CN104308837A - Six-axis robot - Google Patents
Six-axis robot Download PDFInfo
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- CN104308837A CN104308837A CN201410498410.3A CN201410498410A CN104308837A CN 104308837 A CN104308837 A CN 104308837A CN 201410498410 A CN201410498410 A CN 201410498410A CN 104308837 A CN104308837 A CN 104308837A
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Abstract
The invention discloses a six-axis robot which comprises a base, a rotating base, supporting big arms, shoulder joints, supporting small arms, wrist joints and a terminal end actuator, wherein a first servo motor is fixedly arranged in the inner cavity in the base, a first harmonic speed reducer is arranged on the lower end of the inner cavity of the rotating base, a second servo motor is fixedly arranged on the upper end of the inner cavity of the rotating base, a second harmonic speed reducer and a third harmonic speed reducer are arranged on the inner cavities of the supporting big arms, a third servo motor and a fourth servo motor are fixedly arranged on the inner cavities of the shoulder joints, a first belt wheel is fixedly connected to the output shaft of the fourth servo motor, a fifth servo motor, a fourth harmonic speed reducer and a fifth harmonic speed reducer are arranged on the inner cavities of the supporting small arms, a second belt wheel is fixedly connected to a soft wheel of the fourth harmonic speed reducer, the second belt wheel is in transmission connection with the first belt wheel through a first synchronization belt, a sixth servo motor and a sixth harmonic speed reducer are arranged on the inner cavities of the wrist joints, and the terminal actuator is fixedly connected with the soft wheel of the sixth harmonic speed reducer. The six-axis robot is good in flexibility and fast in action.
Description
Technical field
The present invention relates to robot, be specifically related to a kind of six-joint robot.
Background technology
Six-joint robot is the one of series connection robot, and it can move freely in three dimensions, can carry out quickly and accurately carrying, weld, a large amount of repetitive work such as spraying.In traditional factory, this type of work, substantially by manually having come, having large, consuming time more, uninteresting, the work under bad environment of labour intensity, easily the problem such as polluting, and can increase the cost of enterprise.Therefore in these areas, need robot to carry article quickly and accurately, weld, the operation such as spraying.
But although current this kind of robot has the abundant free degree, because its joint is too much, driving mechanism is too complicated, cause dexterous not, responsiveness is slow, and accuracy is poor.
Summary of the invention
Technical problem to be solved by this invention, is just to provide the six-joint robot that a kind of dexterity is good, be swift in motion.
Object of the present invention adopts following technical scheme to realize:
A kind of six-joint robot, comprising:
Base, is fixed with the first servomotor in the inner chamber of this base;
Swivel base, the inner chamber lower end of this swivel base is provided with first harmonic decelerator, the wave producer of first harmonic decelerator and the output shaft of the first servomotor affixed, flexbile gear and the base of first harmonic decelerator are affixed, the firm wheel of first harmonic reductor and swivel base affixed, this swivel base by first harmonic decelerator and base horizontally hinged, the inner chamber upper end of this swivel base is fixed with the second servomotor;
Support large arm, the inner chamber of this support large arm is provided with second harmonic decelerator and third harmonic decelerator, the wave producer of second harmonic decelerator and the output shaft of the second servomotor affixed, the firm wheel of second harmonic decelerator is affixed with the one end supporting large arm, flexbile gear and the swivel base of second harmonic decelerator are affixed, this support large arm is vertically hinged by second harmonic decelerator and swivel base, the other end of support large arm and the firm wheel of third harmonic decelerator affixed;
Shoulder joint, the inner chamber of this shoulder joint is fixed with the 3rd servomotor and the 4th servomotor, 4th servomotor is positioned at above the 3rd servomotor, the output shaft of the 3rd servomotor and the wave producer of third harmonic decelerator affixed, flexbile gear and the shoulder joint of third harmonic decelerator are affixed, shoulder joint by third harmonic decelerator and driven large arm vertically hinged, the output shaft of the 4th servomotor is connected with the first belt wheel;
Support forearm, the inner chamber of this support forearm is provided with the 5th servomotor, 4th harmonic speed reducer and the 5th harmonic speed reducer, 4th harmonic speed reducer and the 5th harmonic speed reducer are divided into the two ends supporting forearm, 5th servomotor is between the 4th harmonic speed reducer and the 5th harmonic speed reducer, the firm wheel of the 4th harmonic speed reducer is affixed with the one end supporting forearm, the flexbile gear of the 4th harmonic speed reducer is connected with the second belt wheel, this second belt wheel is connected with the first belt wheel transmission by the first Timing Belt, this driven forearm by the 4th harmonic speed reducer and shoulder joint vertically hinged, the output shaft of the 5th servomotor is connected with the 3rd belt wheel, the flexbile gear of the 5th harmonic speed reducer is affixed with the other end supporting forearm, the wave producer side of the 5th harmonic speed reducer is connected with the 4th belt wheel, 3rd belt wheel is connected with the 4th belt wheel transmission by the second Timing Belt,
Wrist joint, affixed with the firm wheel opposite side of the 5th harmonic speed reducer, this wrist joint by the 5th harmonic speed reducer and driven forearm vertically hinged, this carpal inner chamber is provided with the 6th servomotor and the 6th harmonic speed reducer, and the 6th servomotor and wrist joint are fixed and the wave producer of affixed 6th harmonic speed reducer of the output shaft of the 6th servomotor;
End effector, is positioned at carpal end and affixed with the flexbile gear of the 6th harmonic speed reducer.
Preferably, described six-joint robot also comprises driven large arm and driven forearm, described support large arm is positioned at shoulder joint and swivel base side, driven large arm is with to support large arm symmetrical and be positioned at shoulder joint and swivel base opposite side, one end of driven large arm and swivel base are vertically hinged, and the other end of driven large arm and shoulder joint are vertically hinged; Described support forearm is positioned at wrist joint side, and driven forearm is with to support forearm symmetrical and be positioned at wrist joint opposite side, and driven forearm one end is with to support forearm affixed, and the other end of driven forearm and wrist joint are vertically hinged.
Preferably, the vertical hinged direction of described support forearm and shoulder joint is perpendicular to shoulder joint and the vertical hinged direction supporting large arm.
Preferably, described first belt wheel, the second belt wheel, the 3rd belt wheel and the 4th belt wheel are arc tooth synchronous belt wheel.
Compared to existing technology, beneficial effect of the present invention is:
The present invention is by the first to the 6th servomotor, the setting of the first to the 6th harmonic speed reducer, and the first to the second Timing Belt is by the kind of drive of Timing Belt, makes the hinged of base and swivel base, swivel base is hinged with support large arm, support the hinged of large arm and shoulder joint, shoulder joint is hinged with support forearm, support forearm and carpal hinged, end effector and carpally hingedly can to realize comparatively simply, and by controlling each servomotor, just accurately swivel base can be controlled, support large arm, shoulder joint, support forearm, wrist joint, the accurate rotary oscillation of end effector, realizes the movement of six axle forms, spinfunction, dexterous under the decelerating effect of each harmonic speed reducer, timely feedback action signal, meanwhile, harmonic speed reducer is not only beneficial to raising torsion but also can adaptively stop fast, thus makes swivel base, support large arm, shoulder joint, support forearm, the action of wrist joint and end effector can be rapider, and support forearm and wrist joint by synchronously bringing the mode carrying out transmitting, ensure that support forearm and wrist joint have enough little volume, not only prevent robot end from forcibly occupying space but also can weight be reduced, and adopt the kind of drive of arc tooth synchronous belt wheel to be beneficial to raising torsion, and then meet powerful transmission.
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of six-joint robot of the present invention;
Fig. 2 is the sectional view under side-looking angle of the present invention;
Fig. 3 is the vertically hinged schematic diagram of the driven large arm of the present invention and swivel base;
Fig. 4 is the A-A sectional view of Fig. 3;
Fig. 5 is the schematic diagram that the present invention supports large arm, shoulder joint, support forearm, wrist joint, end effector hinge mounted successively;
Fig. 6 is the B-B sectional view of Fig. 5;
Fig. 7 is the internal structure schematic diagram of shoulder joint of the present invention;
Fig. 8 is the internal structure schematic diagram that the present invention supports forearm.
In figure: 1, base; 2, swivel base; 3, large arm is supported; 4, driven large arm; 5, shoulder joint; 6, forearm is supported; 7, driven forearm; 8, wrist joint; 9, end effector; 10, the second Timing Belt; 11, the first servomotor; 12, first harmonic decelerator; 13, the second servomotor; 14, second harmonic decelerator; 15, the 3rd servomotor; 16, third harmonic decelerator; 17, the 4th servomotor; 18, the 4th harmonic speed reducer; 19, the 5th servomotor; 20, the 5th harmonic speed reducer; 21, the 6th servomotor; 22, the 6th harmonic speed reducer; 23, the first belt wheel; 24, the second belt wheel; 25, the 3rd belt wheel; 26, the 4th belt wheel.
Detailed description of the invention
A kind of six-joint robot as shown in Figure 1, comprising: base 1, swivel base 2, support large arm 3, shoulder joint 5, support forearm 6 and wrist joint 8, wherein:
As shown in Figure 2, base 1, is fixed with the first servomotor 11 in the inner chamber of this base 1;
As shown in Figure 2, swivel base 2, the inner chamber lower end of this swivel base 2 is provided with first harmonic decelerator 12, the wave producer of first harmonic decelerator 12 and the output shaft of the first servomotor 11 affixed, flexbile gear and the base 1 of first harmonic decelerator 12 are affixed, firm wheel and the swivel base 2 of first harmonic decelerator 12 are affixed, and this swivel base 2 is horizontally hinged by first harmonic decelerator 12 and base 1, and the inner chamber upper end of this swivel base 2 is fixed with the second servomotor 13; Under the driving effect of the first servomotor 11, swivel base 2 can horizontally rotate around base 1;
As shown in figs. 2 to 4, support large arm 3, the inner chamber of this support large arm 3 is provided with second harmonic decelerator 14 and third harmonic decelerator 16, the wave producer of second harmonic decelerator 14 and the output shaft of the second servomotor 13 affixed, the firm wheel of second harmonic decelerator 14 is affixed with the one end supporting large arm 3, flexbile gear and the swivel base 2 of second harmonic decelerator 14 are affixed, this support large arm 3 is vertically hinged by second harmonic decelerator 14 and swivel base 2, and the firm wheel supporting the other end of large arm 3 and third harmonic decelerator 16 is affixed; Under the driving effect of the second servomotor 13, support large arm 3 seat 2 that can rotate and vertically rotate;
As shown in Fig. 5 ~ 7, shoulder joint 5, the inner chamber of this shoulder joint 5 is fixed with the 3rd servomotor 15 and the 4th servomotor 17,4th servomotor 17 is positioned at above the 3rd servomotor 15, the output shaft of the 3rd servomotor 15 and the wave producer of third harmonic decelerator 16 affixed, flexbile gear and the shoulder joint 5 of third harmonic decelerator 16 are affixed, and shoulder joint 5 is vertically hinged with support large arm 3 by third harmonic decelerator 16, and the output shaft of the 4th servomotor 17 is connected with the first belt wheel 23; 3rd servomotor 15 vertically rotates around the other end of driven large arm 3 for driving shoulder joint 5;
As Fig. 2, shown in Fig. 6 and Fig. 8, support forearm 6, the inner chamber of this support forearm 6 is provided with the 5th servomotor 19, 4th harmonic speed reducer 18 and the 5th harmonic speed reducer 20, 4th harmonic speed reducer 18 and the 5th harmonic speed reducer 20 are divided into the two ends supporting forearm 6, 5th servomotor 19 is between the 4th harmonic speed reducer 18 and the 5th harmonic speed reducer 20, the firm wheel of the 4th harmonic speed reducer 18 is affixed with the one end supporting forearm 6, the flexbile gear of the 4th harmonic speed reducer 18 is connected with the second belt wheel 24, this second belt wheel 24 is in transmission connection by the first Timing Belt (not shown) and the first belt wheel 23, this support forearm 6 is vertically hinged with shoulder joint 5 by the 4th harmonic speed reducer 18, the output shaft of the 5th servomotor 19 is connected with the 3rd belt wheel 25, the flexbile gear of the 5th harmonic speed reducer 20 and the other end of driven forearm 6 affixed, the wave producer side of the 5th harmonic speed reducer 20 is connected with the 4th belt wheel 26, 3rd belt wheel 25 is in transmission connection by the second Timing Belt 10 and the 4th belt wheel 26, under 5th servomotor 19 forms the gearing of transmission device by the 3rd belt wheel 25, the 4th belt wheel 26, second Timing Belt 10, wrist joint 8 can be driven vertically to rotate around the other end supporting forearm 6, under the gearing of the transmission device that the 4th servomotor 17 is formed by the first belt wheel 23, second belt wheel 24, first Timing Belt, support forearm 6 can be driven vertically to rotate around shoulder joint 5,
As shown in Fig. 2, Fig. 6, wrist joint 8, affixed with the firm wheel opposite side of the 5th harmonic speed reducer 20, this wrist joint 8 is vertically hinged with support forearm 6 by the 5th harmonic speed reducer 20, the inner chamber of this wrist joint 8 is provided with the 6th servomotor 21 and the 6th harmonic speed reducer the 22, six servomotor 21 is fixed and the wave producer of affixed 6th harmonic speed reducer 22 of the output shaft of the 6th servomotor 21 with wrist joint 8; 6th servomotor 21 vertically rotates around wrist joint 8 for driving end effector 9;
End effector 9, is positioned at the end of wrist joint 8 and affixed with the flexbile gear of the 6th harmonic speed reducer 22.
By the first servomotor 11 to the 6th servomotor 21, first harmonic decelerator 12 is to the setting of the 6th harmonic speed reducer 22, and the first Timing Belt to the second Timing Belt 10 is by the kind of drive of Timing Belt, makes the hinged of base 1 and swivel base 2, swivel base 2 is hinged with support large arm 3, support large arm 3 is hinged with shoulder joint 5, shoulder joint 5 is hinged with support forearm 6, support forearm 6 is hinged with wrist joint 8, end effector 9 and the hinged of wrist joint 8 can realize comparatively simply, and by controlling each servomotor, just can accurately control swivel base 2, support large arm 3, shoulder joint 5, support forearm 6, wrist joint 8, the accurate rotary oscillation of end effector 9, realizes the movement of six axle forms, spinfunction, dexterous under the decelerating effect of each harmonic speed reducer, timely feedback action signal, make robot have best path accuracy and repetitive positioning accuracy, making robot can carry out processing to article accurately can be accurate, fast, dexterous carries out high efficiency processing to the article in space, is applicable to being applied to article and carries, welding, a large amount of repetitive work such as spraying thus save production cost, substantially increases production efficiency.Simultaneously, each harmonic speed reducer is not only beneficial to raising torsion but also can adaptively stop fast, thus make swivel base 2, support large arm 3, shoulder joint 5, supporting the action of forearm 6, wrist joint 8 and end effector 9 can be rapider, and support forearm 6 and wrist joint 8 by synchronously bringing the mode of carrying out transmission, ensure that and support forearm 6 and wrist joint 8 has enough little volume.
As shown in Figure 1, the six-joint robot of this example also comprises driven large arm 4 and driven forearm 7, support large arm 3 and be positioned at shoulder joint 5 and swivel base 2 side, driven large arm 4 is with to support large arm 3 symmetrical and be positioned at shoulder joint 5 and swivel base 2 opposite side, one end and the swivel base 2 of driven large arm 4 are vertically hinged, and the other end and the shoulder joint 5 of driven large arm 4 are vertically hinged; Support forearm 6 and be positioned at wrist joint 8 side, driven forearm 7 is with to support forearm 6 symmetrical and be positioned at wrist joint 8 opposite side, and driven forearm 7 one end is with to support forearm affixed, and the other end and the wrist joint 8 of driven forearm 7 are vertically hinged.Driven large arm 4 and driven forearm 7 can assist to support large arm 3, support forearm 6 stable oscillation, to promote the accuracy of six axle actions further respectively.
Support the vertical hinged direction of forearm 6 and shoulder joint 5 perpendicular to shoulder joint 5 and the vertical hinged direction supporting large arm 3, then the end effector 9 under six axle actions throughout each position in space, can strengthen flexibility further.
First belt wheel 23, second belt wheel 24, the 3rd belt wheel 25 and the 4th belt wheel 26 are arc tooth synchronous belt wheel, correspondence arranges the first Timing Belt, the structure of the second Timing Belt 10 is taken turns with this arc tooth synchronous belt adaptive, be beneficial to raising torsion, and then meet powerful transmission.
Above-mentioned embodiment is only the preferred embodiment of the present invention; can not limit the scope of protection of the invention with this, change and the replacement of any unsubstantiality that those skilled in the art does on basis of the present invention all belong to the present invention's scope required for protection.
Claims (4)
1. a six-joint robot, is characterized in that, comprising:
Base, is fixed with the first servomotor in the inner chamber of this base;
Swivel base, the inner chamber lower end of this swivel base is provided with first harmonic decelerator, the wave producer of first harmonic decelerator and the output shaft of the first servomotor affixed, flexbile gear and the base of first harmonic decelerator are affixed, the firm wheel of first harmonic reductor and swivel base affixed, this swivel base by first harmonic decelerator and base horizontally hinged, the inner chamber upper end of this swivel base is fixed with the second servomotor;
Support large arm, the inner chamber of this support large arm is provided with second harmonic decelerator and third harmonic decelerator, the wave producer of second harmonic decelerator and the output shaft of the second servomotor affixed, the firm wheel of second harmonic decelerator is affixed with the one end supporting large arm, flexbile gear and the swivel base of second harmonic decelerator are affixed, this support large arm is vertically hinged by second harmonic decelerator and swivel base, the other end of support large arm and the firm wheel of third harmonic decelerator affixed;
Shoulder joint, the inner chamber of this shoulder joint is fixed with the 3rd servomotor and the 4th servomotor, 4th servomotor is positioned at above the 3rd servomotor, the output shaft of the 3rd servomotor and the wave producer of third harmonic decelerator affixed, flexbile gear and the shoulder joint of third harmonic decelerator are affixed, shoulder joint by third harmonic decelerator and driven large arm vertically hinged, the output shaft of the 4th servomotor is connected with the first belt wheel;
Support forearm, the inner chamber of this support forearm is provided with the 5th servomotor, 4th harmonic speed reducer and the 5th harmonic speed reducer, 4th harmonic speed reducer and the 5th harmonic speed reducer are divided into the two ends supporting forearm, 5th servomotor is between the 4th harmonic speed reducer and the 5th harmonic speed reducer, the firm wheel of the 4th harmonic speed reducer is affixed with the one end supporting forearm, the flexbile gear of the 4th harmonic speed reducer is connected with the second belt wheel, this second belt wheel is connected with the first belt wheel transmission by the first Timing Belt, this support forearm by the 4th harmonic speed reducer and shoulder joint vertically hinged, the output shaft of the 5th servomotor is connected with the 3rd belt wheel, the flexbile gear of the 5th harmonic speed reducer and the other end of driven forearm affixed, the wave producer side of the 5th harmonic speed reducer is connected with the 4th belt wheel, 3rd belt wheel is connected with the 4th belt wheel transmission by the second Timing Belt,
Wrist joint, affixed with the firm wheel of the 5th harmonic speed reducer, this wrist joint is vertically hinged with support forearm by the 5th harmonic speed reducer, this carpal inner chamber is provided with the 6th servomotor and the 6th harmonic speed reducer, and the 6th servomotor and wrist joint are fixed and the wave producer of affixed 6th harmonic speed reducer of the output shaft of the 6th servomotor;
End effector, is positioned at carpal end and affixed with the flexbile gear of the 6th harmonic speed reducer.
2. six-joint robot according to claim 1, it is characterized in that, described six-joint robot also comprises driven large arm and driven forearm, described support large arm is positioned at shoulder joint and swivel base side, driven large arm is with to support large arm symmetrical and be positioned at shoulder joint and swivel base opposite side, one end of driven large arm and swivel base are vertically hinged, and the other end of driven large arm and shoulder joint are vertically hinged; Described support forearm is positioned at wrist joint side, and driven forearm is with to support forearm symmetrical and be positioned at wrist joint opposite side, and one end of driven forearm is with to support forearm affixed, and the other end of driven forearm and wrist joint are vertically hinged.
3. six-joint robot according to claim 1 and 2, is characterized in that, the vertical hinged direction of described support forearm and shoulder joint is perpendicular to shoulder joint and the vertical hinged direction supporting large arm.
4. six-joint robot according to claim 1 and 2, is characterized in that, described first belt wheel, the second belt wheel, the 3rd belt wheel and the 4th belt wheel are arc tooth synchronous belt wheel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410498410.3A CN104308837A (en) | 2014-09-25 | 2014-09-25 | Six-axis robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410498410.3A CN104308837A (en) | 2014-09-25 | 2014-09-25 | Six-axis robot |
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| CN104308837A true CN104308837A (en) | 2015-01-28 |
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| CN201410498410.3A Pending CN104308837A (en) | 2014-09-25 | 2014-09-25 | Six-axis robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105522567A (en) * | 2016-01-30 | 2016-04-27 | 东莞市腾迈五金塑胶制品有限公司 | Multifunctional six-axis manipulator |
| CN105619382A (en) * | 2016-03-04 | 2016-06-01 | 重庆华数机器人有限公司 | Small-load industrial robot |
| CN106112994A (en) * | 2016-08-24 | 2016-11-16 | 沈阳莱茵机器人有限公司 | Six axle deburring robot rotating shaft devices |
| CN106423667A (en) * | 2016-10-28 | 2017-02-22 | 嘉善蓝欣涂料有限公司 | Paint spraying device for bearing |
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
| CN107443367A (en) * | 2017-08-31 | 2017-12-08 | 广州泰行智能科技有限公司 | A kind of six-joint robot |
| CN107471208A (en) * | 2017-08-31 | 2017-12-15 | 广州泰行智能科技有限公司 | A kind of six axis robot |
| CN107825459A (en) * | 2017-10-30 | 2018-03-23 | 中国科学院西安光学精密机械研究所 | A kind of joint of mechanical arm and sixdegree-of-freedom simulation |
| CN108312134A (en) * | 2018-02-01 | 2018-07-24 | 江西华士科技股份有限公司 | A kind of six-joint robot |
| CN109048869A (en) * | 2018-09-25 | 2018-12-21 | 深圳市汇川技术股份有限公司 | Wrist body drive mechanism and six-joint robot |
| CN109434820A (en) * | 2018-11-23 | 2019-03-08 | 上海工程技术大学 | A kind of Six-DOF industrial robot |
| CN112497264A (en) * | 2020-11-30 | 2021-03-16 | 湖南哈工聚能科技有限公司 | Six-axis light cooperative robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105522567A (en) * | 2016-01-30 | 2016-04-27 | 东莞市腾迈五金塑胶制品有限公司 | Multifunctional six-axis manipulator |
| CN105619382A (en) * | 2016-03-04 | 2016-06-01 | 重庆华数机器人有限公司 | Small-load industrial robot |
| CN105619382B (en) * | 2016-03-04 | 2018-03-16 | 重庆华数机器人有限公司 | A kind of small support industrial robot |
| CN106112994A (en) * | 2016-08-24 | 2016-11-16 | 沈阳莱茵机器人有限公司 | Six axle deburring robot rotating shaft devices |
| CN106423667A (en) * | 2016-10-28 | 2017-02-22 | 嘉善蓝欣涂料有限公司 | Paint spraying device for bearing |
| CN106625634A (en) * | 2016-11-15 | 2017-05-10 | 方桥清 | High-performance six-axle robot |
| CN107471208A (en) * | 2017-08-31 | 2017-12-15 | 广州泰行智能科技有限公司 | A kind of six axis robot |
| CN107443367A (en) * | 2017-08-31 | 2017-12-08 | 广州泰行智能科技有限公司 | A kind of six-joint robot |
| CN107825459A (en) * | 2017-10-30 | 2018-03-23 | 中国科学院西安光学精密机械研究所 | A kind of joint of mechanical arm and sixdegree-of-freedom simulation |
| CN108312134A (en) * | 2018-02-01 | 2018-07-24 | 江西华士科技股份有限公司 | A kind of six-joint robot |
| CN108312134B (en) * | 2018-02-01 | 2021-05-11 | 江西华士科技股份有限公司 | Six-axis robot |
| CN109048869A (en) * | 2018-09-25 | 2018-12-21 | 深圳市汇川技术股份有限公司 | Wrist body drive mechanism and six-joint robot |
| CN109434820A (en) * | 2018-11-23 | 2019-03-08 | 上海工程技术大学 | A kind of Six-DOF industrial robot |
| CN109434820B (en) * | 2018-11-23 | 2022-02-01 | 上海工程技术大学 | Six-degree-of-freedom industrial robot |
| CN112497264A (en) * | 2020-11-30 | 2021-03-16 | 湖南哈工聚能科技有限公司 | Six-axis light cooperative robot |
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