level, end is made to point the function realizing assembling, light-duty carrying, in the prior art, this key function depends on and adopts compound screw mandrel, hollow reducer to realize.The technical disadvantages adopting compound screw mandrel and hollow motor to combine is that cost is high, complex process, long processing time.When on the streamline needing to be applied to some low cost products during production operation, if use six axle swing arm articulated robots or four general axle robot, then high costs, be unfavorable for applying; And existing four axle robots lack necessary safety measure, no matter lower concerning safety coefficient itself or external operation personnel, production equipment.On the one hand, because four axle robots are arranged on comparatively spacious local work, the place vertical plane is comparatively narrow is caused normally to work; Also have on the one hand, between existing four axle manipulator shafts and axle, be provided with communication line, as four axle robot motions, be easy to, because external environment condition causes interference to communication line, the normal operation of four axle robots time serious, may be affected.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of four axle swing arm articulated robots, narrowly cannot normally to work for overcoming four traditional axle robots operationally low, between axle and axle the communication line of safety coefficient easily damaging, robot work is local, and on the streamline of low cost products during production operation, the problem that high cost should not be promoted.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of four axle swing arm articulated robots, comprise by base assembly, two shaft assemblies, the machine construction of three shaft assemblies and the tandem type for four shaft assembly compositions of taking and placing workpiece, what described two shaft assemblies were vertical is fixed on base assembly, described base assembly drives two shaft assembly axial-rotations, described three shaft assemblies are horizontally disposed with, its one end is slidably connected on two shaft assemblies, described three shaft assemblies can move both vertically on described two shaft assemblies, described four shaft assemblies are also horizontally disposed with, its one end is rotatably connected on described three shaft assemblies one end away from described two shaft assemblies, described four shaft assemblies are that axle horizontally rotates around the junction of described four shaft assemblies and described three shaft assemblies.
Beneficial effect of the present invention: coordinated with four shaft assemblies by frame component, two shaft assemblies, three shaft assemblies, base assembly drives two shaft assemblies to axially move rotation, two shaft assemblies drive three shaft assembly in the vertical directions to be free to slide, four shaft assemblies are that axle horizontally rotates around the junction of described four shaft assemblies and described three shaft assemblies, thus form the robot of tandem type, by collocation U-shaped pipe and limited block, not only improve the precision that robot rotates, also improve crashproof safety coefficient.
On the basis of technique scheme, the present invention also does following improvement.
Further, described base assembly comprises pedestal, the first servomotor, the first reductor, turntable and two limited blocks, described base interior is provided with the first servomotor, the output of described first servomotor is connected with the first reductor, the output of described first reductor is provided with turntable, the below of described turntable is provided with the limited block controlling the described turntable anglec of rotation, the top of described pedestal is provided with another limited block coordinated with above-mentioned limited block.
The beneficial effect of above-mentioned further scheme is adopted to be: whole robot can be supported and rotate in the horizontal direction, and coordinating by turntable and the limited block of two on Chuck top, can locate when horizontally rotating for whole robot, improve the precision that it horizontally rotates.
Further, the angular range that described turntable rotates is 0 ~ 300 degree.
Further, the side of described pedestal is provided with the power cord connector for external power supply.
The beneficial effect of above-mentioned further scheme is adopted to be: the motor being improved whole robot by power cord connector rotates the degree of convenience operated with Signal transmissions.
Further, described two shaft assemblies comprise the second servomotor, shaft coupling, lead screw transmission mechanism, guide track transmission mechanism, column and guideway, described column bottom is fixed on described turntable, described second servomotor is arranged on the top of described column, described lead screw transmission mechanism is inner through described column, the output of described second servomotor is rotationally connected by shaft coupling and described lead screw transmission mechanism, and drive described lead screw transmission mechanism axial-rotation, the side of described column is provided with the guideway slided up and down for described three shaft assemblies, described guide track transmission mechanism is arranged on described guideway.
The beneficial effect of above-mentioned further scheme is adopted to be: described guide track transmission mechanism drives described three shaft assemblies to move both vertically by lead screw transmission mechanism, for the rise and fall operation of whole robot provides power.
Further, the side of described column away from described three shaft assemblies is fixed with the drag chain for installing communication line and power line.
The beneficial effect of above-mentioned further scheme is adopted to be: be fixedly mounted on communication line on two shaft assemblies and power line by described drag chain, such profile is more attractive in appearance, operates more convenient.
Further, described three shaft assemblies comprise three axle large arm, the 3rd servomotor, the 3rd reductor, walk spool, described three axle large arm one end are fixed in described guide track transmission mechanism, the other end of described three axle large arm is provided with the 3rd servomotor, output and described four shaft assemblies of described 3rd reductor are rotationally connected, described walk spool be U-tube, described walk one end of spool be fixed on described three axle large arm lower surfaces, described in walk spool the other end and described four shaft assemblies be connected near one end lower surface of described three shaft assemblies is unsettled.
The beneficial effect of above-mentioned further scheme is adopted to be: by walking spool between three shaft assemblies and four shaft assemblies, to solve robot operationally, because communication line easily damages or hinders, affecting robot and normally work.
Further, on described three axle large arm lower surfaces near described in walk spool both sides also respectively install one for limiting the limited block of described four shaft assembly horizontal rotation angle.
The beneficial effect of above-mentioned further scheme is adopted to be: for locating the angle that described four shaft assemblies rotate in the horizontal direction, the position horizontally rotated with limit four axle large arm.
Further, described four shaft assemblies comprise four axle forearms, 4th servomotor, 4th reductor, electric machine support, synchronous pulley and motor locking block, one end of described four axle forearms by the 3rd decelerator with described walk spool is unsettled is connected, other end level the 4th servomotor and the 4th reductor are installed side by side, described 4th servomotor and described 4th reductor are fixed on described four axle forearms by electric machine support, and be connected by synchronous pulley between the output of described 4th servomotor with described 4th output end of reducer, described motor locking block is fixed on four axle forearms of described 4th servomotor.
Adopt the beneficial effect of above-mentioned further scheme to be: the compactedness that be ensure that transmission between the 4th servomotor and described 4th reductor by motor locking block, tension synchronous pulley, makes four shaft assemblies when taking and placing workpiece, more stable.
Further, the one end away from three shaft assemblies on described four axle forearms is provided with the sensor for detecting external environment condition.
The beneficial effect of above-mentioned further scheme is adopted to be: the front end being arranged on described four axle forearms by sensor, can detect whole external environment condition, when external condition can not meet its trouble free service, system will control automatically to robot, out of service immediately.
Accompanying drawing explanation
Fig. 1 is the structure schematic diagram of four axle swing arm articulated robot knots of the present invention;
Fig. 2 is the side view of four axle swing arm articulated robots of the present invention;
Fig. 3 is the side view of four axle swing arm articulated robots of the present invention;
Fig. 4 is the upward view of four axle swing arm articulated robots of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows:
1, base assembly, 2, two shaft assemblies, 3, three shaft assemblies, 4, four shaft assemblies, 5, pedestal, 6, first servomotor, 7, first reductor, 8, turntable, 9, limited block, 10, power cord connector, 11, second servomotor, 12, shaft coupling, 13, lead screw transmission mechanism, 14, guide track transmission mechanism, 15, column, 16, guideway, 17 drag chains, 18, three axle large arm, 19, 3rd servomotor, 20, 3rd reductor, 21, walk spool, 22, four axle forearms, 23, 4th servomotor, 24, 4th reductor, 25, electric machine support, 26, synchronous pulley, 27, motor locking block, 28, sensor, 29, gas-tpe fitting.
Detailed description of the invention
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
As shown in Figure 1, be the structure schematic diagram of the present invention four axle swing arm articulated robot knot.Comprise by base assembly 1, two shaft assemblies 2, the machine construction of three shaft assemblies 3 and the tandem type for four shaft assemblies 4 compositions of taking and placing workpiece, what described two shaft assemblies 2 were vertical is fixed on base assembly 1, described base assembly 1 drives two shaft assembly 2 axial-rotations, described three shaft assemblies 3 are horizontally disposed with, its one end is slidably connected on two shaft assemblies 2, described three shaft assemblies 3 can move both vertically on described two shaft assemblies 2, described four shaft assemblies 4 are also horizontally disposed with, its one end is rotatably connected on described three shaft assemblies 3 one end away from described two shaft assemblies 2, described four shaft assemblies 4 are that axle horizontally rotates around the junction of described four shaft assemblies 4 and described three shaft assemblies 3.
As shown in Figure 2 to Figure 3, be the side view of four axle swing arm articulated robots.Wherein, described base assembly 1 comprises pedestal 5, first servomotor 6, first reductor 7, turntable 8 and two limited blocks 9, described pedestal 5 inside is provided with the first servomotor 6, the output of described first servomotor 6 is connected with the first reductor 7, the output of described first reductor 7 is provided with turntable 8, the below of described turntable 8 is provided with the limited block 9 controlling described turntable 8 anglec of rotation, the top of described pedestal 5 is provided with another limited block 9 coordinated with described limited block 9.
In this example, described first servomotor 6 vertically mounting base 5 is inner, and output upwards, describedly can support whole robot and rotate in the horizontal direction, and coordinating by turntable 8 and two limited blocks 9 on pedestal 5 top, can locate when horizontally rotating for whole robot, longitudinally the installation of the first servomotor 6 improves its precision horizontally rotated simultaneously.
Preferably, the angular range that described turntable 8 rotates is 0 ~ 300 degree.
Preferably, the side of described pedestal 5 is provided with the power cord connector 10 for external power supply.
The motor being improved whole robot by power cord connector 10 rotates the degree of convenience operated with Signal transmissions.
Preferably, described two shaft assemblies 2 comprise the second servomotor 11, shaft coupling 12, lead screw transmission mechanism 13, guide track transmission mechanism 14, column 15 and guideway 16, described column 15 bottom is fixed on described turntable 8, described second servomotor 11 is arranged on the top of described column 15, described lead screw transmission mechanism 13 is inner through described column 15, the output of described second servomotor 11 is rotationally connected by shaft coupling 12 and described lead screw transmission mechanism 13, and drive described lead screw transmission mechanism 13 axial-rotation, the side of described column 15 is provided with the guideway 16 slided up and down for described three shaft assemblies 3, described guide track transmission mechanism 14 is arranged on described guideway 16.
In this example, the output of described second servomotor 11 is vertically downward, and described guide track transmission mechanism 14 drives guide track transmission mechanism 14 to move both vertically by lead screw transmission mechanism 13, described three shaft assembly 3 retaining rail transmission mechanisms 14 move both vertically with it, for the rise and fall operation of whole robot provides power.
Preferably, the side of described column 15 away from described three shaft assemblies 3 is fixed with the drag chain 17 for installing communication line and power line.
Be fixedly mounted on communication line on two shaft assemblies 2 and power line by described drag chain 17, such profile is more attractive in appearance, operates more convenient.
Preferably, described three shaft assemblies 3 comprise three axle large arm 18, 3rd servomotor 19, 3rd reductor 20, walk spool 21, described three axle large arm 18 one end are fixed in described guide track transmission mechanism 14, the other end of described three axle large arm 18 is provided with the 3rd servomotor 19, the output of described 3rd servomotor 19 is connected with described 3rd reductor 20, output and described four shaft assemblies 4 of described 3rd reductor 19 are rotationally connected, described walk spool 21 be U-tube, described walk one end of spool 21 be fixed on described three axle large arm 18 lower surfaces, described walk the other end and described four shaft assemblies 4 of spool 21 be connected near one end lower surface of described three shaft assemblies 3 is unsettled.
In this example, described walk the other end of spool 21 be in horn-like, wrap up four shaft assemblies 4 be connected on the 3rd reductor 20, and to be unsettledly connected with the pivot on four these ends of shaft assembly 4, realizing effect is that three shaft assembly 3, four shaft assembly 5 relative motions make four shaft assembly 4 associated communication circuit geo-stationary, thus avoids relative motion to damage communication line.This design realizes totally enclosed type wiring, and avoiding external environment condition to disturb connection completely, is that robot adapts to bad working environments completely.
Preferably, the both sides walking spool 21 described in also respectively install one for limiting the limited block 9 of described four shaft assembly 4 horizontal rotation angle.The angle that two described limited blocks 9 rotate in the horizontal direction for locating described four shaft assemblies, the angle that position level rotates.
Preferably, described four shaft assemblies 4 comprise four axle forearms 22, 4th servomotor 23, 4th reductor 24, electric machine support 25, synchronous pulley 26 and motor locking block 27, one end of described four axle forearms 22 by the 3rd decelerator 20 with described walk spool 21 is unsettled is connected, other end level the 4th servomotor 23 and the 4th reductor 24 are installed side by side, described 4th servomotor 23 is fixed on described four axle forearms 22 with described 4th reductor 24 by electric machine support 25, and be connected by synchronous pulley 26 between the output of described 4th servomotor 23 with described 4th reductor 24 output, described motor locking block 27 is fixed on four axle forearms 22 of described 4th servomotor 24.
In this example, the output of described 4th servomotor 23 and the 4th reductor 24 vertically upward, their profiles are fixed by electric machine support 25, present level upwards form, the compactedness of transmission between the 4th servomotor 23 and described 4th reductor 24 is ensure that by motor locking block 27, tension synchronous pulley, makes four shaft assemblies 4 when taking and placing workpiece, more stable.
Preferably, also comprise sensor 28, described sensor 28 is arranged on the one end away from three shaft assemblies 3 on described four axle forearms 22.On the position of the 4th servomotor 23, the gas-tpe fitting 29 for installing power line and communication line and control circuit is also provided with in four axle forearm 22 lower ends.
In this example, belonging to the installation site of sensor 28 be preferably mounted at four axle forearms 22 on the both sides of workpiece one end with the front end of described four axle forearms 22, described sensor 28 is preferably capacitive approach switch sensor, can detect whole external environment condition, when external condition can not meet its trouble free service, system will control automatically to robot, out of service immediately.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an axle swing arm articulated robot, it is characterized in that, comprise by base assembly, two shaft assemblies, the machine construction of three shaft assemblies and the tandem type for four shaft assembly compositions of taking and placing workpiece, what described two shaft assemblies were vertical is fixed on base assembly, described base assembly drives two shaft assembly axial-rotations, described three shaft assemblies are horizontally disposed with, its one end is slidably connected on two shaft assemblies, described three shaft assemblies can move both vertically on described two shaft assemblies, described four shaft assemblies are also horizontally disposed with, its one end is rotatably connected on described three shaft assemblies one end away from described two shaft assemblies, described four shaft assemblies are that axle horizontally rotates around the junction of described four shaft assemblies and described three shaft assemblies.
2. a kind of four axle swing arm articulated robots according to claim 1, it is characterized in that, described base assembly comprises pedestal, the first servomotor, the first reductor, turntable and two limited blocks, described base interior is provided with the first servomotor, the output of described first servomotor is connected with the first reductor, the output of described first reductor is provided with turntable, the below of described turntable is provided with the limited block controlling the described turntable anglec of rotation, the top of described pedestal is provided with another limited block coordinated with above-mentioned limited block.
3. a kind of four axle swing arm articulated robots according to claim 2, is characterized in that, the angular range that described turntable rotates is 0 ~ 300 degree.
4. a kind of four axle swing arm articulated robots according to claim 2, is characterized in that, the side of described pedestal is provided with the power cord connector for external power supply.
5. a kind of four axle swing arm articulated robots according to claim 2, it is characterized in that, described two shaft assemblies comprise the second servomotor, shaft coupling, lead screw transmission mechanism, guide track transmission mechanism, column and guideway, described column bottom is fixed on described turntable, described second servomotor is arranged on the top of described column, described lead screw transmission mechanism is inner through described column, the output of described second servomotor is rotationally connected by shaft coupling and described lead screw transmission mechanism, and drive described lead screw transmission mechanism axial-rotation, the side of described column is provided with the guideway slided up and down for described three shaft assemblies, described guide track transmission mechanism is arranged on described guideway.
6. a kind of four axle swing arm articulated robots according to claim 5, is characterized in that, the side of described column away from described three shaft assemblies being fixed with the drag chain for installing communication line and power line.
7. a kind of four axle swing arm articulated robots according to claim 5, it is characterized in that, described three shaft assemblies comprise three axle large arm, 3rd servomotor, 3rd reductor, walk spool, described three axle large arm one end are fixed in described guide track transmission mechanism, the other end of described three axle large arm is provided with the 3rd servomotor, the output of described 3rd servomotor is connected with described 3rd reductor, output and described four shaft assemblies of described 3rd reductor are rotationally connected, described walk spool be U-tube, described walk one end of spool be fixed on described three axle large arm lower surfaces, described walk the other end and described four shaft assemblies of spool be connected near one end lower surface of described three shaft assemblies is unsettled.
8. a kind of four axle swing arm articulated robots according to claim 7, is characterized in that, the both sides walking spool described in close on described three axle large arm lower surfaces also respectively install one for limiting the limited block of described four shaft assembly horizontal rotation angle.
9. a kind of four axle swing arm articulated robots according to claim 7, it is characterized in that, described four shaft assemblies comprise four axle forearms, 4th servomotor, 4th reductor, electric machine support, synchronous pulley and motor locking block, one end of described four axle forearms by the 3rd decelerator with described walk spool is unsettled is connected, on the other end, level is provided with the 4th servomotor and the 4th reductor side by side, described 4th servomotor and described 4th reductor are fixed on described four axle forearms by electric machine support, and be connected by synchronous pulley between the output of described 4th servomotor with described 4th output end of reducer, described motor locking block is fixed on four axle forearms of described 4th servomotor.
10. a kind of four axle swing arm articulated robots according to claim 9, is characterized in that, the one end away from three shaft assemblies on described four axle forearms being provided with the sensor for detecting external environment condition.
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| CN201410572653.7A CN104308832A (en) | 2014-10-23 | 2014-10-23 | Four-axis swing-arm articulated robot |
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| CN201410572653.7A CN104308832A (en) | 2014-10-23 | 2014-10-23 | Four-axis swing-arm articulated robot |
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| CN201410572653.7A Pending CN104308832A (en) | 2014-10-23 | 2014-10-23 | Four-axis swing-arm articulated robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104889977A (en) * | 2015-06-19 | 2015-09-09 | 昆山威典电子有限公司 | Manipulator device |
| CN105058377A (en) * | 2015-08-18 | 2015-11-18 | 重庆华数机器人有限公司 | Five-shaft swing arm joint robot |
| CN105215978A (en) * | 2015-10-15 | 2016-01-06 | 浙江思玛特机器人科技有限公司 | A kind of four axle robots |
| CN105983959A (en) * | 2015-02-06 | 2016-10-05 | 昆山威创精密机械有限公司 | Multi-joint manipulator |
| CN106002984A (en) * | 2016-07-25 | 2016-10-12 | 昆山威创自动化科技有限公司 | Articulated arm type manipulator |
| CN106584441A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Heavy load mechanical hand mechanism |
| CN109623783A (en) * | 2018-11-28 | 2019-04-16 | 温州职业技术学院 | Industrial production system based on man-machine collaboration robot |
| CN110154081A (en) * | 2019-05-13 | 2019-08-23 | 重庆智能机器人研究院 | A kind of industrial four shaft mechanicals arm of 3C |
| CN110394414A (en) * | 2019-03-06 | 2019-11-01 | 沈阳工业大学 | A kind of bearer ring forging and stamping Synchronous Transmission shields and sustain manipulator |
| CN110394415A (en) * | 2019-03-06 | 2019-11-01 | 沈阳工业大学 | A kind of bearer ring forging and stamping blank transfer robot |
| CN110695984A (en) * | 2019-09-30 | 2020-01-17 | 中国船舶重工集团公司第七0七研究所 | Large-load horizontal carrying industrial robot |
| CN114872026A (en) * | 2022-04-27 | 2022-08-09 | 斯派科智能科技(东莞)有限公司 | Novel four-axis robot |
| CN116175207A (en) * | 2023-03-16 | 2023-05-30 | 东莞市诚鲲五金电子科技有限公司 | Multi-angle machining sliding table |
| CN117566309A (en) * | 2024-01-17 | 2024-02-20 | 西安精雕精密机械工程有限公司 | Automatic feeding device integrating loading station, material warehouse and four-axis robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105983959A (en) * | 2015-02-06 | 2016-10-05 | 昆山威创精密机械有限公司 | Multi-joint manipulator |
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| CN106584441A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Heavy load mechanical hand mechanism |
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| CN109623783A (en) * | 2018-11-28 | 2019-04-16 | 温州职业技术学院 | Industrial production system based on man-machine collaboration robot |
| CN110394414A (en) * | 2019-03-06 | 2019-11-01 | 沈阳工业大学 | A kind of bearer ring forging and stamping Synchronous Transmission shields and sustain manipulator |
| CN110394415A (en) * | 2019-03-06 | 2019-11-01 | 沈阳工业大学 | A kind of bearer ring forging and stamping blank transfer robot |
| CN110154081A (en) * | 2019-05-13 | 2019-08-23 | 重庆智能机器人研究院 | A kind of industrial four shaft mechanicals arm of 3C |
| CN110154081B (en) * | 2019-05-13 | 2024-03-29 | 重庆智能机器人研究院 | Four-axis mechanical arm for 3C industry |
| CN110695984A (en) * | 2019-09-30 | 2020-01-17 | 中国船舶重工集团公司第七0七研究所 | Large-load horizontal carrying industrial robot |
| CN110695984B (en) * | 2019-09-30 | 2022-12-09 | 中国船舶重工集团公司第七0七研究所 | Large-load horizontal carrying industrial robot |
| CN114872026A (en) * | 2022-04-27 | 2022-08-09 | 斯派科智能科技(东莞)有限公司 | Novel four-axis robot |
| CN116175207A (en) * | 2023-03-16 | 2023-05-30 | 东莞市诚鲲五金电子科技有限公司 | Multi-angle machining sliding table |
| CN117566309A (en) * | 2024-01-17 | 2024-02-20 | 西安精雕精密机械工程有限公司 | Automatic feeding device integrating loading station, material warehouse and four-axis robot |
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