CN112549000A - Six-axis robot moving platform and six-axis robot thereof - Google Patents
Six-axis robot moving platform and six-axis robot thereof Download PDFInfo
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- CN112549000A CN112549000A CN202011526756.1A CN202011526756A CN112549000A CN 112549000 A CN112549000 A CN 112549000A CN 202011526756 A CN202011526756 A CN 202011526756A CN 112549000 A CN112549000 A CN 112549000A
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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Abstract
The invention provides a six-axis robot moving platform robot, which relates to the technical field of robots. According to the invention, due to the circumferential distribution of the driving mechanisms, the robot rotates forwards and backwards, mutual interference between a gripped object and the movable platform is avoided, meanwhile, the length of the tail end of the gripper is not increased, the driven driving mechanism in the middle is uniformly stressed, and the gripping precision is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a six-axis robot moving platform and a six-axis robot thereof.
Background
At present, robots at home and abroad can be divided into series robots and parallel robots, wherein the series robots are widely applied to the fields of industrial robots and machine tools due to simple control and large working space. However, due to the structural characteristics of the series mechanism, the series mechanism does not have good rigidity, and errors are accumulated step by step, and due to the defects, some scholars start to try new robot configurations and then create parallel configurations.
The parallel mechanism is divided into a six-degree-of-freedom mechanism and a mechanism with less than six degrees of freedom from the aspect of degree of freedom, the six-degree-of-freedom mechanism mainly comprises a static platform and a movable platform, the movable platform is used as an important component of the robot and is a direct output part for realizing the motion trail of the robot, the stability and the flexibility of the structure can directly determine the motion precision of the robot and the functions which can be realized by the robot, and the rotation and overturning transmission of the robot depends on the gear meshing transmission in the movable platform.
The action wheel of traditional robot and the installation of following driving wheel adoption eccentric mode, each action wheel is different from the distance of following driving wheel, when leading to the robot to carry out reverse rotation, is grabbed the object and moves and has interfered between the platform, need increase the terminal length of tongs from this, guarantees that forward rotation and reverse rotation do not all have mutual interference, but this kind of mode makes the tongs atress inhomogeneous, reduces and snatchs the precision.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a six-axis robot moving platform, so as to solve the technical problems that in the prior art, a driving wheel and a driven wheel constituting the robot moving platform are installed in a biased manner, and when a robot performs reverse rotation, interference exists between a gripped object and the moving platform, so that the length of the end of a gripper needs to be increased, and it is ensured that mutual interference does not exist between the forward rotation and the reverse rotation, but the gripper is stressed unevenly by the manner, and the gripping accuracy is reduced.
The other object of the present invention is to provide a six-axis robot including the six-axis robot moving platform.
In order to achieve one of the above objects, the present invention provides a six-axis robot moving platform, comprising a driving mechanism, a driven driving mechanism and a mounting platform for mounting the driving mechanism and the driven driving mechanism, wherein:
the driven driving mechanism is located at the geometric center of the mounting platform, the driving mechanisms comprise three driving mechanisms distributed on the periphery of the driven driving mechanisms, the driving mechanisms are in gear engagement transmission with the driven driving mechanisms, and the driving mechanisms are used for realizing the rotary motion of the movable platform in the first direction, the second direction and the third direction.
According to a preferred embodiment, the driving mechanism comprises a first driving shaft, a first driving gear, a second driving shaft, a second driving gear, a third driving shaft and a third driving gear, wherein the first driving shaft, the second driving shaft and the third driving shaft are parallel and longitudinally penetrate through the mounting platform, the first driving gear is mounted at the tail end of the first driving shaft, the second driving gear is mounted at the tail end of the second driving shaft, and the third driving gear is mounted at the tail end of the third driving shaft.
According to a preferred embodiment, the driven driving mechanism comprises a first driven gear, a second driven gear and a third driven gear, central lines of the second driven gear, the first driven gear and the third driven gear are overlapped and are sequentially arranged in a direction away from the mounting platform, the first driven gear is meshed with the first driving gear, the second driven gear is meshed with the second driving gear, and the third driven gear is meshed with the third driving gear.
According to a preferred embodiment, the driven driving mechanism further comprises a first vertical shaft, a hollow shaft sleeve, a first driving bevel gear and a first driven bevel gear, the first vertical shaft sequentially penetrates through the second driven gear, the first driven gear, the third driven gear and the first driving bevel gear along the vertical direction, the hollow shaft sleeve is sleeved on the first vertical shaft, the first driven gear and the first driving bevel gear are mounted at two ends of the hollow shaft sleeve, the first driven gear is in rotary driving connection with the hollow shaft sleeve, and the first driven bevel gear is transversely mounted and in meshing connection with the first driving bevel gear.
According to a preferred embodiment, the driven driving mechanism further comprises a second driving bevel gear and a second driven bevel gear, the first vertical shaft passes through the second driving bevel gear, the second driving bevel gear is located below the first driving bevel gear, and the second driven bevel gear is transversely arranged and in meshed connection with the second driving bevel gear.
According to a preferred embodiment, the driven driving mechanism further comprises a transverse shaft and a third driving bevel gear, the transverse shaft is transversely arranged, one end of the transverse shaft is positioned at the bottom end of the first vertical shaft and simultaneously penetrates through the second driven bevel gear, the first driven bevel gear and the third driving bevel gear, the second driven bevel gear and the first driven bevel gear are positioned at one end of the transverse shaft, and the third driving bevel gear is positioned at the other end of the transverse shaft.
According to a preferred embodiment, the driven driving mechanism further comprises a second vertical shaft and a third driven bevel gear, the second vertical shaft is located at the other end of the transverse shaft, is vertically installed, and penetrates through the third driven bevel gear, and the third driven bevel gear is in meshed connection with the third driving bevel gear.
According to a preferred embodiment, the driven driving mechanism further comprises a grabbing member, the grabbing member is obliquely mounted at the bottom end of the second vertical shaft, and the second vertical shaft drives the grabbing member to rotate.
According to a preferred embodiment, the mounting platform is an equilateral triangle, the mounting platform is provided with three mounting holes, the mounting holes are distributed by taking the geometric center of the mounting platform as the center, and the three active driving mechanisms are respectively and correspondingly mounted on the mounting holes.
In order to achieve the second purpose, the invention provides a six-axis robot, which comprises any one of the six-axis robot moving platforms, a static platform and a power mechanism, wherein the static platform is positioned above the moving platform, and the power mechanism is arranged on the static platform and is in driving connection with the driving mechanism positioned on the moving platform.
The six-axis robot moving platform provided by the invention has the following technical effects:
(1) this kind of move platform, compare with the platform that moves among the prior art, mainly include initiative actuating mechanism, driven actuating mechanism and the mounting platform that is used for installing initiative actuating mechanism and driven actuating mechanism, driven actuating mechanism is located mounting platform's geometric center, initiative actuating mechanism includes threely, distribute around driven actuating mechanism, circumference distributes promptly, each initiative actuating mechanism all with driven actuating mechanism gear engagement transmission, because initiative actuating mechanism's distribution is around driven actuating mechanism, the positive rotation of robot and antiport, there can not be the phenomenon of interfering mutually between snatched the object and moving the platform, the terminal length of tongs also need not increase simultaneously, the driven actuating mechanism atress that is located the middle part is even, the precision of snatching has been improved.
(2) According to the six-axis robot motion platform, one driving mechanism and one driven driving mechanism are matched with the controllable brake platform to rotate in the X direction, the other driving mechanism and the driven driving mechanism are matched with the controllable brake platform to rotate in the Y direction, the rest driving mechanism and the driven driving mechanism are matched with the controllable brake platform to rotate in the Z direction, the driving mechanism and the driven driving mechanism are connected in a gear meshing transmission mode, and the service life of the six-axis robot motion platform is prolonged.
The six-axis robot provided by the invention has the following technical effects:
this kind of six-axis robot compares with six-axis robot among the prior art, including moving platform, quiet platform and power unit, quiet platform is located the top of moving the platform, and power unit installs on quiet platform to with be located and move the initiative actuating mechanism drive connection on the platform, power unit on the quiet platform provides drive power for initiative actuating mechanism promptly, thereby realizes moving the rotation and the upset of platform.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a movable platform according to an embodiment of the present invention;
FIG. 2 is a top view of the movable platform of FIG. 1;
FIG. 3 is a schematic view of the internal structure of the movable platform of FIG. 1;
fig. 4 is a schematic structural view of the movable platform in fig. 1.
Wherein, fig. 1-4:
1. an active drive mechanism; 111. a first drive shaft; 112. a first drive gear; 121. a second driving shaft; 122. a second driving gear; 131. a third driving shaft; 132. a third driving gear;
2. a driven drive mechanism; 201. a first vertical axis; 202. a hollow shaft sleeve; 203. a transverse axis; 204. a second vertical axis; 205. a second driven gear; 206. a first driven gear; 207. a third driven gear; 208. a first drive bevel gear; 209. a first driven bevel gear; 210. a second drive bevel gear; 211. a second driven bevel gear; 212. a third drive bevel gear; 213. a third driven bevel gear;
3. mounting a platform; 301. mounting holes; 302. a hollow connecting column; 4. a grasping member.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As described in the background art, in the prior art, the driving wheels and the driven wheels of the six-axis robot are installed in a deflection manner, so that when the robot performs reverse rotation, interference exists between a gripped object and the moving platform, and the gripping effect is affected, therefore, the defect is overcome by increasing the length of the tail end of the gripper under a general condition, so as to ensure that mutual interference phenomenon does not exist in both forward rotation and reverse rotation, but the gripper is stressed unevenly by the manner, and the gripping precision is reduced.
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.
Example 1:
the six-axis robot moving platform provided by the present embodiment, as shown in fig. 1 to 4, includes a driving mechanism 1, a driven driving mechanism 2, and a mounting platform 3 for mounting the driving mechanism 1 and the driven driving mechanism 2.
The driving mechanism 1 serves as a power mechanism of the movable platform, and the driving mechanism 1 is powered by the power driving mechanism on the static platform, so that the purpose of powering the motion of the driven driving mechanism 2 is achieved.
The driven driving mechanism 2 is used as an actuating mechanism of the movable platform, and the driving mechanism 1 provides power for the driven driving mechanism 2, so that the robot gripper can rotate and turn over.
The mounting platform 3 is regular in shape and has a geometric center, and aims to mount the driving mechanism 1 and the driven driving mechanism 2.
The specific installation mode is as follows: driven actuating mechanism 2 is located mounting platform 3's geometric center, for example, when mounting platform 3 is triangle-shaped, as shown in fig. 1, geometric center is then triangle-shaped mounting platform 3's focus, three initiative actuating mechanism 1 distributes around driven actuating mechanism 2, three initiative actuating mechanism 1 distributes around triangle-shaped's mounting platform 3's focus promptly, the robot forward rotation and antiport, there can not be the mutual interference phenomenon between object and the movable platform to be snatched, the terminal length of tongs also need not be increased simultaneously, driven actuating mechanism 2 atress placed in the middle is even, the precision of snatching has been improved.
In this embodiment, for convenience of description, the direction in which the first driving shaft 111 drives the gripper to rotate is defined as an X direction, the direction in which the second driving shaft 121 drives the gripper to rotate is defined as a Y direction, and the direction in which the third driving shaft 131 drives the gripper to rotate is defined as a Z direction.
In order to realize the power driving of the driving mechanism 1 to the driven driving mechanism 2, the driving mode of the driving mechanism 1 and the driven driving mechanism 2 is gear meshing transmission, the driving mechanism 1 comprises three driving mechanisms, one driving mechanism 1 is meshed with the driven driving mechanism 2 through a gear and is used for controlling the rotation of the brake platform in the X direction, the other driving mechanism 1 is also meshed with the driven driving mechanism 2 through a gear and is used for controlling the rotation of the brake platform in the Y direction, the rest driving mechanism 1 is meshed with the driven driving mechanism 2 through a gear and is used for controlling the rotation of the brake platform in the Z axis direction, and the gear meshing transmission is compared with belt transmission, so that the service life of the six-axis robot motion platform is prolonged.
The active driving mechanism 1 includes a first driving shaft 111, a first driving gear 112, a second driving shaft 121, a second driving gear 122, a third driving shaft 131 and a third driving gear 132, as shown in fig. 3 and 4, the first driving shaft 111, the second driving shaft 121 and the third driving shaft 131 are parallel and longitudinally penetrate through the mounting platform 3, that is, the mounting platform 3 can fix the first driving shaft 111, the second driving shaft 121 and the third driving shaft 131, the first driving gear 112 is mounted at the end of the first driving shaft 111, the first driving shaft 111 can drive the first driving gear 112360 to rotate, the second driving gear 122 is mounted at the end of the second driving shaft 121, the second driving shaft 121 can drive the second driving gear 122360 degrees to rotate, the third driving gear 132 is mounted at the end of the third driving shaft 131, and the third driving shaft 131 can drive the third driving gear 132360 degrees to rotate.
The driven driving mechanism 2 includes a first vertical shaft 201, a first driven gear 206, a second driven gear 205 and a third driven gear 207, as shown in fig. 3 and 4, center lines of the second driven gear 205, the first driven gear 206 and the third driven gear 207 are coincident, the first vertical shaft 201 sequentially passes through the second driven gear 205, the first driven gear 206 and the third driven gear 207 from top to bottom, the first driven gear 206 is engaged with the first driving gear 112, the second driven gear 205 is engaged with the second driving gear 122, and the third driven gear 207 is engaged with the third driving gear 132.
Further, in order to realize the rotation motion in the X direction, a first driving bevel gear 208 is further provided on the first vertical shaft 201 and below the third driven gear 207, the first driving bevel gear 208 is close to the end of the first vertical shaft 201, in order to realize that the first driven gear 206 rotates to drive the first driving bevel gear 208 to rotate, a hollow shaft sleeve 202 is further sleeved outside the first vertical shaft 201, the first driven gear 206 and the first driving bevel gear 208 are located at two ends of the hollow shaft sleeve 202,
the specific transmission process of the motion is as follows: the first driving gear 112 rotates to drive the first driven gear 206 to rotate, and the hollow shaft sleeve 202 is linked to rotate, so that the first driving bevel gear 208 rotates. The horizontal direction is also provided with a first driven bevel gear 209, the first driven bevel gear 209 is transversely installed, is vertical to the first driving bevel gear 208 and is in meshed connection with the first driving bevel gear 208, and the first driving bevel gear 208 rotates to drive the first driven bevel gear 209 to rotate so as to realize the rotating motion in the X direction.
Further, in order to realize the rotational motion in the Y direction, the driven driving mechanism 2 further includes a second drive bevel gear 210, a second driven bevel gear 211, a transverse shaft 203, a third drive bevel gear 212, a second vertical shaft 204, and a third driven bevel gear 213, the end of the first vertical shaft 201 passes through the second drive bevel gear 210, the second drive bevel gear 210 is positioned below the first drive bevel gear 208, the second driven bevel gear 211 is transversely arranged and is in meshing connection with the second drive bevel gear 210, the transverse shaft 203 is transversely arranged, one end is positioned at the bottom end of the first vertical shaft 201 and is perpendicular to the first vertical shaft 201, and simultaneously passes through the second driven bevel gear 211, the first driven bevel gear 209, and the third drive bevel gear 212, the second driven bevel gear 211 and the first driven bevel gear 209 are positioned at one end of the transverse shaft 203, the third drive bevel gear 212 is positioned at the other end of the transverse shaft 203, the second vertical shaft 204 is vertically installed adjacent to the third driving bevel gear 212, and penetrates through the third driven bevel gear 213, and the third driven bevel gear 213 is engaged with the third driving bevel gear 212, i.e., the rotation in the second direction is realized.
The specific transmission process of the motion is as follows: the second driving gear 122 rotates to drive the second driven gear 205 to rotate, so that the first vertical shaft 201 rotates, and then the second driving bevel gear 210 rotates, the second driving bevel gear 210 is meshed with the second driven bevel gear 211, the second driven bevel gear 211 rotates along with the second driving bevel gear, the transverse shaft 203 further drives the third driving bevel gear 212 to rotate, the third driving bevel gear 212 is meshed with the third driven bevel gear 213, and the third driven bevel gear 213 rotates along with the second driving bevel gear and drives the second vertical shaft 204 to rotate, so that the grabbing member rotates in the Y direction.
Further, in order to realize the rotation movement in the Z direction, the third driven gear 207 is also sleeved outside the hollow shaft sleeve 202, and the third driving gear 132 is meshed with the third driven gear 207 to drive the third driven gear 207 to move on the hollow shaft sleeve 202, so as to realize the rotation movement in the Z direction.
In an embodiment of the present invention, the driven driving mechanism 2 further comprises a grabbing member 4, and the grabbing member 4 is obliquely mounted at the bottom end of the second vertical shaft 204, as shown in fig. 3 and 4, and the rotational movement of the grabbing member 4 in the X direction, the Y direction and the Z direction is realized by the above movements in the first direction, the second direction and the third direction.
The specific transmission mode is as follows: as shown in fig. 4, the first driving gear 112, the second driving gear 122 and the third driving gear 132, which obtain power, transmit the power to the first driven gear 206, the second driven gear 205 and the third driven gear 207 through gear engagement, respectively, the first driven gear 206 rotates through the hollow shaft sleeve 202 to drive the first driving bevel gear 208 to rotate and engage with the first driven bevel gear 209, the second driven gear 205 rotates through the first vertical shaft 201 to drive the second driving bevel gear 210 to rotate and engage with the second driven bevel gear 211, and drives the third driving bevel gear 212 to rotate through the horizontal shaft 203, and the third driven bevel gear 213 rotates through gear engagement to drive the grabbing member 4 with an inclination angle of 30 degrees to rotate.
In an embodiment of the present invention, the mounting platform 3 is an equilateral triangle, three corners of the mounting platform 3 are chamfered at the same time, the end of the chamfer has three hollow connecting columns 302, the number of the hollow connecting columns 302 is three, the hollow connecting columns 302 are horizontally arranged and are located on the same horizontal plane with the mounting platform 3, and the connecting member can pass through the hollow connecting columns 302, so as to be conveniently connected with the static platform.
As shown in fig. 2, the mounting platform 3 further has three mounting holes 301, the mounting holes 301 are distributed with the geometric center of the mounting platform 3 as the center, specifically, the center of gravity of the triangular mounting platform 3 is the geometric center, and the three active driving mechanisms 1 are respectively mounted on the three mounting holes 301, so that the six-axis robot moving platform can be assembled.
In addition, an active driving mechanism 1 is omitted, the specific structure below the mounting platform 3 is changed, a five-axis robot moving platform can be formed, and the purpose of realizing quick switching of five axes and six axes is achieved.
Example 2:
this embodiment provides a six axis robot on the basis of embodiment 1, including the platform that moves that mentions in embodiment 1, still include quiet platform and power unit, quiet platform is located the top that moves the platform, and power unit installs on quiet platform to be connected with the drive of the initiative actuating mechanism 1 that is located on moving the platform, power unit on quiet platform provides drive power for initiative actuating mechanism 1 promptly, thereby realizes moving the rotation and the upset of platform.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The six-axis robot moving platform is characterized by comprising a driving mechanism, a driven driving mechanism and a mounting platform for mounting the driving platform and the driven driving mechanism, wherein:
the driven driving mechanism is located at the geometric center of the mounting platform, the driving mechanisms comprise three driving mechanisms distributed on the periphery of the driven driving mechanisms, the driving mechanisms are in gear engagement transmission with the driven driving mechanisms, and the driving mechanisms are used for realizing the rotary motion of the movable platform in the first direction, the second direction and the third direction.
2. The six-axis robot platform according to claim 1, wherein the driving mechanism comprises a first driving shaft, a first driving gear, a second driving shaft, a second driving gear, a third driving shaft and a third driving gear, the first driving shaft, the second driving shaft and the third driving shaft run through the mounting platform in parallel and longitudinally, the first driving gear is mounted at the end of the first driving shaft, the second driving gear is mounted at the end of the second driving shaft, and the third driving gear is mounted at the end of the third driving shaft.
3. The six-axis robot moving platform according to claim 2, wherein the driven driving mechanism comprises a first driven gear, a second driven gear and a third driven gear, the center lines of the second driven gear, the first driven gear and the third driven gear are overlapped and are sequentially arranged in the direction away from the mounting platform, the first driven gear is meshed with the first driving gear, the second driven gear is meshed with the second driving gear, and the third driven gear is meshed with the third driving gear.
4. The six-axis robot moving platform according to claim 3, wherein the driven driving mechanism further comprises a first vertical shaft, a hollow shaft sleeve, a first driving bevel gear and a first driven bevel gear, the first vertical shaft sequentially penetrates through the second driven gear, the first driven gear, the third driven gear and the first driving bevel gear along a vertical direction, the hollow shaft sleeve is sleeved on the first vertical shaft, the first driven gear and the first driving bevel gear are mounted at two ends of the hollow shaft sleeve, the first driven gear is in rotary driving connection with the hollow shaft sleeve, and the first driven bevel gear is transversely mounted and in meshed connection with the first driving bevel gear.
5. The six-axis robotic platform according to claim 4, wherein the driven drive mechanism further comprises a second drive bevel gear and a second driven bevel gear, the first vertical shaft passes through the second drive bevel gear, the second drive bevel gear is located below the first drive bevel gear, and the second driven bevel gear is arranged transversely and in meshing connection with the second drive bevel gear.
6. The six-axis robotic platform according to claim 5, wherein the driven drive mechanism further comprises a transverse shaft and a third drive bevel gear, the transverse shaft being disposed transversely, one end being located at a bottom end of the first vertical shaft, and passing through the second driven bevel gear, the first driven bevel gear and the third drive bevel gear simultaneously, the second driven bevel gear and the first driven bevel gear being located at one end of the transverse shaft, the third drive bevel gear being located at the other end of the transverse shaft.
7. The six-axis robotic platform according to claim 6, wherein the driven drive mechanism further comprises a second vertical shaft and a third driven bevel gear, the second vertical shaft being located at the other end of the transverse shaft, vertically mounted, and passing through the third driven bevel gear, the third driven bevel gear being in meshing connection with the third drive bevel gear.
8. The six-axis robotic platform according to claim 7, wherein the driven drive mechanism further comprises a gripping member tiltably mounted to a bottom end of the second vertical shaft, the second vertical shaft rotating the gripping member.
9. The six-axis robot moving platform according to any one of claims 1 to 8, wherein the mounting platform is an equilateral triangle, the mounting platform has three mounting holes, the mounting holes are distributed with the geometric center of the mounting platform as the center, and the three active driving mechanisms are respectively and correspondingly mounted on the mounting holes.
10. A six-axis robot, comprising a six-axis robot moving platform according to any one of claims 1 to 9, further comprising a static platform and a power mechanism, wherein the static platform is located above the moving platform, and the power mechanism is mounted on the static platform and is in driving connection with the driving mechanism located on the moving platform.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011526756.1A CN112549000A (en) | 2020-12-22 | 2020-12-22 | Six-axis robot moving platform and six-axis robot thereof |
| JP2022600125U JP3241027U (en) | 2020-12-22 | 2021-06-25 | Movable platform for 6-axis robot and 6-axis robot |
| PCT/CN2021/102244 WO2022134511A1 (en) | 2020-12-22 | 2021-06-25 | Moving platform of six-axis robot, and six-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011526756.1A CN112549000A (en) | 2020-12-22 | 2020-12-22 | Six-axis robot moving platform and six-axis robot thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112549000A true CN112549000A (en) | 2021-03-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011526756.1A Pending CN112549000A (en) | 2020-12-22 | 2020-12-22 | Six-axis robot moving platform and six-axis robot thereof |
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| CN (1) | CN112549000A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022134511A1 (en) * | 2020-12-22 | 2022-06-30 | 辰星（天津）自动化设备有限公司 | Moving platform of six-axis robot, and six-axis robot |
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2020
- 2020-12-22 CN CN202011526756.1A patent/CN112549000A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022134511A1 (en) * | 2020-12-22 | 2022-06-30 | 辰星（天津）自动化设备有限公司 | Moving platform of six-axis robot, and six-axis robot |
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