CN106217364A - A kind of six-shaft industrial robot of fast assembling-disassembling - Google Patents
A kind of six-shaft industrial robot of fast assembling-disassembling Download PDFInfo
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- CN106217364A CN106217364A CN201610792829.9A CN201610792829A CN106217364A CN 106217364 A CN106217364 A CN 106217364A CN 201610792829 A CN201610792829 A CN 201610792829A CN 106217364 A CN106217364 A CN 106217364A
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- Prior art keywords
- axle
- disassembling
- industrial robot
- forearm
- fast assembling
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The present invention provides the six-shaft industrial robot of a kind of fast assembling-disassembling, the six-shaft industrial robot of described fast assembling-disassembling to include: an axle base, waist joint swivel base, large arm, three or four shaft connection mechanisms, forearm and six axles.In the teaching field of the robot that the six-shaft industrial robot of the fast assembling-disassembling of the present invention can be applicable to assembling, it can demonstrate assembling process flexibly, simultaneously, the six-shaft industrial robot of the fast assembling-disassembling of invention uses modularized design, the operation principle of installation and removal convenience, beneficially student's fast understanding robot and internal structure.
Description
Technical field
The present invention relates to robotics, particularly relate to the six-shaft industrial robot of a kind of fast assembling-disassembling.
Background technology
In the teaching field of robot, especially can carry out the robot assembled, although it can carry out the demonstration assembled
With teaching, but, there is the problem that installation and removal are complicated in current industrial robot, is unfavorable for student fast understanding robot
Operation principle and internal structure, have impact on the carrying out of teaching.
Therefore, for the problems referred to above, it is necessary to propose further solution.
Summary of the invention
It is an object of the invention to provide the six-shaft industrial robot of a kind of fast assembling-disassembling, exist to overcome in prior art
Deficiency.
For achieving the above object, the present invention provides the six-shaft industrial robot of a kind of fast assembling-disassembling, comprising: an axle
Base, waist joint swivel base, large arm, three or four shaft connection mechanisms, forearm and six axles；
Described waist joint swivel base one end is pivotally mounted on a described axle base, at the bottom of described waist joint swivel base and a described axle
There is between Zuo the first pivotal axis；
Described large arm one end is pivotally mounted to the other end of described waist joint swivel base, described large arm and described waist joint swivel base
Between there is the second pivotal axis；
Described three or four shaft connection mechanism one end are pivotally mounted to the other end of described large arm, described three or four shaft connection mechanisms with
Between described structure large arm, there is the 3rd pivotal axis；
Described forearm one end is pivotally mounted to the other end of described three or four shaft connection mechanisms, described forearm and described structure three or four
There is between shaft connection mechanism the 4th pivotal axis；
Described six axle one end are pivotally mounted to the other end of described forearm, have the 5th between described six axles and described forearm
Pivotal axis；
The other end of described six axles has the 6th pivotal axis.
Six-shaft industrial robot as the fast assembling-disassembling of the present invention improves, and a described through setting of axle base, inside it
Being provided with motor reducer module, described waist joint swivel base one end is pivotally mounted in described motor reducer module, and described one
Being provided with air plug mounting box on the lateral surface of axle base, described air plug mounting box is internally provided with an axis cable fixed mount.
As the present invention fast assembling-disassembling six-shaft industrial robot improve, described waist joint swivel base have swivel base body with
And two linking arms being oppositely arranged being positioned on described swivel base body, described large arm one end be pivotally mounted to described linking arm it
Between, the lateral surface of arbitrary linking arm is releasably provided with end cap.
Six-shaft industrial robot as the fast assembling-disassembling of the present invention improves, and it is spacing that described waist joint swivel base also has first
Part and the second locating part, described first locating part is positioned at described swivel base body on the side of bottom, described second locating part
It is positioned on described linking arm.
Six-shaft industrial robot as the fast assembling-disassembling of the present invention improves, and described large arm includes the left arm that dismountable assembles
With right arm, described left arm and right arm limit the interior space of described large arm；
Described left arm one end is provided with motor reducer module, internally installed first drive mechanism of described left arm, described
The left arm other end is provided with three axle harmonic wave speed reducing machine actuating devices, and described motor reducer module is another with described waist joint swivel base
One end is in transmission connection, and described three axle harmonic wave speed reducing machine actuating devices are in transmission connection with described three or four shaft connection mechanisms；Described right arm
It is internally formed cabling space.
Six-shaft industrial robot as the fast assembling-disassembling of the present invention improves, and described first drive mechanism includes the first servo
Motor and the first synchronous pulley.
Six-shaft industrial robot as the fast assembling-disassembling of the present invention improves, and described three or four shaft connection mechanisms have the second biography
In dynamic structure, three or four axle main body connectors and four axle hollow harmonic wave speed reducing machines, described three or four axle main body connectors and described four axles
Empty harmonic wave speed reducing machine is in transmission connection, and described three or four shaft connection mechanisms are by described three or four axle main body connectors and described forearm one end
It is in transmission connection.
Six-shaft industrial robot as the fast assembling-disassembling of the present invention improves, and described second drive mechanism includes the second servo
Motor and the second synchronous pulley.
Six-shaft industrial robot as the fast assembling-disassembling of the present invention improves, and described forearm has forearm connector and the 3rd
Drive mechanism, described forearm is in transmission connection by the other end of described forearm connector with described three or four shaft connection mechanisms；Described
3rd drive mechanism includes forearm transmission strainer, the 3rd synchronous pulley, five axle harmonic wave speed reducing machines, and described forearm is by described
It is in transmission connection described in 3rd drive mechanism and six axle one end.
Six-shaft industrial robot as the fast assembling-disassembling of the present invention improves, and described six axles have the 4th drive mechanism and six
Axle harmonic wave speed reducing machine, described 4th drive mechanism includes the second servomotor and the second synchronous pulley, and described six axles are by described
4th drive mechanism is in transmission connection with the other end of described forearm, and described six axle harmonic wave speed reducing machines are connected with end flange.
Compared with prior art, the invention has the beneficial effects as follows: the six-shaft industrial robot of the fast assembling-disassembling of the present invention can
In the teaching field of the robot being applied to assembling, it can demonstrate assembling process, meanwhile, six axles of the fast assembling-disassembling of invention flexibly
Industrial robot uses modularized design, and installation and removal are convenient, beneficially the operation principle of student's fast understanding robot and
Internal structure.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments described in invention, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic perspective view of six-shaft industrial robot one detailed description of the invention of the fast assembling-disassembling of the present invention；
Fig. 2 is the three-dimensional enlarged diagram of an axle base in Fig. 1；
Fig. 3 is the three-dimensional enlarged diagram of waist joint swivel base in Fig. 1；
Fig. 4 is the three-dimensional enlarged diagram of large arm in Fig. 1；
Fig. 5 is the three-dimensional enlarged diagram of three or four shaft connection mechanisms in Fig. 1；
Fig. 6 is the three-dimensional enlarged diagram of forearm in Fig. 1；
Fig. 7 is in Fig. 1 and the three-dimensional enlarged diagram of six axles.
Detailed description of the invention
The present invention is described in detail for each embodiment shown in below in conjunction with the accompanying drawings, but it should explanation, these
Embodiment not limitation of the present invention, those of ordinary skill in the art according to these embodiment institute work energy, method,
Or the equivalent transformation in structure or replacement, within belonging to protection scope of the present invention.
As shown in Figure 1, 2, the six-shaft industrial robot of the fast assembling-disassembling of the present invention includes: an axle base 10, waist joint turn
Seat 20, large arm 30,34 shaft connection mechanism 40, forearm 50 and six axles 60.Additionally, six axles of the fast assembling-disassembling of the described present invention
Industrial robot also includes that pedestal 70, the bottom of a described axle base 10 are installed on described pedestal 70.
Described waist joint swivel base 20 one end is pivotally mounted on a described axle base 10, and described waist joint swivel base 20 is with described
Between one axle base 10, there is the first pivotal axis.
As in figure 2 it is shown, specifically, described waist joint swivel base 20 uses hollow cavity structure to design, and facilitates cabling.Described one
Axle base 10 is internally installed motor reducer module 11, and described waist joint swivel base 20 one end is pivotally mounted to described decelerating through motor
In machine module 11, thus, described motor reducer module 11 is the described waist joint swivel base 20 pivot along described first book rotating shaft
Driving force is provided.On the lateral surface of a described axle base 10, air plug mounting box 12 is installed, its for robot power cable and
Controlling the connection input of cable. described air plug mounting box 12 is internally provided with an axis cable fixed mount 13.Wherein, an axis cable is solid
Determine the cable on frame 13 and use quick connector form, can quick-detach, assembling soon.Cable on following cable fixed mount uses class
Like inserting mode, narration is not repeated.
As it is shown on figure 3, described waist joint swivel base 20 uses hollow split-type design, it is simple to fast assembling-disassembling.Specifically, described
Waist joint swivel base 20 has swivel base body 21 and two linking arms being oppositely arranged 22 being positioned on described swivel base body, described
Large arm 30 one end is pivotally mounted between described linking arm 22, and the lateral surface of arbitrary linking arm 22 is releasably provided with end cap
23.Wherein, both sides end cap 23 is plastic material, can individually disassemble.Additionally, described waist joint swivel base 20 is internal is additionally provided with cable admittedly
Determining frame, it is for the fastening of cable, to guarantee to connect reliably.Further, described waist joint swivel base 20 also has for ensureing
First locating part 24 and the second locating part 25 of the safety of robot motion, described first locating part 24 is positioned at described swivel base originally
Body 21 is on the side of bottom, and described second locating part 25 is positioned on described linking arm 22.
As shown in Figure 4, described large arm 30 one end is pivotally mounted to the other end of described waist joint swivel base 20, described large arm 30
And between described waist joint swivel base 20, there is the second pivotal axis.
Described large arm 30 left and right sides uses split design, it is simple to fast assembling-disassembling, and hollow structure inside is for cabling, same
Shi Caiyong plastic material alleviates weight.Specifically, described large arm 30 includes left arm 31 and right arm 32, the described left side that dismountable assembles
Arm 31 and right arm 32 limit the interior space of described large arm 30.
Wherein, described left arm 31 one end is provided with motor reducer module 310, and internally installed the first of described left arm 31 passes
Dynamic structure, described first drive mechanism includes that the first servomotor and the first synchronous pulley, described left arm 31 other end are provided with
Three axle harmonic wave speed reducing machine actuating devices 311.Thus, another of described motor reducer module 310 and described waist joint swivel base 20
End is in transmission connection, and drives described large arm 30 to be pivoted moving along described second pivotal axis.Described right arm 32 is internally formed away
Space of lines.
As it is shown in figure 5, described three or four shaft connection mechanism 40 one end are pivotally mounted to the other end of described large arm 30, described three
Between four shaft connection mechanisms 40 and described structure large arm 30, there is the 3rd pivotal axis.
Described three or four shaft connection mechanisms 40 use hollow cavity design structure, for cabling on the right side of hollow cavity, set simultaneously
Having cable fixed mount 44, meanwhile, the jacket 45 of described three or four shaft connection mechanisms 40 uses plastic material, can the most individually tear open
Unload.
Specifically, described three or four shaft connection mechanisms 40 have the second drive mechanism, three or four axle main body connector 41 and four axles
Hollow harmonic wave speed reducing machine 42.Described second drive mechanism includes the second servomotor 43 and the second synchronous pulley.Described three axles are humorous
Ripple speed reducer transmission device 311 is in transmission connection with described three or four shaft connection mechanisms 40, described three axle harmonic wave speed reducing machine actuating devices
311 drive described three or four shaft connection mechanisms 40 to be pivoted moving along described 3rd pivotal axis.
As shown in Figure 6, described forearm 50 one end is pivotally mounted to the other end of described three or four shaft connection mechanisms 40, described little
Between arm 50 and described structure three or four shaft connection mechanism 40, there is the 4th pivotal axis.
Specifically, described forearm 50 has hollow structure so that cabling, and inside is provided with cable fixed mount simultaneously.Described little
Arm 50 has forearm connector 51 and the 3rd drive mechanism 52.Described forearm 50 is by described forearm connector 51 and described four axles
The other end of hollow harmonic wave speed reducing machine 42 is in transmission connection, and described four axle hollow harmonic wave speed reducing machines 42 drive described forearm 50 along described
4th pivotal axis is pivoted motion.Described 3rd drive mechanism 52 includes forearm transmission strainer the 521, the 3rd synchronous pulley
522, five axle harmonic wave speed reducing machine 523.
As it is shown in fig. 7, described six axle 60 one end are pivotally mounted to the other end of described forearm 50, described six axles 60 are with described
There is between forearm 50 the 5th pivotal axis.
Specifically, described six axles 60 have the 4th drive mechanism, six axle harmonic wave speed reducing machine 62 and six axle main components 63, institute
State the 4th drive mechanism and include the second servomotor 611 and the second synchronous pulley.Described 4th drive mechanism is humorous with described five axles
Ripple reductor 523 is in transmission connection, and described five axle harmonic wave speed reducing machines 523 drive described six axles 60 to enter along described 5th pivotal axis
Row moves pivotally.
The other end of described six axles 60 has the 6th pivotal axis.Specifically, described six axle harmonic wave speed reducing machines are positioned at described six
The other end of axle 60, and be connected with end flange 64, to drive described end flange 64 to carry out pivot along described 6th pivotal axis
Transhipment is dynamic.Thus, can be connected with external tool by described end flange 64, to realize difference in functionality.
In sum, six axle 60 industrial robots of the fast assembling-disassembling of the present invention can be applicable to the teaching of the robot assembled
In field, it can demonstrate assembling process flexibly, and meanwhile, six axle 60 industrial robots of the fast assembling-disassembling of invention use modularity to set
Meter, the operation principle of installation and removal convenience, beneficially student's fast understanding robot and internal structure.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of the spirit or essential attributes of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matter
From the point of view of which point, all should regard embodiment as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all by fall in the implication of equivalency and scope of claim
Change is included in the present invention.Should not be considered as limiting involved claim by any reference in claim.
Although moreover, it will be appreciated that this specification is been described by according to embodiment, but the most each embodiment only wraps
Containing an independent technical scheme, this narrating mode of description is only that for clarity sake those skilled in the art should
Description can also be formed those skilled in the art through appropriately combined as an entirety, the technical scheme in each embodiment
May be appreciated other embodiments.
Claims (10)
1. the six-shaft industrial robot of a fast assembling-disassembling, it is characterised in that the six-shaft industrial robot bag of described fast assembling-disassembling
Include: an axle base, waist joint swivel base, large arm, three or four shaft connection mechanisms, forearm and six axles；
Described waist joint swivel base one end is pivotally mounted on a described axle base, described waist joint swivel base and a described axle base it
Between there is the first pivotal axis；
Described large arm one end is pivotally mounted to the other end of described waist joint swivel base, between described large arm and described waist joint swivel base
There is the second pivotal axis；
Described three or four shaft connection mechanism one end are pivotally mounted to the other end of described large arm, and described three or four shaft connection mechanisms are with described
There is between structure large arm the 3rd pivotal axis；
Described forearm one end is pivotally mounted to the other end of described three or four shaft connection mechanisms, and described forearm is with described structure three or four axle even
There is between connection mechanism the 4th pivotal axis；
Described six axle one end are pivotally mounted to the other end of described forearm, have the 5th pivot between described six axles and described forearm
Axle；
The other end of described six axles has the 6th pivotal axis.
The six-shaft industrial robot of fast assembling-disassembling the most according to claim 1, it is characterised in that a described axle base is through
Arranging, it is internally installed motor reducer module, and described waist joint swivel base one end is pivotally mounted to described motor reducer mould
On block, the lateral surface of a described axle base being provided with air plug mounting box, described air plug mounting box is internally provided with an axis cable
Fixed mount.
The six-shaft industrial robot of fast assembling-disassembling the most according to claim 1, it is characterised in that described waist joint swivel base has
Having swivel base body and two linking arms being oppositely arranged being positioned on described swivel base body, described large arm one end is pivotally mounted to
Between described linking arm, the lateral surface of arbitrary linking arm is releasably provided with end cap.
The six-shaft industrial robot of fast assembling-disassembling the most according to claim 3, it is characterised in that described waist joint swivel base is also
Having the first locating part and the second locating part, described first locating part is positioned at described swivel base body on the side of bottom, institute
State the second locating part to be positioned on described linking arm.
The six-shaft industrial robot of fast assembling-disassembling the most according to claim 1, it is characterised in that described large arm includes dismounting
The left arm of formula assembling and right arm, described left arm and right arm limit the interior space of described large arm；
Described left arm one end is provided with motor reducer module, internally installed first drive mechanism of described left arm, described left arm
The other end is provided with the other end of three axle harmonic wave speed reducing machine actuating devices, described motor reducer module and described waist joint swivel base
Being in transmission connection, described three axle harmonic wave speed reducing machine actuating devices are in transmission connection with described three or four shaft connection mechanisms；Inside described right arm
Form cabling space.
The six-shaft industrial robot of fast assembling-disassembling the most according to claim 5, it is characterised in that described first drive mechanism
Including the first servomotor and the first synchronous pulley.
The six-shaft industrial robot of fast assembling-disassembling the most according to claim 1, it is characterised in that described three or four axles connect machine
Structure has the second drive mechanism, three or four axle main body connectors and four axle hollow harmonic wave speed reducing machines, described three or four axle main body connectors
Be in transmission connection with described four axle hollow harmonic wave speed reducing machines, described three or four shaft connection mechanisms by described three or four axle main body connectors with
Described forearm one end is in transmission connection.
The six-shaft industrial robot of fast assembling-disassembling the most according to claim 7, it is characterised in that described second drive mechanism
Including the second servomotor and the second synchronous pulley.
The six-shaft industrial robot of fast assembling-disassembling the most according to claim 1, it is characterised in that described forearm has forearm
Connector and the 3rd drive mechanism, described forearm is passed by the other end of described forearm connector with described three or four shaft connection mechanisms
It is dynamically connected；Described 3rd drive mechanism includes forearm transmission strainer, the 3rd synchronous pulley, five axle harmonic wave speed reducing machines, described
Forearm is in transmission connection described in described 3rd drive mechanism and six axle one end.
The six-shaft industrial robot of fast assembling-disassembling the most according to claim 1, it is characterised in that described six axles have
Four drive mechanisms and six axle harmonic wave speed reducing machines, described 4th drive mechanism includes the second servomotor and the second synchronous pulley, institute
State six axles to be in transmission connection by the other end of described 4th drive mechanism with described forearm, described six axle harmonic wave speed reducing machine and ends
Flange is connected.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610792829.9A CN106217364A (en) | 2016-08-31 | 2016-08-31 | A kind of six-shaft industrial robot of fast assembling-disassembling |
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| CN201610792829.9A CN106217364A (en) | 2016-08-31 | 2016-08-31 | A kind of six-shaft industrial robot of fast assembling-disassembling |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737609A (en) * | 2017-02-21 | 2017-05-31 | 上海建桥学院 | A kind of combinable teaching level sixdegree-of-freedom simulation |
| CN106881728A (en) * | 2017-04-28 | 2017-06-23 | 广西壮族自治区机械工业研究院 | The small arm mechanism of multi-joint industrial robot |
| CN106938460A (en) * | 2017-04-28 | 2017-07-11 | 广西壮族自治区机械工业研究院 | A kind of multi-joint industrial robot |
| CN107414817A (en) * | 2017-07-04 | 2017-12-01 | 长春工业大学 | A kind of pieced six degree of freedom joint type industrial robot and control system |
| CN108213900A (en) * | 2018-01-18 | 2018-06-29 | 北京卫星环境工程研究所 | The method for dismounting of the lower spacecraft component robot components of heat-conducting silicone grease filling |
| CN108673476A (en) * | 2018-07-10 | 2018-10-19 | 湖州鸿进自动化科技有限公司 | The six-joint robot of installed with built-in component |
| CN108961892A (en) * | 2017-05-26 | 2018-12-07 | 广州珠峰机器人科技有限公司 | A kind of intelligence manufacture Training Room equipment based on six-shaft industrial robot |
| CN109129455A (en) * | 2018-10-24 | 2019-01-04 | 厦门工学院 | A kind of desktop industrial robot and its application method |
| CN109352629A (en) * | 2018-11-16 | 2019-02-19 | 广州启帆工业机器人有限公司 | Industrial robot |
| CN109500808A (en) * | 2017-09-15 | 2019-03-22 | 贵州大学 | A kind of Six-DOF industrial robot |
| CN109623801A (en) * | 2019-01-09 | 2019-04-16 | 北京精密机电控制设备研究所 | A kind of toothed belt transmission type high-accuracy mechanical shoulder joint |
| CN109866210A (en) * | 2019-03-28 | 2019-06-11 | 合肥工业大学 | A kind of easy-to-assemble both arms six-DOF robot |
| CN110091317A (en) * | 2019-05-30 | 2019-08-06 | 广东伯朗特智能装备股份有限公司 | Heavy load multi-joint industrial robot |
| CN110103227A (en) * | 2019-06-06 | 2019-08-09 | 广东科佩克机器人有限公司 | A kind of industrial robot and method of self-diagnosable |
| CN110394786A (en) * | 2019-08-13 | 2019-11-01 | 信达铝业有限公司 | Six-joint robot is used in a kind of teaching |
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| CN110666778A (en) * | 2019-10-21 | 2020-01-10 | 勃肯特(镇江)机器人技术有限公司 | Six-axis series-parallel series-parallel robot and wiring mechanism thereof |
| CN112518798A (en) * | 2020-11-24 | 2021-03-19 | 伯朗特机器人股份有限公司 | Multi-joint industrial robot |
| CN113858215A (en) * | 2021-11-24 | 2021-12-31 | 江苏汇博机器人技术股份有限公司 | Automatic assembly simulation system of six-axis robot |
| CN114967023A (en) * | 2022-04-26 | 2022-08-30 | 核工业理化工程研究院 | Quick-release type precision driving assembly and electric optical adjusting frame and adjusting method thereof |
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| CN110091317A (en) * | 2019-05-30 | 2019-08-06 | 广东伯朗特智能装备股份有限公司 | Heavy load multi-joint industrial robot |
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| CN110533983A (en) * | 2019-09-18 | 2019-12-03 | 江苏汇博机器人技术股份有限公司 | A kind of dismounting of industrial robot and maintenance comprehensive practical traning apparatus for checking |
| CN110666778A (en) * | 2019-10-21 | 2020-01-10 | 勃肯特(镇江)机器人技术有限公司 | Six-axis series-parallel series-parallel robot and wiring mechanism thereof |
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Application publication date: 20161214 |