CN107972064A - A kind of modularized joint of seven freedom cooperation mechanical arm - Google Patents
A kind of modularized joint of seven freedom cooperation mechanical arm Download PDFInfo
- Publication number
- CN107972064A CN107972064A CN201711213613.3A CN201711213613A CN107972064A CN 107972064 A CN107972064 A CN 107972064A CN 201711213613 A CN201711213613 A CN 201711213613A CN 107972064 A CN107972064 A CN 107972064A
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- CN
- China
- Prior art keywords
- gear
- servomotor
- fixed
- modularized joint
- retarder
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0412—Cooling or heating; Control of temperature
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of modularized joint of seven freedom cooperation mechanical arm, including shell, cover top portion is provided with end cap, shell internal upper part is fixed with metallic support, the top surface of metallic support is fixed with servomotor fixed plate, servomotor is fixed with the top of servomotor fixed plate, bottom wall fixes electricity loss brake, motor gear boss is inserted in electricity loss brake rotor recesses, motor gear suit is fixed on motor shaft, retarder is fixed on outer casing bottom, retarder wave producer top is fixed with reducer gear, a bottom sealing ring is cased with wave producer shaft part, retarder flexbile gear bottom surface is provided with the threaded hole of multiple another modularized joints of connection, reducer gear and motor gear are engaged with each other cooperation；A boss is provided with the side wall of shell, is provided with stepped hole, the axis of stepped hole and retarder axis co-planar are simultaneously mutually perpendicular to.It is high using the flexibility of this modularized joint, easy to control, install, safeguard simply.
Description
Technical field
The present invention relates to robotic technology field, and in particular to the modularized joint of seven freedom cooperation mechanical arm.
Background technology
At present, cooperation mechanical arm is constantly popularized in every profession and trade.As people are to the Capability Requirement and yard of mechanical arm
The requirement of conjunction is higher and higher, and modularization, the lightweight requirements of the mechanical arm that cooperates also step up.It is existing cooperation mechanical arm often compared with
For heaviness, it is difficult to realize man-machine collaboration, assembling, operation are all subject to extreme influence.And after Miniaturization Design, the mechanical arm that cooperates is born
Loading capability declines to a great extent, and how to improve load/dead weight ratio of lightweight cooperation mechanical arm, and improving structural compactness becomes urgent need solution
Certainly the problem of.
The Chinese patent of Application No. 201110333688.1 discloses " modular joint combination of mechanical arm with multiple degrees of freedom ", the pass
Section includes more than two serial module structures.Joint one includes power input shaft and is equipped with first harmonic decelerator and the first clutch
Device；Joint two includes the transmission shaft being connected with one power input shaft of joint, which is fixed on first clutch, the second clutch
Device is connected with the transmission shaft of transfer, and is connected respectively with second harmonic retarder.The modular structure illustrated is complicated, and has part
Structure and cable etc. are exposed outside, and overall dead weight is larger, and connection mode only has one kind, and reconfigurability is poor, the mechanical arm work of structure
It is small to make scope, the free degree is few, lacks flexibility, does not brake, it is impossible to realize accurate control.
The Chinese patent of Application No. 201410393610.2 discloses " hollow series connection mechanical arm modularized joint ", adopts
With electricity loss brake, direct current generator, monoblock type reducer structure.Overall to use three groups of belt wheels, construction weight is big, compactness
It is low.Brake apparatus caloric value is big, and overall structure closing, is unfavorable for heat and outwards conducts, influence service life.Brake is individually set
One group of belt wheel is put, weight is significantly greatly increased, synchronous belt transmits moment of torsion, it is necessary to using complicated tension structure.
" there is dead electricity braking and the machine of a variety of perceptional functions disclosed in the Chinese patent of Application No. 201210131083.9
Tool arm module " is using multisensors such as torque sensor, absolute optical encoder, enhanced magnetic coder, Hall sensors
System, electricity loss brake rotary friction pad are connected on motor shaft.Overall structure module degree is high, but assembles difficult, it is difficult to
Batch production；And exterior cabling, poor reliability, dust tightness are poor.
The content of the invention
It is an object of the invention to provide the modularized joint of seven freedom cooperation mechanical arm, joint space is laid out more
It is rationally compact, small, better performances of conducting oneself with dignity, while it is good to radiate, long lifespan, noise is small, and energy consumption is low, mechanical arm is installed and used dimension
Shield is more convenient.
The technical scheme is that：
A kind of modularized joint of seven freedom cooperation mechanical arm, including shell, are provided with the cover top portion
End cap, is fixed with metallic support in the shell internal upper part, servomotor is fixed with the top surface of the metallic support
Fixed plate, is provided with mounting hole at the servomotor fixed plate center, the lower part of servomotor be installed in mounting hole and
It is fixed in servomotor fixed plate, the shell of electricity loss brake is fixed with the bottom wall of the servomotor fixed plate,
The motor shaft of the servomotor passes through the rotor hole of metallic support and electricity loss brake rotor；One motor gear top
Boss be inserted in and position both in the groove of electricity loss brake rotor lower part and transmit moment of torsion, motor gear suit is solid
It is scheduled on the motor shaft below electricity loss brake, the steel wheel of a retarder is fixed on the outer casing bottom below metallic support, institute
The retarder stated is hollow assembly type harmonic speed reducer, and the wave producer of the retarder is retarder input terminal, in institute
The outer casing bottom stated is provided with endoporus, and bearing is provided with the endoporus, and the inner ring of the bearing is fixed on wave producer
On shaft part, wave producer can be rotated around bearing axis, reducer gear is fixed with the wave producer top, described
Bearing and reducer gear between wave producer shaft part on be cased with a bottom sealing ring, the retarder has the flexbile gear defeated
Go out round end, the flexbile gear output round end of the retarder is the round end of modularized joint, and flexbile gear bottom surface is provided with multiple logical
Cross the threaded hole for being bolted another modularized joint, the reducer gear and motor gear are engaged with each other cooperation；
A boss is provided with the side wall of the shell, the boss, which is provided with, connects other modularized joint round end or linking arm
Stepped hole, the ladder nose end are the fixing end of modularized joint, the axis of the stepped hole and retarder it is soft
The axis co-planar of wheel output round end is simultaneously mutually perpendicular to；Side is fixed with outer casing inner wall corresponding with the stepped hole to lead
Line baffle ring, a Wire sheath are arranged close on the metallic support at lateral conductive lines baffle ring, the conducting wire baffle ring and conducting wire
Sheath is wear-resisting non-metallic material, and threading is provided with the retarder, reducer gear, Wire sheath and conducting wire baffle ring
Hole.
Advantage of the invention is that：Intra articular sets metallic support, easily facilitates the elements such as servomotor or mechanism
Installation, improves the stability of whole module, maintains easily.The harmonic speed reducer that cooperation mechanical arm modular joint uses is hollow
Structure, has hole, whole modularized joint through, it is possible to achieve all cable inners among metallic support, reducer gear
Cabling, makes cooperation machinery arm configuration compacter, while safety is beautiful.Unique long half-round metal support Design is by enclosure
Space is divided into two, and transmission mechanism concentrates on lower section, and space utilization is reasonable, improves cabling security.It is hollow humorous using assembly type
Ripple retarder, it is possible to achieve larger bearing capacity, and operate steadily, long lifespan is small, light-weight, makes modularized joint
Structure is more compact.Intra articular is provided with electricity loss brake, and when in on-position, servomotor and brake synchronously lose
Electricity, brake, which locks rotor, stalls motor gear, is delivered to reducer gear by engagement braking torque, modularization is closed
Save round end braking.Motor and brake coaxial design, make transmission process greatly simplified.Shell has heat sink with end cover designs,
Servomotor and inner cavity heat dissipation end face abut and scribble heat-conducting silicone grease, improve the heat dissipation performance of modularized joint.Seven freedom is assisted
Making the modularized joint of mechanical arm has the runnability and precision of higher, and dead weight is smaller, operates steadily, and energy consumption is low, long lifespan,
Be easy to implement batch production, can build can variable freedom series connection mechanical arm.The seven freedom built using the modularized joint
The mechanical arm installation that cooperates safeguards that simple, cabling is convenient and reasonable, has significant advantage..
Brief description of the drawings
Fig. 1 is the internal junction using the modularized joint of the seven freedom cooperation mechanical arm of the invention of external toothing transmission
Structure exploded perspective view；
Fig. 2 is the servomotor part assembly drawing of the modularized joint shown in Fig. 1；
Fig. 3 is the vertical view installation diagram of the modularized joint using external toothing transmission shown in Fig. 1；
Fig. 4 is the overall schematic of the modularized joint shown in Fig. 1；
Fig. 5 is the Standard figure of the modularized joint removing end cap shown in Fig. 1；
Fig. 6 is a kind of structure diagram of application implementation mode of the modularized joint of the present invention；
Fig. 7 is the internal structure exploded perspective view using the modularized joint of the invention of Inside gear drive；
Fig. 8 is the vertical view installation diagram of the modularized joint using Inside gear drive shown in Fig. 7.
Embodiment
The present invention will be described in detail with specific installment work mode below in conjunction with the accompanying drawings.
The modularized joint of a kind of seven freedom cooperation mechanical arm of the present invention as shown in drawings, including shell 17,
End cap 16 is installed at the top of shell 17, sealing ring is installed between the preferable shell 17 and end cap 16.
Metallic support 5 is fixed with the shell internal upper part, preferably on the metallic support vertically
Be provided with it is multiple connection metallic supports and shell screw holes, the metallic support can by the screw 6 through screw hole with
Shell is fixedly linked.Fixed (can pass through screw 2) has servomotor fixed plate 3 on the top surface of the metallic support 5,
The servomotor fixed plate center is provided with mounting hole, and the lower part of servomotor 1, which is installed in mounting hole and is fixed on, to be watched
Take on motor fixing plate 3.The shell of electricity loss brake 4 is fixed with the bottom wall of the servomotor fixed plate 3, it is described
The motor shaft of servomotor passes through the rotor hole of 4 rotor of metallic support 5 and electricity loss brake.
The electricity loss brake 4 is commercially available, and the boss on 7 top of motor gear is inserted in 4 rotor lower part of electricity loss brake
Groove in position both and transmit moment of torsion, the motor gear 7 suit is fixed on the motor shaft of the lower section of electricity loss brake 4
On.
The structure that the motor gear 7 is fixed on motor shaft can be：The motor gear 7 is by through fixation
Baffle 8, motor gear 7 and bolt on motor shaft bottom wall and motor shaft are fixedly linked.
The steel wheel of one retarder 9 is fixed on the outer casing bottom below metallic support, and the retarder is hollow group
Dress formula harmonic speed reducer, its advantage are small, and light-weight, load capacity is strong, operates steadily, and speed reducing ratio is big, and noise is small, transmission
Precision is high, and centre is hollow structure, easy to internal cabling.The wave producer of retarder 9 is retarder input terminal, outside described
17 bottom of shell is provided with endoporus, and bearing 10 is provided with the endoporus, and the inner ring of the bearing 10 is fixed on wave producer
On shaft part, wave producer can be rotated around bearing axis.Reducer gear 12 is fixed with the wave producer top, in institute
A bottom sealing ring 11, the sealed bottom are cased with wave producer shaft part between the bearing 10 and reducer gear 12 stated
Circle play the role of completely cut off space, gear oil it is dust-proof.The retarder 9 have flexbile gear output round end, the retarder it is soft
Wheel output round end is the round end of modularized joint, and when wave producer rotates about the axis, flexbile gear exports after decelerating effect,
It is rotated about axis joint round end.Flexbile gear bottom surface is provided with multiple screw threads that another modularized joint is bolted
Hole.The reducer gear 12 and motor gear 7 is engaged with each other cooperation.
A boss is provided with the side wall of the shell, the boss, which is provided with, connects other modularized joint rotation
End or the stepped hole of linking arm.The ladder nose end be modularized joint fixing end, the axis of the stepped hole with
The axis co-planar of the flexbile gear output round end of retarder is simultaneously mutually perpendicular to.
Lateral conductive lines baffle ring 14, the conducting wire baffle ring 14 are fixed with outer casing inner wall corresponding with the stepped hole
Can be POM for wear-resisting non-metallic material.It can be fixed on by screw 13 on outer casing inner wall, effect is to prevent center cable
With 17 contact wear of metal shell.Wire sheath 15 is arranged close on the metallic support 5 at lateral conductive lines baffle ring 14, conducting wire shield
Set is 15 similar with 14 function of conducting wire baffle ring, is similarly wear-resisting non-metallic material, can be POM, effect be avoid center cable with
Metallic support 5 is in contact abrasion.
As one embodiment of the present invention, the reducer gear 12 and motor gear 7 are external gear, described
Reducer gear 12 and motor gear 7 be engaged with each other cooperation.
As another embodiment of the present invention, the reducer gear 12 is internal gear, the motor tooth
Wheel 7 is external gear, and the reducer gear 12 and motor gear 7 are engaged with each other cooperation.
Preferably on the outer wall of shell and close to the side of servomotor and after the end cap of servomotor side
End is provided with some heat sinks, easy to radiate.Outer casing inner wall at servomotor is plane, close to the described of servomotor
End cap inner wall be plane, between the outer casing inner wall plane and servomotor and at the inner wall plane of end cap and servo
Heat-conducting silicone grease is coated between motor, easy to conduct heat close to outside with servomotor.
The metallic support of the preferable present invention is long semicircle, be the advantage is that：It is simple in structure, maintain easily, dead weight is small,
Rigidity is high, easy to cabling.
The structure type for being used for seven freedom cooperation mechanical arm as the present invention is as follows：
Seven modularized joint structures are identical as shown in the figure, seven modularized joints be respectively the first modularized joint 19,
Second modularized joint 20, the 3rd modularized joint 22, the 4th modularized joint 23, the 5th modularized joint 25, the 6th module
Change 26 and the 7th modularized joint 27 of joint, wherein the round end of the first modularized joint 19 is fixedly linked with base 18, it is described
The fixing end of the first modularized joint 19 and the round end of the second modularized joint 20 be fixedly linked, second modularization
The fixing end in joint 20 and 21 one end of the first linking arm are fixedly linked, the other end and the 3rd module of first linking arm 21
The fixing end for changing joint 22 is fixedly linked, the 3rd round end of modularized joint 22 and consolidating for the 4th modularized joint 23
Fixed end is fixedly linked, and the round end of the 4th modularized joint 23 and 24 one end of the second linking arm are fixedly linked, described
The other end of second linking arm 24 and the fixing end of the 5th modularized joint 25 are fixedly linked, the 5th modularized joint 25
Round end and the fixing end of the 6th modularized joint 26 be fixedly linked, the round end of the 6th modularized joint 26 and
The fixing end of seven modularized joints 27 is fixedly linked, and the round end and end flange 28 of the 7th modularized joint 27 are fixed
It is connected, the end flange 28 can be used to connect a variety of end effectors, and end effector can use Pneumatic paw, inhale
Structure disclosed in disk, Dextrous Hand etc..Base is fixed by screws on ground or AGV (automated guided vehicle, commercially available).
First linking arm and the second linking arm are hollow structure, the retarder in described seven modularized joints
9th, it is provided with threading hole on reducer gear 12, Wire sheath 15 and conducting wire baffle ring 14.
During actual installation use, need to be threaded in center after the completion of mechanical arm assembling, central cable connection
Interface, the first modularized joint, the second modularized joint, the first linking arm, the 3rd mould on base are sequentially passed through after switch board
Block joint, the 4th modularized joint, the second linking arm, the 5th modularized joint, the 6th modularized joint and the 7th module
Change joint, central cable is at each modularized joint through the stepped hole of each modularized joint and the brake of each modularized joint
And cable is connected in motor, central cable is sequentially passed through under retarder, reducer gear, Wire sheath and the entrance of conducting wire baffle ring
One modularized joint.The control line and power cord of motor and the power cord of brake are directly connected to central cable.
The course of work of modularized joint of the present invention is：Seven freedom cooperation mechanical arm modular joint works independently,
Intermodule can be assembled freely, and labor aptitude is strong, easy to maintain.Modularized joint is driven by servomotor 1, and servomotor 1 is defeated
Go out torque, and transmit torque to motor gear 7, motor gear 7 and reducer gear 12 are meshed, and as primary speed-down, subtract
Fast device gear 12 and retarder 9 are fixed, and torque is transferred to retarder, by the double reduction of retarder 9, finally realizes torque
Output.4 rotor of brake and motor gear synchronously operate, using electricity loss brake, brake and servomotor synchronously logical electric discharge.
Under non-brake state, brake guaranties, rotor can rotate freely, and brake does not have an impact transmission process；During braking, system
Dynamic device dead electricity simultaneously locks brake rotor, motor gear is shut down, and passes through engaging for brake gear and reducer gear
So that retarder output stops, modularized joint shuts down for effect.Shell 17, end cap 16 closely connect, between have sealing ring,
Inside is in air-tight state, and end face where servomotor is close to heat sink simultaneously scribbles heat dissipating silicone grease, facilitates heat to send outside.The present invention
Modularized joint can independent operation, and two external places are in an angle of 90 degrees, and assembling is freer, and cooperation mechanical arm shape is more more
Become.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited in upper
The embodiment stated, above-mentioned embodiment is only schematical, be not it is restricted, this area it is common
Technical staff in the case of present inventive concept and scope of the claimed protection is not departed from, may be used also under the enlightenment of the present invention
By make it is many in the form of, these are belonged within protection scope of the present invention.
Claims (7)
- A kind of 1. modularized joint of seven freedom cooperation mechanical arm, it is characterised in that：Including shell, on the shell top Portion is provided with end cap, is fixed with metallic support in the shell internal upper part, is fixed with the top surface of the metallic support Servomotor fixed plate, mounting hole is provided with the servomotor fixed plate center, and the lower part of servomotor is installed on installation In hole and it is fixed in servomotor fixed plate, electricity loss brake is fixed with the bottom wall of the servomotor fixed plate Shell, the motor shaft of the servomotor is through metallic support and the rotor hole of electricity loss brake rotor；One motor The boss on gear top, which is inserted in, to be positioned both in the groove of electricity loss brake rotor lower part and transmits moment of torsion, the motor tooth Wheel suit is fixed on the motor shaft below electricity loss brake, and the steel wheel of a retarder is fixed on the shell below metallic support Bottom, the retarder are hollow assembly type harmonic speed reducer, and the wave producer of the retarder inputs for retarder End, is provided with endoporus in the outer casing bottom, bearing is provided with the endoporus, the inner ring of the bearing is fixed on ripple On generator shaft part, wave producer can be rotated around bearing axis, and reducer gear is fixed with the wave producer top, A bottom sealing ring is cased with wave producer shaft part between the bearing and reducer gear, the retarder has Flexbile gear exports round end, and the flexbile gear output round end of the retarder is the round end of modularized joint, and flexbile gear bottom surface is provided with Multiple threaded holes that another modularized joint is bolted, the reducer gear and motor gear are engaged with each other and match somebody with somebody Close；Be provided with a boss on the side wall of the shell, the boss be provided with connect other modularized joint round end or The stepped hole of linking arm, the ladder nose end are the fixing end of modularized joint, the axis of the stepped hole and deceleration The axis co-planar of the flexbile gear output round end of device is simultaneously mutually perpendicular to；It is fixed with outer casing inner wall corresponding with the stepped hole Lateral conductive lines baffle ring, a Wire sheath are arranged close on the metallic support at lateral conductive lines baffle ring, the conducting wire baffle ring It is wear-resisting non-metallic material with Wire sheath, is provided with the retarder, reducer gear, Wire sheath and conducting wire baffle ring Threading hole.
- 2. the modularized joint of seven freedom cooperation mechanical arm according to claim 1, it is characterised in that：Described subtracts Fast device gear and motor gear are external gear, and the reducer gear and motor gear are engaged with each other cooperation.
- 3. the modularized joint of seven freedom cooperation mechanical arm according to claim 1, it is characterised in that：Described subtracts Fast device gear is internal gear, and the motor gear is external gear, and the reducer gear and motor gear are engaged with each other and match somebody with somebody Close.
- 4. the modularized joint for the mechanical arm that cooperated according to the seven freedom of one of claim 1-3, it is characterised in that：In shell Outer wall on and close to the side of servomotor and close to the end cap rear end of servomotor side be provided with some heat sinks, just In heat dissipation, the outer casing inner wall at servomotor is plane, and the end cap inner wall close to servomotor is plane, in institute Thermal conductive silicon is coated between servomotor between the outer casing inner wall plane and servomotor stated and at the inner wall plane of end cap Fat, easy to conduct heat close to outside with servomotor.
- 5. the modularized joint of seven freedom cooperation mechanical arm according to claim 4, it is characterised in that：Described Sealing ring is installed between shell and end cap.
- 6. the modularized joint of seven freedom cooperation mechanical arm according to claim 4, it is characterised in that：Described leads The material of line baffle ring and Wire sheath is POM.
- 7. the modularized joint of seven freedom cooperation mechanical arm according to claim 4, it is characterised in that：The gold Category stent is long half-round metal stent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711213613.3A CN107972064A (en) | 2017-11-28 | 2017-11-28 | A kind of modularized joint of seven freedom cooperation mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711213613.3A CN107972064A (en) | 2017-11-28 | 2017-11-28 | A kind of modularized joint of seven freedom cooperation mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN107972064A true CN107972064A (en) | 2018-05-01 |
Family
ID=62012091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711213613.3A Pending CN107972064A (en) | 2017-11-28 | 2017-11-28 | A kind of modularized joint of seven freedom cooperation mechanical arm |
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| CN (1) | CN107972064A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108705520A (en) * | 2018-07-19 | 2018-10-26 | 埃夫特智能装备股份有限公司 | One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot |
| CN109702733A (en) * | 2019-01-22 | 2019-05-03 | 福建（泉州）哈工大工程技术研究院 | A kind of movable type seven freedom smart collaboration robot |
| WO2019242247A1 (en) * | 2018-06-22 | 2019-12-26 | 珠海格力智能装备有限公司 | Wiring structure and robot having same |
| CN111085809A (en) * | 2020-01-13 | 2020-05-01 | 德世乐传动设备(成都)有限公司 | Welding manipulator |
| CN112549007A (en) * | 2019-09-10 | 2021-03-26 | 发那科株式会社 | Robot |
-
2017
- 2017-11-28 CN CN201711213613.3A patent/CN107972064A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019242247A1 (en) * | 2018-06-22 | 2019-12-26 | 珠海格力智能装备有限公司 | Wiring structure and robot having same |
| CN108705520A (en) * | 2018-07-19 | 2018-10-26 | 埃夫特智能装备股份有限公司 | One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot |
| CN109702733A (en) * | 2019-01-22 | 2019-05-03 | 福建（泉州）哈工大工程技术研究院 | A kind of movable type seven freedom smart collaboration robot |
| CN112549007A (en) * | 2019-09-10 | 2021-03-26 | 发那科株式会社 | Robot |
| CN111085809A (en) * | 2020-01-13 | 2020-05-01 | 德世乐传动设备(成都)有限公司 | Welding manipulator |
| CN111085809B (en) * | 2020-01-13 | 2022-03-01 | 德世乐传动设备(成都)有限公司 | Welding manipulator |
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