CN109278031A - A kind of hollow six joint industrial robot - Google Patents
A kind of hollow six joint industrial robot Download PDFInfo
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- CN109278031A CN109278031A CN201811457978.5A CN201811457978A CN109278031A CN 109278031 A CN109278031 A CN 109278031A CN 201811457978 A CN201811457978 A CN 201811457978A CN 109278031 A CN109278031 A CN 109278031A
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- joint
- industrial robot
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 48
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 13
- 238000013519 translation Methods 0.000 claims abstract description 10
- 229920003023 plastic Polymers 0.000 claims description 15
- 239000004033 plastic Substances 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 208000035874 Excoriation Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009510 drug design Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of hollow six joint industrial robot, including pedestal, lifting device, third joint, the 4th joint portion, the 5th joint portion, the 6th joint portion, the lower end of pedestal is equipped with a spindle motor, upper end is equipped with an axis hollow reducer；Lifting device includes turntable, support base, ball-screw, linear guide, two spindle motors and two axis speed reducers；Third joint includes lifting seat, attachment base, three spindle motors, three axis speed reducers；Four spindle motors, four axis hollow reducers are installed in the 4th joint portion；Five spindle motors, five axis speed reducers, the hollow connecting plate of L-type are installed, L-type is hollow to be connected to the 6th joint portion, and six axis hollow reducers, six spindle motors are equipped on the 6th joint portion on the 5th joint portion.The present invention can be realized the linear motion along Z-direction and the rotation around X, Y, Z, have three rotation of a translation totally 4 spatial movement freedom degrees, robot end's motion range is bigger, can satisfy more applications.
Description
Technical field
The present invention relates to robot device's technical field, specifically a kind of hollow six joint industrial robot.
Background technique
Industrial robot is widely used in fields such as auto industry, electronic product, pharmaceutical industries and food industry, according to machine
The configuration of device people can be divided into cartesian co-ordinate type, cylinder indicates type, polar co-ordinate type, joint coordinates type, plane articulation type.
Currently, in general field, four joints of joint coordinates type and the SCARA of six articulated robots and plane joint type
Robot occupies most of markets, is mainly used for the application fields such as carrying, gluing, the polishing of article, fast with industrial technology
Speed development, traditional robot modeling have been difficult to meet application demand, and therefore, domestic and international manufacturer of robot, colleges and universities are to traditional
Robot modeling optimizes, for meeting different scenes.
Chinese Patent Application No. proposes a kind of dedicated SCARA robot of screw assembly for 201720787344.0, passes through
Change the position setting of the upper and lower translation movement of tradition SCARA, to expand the movement of robot, improves rigidity, but the patent institute
The technical solution of proposition is only applicable to plane motion, for there is other freedom degree demands, for example, object is grabbed vertical placement
Shelf, this kind of situation at least needs two out-of-alignment rotary freedoms, and therefore, the structure of planar robot can not be applicable in
In the situation, and the forms of motion of artificial " six rotations " type of six traditional joint industrial machines, the freedom degree of rotation can expire
Sufficient demand, but since it cannot achieve large-scale upper and lower translation movement, it is not used to the scene highly required, if,
Increase the arm exhibition of general six joint freedom degrees robot, then can reduce the rigidity and precision of final drive accordingly.
Chinese Patent Application No. is that 201810461392.Y proposes six articulated robots, realizes that cylindrical work is empty
Between, but four, five, six shaft portions use six traditional articulated robot wrist structures, it is excessive to will lead to ending volume, quality
It is overweight, end rigidity, low precision are caused, in addition, its wrist structure is unfavorable for cable arrangement, influences whether actual application effect
Therefore fruit the shortcomings that for traditional SCARA robot and six articulated robots, needs to design a novel robot architecture
To meet different application scenarios.
Summary of the invention
In order to avoid with solve above-mentioned technical problem, the invention proposes a kind of hollow six joint industrial robots.
The technical problems to be solved by the invention are realized using following technical scheme:
A kind of hollow six joint industrial robot, including pedestal, the lifting device being mounted on the base, with lifting device phase
Even third joint, the 4th joint portion for being mounted on third joint lower end, the 5th joint portion being connected with four joint portions, and
The 6th connected joint portion of 5th joint portion, the lower end of the pedestal is equipped with a spindle motor, upper end is equipped with and is connected with a spindle motor
An axis hollow reducer；
The lifting device includes turntable, the vertical ball wire for being fixed on the support base of turntable, being mounted on rear side of support base
Thick stick, the linear guide for being mounted on support base front end, two spindle motors and two axis for being mounted on support base and being connected by V belt translation
Speed reducer, the turntable are connected with an axis hollow reducer, and the output of two axis speed reducers is fixed in one end of the ball-screw
The axis and other end is rotationally connected with turntable；
The third joint includes the lifting seat being connected with each other and attachment base, is fixed on attachment base three spindle motors, with
Three connected axis speed reducers of three spindle motors, the lifting seat are mounted on ball-screw and linear guide；
4th joint portion has L-type notch, is equipped with four spindle motors, the 4th joint in the 4th joint portion
The front end in portion is equipped with four axis hollow reducers being connected by V belt translation with four spindle motors, the axis of the four axis hollow reducer
Line perpendicular to L-type notch length direction and in horizontally disposed；
5th joint portion is L-type hollow structure, and five spindle motors are equipped on the 5th joint portion and five axis slow down
Machine, the outlet side of the five axis speed reducer are connected with the hollow connecting plate of L-type, and the L-type is hollow to be connected to the 6th joint portion,
Six axis hollow reducers are installed, the six axis hollow reducer is connected with six spindle motors on the 6th joint portion.
Further, the rotation axis of the third joint is arranged vertically and the rotation axis phase with the 4th joint portion
It is mutually vertical.
Further, the rotation axis of the 4th joint portion is mutually perpendicular to and intersects with the rotation axis of the 5th joint portion
In a bit.
Further, the right side of the support plate is equipped with a pair of for limiting the limit of third joint up and down motion range
Raised line.
Further, the rear end of the support plate is disposed with plastics drag chain, is equipped with cable in the plastics drag chain.
Further, the third joint, the 4th joint portion surface be respectively provided with the threaded hole of fixed cable
Boss.
Further, one end of the plastics drag chain is fixed on rear side of support plate and the other end is fixed on lifting seat, is made
Plastics drag chain can move up and down with lifting seat.
Further, the rear side of the lifting seat is equipped with round hole, and the round hole, which runs through, is connected to ball-screw.
Further, the front side of the lifting seat is equipped with square hole, and the square hole, which runs through, is connected to linear guide.
Further, the length and width of the square hole is all larger than the length and width of support base.
The beneficial effects of the present invention are:
1, the present invention can be realized the linear motion along Z-direction and the rotation around X, Y, Z, have three rotation totally 4 of a translation
A spatial movement freedom degree, robot end's motion range is bigger, and multivariant structure can satisfy more applied fields
It closes.
2, the hollow wrist string-passing structure of the invention by rational design reduces the interference of robot cable, abrasion risk,
Improve the service life of robot cable.
3, the five, the 6th light-weighted structures of joint portion of the invention can reduce end weight, improve the rigidity of robot
And precision.
4, the present invention is also with mechanism kinematic decoupling is good, stable and reliable in work, compact-sized, Operation and Maintenance is convenient, peace
The advantages that property is high entirely.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is the schematic perspective view of pedestal of the invention；
Fig. 3 is the schematic perspective view in second joint portion of the invention；
Fig. 4 is the schematic perspective view of lifting seat of the invention；
Fig. 5 is the schematic perspective view of attachment base of the invention；
Fig. 6 is the schematic perspective view of the 4th joint portion of the invention；
Fig. 7 is the structural schematic diagram that the 5th joint portion of the invention and the 6th joint portion connect；
Fig. 8 is the working state schematic representation of hollow six articulated robot of the invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below it is right
The present invention is further described.
It should be noted that the XYZ rectangular coordinate system established according to Fig. 1, definition is located at X-axis in the embodiment of the present invention
Before the side of positive direction is, after being defined as positioned at the side of X negative direction；It is the right side positioned at Y positive direction side, is located at Y negative direction one
Side is a left side；Be positioned at Z axis positive direction side it is upper, under being positioned at Z axis negative direction side；And in Fig. 1, J1 indicates 1 side of output of pedestal
Indicate that the direction of motion of lifting device 2, J3 indicate that the direction of motion of third joint 3, J4 indicate the 4th joint portion 4 to, J2
The direction of motion, J5 indicate that the direction of motion of the 5th joint portion 5, J6 indicate the direction of motion of the 6th joint portion 6.
As shown in Figures 1 to 8, a kind of hollow six joint industrial robot, including pedestal 1, the lifting being mounted on pedestal 1
Device 2, the third joint 3 being connected with lifting device 2, the 4th joint portion 4 for being mounted on 3 lower end of third joint and four are closed
The 5th connected joint portion 5 of section portion 4, the 6th joint portion 6 that is connected with the 5th joint portion 5, the lower end of the pedestal 1 is equipped with an axis
Motor 12, upper end are equipped with the axis hollow reducer 11 being connected with a spindle motor 12；
The lifting device 2 includes turntable 21, is fixed on the support base 22 of turntable 21 vertically, is mounted on 22 rear side of support base
Ball-screw 23, be mounted on 22 front end of support base linear guide 24, be mounted on support base 22 and by V belt translation be connected
Two spindle motors 26 and two axis speed reducers 27, the turntable 21 is connected with an axis hollow reducer 11, the ball-screw 23
The output shaft of two axis speed reducers 27 is fixed in one end and the other end is rotationally connected with turntable 21；Two spindle motor 26 is mounted on branch
Be connected with input belt wheel in mounting base on support seat 22 and in the drive shaft of lower end, and the input terminal of two axis speed reducers 27 be equipped with it is defeated
Pulley, two spindle motors 26 deliver torque to two axis speed reducers 27 by synchronous belt, drive 23 rotary motion of ball-screw；
The third joint 3 includes the lifting seat 31 and attachment base 32, three axis for being fixed on attachment base 32 being connected with each other
Motor 33, three axis speed reducers 34 being connected with three spindle motors 33, the lifting seat 31 are mounted on ball-screw 23 and linear guide
On 24；The front end face of the lifting seat 31 is equipped with threaded hole A314 and pin hole 315, and the pin hole 315 is for positioning, the connection
The rear end face of seat 32 is equipped with concave groove 321, the threaded hole B322 with threaded hole A314 cooperation, and concave groove 321 is for avoiding connection
Screw on seat 32, three spindle motors 33 are installed in the upper end of the attachment base 32, three axis speed reducers 34, three spindle motors 33 are installed in lower end
With three axis speed reducers 34 by direct-connection transmission, attachment base 32 is fixed by screws on 31 front end face of lifting seat.
4th joint portion 4 has a L-type notch 41, and L-type notch 41 will not be with when can guarantee the rotation of the 5th joint portion 5
4th joint portion 4 generates interference, and four spindle motors 42, the front end peace of the 4th joint portion 4 are equipped in the 4th joint portion 4
Equipped with four axis hollow reducers 43 being connected by V belt translation with four spindle motors 42, the four axis hollow reducer 43 is equipped with and passes through
Logical hollow hole 412, was convenient for line, four spindle motor 42 delivers torque to four axis hollow reducers 43, institute by synchronous belt
The axis of four axis hollow reducers 43 is stated perpendicular to the length direction of L-type notch 41 and in horizontally disposed；By this way, the 5th
Joint portion 5 is mounted in four axis hollow reducers 43, is rotated before driving the 5th joint portion 5 to be located at by four axis hollow reducers 43
Side or rear, and the 5th joint portion 5 can equally drive the rotation of the 6th joint portion 6 to front or behind, so that robot is last
End motion range is wider, movement is more flexible.
5th joint portion 5 is L-type hollow structure, the 5th joint portion 5 is equipped with the hollow hole for wiring
51, five spindle motors 52 and five axis speed reducers 53, five spindle motor 52 and five axis speed reducers are installed on the 5th joint portion 5
53 are connected with the hollow connecting plate 54 of L-type, the hollow connection of L-type by direct-connection transmission, the outlet side of the five axis speed reducer 53
Plate 54 is connected to the 6th joint portion 6, and six axis hollow reducers 61 are equipped on the 6th joint portion 6, and six axis is hollow to be subtracted
Fast machine 61 is connected with six spindle motors 62, and six spindle motor 62 passes through gear drive or toothed belt transmission and six axis hollow reducers
61 are connected to realize that torque transmits.
The rotation axis of the third joint 3 is arranged vertically and is mutually perpendicular to the rotation axis of the 4th joint portion 4.
Traditional SCARA robot can only realize rotation about the z axis, since third joint 3 drives the 4th joint portion 4 to rotate about the z axis,
By 4 axis of the 4th joint portion it is vertical with 3 axis of third joint can guarantee the 4th joint portion 4 drive the 5th joint portion 5 around Y
Axis rotation, for increasing the rotary freedom of robot.
The rotation axis of 4th joint portion 4 and the rotation axis of the 5th joint portion 5 are mutually perpendicular to and intersect at a point.
5th joint portion 5 can drive the 6th joint portion 5 to rotate around X-axis, and then realize robot end around the rotation of X, Y, Z axis.
The right side of the support plate 22 is equipped with a pair of for limiting the limit raised line of 3 up and down motion range of third joint
222a and 222b, limit the raised line 222a and 222b are to be integrally formed or be fixed by screws in support plate 22 with support plate 22
On.
The rear end of the support plate 22 is disposed with plastics drag chain 25, is equipped with cable 7, the plastics in the plastics drag chain 25
The downside of drag chain 25 is additionally provided with the entrance 221 for installing cable 7.
The third joint 3, the 4th joint portion 4 surface be respectively provided with the threaded hole boss of fixed cable 7
323,411.Be convenient for the fixation of cable 7 using which, the cable 7 of robot from the axis hollow reducer 11 on pedestal 1 into
Enter the entrance 211 to 22 rear side of support plate, be arranged in inside plastics drag chain 25, stretches out the spiral shell on attachment base 32 from lifting seat 31
Line boss 323 is fixed, the spiral shell from third joint 3 to the semicircle radian of formation the 4th joint portion 4, on the 4th joint portion 4
It is fixed at line boss 411,6 hollow hole of hollow hole 51 and the 6th joint portion of the 5th joint portion 5 is entered on the left of the 4th joint portion 4
It is interior.
One end of the plastics drag chain 25 is fixed on 22 rear side of support plate and the other end is fixed on lifting seat 31, makes plastics
Drag chain 25 can move up and down with lifting seat 31, and plastics drag chain 25 can guarantee that the cable 7 of robot is following about 31 lifting seat
It will not be damaged in motion process.
The rear side of the lifting seat 31 is equipped with round hole 312, and the round hole 312, which runs through, is connected to ball-screw 23.
The front side of the lifting seat 31 is equipped with square hole 311, and the square hole 311 is through linear guide 24 is connected to, directly
Line guide rail 24 can be used for improving the rigidity of lifting seat 31.
The length and width of the square hole 311 is all larger than the length and width of support base 22, for avoiding and support base
Interference is generated in 22 motion processes.
In use, a spindle motor 11 driving turntable 21 rotates about the z axis, robot end is mounted on the 6th joint portion 6 and uses
In crawl object, lifting device 2 works, and by object along Z-direction ascending motion, third joint 3 works, object is revolved about the z axis
Designated position is gone to, at this point, the 4th joint portion 4 works, end object is rotated around Y-axis, the plane where change object, the 5th
Joint portion 5, the 6th joint portion 6 are used to adjust the posture that object is put, wherein the 4th joint portion 4 rotation the 5th joint portion 5 of driving
Close to or far from lifting device 2, the 5th joint portion 5 rotation the 6th joint portion 6 of driving is close to or far from lifting device 2, Ke Yi great
The stroke for increasing or decreasing robot end greatly, facilitates crawl object.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of hollow six joint industrial robot including pedestal (1), the lifting device (2) being mounted on pedestal (1) and rises
The connected third joint (3) of falling unit (2), the 4th joint portion (4) for being mounted on third joint (3) lower end and four joints
It the 5th connected joint portion (5) of portion (4), the 6th joint portion (6) that is connected with the 5th joint portion (5), it is characterised in that: the bottom
The lower end of seat (1) is equipped with a spindle motor (12), upper end is equipped with the axis hollow reducer (11) being connected with a spindle motor (12)；
The lifting device (2) includes turntable (21), the support base (22) for being fixed on turntable (21) vertically, is mounted on support base
(22) ball-screw (23) on rear side of, is mounted on support base (22) linear guide (24) for being mounted on support base (22) front end
And two spindle motors (26) and two axis speed reducers (27) being connected by V belt translation, the turntable (21) and an axis hollow reducer
(11) it is connected, the output shaft of two axis speed reducers (27) is fixed in one end of the ball-screw (23) and the other end is rotationally connected with
Turntable (21)；
The third joint (3) includes the lifting seat (31) being connected with each other and attachment base (32), is fixed on attachment base (32)
Three spindle motors (33), three axis speed reducers (34) being connected with three spindle motors (33), the lifting seat (31) are mounted on ball-screw
(23) and in linear guide (24)；
4th joint portion (4) has L-type notch (41), is equipped with four spindle motors (42) in the 4th joint portion (4), institute
The front end for stating the 4th joint portion (4) is equipped with four axis hollow reducers (43) being connected by V belt translation with four spindle motors (42),
The axis of the four axis hollow reducer (43) perpendicular to L-type notch (41) length direction and in horizontally disposed；
5th joint portion (5) is L-type hollow structure, is equipped with five spindle motors (52) and five on the 5th joint portion (5)
Axis speed reducer (53), the outlet side of the five axis speed reducer (53) are connected with the hollow connecting plate of L-type (54), the hollow company of L-type
Fishplate bar (54) is connected to the 6th joint portion (6), and six axis hollow reducers (61) are equipped on the 6th joint portion (6), described
Six axis hollow reducers (61) are connected with six spindle motors (62).
2. the hollow six joints industrial robot of one kind according to claim 1, it is characterised in that: the third joint
(3) rotation axis is arranged vertically and is mutually perpendicular to the rotation axis of the 4th joint portion (4).
3. the hollow six joints industrial robot of one kind according to claim 1, it is characterised in that: the 4th joint portion
(4) rotation axis of rotation axis and the 5th joint portion (5) is mutually perpendicular to and intersects at a point.
4. the hollow six joints industrial robot of one kind according to claim 1, it is characterised in that: the support plate (22)
Right side is equipped with a pair of for limiting the limit raised line (222a, 222b) of third joint (3) up and down motion range.
5. the hollow six joints industrial robot of one kind according to claim 1, it is characterised in that: the support plate (22)
Rear end is disposed with plastics drag chain (25), is equipped with cable (7) in the plastics drag chain (25).
6. the hollow six joints industrial robot of one kind according to claim 5, it is characterised in that: the third joint
(3), the surface of the 4th joint portion (4) is respectively provided with the threaded hole boss (323,411) of fixed cable (7).
7. the hollow six joints industrial robot of one kind according to claim 5, it is characterised in that: the plastics drag chain (25)
One end be fixed on rear side of support plate (22) and the other end is fixed on lifting seat (31), make plastics drag chain (25) can be with lifting seat
(31) it moves up and down.
8. the hollow six joints industrial robot of one kind according to claim 1, it is characterised in that: the lifting seat (31)
Rear side is equipped with round hole (312), and the round hole (312), which is run through, is connected to ball-screw (23).
9. the hollow six joints industrial robot of one kind according to claim 1, it is characterised in that: the lifting seat (31)
Front side is equipped with square hole (311), and the square hole (311), which is run through, is connected to linear guide (24).
10. the hollow six joints industrial robot of one kind according to claim 9, it is characterised in that: the square hole (311)
Length and width be all larger than the length and widths of support base (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811457978.5A CN109278031B (en) | 2018-11-30 | 2018-11-30 | Hollow six-joint industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811457978.5A CN109278031B (en) | 2018-11-30 | 2018-11-30 | Hollow six-joint industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109278031A true CN109278031A (en) | 2019-01-29 |
| CN109278031B CN109278031B (en) | 2023-12-15 |
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ID=65174201
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811457978.5A Active CN109278031B (en) | 2018-11-30 | 2018-11-30 | Hollow six-joint industrial robot |
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| Country | Link |
|---|---|
| CN (1) | CN109278031B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152058A (en) * | 2020-01-03 | 2020-05-15 | 中国船舶重工集团公司第七0七研究所 | Fast switching flexible system suitable for multi-variety small-batch production |
| CN112318346A (en) * | 2020-11-03 | 2021-02-05 | 陈毅刚 | High-precision rotary polishing device for casting and method thereof |
| CN114454210A (en) * | 2022-03-24 | 2022-05-10 | 珠海格力电器股份有限公司 | Horizontal multi-joint robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103538053A (en) * | 2012-07-17 | 2014-01-29 | 昆山华恒焊接股份有限公司 | Six-freedom-degree spray coating robot |
| CN205835338U (en) * | 2016-07-06 | 2016-12-28 | 中南大学 | A kind of Six-DOF industrial robot |
| KR101845325B1 (en) * | 2016-11-01 | 2018-04-04 | 주식회사 맥스로텍 | 6 dof ball-driven robot with a 3 dof parallel kinematic manipulator |
| CN108818498A (en) * | 2018-06-09 | 2018-11-16 | 埃夫特智能装备股份有限公司 | A kind of six degree of freedom hollow type heavy-load robot |
| CN108839012A (en) * | 2018-08-07 | 2018-11-20 | 上海大学 | A kind of sixdegree-of-freedom simulation |
| CN209478190U (en) * | 2018-11-30 | 2019-10-11 | 埃夫特智能装备股份有限公司 | A kind of hollow six joint industrial robot |
-
2018
- 2018-11-30 CN CN201811457978.5A patent/CN109278031B/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152058A (en) * | 2020-01-03 | 2020-05-15 | 中国船舶重工集团公司第七0七研究所 | Fast switching flexible system suitable for multi-variety small-batch production |
| CN112318346A (en) * | 2020-11-03 | 2021-02-05 | 陈毅刚 | High-precision rotary polishing device for casting and method thereof |
| CN112318346B (en) * | 2020-11-03 | 2022-05-06 | 烟台世德装备股份有限公司 | High-precision rotary polishing device for casting and method thereof |
| CN114454210A (en) * | 2022-03-24 | 2022-05-10 | 珠海格力电器股份有限公司 | Horizontal multi-joint robot |
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| Publication number | Publication date |
|---|---|
| CN109278031B (en) | 2023-12-15 |
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