CN105252545A - Horizontal joint mechanical arm - Google Patents

Horizontal joint mechanical arm Download PDF

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Publication number
CN105252545A
CN105252545A CN201410316862.5A CN201410316862A CN105252545A CN 105252545 A CN105252545 A CN 105252545A CN 201410316862 A CN201410316862 A CN 201410316862A CN 105252545 A CN105252545 A CN 105252545A
Authority
CN
China
Prior art keywords
linear
motor
arm
axle motor
axle
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN201410316862.5A
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Chinese (zh)
Inventor
卓永财
王福清
郑家宇
张宇荣
陈耀辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hiwin Technologies Corp
Original Assignee
Hiwin Technologies Corp
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 Hiwin Technologies Corp filed Critical Hiwin Technologies Corp
Priority to CN201410316862.5A priority Critical patent/CN105252545A/en
Publication of CN105252545A publication Critical patent/CN105252545A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a horizontal joint mechanical arm. Mainly, a first arm body is driven through a first shaft motor on a base to rotate in the horizontal direction; a second shaft motor is further arranged on a second arm body, the second arm body is combined with the first arm body, and the second arm body is driven through the second shaft motor to rotate in the horizontal direction; a third rod-shaped shaft linear motor is further fixedly arranged on the second arm body to serve as a driving source for linear displacement in the vertical direction; a linear motor rotor of the third rod-shaped shaft linear motor is further in linkage with a fourth shaft motor, and the fourth shaft motor can be used for driving to achieve displacement in the vertical direction and driving a rotary rod at the same time, and thus three rotating momentums and one vertical displacement momentum are provided; in addition, driving sources of all movement momentums are all direct transmission type independent driving sources, in this way, the driving precision and the driving instantaneity can be remarkably improved, and components needing to be configured through an indirect transmission way can be further simplified; furthermore, maintenance cost and warranty cost can be reduced at the same time, and added value is increased.

Description

Flapping articulation mechanical arm
Technical field
The present invention relates to flapping articulation mechanical arm, it is relevant with the structure of manipulator.
Background technology
SCARA (SelectiveComplianceAssemblyRobotArm) choice direction has the robot arm of compliance, for the widely used selective compliance assembly robot arm's arm of one, horizontally rotate joint and a vertical displacement joint because this robot arm has three, be therefore applicable to the operation of location, desired level direction and vertical direction displacement or rotary actuation simultaneously.
And general plane articulation arm arm 10 as shown in Figure 1, it is mainly contained in and a pedestal 11 arranges the first motor 111 drives a large arm 12 to horizontally rotate with the first rotating shaft 112; One forearm 13 arranges the second motor 131 and is incorporated into this large arm 12 rotationally with one second rotating shaft 132, then this second rotating shaft 132 can drive this forearm 13 to horizontally rotate; One the 3rd motor 133 and a screw rod 134 is set again in this forearm 13,3rd motor 133 drives one the 3rd rotating shaft 135 to rotate, and rotate to drive this screw rod 134 through a driving belt 14 between the 3rd rotating shaft 135 and this screw rod 134, and this screw rod 134 wears again in conjunction with a nut 15, and deserve this screw rod 134 when rotating, this nut 15 can drive one the 4th rotating shaft 16 vertical displacement, and the 4th rotating shaft 16 can drive rotation by one the 4th motor 17 simultaneously.
It is more than the primary structure configuration of general closed planar articulated robot arm 10, and drive owing to being through a driving belt 14 in this mechanical arm 10 between the 3rd rotating shaft 135 and this screw rod 134, the architectural characteristic of this driving belt 14 cannot maintain except certain tension force except making it for a long time, the rated life time of abrasion is more had to limit, thus this driving belt 14 must regularly be changed, but this forearm 13 and relevant spare part must be disassembled again when will change this driving belt 14, change operation numerous and diverse and increase warranty costs; In addition, drive the 3rd rotating shaft 135 and this screw rod 134 to belong to indirect drive through this driving belt 14, its transmission usefulness, precision all cannot reach optimum state, therefore still have the necessity urgently improved.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of flapping articulation mechanical arm, and it improves general closed planar articulated robot arm to have the not high and shortcoming that maintenance cost is high of transmission usefulness, precision.
For solving the problem, the invention provides a kind of flapping articulation mechanical arm, comprising:
One pedestal, is fixedly installed one first axle motor;
One first arm, one end is incorporated into this first axle motor and rotates in a horizontal direction by this first axle motor driving;
One second arm, one end is fixedly installed one second axle motor, and this second axle motor is incorporated into the other end of this first arm again, and this this second arm of the second axle motor driving rotates in this horizontal direction;
One the 3rd mandrel rod shape linear motor, comprise a stator of linear motor and a linear motor mover, this stator of linear motor along perpendicular to this horizontal direction a vertical direction development length and be fixedly installed on this second arm, and this linear motor mover can be set in outside this stator of linear motor along this vertical direction with displacement; And
One the 4th axle motor, is arranged with this linear motor mover interlock; And the 4th axle motor drives this swingle to rotate in conjunction with one end of a swingle, the other end of this swingle passes this second arm.Further, described 4th axle motor is fixed on a moving part through one the 4th axle motor fixed plate, and this moving part is fixed on this linear motor mover simultaneously, make accordingly this linear motor mover can with the 4th axle motor interlock.
Further, described second arm is more fixedly installed a linear guide unit and guides the 4th axle motor linear displacement, this linear guide unit comprises a linear guide portion and a linear slipping part, this linear guide portion is fixedly installed on this second arm, and this linear slipping part is incorporated into the 4th axle motor also by this linear guide portion guiding generation linear displacement.
Further, described linear guide portion is linear slide rail, linear slipping part is linear slide block, this linear guide portion is through a line rail fixed head and is fixed on this second arm, and the 4th axle motor is fixed on one the 4th axle motor fixed plate, this linear slipping part is arranged at the 4th axle motor fixed plate formed with the 4th axle motor and links.
Further, described linear guide portion is through a line rail fixed head and is fixed on this second arm, and this linear guide portion is a linear groove, this linear slipping part is then a projection, this linear guide portion runs through and is opened on this line rail fixed head, and the 4th axle motor is fixed on one the 4th axle motor fixed plate, this linear slipping part is arranged at the 4th axle motor fixed plate formed with the 4th axle motor and links.
Further, described second arm is more arranged a linear position control unit to sense the 4th axle motor position.
Further, described linear guide unit is more equipped with a track clamping device, and this track clamping device is relative to this linear guide portion and be fixedly installed on this linear slipping part.
Further, described second arm is more fixedly installed a lead frame, multiple electric wiring one end is incorporated into this linear motor mover and the 4th axle motor respectively, and another end is then bearing on this lead frame.
Further, described second arm is more fixedly installed a lead frame, multiple electric wiring one end is incorporated into this linear motor mover and the 4th axle motor respectively, and another end is then bearing on this lead frame, and is respectively fixed on this moving part between these electric wiring two ends.
Further, this stator of linear motor upper sleeve through one of described 3rd mandrel rod shape linear motor is supported by part, and the position limiting this linear motor mover is positioned at correct motor Angle Position, and this is supported by part is wound spring.
The present invention can provide three to horizontally rotate momentum and a vertical displacement momentum, and the drive source of every amount of movement is direct-drive, therefore transmission usefulness, precision all can higher than general with the type of drive of indirect drive, simultaneously, because the driving of every amount of movement is direct-drive, therefore can simplify numerous and diverse structural configuration that need be equipped with because of indirect drive, and the warranty costs of component can be reduced accordingly.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of mean level articulated robot arm.
Fig. 2 is the three-dimensional appearance schematic diagram of flapping articulation mechanical arm of the present invention.
Fig. 3 is another view stereo schematic appearance of flapping articulation mechanical arm of the present invention.
Fig. 4 is the sectional view of flapping articulation mechanical arm of the present invention.
Fig. 5 is the enforcement illustration that the linear guide unit of flapping articulation mechanical arm of the present invention is arranged at diverse location.
Fig. 6 is the linear guide unit of flapping articulation mechanical arm of the present invention is multi-form schematic diagram.
Description of reference numerals
Plane articulation arm arm 10 pedestal 11
Motor 111 first rotating shaft 112
Large arm 12 forearm 13
Second motor 131 second rotating shaft 132
3rd motor 133 screw rod 134
3rd rotating shaft 135 driving belt 14
Nut 15 the 4th rotating shaft 16
4th motor 17
Pedestal 20 first axle motor 21
First turns axle 211 first reducing gear 22
First arm 30 second arm 40
Second axle motor 41 second turns axle 411
Second reducing gear 42 the 3rd mandrel rod shape linear motor 50
Stator of linear motor 51 is supported by part 511
Linear motor mover 52 the 4th axle motor 60
4th axle motor fixed plate 61 moving part 62
Shaft joint 63 swingle 64
Ball bearing 65 linear guide unit 70
The linear slipping part 72 in linear guide portion 71
Line rail fixed head 73 linear position control unit 80
Position sensor 81 track clamping device 82
Lead frame 90 electric wiring A
Horizontal direction X vertical direction Y
Detailed description of the invention
The preferred embodiment of a kind of flapping articulation mechanical arm of the present invention, as shown in Fig. 2 to 6, comprises:
One pedestal 20, be provided with fixed configurations on ground or fixed pan, and this pedestal 20 is fixedly installed one first axle motor 21, this the first axle motor 21 drives one first to turn axle 211 and rotates, this first turn axle 211 be along one vertical direction Y extend, this vertical direction Y vertical is defined as horizontal direction X, and this first turns axle 211 and in conjunction with drive one first reducing gear 22, make this first axle motor 21 through this first reducing gear 22 outputting power by this.
One first arm 30, one end is incorporated into the first reducing gear 22 on this first axle motor 21, this first arm 30 is made to be combined with this first axle motor 21 accordingly, then this first arm 30 can drive by this first axle motor 21 and rotate, and this first arm 30 this first can be turned axle 211 and rotate on horizontal direction X for rotating shaft axle.
One second arm 40, one end is fixedly installed one second axle motor 41, this the second axle motor 41 drives one second to turn axle 411 and rotates, and this second turns axle 411 in conjunction with drive one second reducing gear 42, make this second axle motor 41 through this second reducing gear 42 outputting power by this, and this second reducing gear 42 is more incorporated into the other end of this first arm 30, make this second arm 40 can drive by this second reducing gear 42 accordingly to rotate, and this second arm 40 second turns axle 411 with this and rotate on horizontal direction X for turning cylinder.
One the 3rd mandrel rod shape linear motor 50, be fixedly installed on this second arm 40, and the 3rd mandrel rod shape linear motor 50 comprises stator of linear motor 51 and a linear motor mover 52, this stator of linear motor 51 vertically Y development length be fixedly installed on this second arm 40, and this linear motor mover 52 and a driving governor (not shown) are electrically connected and are set in outside this stator of linear motor 51, this linear motor mover 52 can this stator of linear motor 51 vertically Y linear displacement relatively by this driving governor drives; And the 3rd mandrel rod shape linear motor 50 more can coordinate a Hall effect sensor (HallSensor) to use, when the 3rd mandrel rod shape linear motor 50 starts, find motor angle smoothly through this Hall effect sensor, guarantee that running is smooth and easy; Certainly, also part 511 can be supported by this stator of linear motor 51 upper sleeve through one as shown in Figures 2 to 4, the position limiting this linear motor mover 52 is according to this positioned at correct motor Angle Position, and need again not find motor angle in time starting, and improves the running smoothness of the 3rd mandrel rod shape linear motor 50; This of the present embodiment is supported by part 511 for wound spring.
One the 4th axle motor 60, arrange with this linear motor mover 52 interlock, the 4th axle motor 60 of the present embodiment is through one the 4th axle motor fixed plate 61 and is fixed on a moving part 62, namely the 4th axle motor 60 is fixed on the 4th axle motor fixed plate 61, and the 4th axle motor fixed plate 61 to be fixed on this moving part 62, and this moving part 62 is fixed on this linear motor mover 52 simultaneously, through this moving part 62 make this linear motor mover 52 can with the 4th axle motor 60 interlock; And the 4th axle motor 60 rotates to drive this swingle 64 through a shaft joint 63 one end in conjunction with a swingle 64, and the other end of this swingle 64 passes this second arm 40 by a ball bearing 65 be fixed on this second arm 40.
One linear guide unit 70, be fixedly installed on this second arm 40 and guide the 4th axle motor 60 linear displacement, this linear guide unit 70 comprises linear guide portion 71 and a linear slipping part 72, this linear guide portion 71 is through a line rail fixed head 73 and is fixed on this second arm 40, namely this line rail fixed head 73 is fixedly installed on this second arm 40, and this linear guide portion 71 is fixedly installed on this line rail fixed head 73 again; And this linear slipping part 72 is incorporated into the 4th axle motor fixed plate 61 and is formed to link and guided by this linear guide portion 71 with the 4th axle motor 60 and produce linear displacement, the linear guide portion 71 as Fig. 1 example is linear slide rail, and linear slipping part 72 is linear slide block.
And guaranteeing that the device of the 4th axle motor 60 linear displacement is not limited to the structural form of the linear guide unit 70 as Fig. 1, the linear guide portion 71 as Fig. 1 example is arranged at the one side of this line rail fixed head 73 in the face of the 4th axle motor 60, as Fig. 5 example then shows the side that this linear guide portion 71 is arranged at this line rail fixed head 73, as long as and guarantee that really this linear motor mover 52 of interlock and the 4th axle motor 60 can reach routine identical object and effect with Fig. 1 to this moving part 62, and this linear guide unit 70 is except such as Fig. 1, outside the mating component of the linear slide rail shown in Fig. 5, more can form as shown in Figure 6, the linear guide portion 71 of linear guide unit 70 is as shown in Figure 6 a linear groove, this linear slipping part 72 is then a projection, this linear guide portion 71 runs through and is arranged on this line rail fixed head 73, and this linear slipping part 72 is arranged at the 4th axle motor fixed plate 61 formed with the 4th axle motor 60 and links, similarly can drive the 4th axle motor 60 displacement through this moving part 62 accordingly, and guarantee the 4th axle motor 60 to guide by this linear guide unit 70 and along linear displacement.
One linear position control unit 80, comprise position sensor 81 and a track clamping device 82, this position sensor 81 and this driving governor, track clamping device 82 control connection, and this position sensor 81 is fixedly installed on this line rail fixed head 73 on this second arm 40 to sense the linear position of the 4th axle motor 60, the form of this position sensor 81 is not limit; And the linear guide portion 71 of this track clamping device 82 this linear guide unit 70 relative be fixedly installed on this linear slipping part 72; This position sensor 81 sense the position of the 4th axle motor 60 and feedback signal to this driving governor to control the drive actions of the 3rd mandrel rod shape linear motor 50 and to control this track clamping device 82 start; And
One lead frame 90, be fixedly installed on this second arm 40, and multiple electric wiring A one end is incorporated into this linear motor mover 52 respectively, 4th axle motor 60 and this track clamping device 82, another end is then bearing on this lead frame 90, and be incorporated into the 4th axle motor 60, the electric wiring of this track clamping device 82 crosses this moving part 62 to be bearing on this lead frame 90, making respectively this electric wiring A contact this moving part 62 part is be fixed on this moving part 62, make the electric wiring A crossing this moving part 62 with this moving part 62 displacement accordingly, and when each this electric wiring A displacement, respectively the another end of this electric wiring A is bearing on this lead frame 90, the situation reducing the respectively random whipping of this electric wiring A by this occurs.
Be more than structural configuration and the feature of flapping articulation mechanical arm of the present invention, and during its running, can rotate by this first arm 30 of drived control through this first axle motor 21, then can rotate by this second arm 40 of drived control through this second axle motor 41, then the running of the 3rd mandrel rod shape linear motor 50 then can make this linear motor mover 52 this stator of linear motor 51 relative in vertical direction Y top offset.
And when this linear motor mover 52 is in vertical direction Y top offset, due to the 4th axle motor fixed plate 61 fixedly connected between this linear motor mover 52 and the 4th axle motor 60 and this moving part 62, therefore this linear motor mover 52 displacement and the 4th axle motor 60 synchronously can be driven in vertical direction Y top offset through this moving part 62, the 4th axle motor fixed plate 61, and the swingle 64 be incorporated on the 4th axle motor 60 also produces synchronous vertical direction Y displacement simultaneously; As long as and now drive the 4th axle motor 60 simultaneously, then this swingle 64 can result from the linear displacement on vertical direction Y and the spinning movement on horizontal direction X simultaneously; Accordingly, the present invention can provide three to horizontally rotate momentum and a vertical displacement momentum.
What deserves to be explained is, the internal structure being the 3rd mandrel rod shape linear motor the 50, three mandrel rod shape linear motor 50 due to the drive source of driving generation vertical direction Y top offset in the present invention is the contactless kind of drive, therefore can reduce running noise.
In addition, the drive source that the invention provides vertical direction Y top offset is by the 3rd mandrel rod shape linear motor 50 Direct driver, and the drive source providing this swingle 64 to rotate is by the 4th axle motor 60 Direct driver, the drive pattern of Direct driver can significantly improve the precision of driving, stability and instantaneity, and between the two more need through chain, belt or other drive mechanism indirect drive, then can simplify again structure composition accordingly, and the maintenance cost can exempted completely because indirect drive component produces, improve surcharge.
In addition, the displacement on vertical direction Y all can be produced due to the 4th axle motor 60, track clamp 72, as long as be therefore incorporated into the 4th axle motor 60, the electric wiring A of track clamping device 82 cross this moving part 62 makes the another end of respectively this electric wiring A abut against on this lead frame 90, then respectively this electric wiring A, with being abut against in this lead frame 90 top offset while each component vertical displacement, is not needing the situation of the respectively random whipping of this electric wiring A another end just can be avoided to occur under the state using chain pillar; And if can be positioned while crossing this moving part 62 on this moving part 62 at each this electric wiring A, then just more can guarantee the synchronization action of respectively this electric wiring A and this moving part 62, more improve the smoothness of running.

Claims (10)

1. a flapping articulation mechanical arm, is characterized in that: comprise:
One pedestal, is fixedly installed one first axle motor;
One first arm, one end is incorporated into this first axle motor and rotates in a horizontal direction by this first axle motor driving;
One second arm, one end is fixedly installed one second axle motor, and this second axle motor is incorporated into the other end of this first arm again, and this this second arm of the second axle motor driving rotates in this horizontal direction;
One the 3rd mandrel rod shape linear motor, comprise a stator of linear motor and a linear motor mover, this stator of linear motor along perpendicular to this horizontal direction a vertical direction development length and be fixedly installed on this second arm, and this linear motor mover can be set in outside this stator of linear motor along this vertical direction with displacement; And
One the 4th axle motor, is arranged with this linear motor mover interlock; And the 4th axle motor drives this swingle to rotate in conjunction with one end of a swingle, the other end of this swingle passes this second arm.
2. flapping articulation mechanical arm as claimed in claim 1, it is characterized in that: described 4th axle motor is fixed on a moving part through one the 4th axle motor fixed plate, and this moving part is fixed on this linear motor mover simultaneously, make accordingly this linear motor mover can with the 4th axle motor interlock.
3. flapping articulation mechanical arm as claimed in claim 1, it is characterized in that: described second arm is more fixedly installed a linear guide unit and guides the 4th axle motor linear displacement, this linear guide unit comprises a linear guide portion and a linear slipping part, this linear guide portion is fixedly installed on this second arm, and this linear slipping part is incorporated into the 4th axle motor also by this linear guide portion guiding generation linear displacement.
4. flapping articulation mechanical arm as claimed in claim 3, it is characterized in that: described linear guide portion is linear slide rail, linear slipping part is linear slide block, this linear guide portion is through a line rail fixed head and is fixed on this second arm, and the 4th axle motor is fixed on one the 4th axle motor fixed plate, this linear slipping part is arranged at the 4th axle motor fixed plate formed with the 4th axle motor and links.
5. flapping articulation mechanical arm as claimed in claim 3, it is characterized in that: described linear guide portion is through a line rail fixed head and is fixed on this second arm, and this linear guide portion is a linear groove, this linear slipping part is then a projection, this linear guide portion runs through and is opened on this line rail fixed head, and the 4th axle motor is fixed on one the 4th axle motor fixed plate, this linear slipping part is arranged at the 4th axle motor fixed plate formed with the 4th axle motor and links.
6. flapping articulation mechanical arm as claimed in claim 1, is characterized in that: described second arm is more arranged a linear position control unit to sense the 4th axle motor position.
7. flapping articulation mechanical arm as claimed in claim 1, is characterized in that: described linear guide unit is more equipped with a track clamping device, and this track clamping device is relative to this linear guide portion and be fixedly installed on this linear slipping part.
8. flapping articulation mechanical arm as claimed in claim 1, it is characterized in that: described second arm is more fixedly installed a lead frame, multiple electric wiring one end is incorporated into this linear motor mover and the 4th axle motor respectively, and another end is then bearing on this lead frame.
9. flapping articulation mechanical arm as claimed in claim 2, it is characterized in that: described second arm is more fixedly installed a lead frame, multiple electric wiring one end is incorporated into this linear motor mover and the 4th axle motor respectively, another end is then bearing on this lead frame, and is respectively fixed on this moving part between these electric wiring two ends.
10. flapping articulation mechanical arm as claimed in claim 1, it is characterized in that: this stator of linear motor upper sleeve through one of described 3rd mandrel rod shape linear motor is supported by part, the position limiting this linear motor mover is positioned at correct motor Angle Position, and this is supported by part is wound spring.
CN201410316862.5A 2014-07-04 2014-07-04 Horizontal joint mechanical arm Pending CN105252545A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410316862.5A CN105252545A (en) 2014-07-04 2014-07-04 Horizontal joint mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410316862.5A CN105252545A (en) 2014-07-04 2014-07-04 Horizontal joint mechanical arm

Publications (1)

Publication Number Publication Date
CN105252545A true CN105252545A (en) 2016-01-20

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ID=55092631

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410316862.5A Pending CN105252545A (en) 2014-07-04 2014-07-04 Horizontal joint mechanical arm

Country Status (1)

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CN (1) CN105252545A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107891432A (en) * 2017-12-28 2018-04-10 长春工业大学 A kind of small-sized drilling milling machine device people structure and control system
CN108527375A (en) * 2017-03-03 2018-09-14 欧姆龙株式会社 Control system, controller, control method and record media

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0188863A1 (en) * 1985-01-24 1986-07-30 Adept Technology, Inc. Direct drive robotic system
CN101402171A (en) * 2007-10-04 2009-04-08 西门子公司 Tool change device with a direct drive reciprocating and pivoting actuator
CN102049773A (en) * 2009-10-29 2011-05-11 鸿富锦精密工业(深圳)有限公司 Selective compliance assembly robot arm
JP2012228733A (en) * 2011-04-25 2012-11-22 Yamaha Motor Co Ltd Scara type robot
CN203003891U (en) * 2012-10-30 2013-06-19 南通通用机械制造有限公司 Economical selective compliance assembly robot arm (SCARA) robot
CN103612114A (en) * 2013-11-05 2014-03-05 苏州铂电自动化科技有限公司 SCARA robot special for screwing down and assembling screws

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0188863A1 (en) * 1985-01-24 1986-07-30 Adept Technology, Inc. Direct drive robotic system
CN101402171A (en) * 2007-10-04 2009-04-08 西门子公司 Tool change device with a direct drive reciprocating and pivoting actuator
CN102049773A (en) * 2009-10-29 2011-05-11 鸿富锦精密工业(深圳)有限公司 Selective compliance assembly robot arm
JP2012228733A (en) * 2011-04-25 2012-11-22 Yamaha Motor Co Ltd Scara type robot
CN203003891U (en) * 2012-10-30 2013-06-19 南通通用机械制造有限公司 Economical selective compliance assembly robot arm (SCARA) robot
CN103612114A (en) * 2013-11-05 2014-03-05 苏州铂电自动化科技有限公司 SCARA robot special for screwing down and assembling screws

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108527375A (en) * 2017-03-03 2018-09-14 欧姆龙株式会社 Control system, controller, control method and record media
CN107891432A (en) * 2017-12-28 2018-04-10 长春工业大学 A kind of small-sized drilling milling machine device people structure and control system

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Application publication date: 20160120