CN110587194A - Bionic welding manipulator for electronic product - Google Patents
Bionic welding manipulator for electronic product Download PDFInfo
- Publication number
- CN110587194A CN110587194A CN201910980859.6A CN201910980859A CN110587194A CN 110587194 A CN110587194 A CN 110587194A CN 201910980859 A CN201910980859 A CN 201910980859A CN 110587194 A CN110587194 A CN 110587194A
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- Prior art keywords
- disc
- stepping
- rotating mechanism
- arm
- bolt
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a bionic welding manipulator for an electronic product, which comprises a first stepping rotating mechanism, a rotary table, a large arm, a small arm, a fourth stepping rotating mechanism, a rotary arm, a welding gun, a third stepping rotating mechanism and a second stepping rotating mechanism, wherein the first stepping rotating mechanism is arranged on the rotary table; the stepping rotating mechanism adopted by the invention is connected with the large arm, the small arm and the rotating arm, and the angle, the height and the distance of the welding gun can be flexibly adjusted by controlling the stepping motor, so that the welding work is facilitated; the stepping rotating mechanism adopts a hollow rotating disk mode, so that a control lead can directly pass through the center of the hollow rotating disk, and the problem of control lead layout of the device is well solved. Has the characteristics of high efficiency, simple operation, convenient use and multiple purposes.
Description
Technical Field
The invention relates to the technical field of electronic product welding tools, in particular to a bionic welding manipulator for an electronic product.
Background
The welding manipulator is a mechanical facility for jointing metal or other thermoplastic materials in a heating, high-temperature or high-pressure mode, is generally used for jointing the metal or other thermoplastic materials in a production workshop, and has the characteristics of durability, convenience, easy operation and the like; the mechanical automation of industrial production is one of the important marks of the development of modern society, a welding robot is inevitably popularized, and the bionic welding manipulator is used as a modern intelligent tool to replace the work which can not be done by human, so that the working efficiency and the working quality can be improved, and the bionic welding manipulator has the advantages of stabilizing and improving the welding quality, improving the labor productivity, improving the environment of workers and the like.
Disclosure of Invention
The invention aims to provide a bionic welding manipulator for an electronic product.
In order to achieve the purpose, the technical solution of the invention is as follows: a bionic welding manipulator for electronic products comprises a first stepping rotating mechanism, a rotary table, a large arm, a small arm, a fourth stepping rotating mechanism, a rotary arm, a welding gun, a third stepping rotating mechanism and a second stepping rotating mechanism.
The welding gun is arranged at the front part of the rotating arm, the small arm mounting square disc is arranged at the rear part of the small arm, a second through hole is arranged at the center of the small arm mounting square disc, four second threaded holes are also arranged at the four corner positions of the small arm mounting square disc, a first large arm disc is arranged at one end of the large arm, a second large arm disc is arranged at the other end of the large arm, a first hollow hole is arranged at the center of the first large arm disc, a second bolt and a bolt hole for the second bolt to pass through are arranged on the periphery of the first large arm disc, a second hollow hole is arranged at the center of the second large arm disc, a third bolt and a bolt hole for the third bolt to pass through are arranged on the periphery of the second large arm disc, and a base plate is arranged at the bottom of the rotary table;
the first stepping rotating mechanism, the second stepping rotating mechanism, the third stepping rotating mechanism and the fourth stepping rotating mechanism have the same structure, but the sizes of the first stepping rotating mechanism, the second stepping rotating mechanism and the fourth stepping rotating mechanism are different, the size of the first stepping rotating mechanism is the largest, the size of the second stepping rotating mechanism is the second, and the size of the fourth stepping rotating mechanism is the smallest;
the fourth stepping rotating mechanism comprises a fourth square fixed disc, a fourth bolt, a fourth stepping motor and a fourth hollow rotating disc; a convex groove is formed in the center of the fourth square fixed disc, a fourth hollow rotating disc is arranged in the convex groove, a fourth driven gear is arranged on the periphery of the lower portion of the fourth hollow rotating disc, a plurality of fourth hollow rotating disc threaded holes are formed in the side of the fourth hollow rotating disc, and a fourth driving gear of a fourth stepping motor is in gear connection with a fourth driven gear of the fourth hollow rotating disc;
and the fourth bolt penetrates through a through hole formed in the side of the fourth square fixing disc to be respectively in threaded fastening connection with a fourth stepping motor threaded hole formed in the fourth stepping motor and a threaded hole formed in the forearm mounting disc, and the fourth bolt further penetrates through a through hole formed in the rotating arm mounting disc at the bottom of the rotating arm to be in threaded fastening connection with a fourth hollow rotating disc threaded hole formed in the third through hole.
Similarly, a second bolt penetrates through a through hole arranged on the side of a second square fixed disc of the second stepping rotating mechanism and is in threaded fastening connection with a second stepping motor threaded hole arranged on a second stepping motor and a first threaded hole arranged on a rotary table mounting square disc respectively, and the second bolt also penetrates through a through hole arranged on a first large arm disc and is in threaded fastening connection with a second hollow rotating disc threaded hole penetrating through a first through hole; the third bolt penetrates through a through hole formed in the side of a third square fixing disc of the third stepping rotating mechanism and is in threaded fastening connection with a third stepping motor threaded hole formed in the third stepping motor and a second threaded hole formed in the forearm mounting square disc respectively, the third bolt further penetrates through a through hole formed in a second large arm disc and is in threaded fastening connection with a third hollow rotating disc threaded hole formed in a second through hole, the first bolt penetrates through a stud hole formed in a base disc and is in threaded connection with a threaded hole formed in a first hollow rotating disc of the first stepping rotating mechanism, and the first bolt further penetrates through a stud hole formed in a first square fixing disc of the first stepping rotating mechanism and is in threaded connection with a threaded hole formed in a support.
The utility model provides a bionic welding manipulator for electronic product still includes PLC control system, PLC control system include the PLC controller, motor drive module, position sensing module and actuating mechanism, the PLC controller carries out electrical connection with motor drive module, motor drive module carries out electrical connection with actuating mechanism, the PLC controller carries out electrical connection with position sensing module, position sensing module carries out electrical connection with actuating mechanism, actuating mechanism carries out electrical connection with first step motor ~ fifth step motor respectively, first step motor carries out mechanical connection with the revolving stage, second step motor carries out mechanical connection with big arm, third step motor carries out mechanical connection with the forearm, fourth step motor carries out mechanical connection with the rocking arm, fifth step motor carries out mechanical connection with a thread feeding mechanism.
The working principle of the invention is as follows: when the welding gun is used, the PLC control system is used for controlling the work of a fourth stepping motor, as a fourth driving gear of the fourth stepping motor is meshed with a fourth driven gear of a fourth hollow rotating disk, the fourth stepping motor can drive a threaded column to rotate, a fourth stepping rotating mechanism further drives a rotating arm connected with the fourth hollow rotating disk to rotate, the rotating arm further drives a welding gun to rotate clockwise or anticlockwise, similarly, the PLC control system is used for controlling the work of the third stepping motor, the third stepping rotating mechanism drives a small arm connected with the third hollow rotating disk to rotate by taking the third hollow rotating disk as an axis, the inclination of the small arm can be adjusted so as to adjust the inclination of the welding gun installed on the rotating arm, the PLC control system is used for controlling the work of the second stepping motor, and the second stepping rotating mechanism drives a large arm connected with the second hollow rotating disk to rotate by taking the second hollow rotating disk as an axis, can adjust the gradient of big arm and then adjust the welder's of installation on forearm and the rocking arm gradient, that is, welder's elongation can all be adjusted to second step rotary mechanism and third step rotary mechanism, the work of the first step motor is controlled through PLC control system, first step rotary mechanism drives the chassis that is connected with first hollow rotary disk and rotates, and then drive the revolving stage and rotate, the revolving stage drives the big arm again, the forearm, the welder of installation rotates together on rocking arm and the rocking arm, final regulation welder's rotation angle, the work of controlling fifth step motor through PLC control system, can send into welder with the welding wire, do benefit to welder's weldment work.
The beneficial effects of the invention are: the stepping rotating mechanism adopted by the invention is connected with the large arm, the small arm and the rotating arm, and the angle, the height and the distance of the welding gun can be flexibly adjusted by controlling the stepping motor, so that the welding work is facilitated; the stepping rotating mechanism adopts a hollow rotating disk mode, so that a control lead can directly pass through the center of the hollow rotating disk, and the problem of control lead layout of the device is well solved. Has the characteristics of high efficiency, simple operation, convenient use and multiple purposes.
Drawings
The invention is further described with reference to the following figures and detailed description.
FIG. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a schematic perspective view of a step-by-step rotary mechanism of the present invention;
fig. 4 is a PLC control block diagram of the present invention.
In the figure: 1. a first rotating mechanism 11, a first square fixed disk 12, a first bolt 13, a first stepping motor 14, a first hollow rotating disk 2, a turntable 21, a chassis 22, a turntable mounting square disk 221, a first through hole 222, a first threaded hole 3, a big arm 31, a first big arm disk 311, a first hollow hole 312, a second bolt 32, a second big arm disk 321, a second hollow hole 322, a third bolt 4, a small arm 41, a small arm mounting square disk 411, a second through hole 412, a second threaded hole 42, a small arm mounting disk 421, a third through hole 5, a fourth stepping rotating mechanism 51, a fourth square fixed disk 511, a through hole 512, a convex groove 52, a fourth bolt 53, a fourth stepping motor 531, a fourth driving gear 532, a fourth stepping motor threaded hole 54, a fourth hollow rotating disk, 541. The welding gun comprises a fourth driven gear 542, a fourth hollow rotating disk threaded hole 6, a rotating arm 61, a rotating arm mounting disk 611, a through hole 7, a welding gun 8, a third stepping rotating mechanism 81, a third square fixing disk 83, a third stepping motor 84, a third hollow rotating disk 9, a second stepping rotating mechanism 91, a second square fixing disk 93, a second stepping motor 94, a second hollow rotating disk 100 and a support.
Detailed Description
The bionic welding manipulator for the electronic product comprises a first stepping rotating mechanism 1, a rotary table 2, a large arm 3, a small arm 4, a fourth stepping rotating mechanism 5, a rotating arm 6, a welding gun 7, a third stepping rotating mechanism 8 and a second stepping rotating mechanism 9.
The welding gun 7 is arranged at the front part of the rotating arm 6, the small arm mounting square disc 41 is arranged at the rear part of the small arm 4, the second through hole 411 is arranged at the center position of the small arm mounting square disc 41, four second threaded holes are also arranged at the four-side angle positions of the small arm mounting square disc 41, a first large arm disc 31 is arranged at one end of the large arm 3, a second large arm disc 32 is arranged at the other end of the large arm 3, a first hollow hole 311 is arranged at the center position of the first large arm disc 31, a second bolt 312 and a bolt hole for the second bolt 312 to pass through are arranged at the periphery of the first large arm disc 31, a second hollow hole 321 is arranged at the center position of the second large arm disc 32, a third bolt 322 and a bolt hole for the third bolt 322 to pass through are arranged at the periphery of the second large arm disc 32, and the chassis 21 is arranged at the bottom part of the turntable 2;
the first stepping rotating mechanism 1, the second stepping rotating mechanism 9, the third stepping rotating mechanism 8 and the fourth stepping rotating mechanism 5 have the same structure, but the sizes are different, the size of the first stepping rotating mechanism 1 is the largest, the size of the second stepping rotating mechanism 9 is the second, and the size of the fourth stepping rotating mechanism 5 is the smallest;
the fourth stepping rotating mechanism 5 comprises a fourth square fixed disc 51, a fourth bolt 52, a fourth stepping motor 53 and a fourth hollow rotating disc 54; a convex groove 512 is arranged at the center of the fourth square fixed disc 51, a fourth hollow rotating disc 54 is arranged in the convex groove 512, a fourth driven gear 541 is arranged at the periphery of the lower part of the fourth hollow rotating disc 54, a plurality of fourth hollow rotating disc threaded holes 542 are arranged at the side of the fourth hollow rotating disc 54, and a fourth driving gear 531 of a fourth stepping motor 53 is in gear meshing connection with the fourth driven gear 541 of the fourth hollow rotating disc 54;
the fourth bolt 52 penetrates through a through hole 511 arranged on the side of the fourth square fixed disc 51 to be respectively in threaded fastening connection with a fourth stepping motor threaded hole 532 arranged on the fourth stepping motor 53 and a threaded hole arranged on the forearm mounting disc 42, and the fourth bolt 52 also penetrates through a through hole 611 arranged on the rotating arm mounting disc 61 at the bottom of the rotating arm 6 to be in threaded fastening connection with a fourth hollow rotating disc threaded hole 542 penetrating through the third through hole 421.
Similarly, the second bolt 312 penetrates through a through hole arranged at the side of the second square fixed disk 91 of the second stepping rotating mechanism 9 to be respectively in threaded fastening connection with a second stepping motor threaded hole arranged on the second stepping motor 93 and a first threaded hole 222 arranged on the turntable mounting square disk 22, and the second bolt 312 also penetrates through a through hole arranged on the first large arm disk 31 to be in threaded fastening connection with a second hollow rotating disk threaded hole penetrating through the first through hole 221; a third bolt 322 penetrates through a through hole arranged at the side of the third square fixed disc 81 of the third stepping rotating mechanism 8 to be respectively in threaded fastening connection with a third stepping motor threaded hole arranged on the third stepping motor 83 and a second threaded hole 412 arranged on the forearm mounting square disc 41, the third bolt 322 also penetrates through a through hole arranged on the second large arm disc 32 to be in threaded fastening connection with a third hollow rotating disc threaded hole penetrating through the second through hole 411, a first bolt 12 penetrates through a stud hole arranged on the base disc 21 to be in threaded connection with a threaded hole arranged on the first hollow rotating disc 14 of the first stepping rotating mechanism 1, and the first bolt 12 further penetrates through a stud hole arranged on the first square fixed disc 11 of the first stepping rotating mechanism 1 to be in threaded connection with a threaded hole arranged on the support 100.
The utility model provides a bionic welding manipulator for electronic product still includes PLC control system, PLC control system include the PLC controller, motor drive module, position sensing module and actuating mechanism, the PLC controller carries out electrical connection with motor drive module, motor drive module carries out electrical connection with actuating mechanism, the PLC controller carries out electrical connection with position sensing module, position sensing module carries out electrical connection with actuating mechanism, actuating mechanism carries out electrical connection with first step motor ~ fifth step motor respectively, first step motor carries out mechanical connection with the revolving stage, second step motor carries out mechanical connection with big arm, third step motor carries out mechanical connection with the forearm, fourth step motor carries out mechanical connection with the rocking arm, fifth step motor carries out mechanical connection with a thread feeding mechanism.
When the welding gun welding device is used, the PLC control system is used for controlling the operation of the fourth stepping motor 53, the fourth driving gear 531 of the fourth stepping motor 53 is meshed with the fourth driven gear 541 of the fourth hollow rotating disk 54, the fourth stepping motor 53 drives the threaded column 541 to rotate, the fourth stepping rotating mechanism 5 further drives the rotating arm 6 connected with the fourth hollow rotating disk 54 to rotate, the rotating arm 6 further drives the welding gun 7 to rotate clockwise or anticlockwise, similarly, the PLC control system is used for controlling the operation of the third stepping motor 83, the third stepping rotating mechanism 8 drives the small arm 4 connected with the third hollow rotating disk 84 to rotate by taking the third hollow rotating disk 84 as an axis, the inclination of the small arm 4 can be adjusted, the inclination of the welding gun 7 arranged on the rotating arm 6 is adjusted, the PLC control system is used for controlling the operation of the second stepping motor 93, and the second stepping rotating mechanism 9 drives the large arm 3 connected with the second hollow rotating disk 94 to rotate by taking the second hollow rotating disk 94 as an axis The shaft rotates, the inclination of the large arm 3 can be adjusted, the inclination of the welding gun 7 arranged on the small arm 4 and the rotating arm 6 can be adjusted, namely, the second stepping rotating mechanism 9 and the third stepping rotating mechanism 8 can both adjust the extension degree of the welding gun 7, the work of the first stepping motor 1 is controlled through the PLC control system, the first stepping rotating mechanism 1 drives the chassis 21 connected with the first hollow rotating disk 14 to rotate, the rotary table 2 is driven to rotate, the rotary table 2 drives the large arm 3, the small arm 4, the rotating arm 6 and the welding gun 7 arranged on the rotating arm 6 to rotate together, the rotation angle of the welding gun 7 is finally adjusted, the work of the fifth stepping motor is controlled through the PLC control system, welding wires can be sent into the welding gun 7, and the welding work of the welding gun 7 is facilitated.
The above-mentioned embodiments are merely descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (2)
1. The utility model provides a bionic welding manipulator for electronic product, characterized by: the bionic welding manipulator for the electronic product comprises a first stepping rotating mechanism, a rotary table, a large arm, a small arm, a fourth stepping rotating mechanism, a rotary arm, a welding gun, a third stepping rotating mechanism and a second stepping rotating mechanism;
the welding gun is arranged at the front part of the rotating arm, the small arm mounting square disc is arranged at the rear part of the small arm, a second through hole is arranged at the center of the small arm mounting square disc, four second threaded holes are also arranged at the four corner positions of the small arm mounting square disc, a first large arm disc is arranged at one end of the large arm, a second large arm disc is arranged at the other end of the large arm, a first hollow hole is arranged at the center of the first large arm disc, a second bolt and a bolt hole for the second bolt to pass through are arranged on the periphery of the first large arm disc, a second hollow hole is arranged at the center of the second large arm disc, a third bolt and a bolt hole for the third bolt to pass through are arranged on the periphery of the second large arm disc, and a base plate is arranged at the bottom of the rotary table;
the fourth stepping rotating mechanism comprises a fourth square fixed disc, a fourth bolt, a fourth stepping motor and a fourth hollow rotating disc; a convex groove is formed in the center of the fourth square fixed disc, a fourth hollow rotating disc is arranged in the convex groove, a fourth driven gear is arranged on the periphery of the lower portion of the fourth hollow rotating disc, a plurality of fourth hollow rotating disc threaded holes are formed in the side of the fourth hollow rotating disc, and a fourth driving gear of a fourth stepping motor is in gear connection with a fourth driven gear of the fourth hollow rotating disc;
the fourth bolt penetrates through a through hole formed in the side of the fourth square fixed disc and is in threaded fastening connection with a fourth stepping motor threaded hole formed in the fourth stepping motor and a threaded hole formed in the small arm mounting disc respectively, and the fourth bolt further penetrates through a through hole formed in the rotating arm mounting disc at the bottom of the rotating arm and is in threaded fastening connection with a fourth hollow rotating disc threaded hole penetrating through the third through hole;
the second bolt penetrates through a through hole arranged on the side of a second square fixed disc of the second stepping rotating mechanism and is in threaded fastening connection with a second stepping motor threaded hole arranged on a second stepping motor and a first threaded hole arranged on a rotary table mounting square disc respectively, and the second bolt also penetrates through a through hole arranged on a first large arm disc and is in threaded fastening connection with a second hollow rotating disc threaded hole penetrating through a first through hole; the third bolt penetrates through a through hole formed in the side of a third square fixing disc of the third stepping rotating mechanism and is in threaded fastening connection with a third stepping motor threaded hole formed in the third stepping motor and a second threaded hole formed in the forearm mounting square disc respectively, the third bolt further penetrates through a through hole formed in a second large arm disc and is in threaded fastening connection with a third hollow rotating disc threaded hole formed in a second through hole, the first bolt penetrates through a stud hole formed in a base disc and is in threaded connection with a threaded hole formed in a first hollow rotating disc of the first stepping rotating mechanism, and the first bolt further penetrates through a stud hole formed in a first square fixing disc of the first stepping rotating mechanism and is in threaded connection with a threaded hole formed in a support.
2. A biomimetic welding manipulator for electronic products as recited in claim 1, characterized in that: the first stepping rotating mechanism, the second stepping rotating mechanism, the third stepping rotating mechanism and the fourth stepping rotating mechanism have the same structure, the first stepping rotating mechanism is largest in size, the second stepping rotating mechanism is second in size, and the fourth stepping rotating mechanism is smallest in size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910980859.6A CN110587194A (en) | 2019-10-16 | 2019-10-16 | Bionic welding manipulator for electronic product |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910980859.6A CN110587194A (en) | 2019-10-16 | 2019-10-16 | Bionic welding manipulator for electronic product |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110587194A true CN110587194A (en) | 2019-12-20 |
Family
ID=68867443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910980859.6A Pending CN110587194A (en) | 2019-10-16 | 2019-10-16 | Bionic welding manipulator for electronic product |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110587194A (en) |
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| CN105307824A (en) * | 2013-04-16 | 2016-02-03 | 库卡罗伯特有限公司 | Industrial robot with a drive arrangement arranged on an arm extension |
| CN107186751A (en) * | 2017-07-20 | 2017-09-22 | 青岛欧开智能系统有限公司 | The robot modularized ball-joint of one kind cooperation |
| CN108312134A (en) * | 2018-02-01 | 2018-07-24 | 江西华士科技股份有限公司 | A kind of six-joint robot |
| CN109128623A (en) * | 2018-09-18 | 2019-01-04 | 河北微宏惠工机器人科技有限公司 | A kind of six axis welding robots |
| CN208629439U (en) * | 2018-05-28 | 2019-03-22 | 广州舜领教育咨询有限公司 | A kind of six-joint robot |
| CN109719436A (en) * | 2019-03-19 | 2019-05-07 | 安徽机电职业技术学院 | A kind of welding robot |
| CN110014409A (en) * | 2019-04-11 | 2019-07-16 | 齐鲁理工学院 | A kind of industrial robot |
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2019
- 2019-10-16 CN CN201910980859.6A patent/CN110587194A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029123A (en) * | 2012-12-22 | 2013-04-10 | 浙江万丰科技开发有限公司 | Light-weight six-shaft universal robot |
| CN105307824A (en) * | 2013-04-16 | 2016-02-03 | 库卡罗伯特有限公司 | Industrial robot with a drive arrangement arranged on an arm extension |
| 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 |
| CN107186751A (en) * | 2017-07-20 | 2017-09-22 | 青岛欧开智能系统有限公司 | The robot modularized ball-joint of one kind cooperation |
| CN108312134A (en) * | 2018-02-01 | 2018-07-24 | 江西华士科技股份有限公司 | A kind of six-joint robot |
| CN208629439U (en) * | 2018-05-28 | 2019-03-22 | 广州舜领教育咨询有限公司 | A kind of six-joint robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191220 |