CN106002940B - 一种基于delta并联机构的六自由度插纸工业机器人 - Google Patents
一种基于delta并联机构的六自由度插纸工业机器人 Download PDFInfo
- Publication number
- CN106002940B CN106002940B CN201610459333.XA CN201610459333A CN106002940B CN 106002940 B CN106002940 B CN 106002940B CN 201610459333 A CN201610459333 A CN 201610459333A CN 106002940 B CN106002940 B CN 106002940B
- Authority
- CN
- China
- Prior art keywords
- paper
- fixed
- shaft
- motor
- pedestal
- 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.)
- Expired - Fee Related
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/10—Applying solid insulation to windings, stators or rotors
Abstract
Description
Claims (3)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711477454.8A CN108115656A (zh) | 2016-06-23 | 2016-06-23 | 对电机定子进行绝缘纸插纸作业的工业机器人及工作方法 |
CN201711481677.1A CN107953317A (zh) | 2016-06-23 | 2016-06-23 | 一种工业机器人及其工作方法 |
CN201610459333.XA CN106002940B (zh) | 2016-06-23 | 2016-06-23 | 一种基于delta并联机构的六自由度插纸工业机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610459333.XA CN106002940B (zh) | 2016-06-23 | 2016-06-23 | 一种基于delta并联机构的六自由度插纸工业机器人 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711477454.8A Division CN108115656A (zh) | 2016-06-23 | 2016-06-23 | 对电机定子进行绝缘纸插纸作业的工业机器人及工作方法 |
CN201711481677.1A Division CN107953317A (zh) | 2016-06-23 | 2016-06-23 | 一种工业机器人及其工作方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106002940A CN106002940A (zh) | 2016-10-12 |
CN106002940B true CN106002940B (zh) | 2018-06-08 |
Family
ID=57086023
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610459333.XA Expired - Fee Related CN106002940B (zh) | 2016-06-23 | 2016-06-23 | 一种基于delta并联机构的六自由度插纸工业机器人 |
CN201711481677.1A Withdrawn CN107953317A (zh) | 2016-06-23 | 2016-06-23 | 一种工业机器人及其工作方法 |
CN201711477454.8A Withdrawn CN108115656A (zh) | 2016-06-23 | 2016-06-23 | 对电机定子进行绝缘纸插纸作业的工业机器人及工作方法 |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711481677.1A Withdrawn CN107953317A (zh) | 2016-06-23 | 2016-06-23 | 一种工业机器人及其工作方法 |
CN201711477454.8A Withdrawn CN108115656A (zh) | 2016-06-23 | 2016-06-23 | 对电机定子进行绝缘纸插纸作业的工业机器人及工作方法 |
Country Status (1)
Country | Link |
---|---|
CN (3) | CN106002940B (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108789383A (zh) * | 2018-08-30 | 2018-11-13 | 广东宏穗晶科技服务有限公司 | 一种机器人主体框架 |
CN109304707A (zh) * | 2018-10-22 | 2019-02-05 | 甯歌开 | 一种秸秆板块生产系统用铺线机械臂 |
CN109736133B (zh) * | 2019-02-11 | 2024-01-26 | 天津市金汇源电材有限公司 | 一种半自动式纸包线用电缆纸预处理装置 |
CN111478532B (zh) * | 2020-04-27 | 2021-03-16 | 巧力电机有限公司 | 一种电机定子绝缘纸插纸机 |
CN113790343A (zh) * | 2021-09-07 | 2021-12-14 | 湖北联城通科技股份有限公司 | 一种物联网标签信息采集器 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004046659A1 (de) * | 2004-09-25 | 2006-03-30 | Vorwerk & Co. Interholding Gmbh | Verfahren zum Einbringen einer Abdeckisolierung in eine Nut eines Elektromotor-Läufers sowie Vorrichtung hierzu |
DE102009057585B4 (de) * | 2009-12-09 | 2013-11-28 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Verfahren zum Kalibrieren eines Roboters |
CN202475189U (zh) * | 2011-12-31 | 2012-10-03 | 温岭市第二绝缘材料厂 | 一种定子绕线嵌线一体机的推纸装置 |
CN103029120B (zh) * | 2012-12-11 | 2015-03-25 | 燕山大学 | 一种折叠式静载平衡并联调姿平台 |
CN103312099B (zh) * | 2013-06-21 | 2018-05-08 | 苏州市圣玛特电机设备制造有限公司 | 一种定子绝缘纸推入机构 |
CN204468616U (zh) * | 2015-02-06 | 2015-07-15 | 安徽理工大学 | 三自由度混联式中医推拿按摩机器人 |
-
2016
- 2016-06-23 CN CN201610459333.XA patent/CN106002940B/zh not_active Expired - Fee Related
- 2016-06-23 CN CN201711481677.1A patent/CN107953317A/zh not_active Withdrawn
- 2016-06-23 CN CN201711477454.8A patent/CN108115656A/zh not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
CN107953317A (zh) | 2018-04-24 |
CN108115656A (zh) | 2018-06-05 |
CN106002940A (zh) | 2016-10-12 |
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Legal Events
Date | Code | Title | Description |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20180510 Address after: 362600 No. 282, Xianyang village, Yongchun Town, Yongchun City, Fujian Applicant after: Yan Yuanfeng Address before: 246001 room 2, unit 11, Huakang new village, 556 Huazhong West Road, Yingjiang District, Anqing, Anhui, China, 503 Applicant before: Yao Haili |
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TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20190325 Address after: 225400 North of Wenchang East Road, Taixing High-tech Industrial Development Zone, Taizhou City, Jiangsu Province Patentee after: Jiangsu Zhonggong High-end Equipment Research Institute Co., Ltd. Address before: 362600 No. 282, Xianyang village, Yongchun Town, Yongchun City, Fujian Patentee before: Yan Yuanfeng |
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TR01 | Transfer of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180608 Termination date: 20190623 |
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CF01 | Termination of patent right due to non-payment of annual fee |