CN109278031B - Hollow six-joint industrial robot - Google Patents
Hollow six-joint industrial robot Download PDFInfo
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- CN109278031B CN109278031B CN201811457978.5A CN201811457978A CN109278031B CN 109278031 B CN109278031 B CN 109278031B CN 201811457978 A CN201811457978 A CN 201811457978A CN 109278031 B CN109278031 B CN 109278031B
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- joint part
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- speed reducer
- shaft
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims 2
- 238000013519 translation Methods 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 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
Abstract
The invention relates to a hollow six-joint industrial robot, which comprises a base, a lifting device, a third joint part, a fourth joint part, a fifth joint part and a sixth joint part, wherein the lower end of the base is provided with a shaft motor, and the upper end of the base is provided with a shaft hollow speed reducer; the lifting device comprises a turntable, a supporting seat, a ball screw, a linear guide rail, a biaxial motor and a biaxial speed reducer; the third joint part comprises a lifting seat, a connecting seat, a triaxial motor and a triaxial speed reducer; a four-shaft motor and a four-shaft hollow speed reducer are arranged in the fourth joint part; the fifth joint part is provided with a five-axis motor, a five-axis speed reducer and an L-shaped hollow connecting plate, the L-shaped hollow connecting plate is connected with the sixth joint part, and the sixth joint part is provided with a six-axis hollow speed reducer and a six-axis motor. The invention can realize the linear motion along the Z direction and the rotation around X, Y, Z, has 4 spatial motion degrees of freedom of one translation and three rotation, has a larger motion range of the tail end of the robot, and can meet more application occasions.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a hollow six-joint industrial robot.
Background
Industrial robots are widely used in the fields of automobile industry, electronic products, pharmaceutical industry, food industry, etc., and can be classified into rectangular coordinate type, cylindrical designation type, polar coordinate type, joint coordinate type, and planar joint type according to the configuration of the robot.
At present, in the general field, four-joint and six-joint robots with joint coordinates and SCARA robots with plane joints occupy most markets, are mainly used in application fields such as carrying, gluing, polishing and the like of articles, and along with the rapid development of industrial technology, the traditional robot configuration is difficult to meet application requirements, so that manufacturers of robots at home and abroad and universities perform optimal design on the traditional robot configuration for meeting different scenes.
The chinese patent application No. 201720787344.0 proposes a special SCARA robot for screw assembly, which enlarges the movement of the robot by changing the position setting of the vertical translational movement of the conventional SCARA, improves the rigidity, but the technical scheme proposed by the patent is only suitable for planar movement, and for other degrees of freedom requirements, for example, grabbing objects to a vertically placed rack, at least two different axes of rotational degrees of freedom are required, so that the structure of the planar robot cannot be suitable for the situation, whereas the conventional six-joint industrial robot is in a "six-rotation" type movement form, the rotational degrees of freedom can meet the requirements, but cannot be used for scenes with requirements on height because the conventional six-joint industrial robot cannot realize a large range of vertical translational movement, and if the arm extension of the general six-joint degree of freedom robot is increased, the rigidity and precision of the end transmission can be correspondingly reduced.
The Chinese patent application number 201810461392.Y provides a six-joint robot to realize a cylindrical working space, but four, five and six shaft parts of the robot adopt a wrist structure of the traditional six-joint robot, which can cause overlarge volume of the tail end and overlarge mass, so that the tail end has poor rigidity and precision, and in addition, the wrist structure is unfavorable for cable arrangement and can influence the actual application effect, so that the novel robot structure is required to be designed to meet different application scenes aiming at the defects of the traditional SCARA robot and the six-joint robot.
Disclosure of Invention
In order to avoid and solve the technical problems, the invention provides a hollow six-joint industrial robot.
The technical problems to be solved by the invention are realized by adopting the following technical scheme:
the hollow six-joint industrial robot comprises a base, a lifting device arranged on the base, a third joint part connected with the lifting device, a fourth joint part arranged at the lower end of the third joint part, a fifth joint part connected with the fourth joint part and a sixth joint part connected with the fifth joint part, wherein the lower end of the base is provided with a shaft motor, and the upper end of the base is provided with a shaft hollow speed reducer connected with the shaft motor;
the lifting device comprises a turntable, a supporting seat vertically fixed on the turntable, a ball screw arranged at the rear side of the supporting seat, a linear guide rail arranged at the front end of the supporting seat, a biaxial motor and a biaxial speed reducer which are arranged on the supporting seat and are connected through belt transmission, wherein the turntable is connected with a one-axis hollow speed reducer, and one end of the ball screw is fixed on an output shaft of the biaxial speed reducer while the other end is rotatably connected with the turntable;
the third joint part comprises a lifting seat, a connecting seat, a triaxial motor and a triaxial speed reducer, wherein the lifting seat and the connecting seat are connected with each other, the triaxial motor is fixed on the connecting seat, the triaxial speed reducer is connected with the triaxial motor, and the lifting seat is arranged on the ball screw and the linear guide rail;
the fourth joint part is provided with an L-shaped notch, a four-shaft motor is arranged in the fourth joint part, a four-shaft hollow speed reducer connected with the four-shaft motor through belt transmission is arranged at the front end of the fourth joint part, and the axis of the four-shaft hollow speed reducer is perpendicular to the length direction of the L-shaped notch and is horizontally arranged;
the fifth joint part is of an L-shaped hollow structure, a five-shaft motor and a five-shaft speed reducer are installed on the fifth joint part, an L-shaped hollow connecting plate is connected to the output side of the five-shaft speed reducer, the L-shaped hollow connecting plate is connected to the sixth joint part, a six-shaft hollow speed reducer is installed on the sixth joint part, and the six-shaft hollow speed reducer is connected with a six-shaft motor.
Further, the rotation axis of the third joint part is vertically arranged and is mutually perpendicular to the rotation axis of the fourth joint part.
Further, the rotation axis of the fourth joint part and the rotation axis of the fifth joint part are perpendicular to each other and intersect at a point.
Further, a pair of limit convex strips for limiting the up-and-down movement range of the third joint part are arranged on the right side of the supporting plate.
Further, a plastic drag chain is arranged at the rear end of the supporting plate, and a cable is arranged in the plastic drag chain.
Further, threaded hole bosses for fixing the cables are respectively arranged on the surfaces of the third joint part and the fourth joint part.
Further, one end of the plastic drag chain is fixed at the rear side of the supporting plate, and the other end of the plastic drag chain is fixed on the lifting seat, so that the plastic drag chain can move up and down along with the lifting seat.
Further, the rear side of the lifting seat is provided with a circular hole, and the circular hole is connected with the ball screw in a penetrating way.
Furthermore, the front side of the lifting seat is provided with a square hole, and the square hole is connected with the linear guide rail in a penetrating way.
Further, the length and the width of the square hole are larger than those of the supporting seat.
The beneficial effects of the invention are as follows:
1. the invention can realize the linear motion along the Z direction and the rotation around X, Y, Z, has 4 spatial motion degrees of freedom of one translation and three rotation, has a larger motion range of the tail end of the robot, and can meet more application occasions by the multi-degree-of-freedom structure.
2. According to the invention, through the reasonably designed hollow wrist wire passing structure, the interference and abrasion risks of the robot cable are reduced, and the service life of the robot cable is prolonged.
3. The fifth and sixth joint parts of the present invention can reduce the weight of the end and improve the rigidity and accuracy of the robot.
4. The invention also has the advantages of good decoupling of mechanism movement, stable and reliable work, compact structure, convenient operation and maintenance, high safety and the like.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of a base of the present invention;
FIG. 3 is a schematic perspective view of a second joint part according to the present invention;
FIG. 4 is a schematic perspective view of a lifting seat according to the present invention;
FIG. 5 is a schematic perspective view of a connecting seat according to the present invention;
FIG. 6 is a schematic perspective view of a fourth joint part according to the present invention;
FIG. 7 is a schematic view of the fifth joint and sixth joint connection of the present invention;
fig. 8 is a schematic view of the working state of the hollow six-joint robot of the present invention.
Detailed Description
The present invention will be further described in the following to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the present invention easy to understand.
In the embodiment of the present invention, according to the XYZ rectangular coordinate system established in fig. 1, one side located in the positive direction of the X axis is defined as the front, and one side located in the negative direction of the X is defined as the rear; the right side is positioned on one side in the Y positive direction, and the left side is positioned on one side in the Y negative direction; one side of the Z-axis positive direction is upper, and one side of the Z-axis negative direction is lower; in fig. 1, J1 denotes an output direction of the base 1, J2 denotes a movement direction of the lifting device 2, J3 denotes a movement direction of the third joint portion 3, J4 denotes a movement direction of the fourth joint portion 4, J5 denotes a movement direction of the fifth joint portion 5, and J6 denotes a movement direction of the sixth joint portion 6.
As shown in fig. 1 to 8, a hollow six-joint industrial robot comprises a base 1, a lifting device 2 arranged on the base 1, a third joint part 3 connected with the lifting device 2, a fourth joint part 4 arranged at the lower end of the third joint part 3, a fifth joint part 5 connected with the fourth joint part 4, and a sixth joint part 6 connected with the fifth joint part 5, wherein a one-shaft motor 12 is arranged at the lower end of the base 1, and a one-shaft hollow speed reducer 11 connected with the one-shaft motor 12 is arranged at the upper end of the base 1;
the lifting device 2 comprises a rotary table 21, a supporting seat 22 vertically fixed on the rotary table 21, a ball screw 23 arranged on the rear side of the supporting seat 22, a linear guide rail 24 arranged at the front end of the supporting seat 22, a two-shaft motor 26 and a two-shaft speed reducer 27 which are arranged on the supporting seat 22 and are connected through belt transmission, wherein the rotary table 21 is connected with a one-shaft hollow speed reducer 11, and one end of the ball screw 23 is fixed on an output shaft of the two-shaft speed reducer 27 and the other end of the ball screw is rotatably connected with the rotary table 21; the two-shaft motor 26 is arranged on a mounting seat on the supporting seat 22, an input belt pulley is connected to a driving shaft at the lower end of the mounting seat, an output belt pulley is arranged at the input end of the two-shaft speed reducer 27, and the two-shaft motor 26 transmits torque to the two-shaft speed reducer 27 through a synchronous belt to drive the ball screw 23 to rotate;
the third joint part 3 comprises a lifting seat 31 and a connecting seat 32 which are connected with each other, a triaxial motor 33 fixed on the connecting seat 32, and a triaxial speed reducer 34 connected with the triaxial motor 33, wherein the lifting seat 31 is arranged on the ball screw 23 and the linear guide rail 24; the front end face of the lifting seat 31 is provided with a threaded hole A314 and a pin hole 315, the pin hole 315 is used for positioning, the rear end face of the connecting seat 32 is provided with a concave groove 321 and a threaded hole B322 matched with the threaded hole A314, the concave groove 321 is used for avoiding screws on the connecting seat 32, the upper end of the connecting seat 32 is provided with a triaxial motor 33, the lower end of the connecting seat 32 is provided with a triaxial speed reducer 34, the triaxial motor 33 and the triaxial speed reducer 34 are in direct connection transmission, and the connecting seat 32 is fixed on the front end face of the lifting seat 31 through screws.
The fourth joint part 4 is provided with an L-shaped notch 41, the L-shaped notch 41 can ensure that the fifth joint part 5 cannot interfere with the fourth joint part 4 when rotating, a four-shaft motor 42 is arranged in the fourth joint part 4, a four-shaft hollow speed reducer 43 connected with the four-shaft motor 42 through belt transmission is arranged at the front end of the fourth joint part 4, a through hollow hole 412 is formed in the four-shaft hollow speed reducer 43, the four-shaft motor 42 transmits torque to the four-shaft hollow speed reducer 43 through a synchronous belt, and the axis of the four-shaft hollow speed reducer 43 is perpendicular to the length direction of the L-shaped notch 41 and is horizontally arranged; in this way, the fifth joint part 5 is mounted on the four-axis hollow speed reducer 43, the fifth joint part 5 is driven to rotate forward or backward through the four-axis hollow speed reducer 43, and the fifth joint part 5 can also drive the sixth joint part 6 to rotate forward or backward, so that the movement range of the tail end of the robot is wider and the movement is more flexible.
The fifth joint part 5 is of an L-shaped hollow structure, a hollow hole 51 for wiring is formed in the fifth joint part 5, a five-shaft motor 52 and a five-shaft speed reducer 53 are mounted on the fifth joint part 5, the five-shaft motor 52 and the five-shaft speed reducer 53 are in direct connection transmission, an L-shaped hollow connecting plate 54 is connected to the output side of the five-shaft speed reducer 53, the L-shaped hollow connecting plate 54 is connected to the sixth joint part 6, a six-shaft hollow speed reducer 61 is mounted on the sixth joint part 6, a six-shaft motor 62 is connected to the six-shaft hollow speed reducer 61, and the six-shaft motor 62 is connected with the six-shaft hollow speed reducer 61 through gear transmission or synchronous belt transmission to achieve torque transmission.
The rotation axis of the third joint part 3 is vertically arranged and is perpendicular to the rotation axis of the fourth joint part 4. The conventional SCARA robot can only rotate around the Z axis, and because the third joint part 3 drives the fourth joint part 4 to rotate around the Z axis, the perpendicular between the axis of the fourth joint part 4 and the axis of the third joint part 3 can ensure that the fourth joint part 4 drives the fifth joint part 5 to rotate around the Y axis, so as to increase the rotational freedom degree of the robot.
The rotation axis of the fourth joint part 4 and the rotation axis of the fifth joint part 5 are perpendicular to each other and intersect at a point. The fifth joint part 5 can drive the sixth joint part 5 to rotate around the X axis, and further, the rotation of the robot tip around the X, Y, Z axis is realized.
The right side of the support plate 22 is provided with a pair of limit protruding bars 222a and 222b for limiting the up-down movement range of the third joint part 3, and the limit protruding bars 222a and 222b are integrally formed with the support plate 22 or are fixed on the support plate 22 by screws.
The rear end of the supporting plate 22 is provided with a plastic drag chain 25, a cable 7 is arranged in the plastic drag chain 25, and an inlet 221 for installing the cable 7 is also arranged on the lower side of the plastic drag chain 25.
The surfaces of the third joint part 3 and the fourth joint part 4 are respectively provided with threaded hole bosses 323 and 411 for fixing the cable 7. In this way, the cable 7 is conveniently fixed, the cable 7 of the robot enters the inlet 211 at the rear side of the supporting plate 22 from the one-axis hollow speed reducer 11 on the base 1, is arranged inside the plastic drag chain 25, extends out of the lifting seat 31 and is fixed by the threaded boss 323 on the connecting seat 32, forms a semicircular radian between the third joint part 3 and the fourth joint part 4, is fixed at the threaded boss 411 on the fourth joint part 4, and enters the hollow hole 51 of the fifth joint part 5 and the hollow hole of the sixth joint part 6 from the left side of the fourth joint part 4.
One end of the plastic drag chain 25 is fixed at the rear side of the supporting plate 22, and the other end of the plastic drag chain 25 is fixed on the lifting seat 31, so that the plastic drag chain 25 can move up and down along with the lifting seat 31, and the plastic drag chain 25 can ensure that the cable 7 of the robot cannot be damaged in the up and down movement process along with the lifting seat 31.
The back side of the lifting seat 31 is provided with a circular hole 312, and the circular hole 312 is connected to the ball screw 23 in a penetrating manner.
The front side of the lifting seat 31 is provided with a square hole 311, the square hole 311 is connected to the linear guide rail 24 in a penetrating manner, and the linear guide rail 24 can be used for improving the rigidity of the lifting seat 31.
The length and width of the square hole 311 are larger than those of the support seat 22, so as to avoid interference with the movement of the support seat 22.
When the robot is used, the turntable 21 is driven to rotate around the Z axis, the tail end of the robot is arranged on the sixth joint part 6 and used for grabbing objects, the lifting device 2 works to move the objects upwards along the Z direction, the third joint part 3 works to rotate the objects around the Z axis to a designated position, at the moment, the fourth joint part 4 works to rotate the tail end objects around the Y axis and change the plane where the objects are located, the fifth joint part 5 and the sixth joint part 6 are used for adjusting the placing postures of the objects, wherein the fourth joint part 4 rotationally drives the fifth joint part 5 to be close to or far away from the lifting device 2, the fifth joint part 5 rotationally drives the sixth joint part 6 to be close to or far away from the lifting device 2, the stroke of the tail end of the robot can be greatly increased or reduced, and the objects can be conveniently grabbed.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a cavity six joint industrial robot, includes base (1), installs elevating gear (2) on base (1), with elevating gear (2) continuous third joint portion (3), install fourth joint portion (4) at third joint portion (3) lower extreme, with the fifth joint portion (5) that four joint portions (4) link to each other, with the sixth joint portion (6) that five joint portions (5) link to each other, its characterized in that: the lower end of the base (1) is provided with a shaft motor (12), and the upper end of the base is provided with a shaft hollow speed reducer (11) connected with the shaft motor (12);
the lifting device (2) comprises a rotary table (21), a supporting seat (22) vertically fixed on the rotary table (21), a ball screw (23) arranged at the rear side of the supporting seat (22), a linear guide rail (24) arranged at the front end of the supporting seat (22), a two-shaft motor (26) and a two-shaft speed reducer (27) which are arranged on the supporting seat (22) and connected through belt transmission, wherein the rotary table (21) is connected with a one-shaft hollow speed reducer (11), and one end of the ball screw (23) is fixed on an output shaft of the two-shaft speed reducer (27) and the other end of the ball screw is rotatably connected with the rotary table (21);
the third joint part (3) comprises a lifting seat (31) and a connecting seat (32) which are connected with each other, a triaxial motor (33) fixed on the connecting seat (32) and a triaxial speed reducer (34) connected with the triaxial motor (33), and the lifting seat (31) is arranged on the ball screw (23) and the linear guide rail (24);
the fourth joint part (4) is provided with an L-shaped notch (41), a four-shaft motor (42) is arranged in the fourth joint part (4), a four-shaft hollow speed reducer (43) connected with the four-shaft motor (42) through belt transmission is arranged at the front end of the fourth joint part (4), and the axis of the four-shaft hollow speed reducer (43) is perpendicular to the length direction of the L-shaped notch (41) and is horizontally arranged;
the fifth joint part (5) is of an L-shaped hollow structure, a five-shaft motor (52) and a five-shaft speed reducer (53) are installed on the fifth joint part (5), an L-shaped hollow connecting plate (54) is connected to the output side of the five-shaft speed reducer (53), the L-shaped hollow connecting plate (54) is connected to the sixth joint part (6), a six-shaft hollow speed reducer (61) is installed on the sixth joint part (6), and the six-shaft hollow speed reducer (61) is connected with a six-shaft motor (62); the rotation axis of the third joint part (3) is vertically arranged and is mutually perpendicular to the rotation axis of the fourth joint part (4); the rotation axis of the fourth joint part (4) and the rotation axis of the fifth joint part (5) are perpendicular to each other and intersect at a point.
2. A hollow six-joint industrial robot according to claim 1, characterized in that: the right side of the supporting plate (22) is provided with a pair of limit convex strips (222 a,222 b) for limiting the up-and-down movement range of the third joint part (3).
3. A hollow six-joint industrial robot according to claim 1, characterized in that: the rear end of the supporting plate (22) is provided with a plastic drag chain (25), and a cable (7) is arranged in the plastic drag chain (25).
4. A hollow six-joint industrial robot according to claim 3, characterized in that: the surfaces of the third joint part (3) and the fourth joint part (4) are respectively provided with threaded hole bosses (323, 411) for fixing the cable (7).
5. A hollow six-joint industrial robot according to claim 3, characterized in that: one end of the plastic drag chain (25) is fixed on the rear side of the supporting plate (22) and the other end of the plastic drag chain is fixed on the lifting seat (31), so that the plastic drag chain (25) can move up and down along with the lifting seat (31).
6. A hollow six-joint industrial robot according to claim 1, characterized in that: the rear side of the lifting seat (31) is provided with a circular hole (312), and the circular hole (312) is connected with the ball screw (23) in a penetrating way.
7. A hollow six-joint industrial robot according to claim 1, characterized in that: the front side of the lifting seat (31) is provided with a square hole (311), and the square hole (311) is connected with the linear guide rail (24) in a penetrating way.
8. A hollow six-joint industrial robot according to claim 7, characterized in that: the length and the width of the square hole (311) are larger than those of the supporting seat (22).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811457978.5A CN109278031B (en) | 2018-11-30 | 2018-11-30 | Hollow six-joint industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811457978.5A CN109278031B (en) | 2018-11-30 | 2018-11-30 | Hollow six-joint industrial robot |
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| CN109278031A CN109278031A (en) | 2019-01-29 |
| CN109278031B true CN109278031B (en) | 2023-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811457978.5A Active CN109278031B (en) | 2018-11-30 | 2018-11-30 | Hollow six-joint industrial robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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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| 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 |
| KR20180022518A (en) * | 2016-11-01 | 2018-03-06 | 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 |
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2018
- 2018-11-30 CN CN201811457978.5A patent/CN109278031B/en active Active
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| 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 |
| KR20180022518A (en) * | 2016-11-01 | 2018-03-06 | 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 |
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| CN109278031A (en) | 2019-01-29 |
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