CN107398892B - 5-axis 4-joint space degree-of-freedom robot for shaking type collecting and discharging rolling mill - Google Patents
5-axis 4-joint space degree-of-freedom robot for shaking type collecting and discharging rolling mill Download PDFInfo
- Publication number
- CN107398892B CN107398892B CN201710777578.1A CN201710777578A CN107398892B CN 107398892 B CN107398892 B CN 107398892B CN 201710777578 A CN201710777578 A CN 201710777578A CN 107398892 B CN107398892 B CN 107398892B
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- rotating
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
-
- 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
- B25J11/005—Manipulators for mechanical processing tasks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention relates to a 5-axis 4-joint space degree-of-freedom robot for a swinging type material collecting and discharging rolling mill, which comprises a rotary platform, a lower reel connector and 5-axis link arms connected between the lower reel and the rotary platform, wherein each 5-axis link arm comprises two groups of rotary connecting arms rotating with fixed shafts and three groups of swing connecting arms which are arranged between the two groups of rotary connecting arms rotating with fixed shafts and are in swing connection with each other; according to the invention, the gesture of the lower winding drum is controlled by arranging the 5-axis robot arm, compared with the traditional X, Y-axis direction driving, the Z-axis direction is added, the degree of freedom is improved, the adjustable space and precision are larger, and the correction range is also larger.
Description
Technical Field
The invention relates to the technical field of rolling mills, in particular to a horizontal cylindrical surface structure robot for accurately finishing plate shapes for a shaking type material collecting and discharging rolling mill on line.
Background
A flexible metal strip with periodically-changed thickness is rolled by a shaking type material collecting and discharging rolling mill, and the produced strip is subjected to plastic extension and shaking digestion stress, so that each part is uniformly deformed, and the influence can cause the finished metal strip due to mechanical precision, input and output signal precision, measurement and control precision, strain dynamic response and micro tension jump during rolling of a unit
The partial residual force of the product is uneven.
Because the thickness of the strip product is very regular, it is determined by the diameter of the upper and lower reel roller systems of's' shape during surface shaping, because the shaping core component's' shape first and second reel assembly precision influences, and the spare roller system group can not divide very finely, etc., the uniformity of the plate shape of the plate surface during strip shaping is more or less affected, the invention is technically characterized in that the roll changing times are reduced to the greatest extent because of the difference of the strip specifications, the roll changing speed is improved, and the's' shape reel roller system precision has means and methods for adjusting under dynamic conditions during finishing the plate shape.
With the progress of science and technology and the upgrade of industry chains, the surface quality of metal strips is higher and higher for users, and the surface quality of metal strips, especially thin film strips, is required to be controlled more strictly and accurately.
Disclosure of Invention
The invention mainly aims to provide a horizontal cylindrical surface robot for accurately finishing the plate shape of a rolled metal strip on the online surface of a shaking type material collecting and discharging rolling mill.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a 5-axis 4 joint space degree of freedom robots for a shaking type material collecting and discharging rolling mill, which comprises a rotary platform, a lower reel connector and a 5-axis rotary arm connected between the lower reel connector and the rotary platform, wherein the 5-axis rotary arm comprises a main rotary table rotationally connected to the rotary platform, a rotary driving motor A is arranged on the rotary platform, the main rotary table is rotationally connected to the rotary platform and is rotationally driven by the rotary driving motor A, and a first rotary shaft unit is arranged between the main rotary table and the rotary platform; the 5-axis rotating arm further comprises a main swinging arm, a connecting seat is arranged on the main rotating disc, one end part of the main swinging arm is rotationally connected with the connecting seat, a rotating driving motor B is arranged on the connecting seat, the rotating axis of the rotating driving motor B is perpendicular to the axis of the rotating driving motor A, the main swinging arm is driven by the rotating driving motor B, and a second rotating shaft unit is arranged between the main swinging arm and the main rotating disc; the 5-axis rotating arm further comprises a main rotating arm, one end part of the main rotating arm is rotationally connected with the end part of the main swinging arm, a rotary driving motor C is arranged on the end part of the main swinging arm, the rotation axis of the rotary driving motor C is parallel to the rotation axis of the rotary driving motor B, the main rotating arm is driven by the rotary driving motor C, and a third rotating shaft unit is arranged between the main rotating arm and the main swinging arm; the 5-axis rotating arm further comprises an auxiliary rotating arm, the auxiliary rotating arm is rotationally connected with the main rotating arm, a rotary driving motor D is arranged on the main rotating arm, the rotation axis of the rotary driving motor D is perpendicular to the rotation axis of the rotary driving motor C, the auxiliary rotating arm is driven by the rotary driving motor D, and a fourth rotating shaft unit is arranged between the auxiliary rotating arm and the main rotating arm; the 5-axis rotating arm further comprises a connecting arm, the connecting arm is rotationally connected with the auxiliary rotating arm, a rotating driving motor E is arranged at the end part of the auxiliary rotating arm, the rotating axis of the rotating driving motor E is perpendicular to the rotating axis of the rotating driving motor D, the connecting arm is driven by the rotating driving motor E, and a fifth rotating shaft unit is arranged between the auxiliary rotating arm and the connecting arm; the connecting arm is fixedly connected with the lower reel connector.
As a further improvement of the invention, the lower reel connector comprises two clamping arms which are rotationally connected, the clamping arms are rotationally connected to a connecting table, the connecting table and the connecting arms are fixedly connected, the clamping arms are in reciprocating opening and closing movement through a driving mechanism, the clamping arms comprise a rotating connecting part and a fixing part, an included angle smaller than 180 degrees is arranged between the rotating connecting part and the fixing part, the two clamping arms are rotationally connected through the rotating connecting part, the swinging arms are connected to the fixing part through rotary springs, a roller rotating shaft bearing hole is formed in the end part of the swinging arms, the swinging arms are connected to the fixing part through rotary springs, the swinging arms of the two clamping arms are driven by the rotary springs to swing in opposite directions, an embedded opening is formed in one radial end part of the roller rotating shaft bearing hole, a connecting clamp spring is further arranged in the roller rotating shaft bearing hole, the connecting clamp spring is of an annular cylinder structure, an embedded opening parallel to the axis of the connecting clamp spring is formed in the side wall in the circumferential direction, and two fixing protruding parts are respectively arranged at the two axial ends of the connecting clamp spring, and the fixing protruding parts are embedded into the inner wall of the roller bearing hole.
As a further improvement of the invention, the fixing convex parts are connected through the connecting parts, a plurality of friction convex parts are arranged on the connecting parts in an array way, and the connecting parts are made of elastic steel sheets through punching.
As a further improvement of the invention, two groups of expansion grooves are arranged on the inner wall of the bearing hole of the rotary shaft of the rotary drum, the two groups of expansion grooves are mutually parallel, the plane of each expansion groove is perpendicular to the axis of the bearing hole of the rotary shaft of the rotary drum, and the fixing convex part is embedded into each expansion groove.
As a further improvement of the invention, the two clamping arms are respectively connected to a rotary driving motor F to realize reciprocating opening and closing driving, and the two rotary driving motors are fixedly connected to a connecting table.
The beneficial effects of the invention are as follows:
1. according to the invention, the gesture of the lower winding drum is controlled by arranging the 5-axis robot arm, compared with the traditional X, Y-axis direction driving, the Z-axis direction is added, the degree of freedom is improved, the adjustable space and precision are larger, and the correction range is also larger.
2. The connecting claw is of a movable structure, so that the lower winding drum can be replaced and adjusted according to materials with different widths, and the universality is wider.
3. The connecting portion frictional force that punches a hole and set up is bigger, and the fixed performance is better.
4. The expansion tank structure can realize the release of the stress of the fixed position of the roller, and simultaneously ensures the fixation stability of the clamp spring.
5. The swing arm structure can correct the angle between the rigidly connected fixed parts, ensure the parallelism of the two clamping mechanisms and improve the clamping stability.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a lower spool connector;
FIG. 3 is a schematic view of the roller shaft bearing holes 4-5;
fig. 4 is a schematic view of the snap spring structure.
In the figure: 1-1, a frame; 1-2, rotating the platform; 1-3, a main turntable; 1-4, connecting seats; 1-5, a main swing arm; 1-6, a main rotating arm; 1-7, auxiliary rotating arms; 1-8, connecting arms; 1-9, a connecting table; 2-1, a rotary driving motor A;2-2, a rotary driving motor B;2-3, rotating the driving motor C;2-4, a rotary driving motor D;2-5, rotating a driving motor E;3-1, a first rotation axis unit; 3-2, a second rotation axis unit; 3-3, a third rotation axis unit; 3-4, fourth rotation axis units; 3-5, fifth rotation axis units; 4-1, a rotary driving motor F;4-2, rotating the connecting part; 4-3, a fixing part; 4-4, swinging arms; 4-5, a roller rotating shaft bearing hole; 4-6, an expansion tank; 4-7, connecting a clamp spring; 4-8, connecting part; 4-9, fixing the protruding part.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
As shown in fig. 1 and 2, the invention is a robot with 4 degrees of freedom in joint space for a 5-axis of a shaking type material collecting and discharging rolling mill, which comprises a rotary platform 1-2, a lower reel connector and a 5-axis rotary arm connected between the lower reel connector and the rotary platform 1-2, wherein the rotary platform 1-2 is fixed on a frame 1-1, the 5-axis rotary arm comprises a main rotary table 1-3 rotatably connected on the rotary platform 1-2, a rotary driving motor A2-1 is arranged on the rotary platform 1-2, the main rotary table 1-3 is rotatably connected on the rotary platform 1-2 and is rotatably driven by the rotary driving motor A2-1, and a first rotary shaft unit 3-1 is arranged between the main rotary table 1-3 and the rotary platform 1-2; the 5-axis rotating arm further comprises a main swinging arm 1-5, a connecting seat 1-4 is arranged on the main turntable 1-3, one end part of the main swinging arm 1-5 is rotationally connected with the connecting seat 1-4, a rotating driving motor B2-2 is arranged on the connecting seat 1-4, the rotating axis of the rotating driving motor B2-2 is perpendicular to the axis of the rotating driving motor A2-1, the main swinging arm 1-5 is driven by the rotating driving motor B2-2, and a second rotating shaft unit is arranged between the main swinging arm 1-5 and the main turntable 1-3; the 5-axis rotating arm 1-8 further comprises a main rotating arm 1-6, one end part of the main rotating arm 1-6 is rotatably connected with the end part of the main swinging arm 1-5, a rotary driving motor C2-3 is arranged on the end part of the main swinging arm 1-5, the rotation axis of the rotary driving motor C2-3 is parallel to the rotation axis of the rotary driving motor B2-2, the main rotating arm 1-6 is driven by the rotary driving motor C2-3, and a third rotation axis unit 3-3 is arranged between the main rotating arm 1-6 and the main swinging arm 1-5; the 5-axis rotating arm further comprises an auxiliary rotating arm 1-7, the auxiliary rotating arm 1-7 is rotationally connected with the main rotating arm 1-6, a rotating driving motor D2-4 is arranged on the main rotating arm 1-6, the rotating axis of the rotating driving motor D2-4 is perpendicular to the rotating axis of the rotating driving motor C2-3, the auxiliary rotating arm 1-7 is driven by the rotating driving motor D2-4, and a fourth rotating shaft unit 3-4 is arranged between the auxiliary rotating arm 1-7 and the main rotating arm 1-6; the 5-axis rotating arm further comprises a connecting arm 1-8, the connecting arm 1-8 is rotatably connected with the auxiliary rotating arm 1-7, a rotating driving motor E2-5 is arranged at the end part of the auxiliary rotating arm 1-7, the rotating axis of the rotating driving motor E2-5 is perpendicular to the rotating axis of the rotating driving motor D2-4, the connecting arm 1-8 is driven by the rotating driving motor E2-5, and a fifth rotating shaft unit 3-5 is arranged between the auxiliary rotating arm 1-7 and the connecting arm 1-8; the connecting arms 1-8 are fixedly connected with the lower reel connector.
As shown in fig. 2-4, the lower roll connector comprises two clamping arms connected in a rotating way, the two clamping arms are respectively connected to a rotary driving motor F4-1 to realize reciprocating opening and closing driving, the two rotary driving motors F4-1 are fixedly connected to the connecting table 1-9, the clamping arms comprise a rotating connecting part 4-2 and a fixing part 4-3, an included angle smaller than 180 degrees is arranged between the rotating connecting part 4-2 and the fixing part 4-3, the two clamping arms are connected in a rotating way through the rotating connecting part 4-2, the fixing part 4-3 is also connected with a swinging arm 4-4, a roller rotating shaft bearing is arranged at the end part of the swinging arm 4-4, the swinging arm 4-4 is connected to the fixing part 4-3 through a rotary spring, the swing arms 4-4 of the two clamping arms swing towards each other under the drive of the rotary spring, a roller rotating shaft bearing hole 4-5 is arranged on the swing arms 4-4, an embedded opening is arranged at one radial end part of the roller rotating shaft bearing hole 4-5, a fixed gap is arranged between the roller rotating shaft bearing hole 4-5 and the roller rotating shaft, the inner diameter of the fixed gap is equal to the width of the embedded opening, a connecting clamp spring 4-7 is also arranged in the roller rotating shaft bearing hole 4-5, the connecting clamp spring 4-7 is of an annular cylinder structure, an embedded opening parallel to the axis of the connecting clamp spring is arranged on the side wall in the circumferential direction, a fixed protruding part 4-9 is respectively arranged at two axial ends of the connecting clamp spring 4-7, the fixed protruding parts 4-9 are connected through connecting parts 4-8, protruding particles for increasing friction force are densely distributed on the connecting part 4-8, the connecting part 4-8 is made of an elastic steel sheet through punching, two groups of expansion grooves 4-6 are formed in the inner wall of the roller rotating shaft bearing hole 4-5, the two groups of expansion grooves 4-6 are parallel to each other, the plane of the expansion groove 4-6 is perpendicular to the axis of the roller rotating shaft bearing hole 4-5, and the fixing protruding part 4-9 is embedded into the expansion groove 4-6.
When the structure is used, the multi-dimensional control is realized through the driving of each swing arm; the device can mainly replace the traditional X, Y moving mechanism.
During installation, the angle of the two clamping arms is adjusted at first, then the swinging arms 4-4 are swung manually, two ends of the rotating shaft of the lower winding drum are pushed into the embedded openings, the rotating shaft is lowered through pressure and embedded into the connecting clamping springs 4-7 of the roller rotating shaft bearing holes 4-5 through the embedded openings, and the swinging arms 4-4 are clamped through the clamping springs.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (2)
1. A5 axle 4 joint space degree of freedom robots that are used for rocking type receipts blowing rolling mill characterized by: the automatic feeding device comprises a rotary platform (1-2), a lower reel connector and a 5-axis rotary arm connected between the lower reel connector and the rotary platform (1-2), wherein the 5-axis rotary arm comprises a main rotary table (1-3) rotatably connected to the rotary platform (1-2), a rotary driving motor A (2-1) is arranged on the rotary platform (1-2), the main rotary table (1-3) is rotatably connected to the rotary platform (1-2) and is rotatably driven by the rotary driving motor A (2-1), and a first rotary shaft unit (3-1) is arranged between the main rotary table (1-3) and the rotary platform (1-2); the 5-axis rotating arm further comprises a main swinging arm (1-5), a connecting seat (1-4) is arranged on the main rotating disc (1-3), one end part of the main swinging arm (1-5) is rotationally connected with the connecting seat (1-4), a rotating driving motor B (2-2) is arranged on the connecting seat (1-4), the rotating axis of the rotating driving motor B (2-2) is perpendicular to the axis of the rotating driving motor A (2-1), the main swinging arm (1-5) is driven by the rotating driving motor B (2-2), and a second rotating shaft unit (3-2) is arranged between the main swinging arm (1-5) and the main rotating disc (1-3); the 5-axis rotating arm (1-8) further comprises a main rotating arm (1-6), one end part of the main rotating arm (1-6) is rotationally connected with the end part of the main swinging arm (1-5), a rotary driving motor C (2-3) is arranged on the end part of the main swinging arm (1-5), the rotation axis of the rotary driving motor C (2-3) is parallel to the rotation axis of the rotary driving motor B (2-2), the main rotating arm (1-6) is driven by the rotary driving motor C (2-3), and a third rotation axis unit (3-3) is arranged between the main rotating arm (1-6) and the main swinging arm (1-5); the 5-axis rotating arm further comprises an auxiliary rotating arm (1-7), the auxiliary rotating arm (1-7) is rotationally connected with the main rotating arm (1-6), a rotating driving motor D (2-4) is arranged on the main rotating arm (1-6), the rotating axis of the rotating driving motor D (2-4) is perpendicular to the rotating axis of the rotating driving motor C (2-3), the auxiliary rotating arm (1-7) is driven by the rotating driving motor D (2-4), and a fourth rotating shaft unit (3-4) is arranged between the auxiliary rotating arm (1-7) and the main rotating arm (1-6); the 5-axis rotating arm further comprises a connecting arm (1-8), the connecting arm (1-8) is rotationally connected with the auxiliary rotating arm (1-7), a rotating driving motor E (2-5) is arranged at the end part of the auxiliary rotating arm (1-7), the rotating axis of the rotating driving motor E (2-5) is perpendicular to the rotating axis of the rotating driving motor D (2-4), the connecting arm (1-8) is driven by the rotating driving motor E (2-5), and a fifth rotating shaft unit (3-5) is arranged between the auxiliary rotating arm (1-7) and the connecting arm (1-8); the connecting arms (1-8) are fixedly connected with the lower reel connector;
the lower reel connector comprises two clamping arms which are rotationally connected, the clamping arms are rotationally connected to a connecting table (1-9), the connecting table (1-9) and the connecting arms (1-8) are fixedly connected, the clamping arms do reciprocating opening and closing movement through a driving mechanism, the clamping arms comprise a rotating connecting part (4-2) and a fixing part (4-3), an included angle smaller than 180 DEG is arranged between the rotating connecting part (4-2) and the fixing part (4-3), the two clamping arms are rotationally connected through the rotating connecting part (4-2), the swinging arm (4-4) is connected to the fixing part (4-3) through a rotating spring, the roller rotating shaft bearing hole (4-5) is arranged at the end part of the swinging arm (4-4), the swinging arm (4-4) is connected to the fixed part (4-3) through a rotary spring, the swinging arms (4-4) of the two clamping arms swing in opposite directions under the driving of the rotary spring, an embedded opening is arranged at the radial end part of the roller rotating shaft bearing hole (4-5), a connecting snap spring (4-7) is further arranged in the roller rotating shaft bearing hole (4-5), the connecting snap spring (4-7) is of an annular cylinder structure, an embedded opening parallel to the axis of the connecting snap spring is arranged on the side wall of the connecting snap spring in the circumferential direction, the two axial ends of the connecting clamp spring (4-7) are respectively provided with a fixing protruding part (4-9), and the fixing protruding parts (4-9) are embedded into the inner wall of the bearing hole (4-5) of the rotary shaft of the roller;
the fixing convex parts (4-9) are connected through connecting parts (4-8), a plurality of friction bulges are arranged on the connecting parts (4-8) in an array manner, and the connecting parts (4-8) are made of elastic steel sheets through punching;
the inner wall of the roller rotating shaft bearing hole (4-5) is provided with two groups of expansion grooves (4-6), the two groups of expansion grooves (4-6) are parallel to each other, the plane of the expansion groove (4-6) is perpendicular to the axis of the roller rotating shaft bearing hole (4-5), and the fixing protruding part (4-9) is embedded into the expansion groove (4-6).
2. The robot for a space degree of freedom of a 5-axis 4 joint of a shaking type material collecting and discharging rolling mill according to claim 1, wherein the robot is characterized in that: the two clamping arms are respectively connected to one rotary driving motor F (4-1) to realize reciprocating opening and closing driving, and the two rotary driving motors F (4-1) are fixedly connected to the connecting table (1-9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710777578.1A CN107398892B (en) | 2017-09-01 | 2017-09-01 | 5-axis 4-joint space degree-of-freedom robot for shaking type collecting and discharging rolling mill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710777578.1A CN107398892B (en) | 2017-09-01 | 2017-09-01 | 5-axis 4-joint space degree-of-freedom robot for shaking type collecting and discharging rolling mill |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107398892A CN107398892A (en) | 2017-11-28 |
| CN107398892B true CN107398892B (en) | 2023-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710777578.1A Active CN107398892B (en) | 2017-09-01 | 2017-09-01 | 5-axis 4-joint space degree-of-freedom robot for shaking type collecting and discharging rolling mill |
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| CN (1) | CN107398892B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001105152A (en) * | 1999-10-12 | 2001-04-17 | Kawasaki Heavy Ind Ltd | Robot for spot welding |
| JP2013086186A (en) * | 2011-10-13 | 2013-05-13 | Seiko Epson Corp | Holding device and robot |
| CN103817704A (en) * | 2014-03-12 | 2014-05-28 | 东南大学 | Compliant end executor driven by lasso |
| CN204658445U (en) * | 2015-06-09 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of Industrial robots Mechanical mechanism of six degree of freedom |
| CN104972589A (en) * | 2015-06-24 | 2015-10-14 | 东莞市松庆智能自动化科技有限公司 | Multi-axis linkage type robot and automatic pouring system thereof |
| TWM525259U (en) * | 2016-04-19 | 2016-07-11 | zuo-guo Lin | Modular actuation assembly and robot arm installed with the same |
| CN207432196U (en) * | 2017-09-01 | 2018-06-01 | 江苏昆仑光源材料有限公司 | One kind is used for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot |
-
2017
- 2017-09-01 CN CN201710777578.1A patent/CN107398892B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001105152A (en) * | 1999-10-12 | 2001-04-17 | Kawasaki Heavy Ind Ltd | Robot for spot welding |
| JP2013086186A (en) * | 2011-10-13 | 2013-05-13 | Seiko Epson Corp | Holding device and robot |
| CN103817704A (en) * | 2014-03-12 | 2014-05-28 | 东南大学 | Compliant end executor driven by lasso |
| CN204658445U (en) * | 2015-06-09 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of Industrial robots Mechanical mechanism of six degree of freedom |
| CN104972589A (en) * | 2015-06-24 | 2015-10-14 | 东莞市松庆智能自动化科技有限公司 | Multi-axis linkage type robot and automatic pouring system thereof |
| TWM525259U (en) * | 2016-04-19 | 2016-07-11 | zuo-guo Lin | Modular actuation assembly and robot arm installed with the same |
| CN207432196U (en) * | 2017-09-01 | 2018-06-01 | 江苏昆仑光源材料有限公司 | One kind is used for 5 axis of rocking material retractable milling train, 4 joint space degree of freedom robot |
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|---|---|
| CN107398892A (en) | 2017-11-28 |
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