CN203317423U - Six-axis DOF (degree of freedom) mechanical arm - Google Patents

Six-axis DOF (degree of freedom) mechanical arm Download PDF

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Publication number
CN203317423U
CN203317423U CN2013203651787U CN201320365178U CN203317423U CN 203317423 U CN203317423 U CN 203317423U CN 2013203651787 U CN2013203651787 U CN 2013203651787U CN 201320365178 U CN201320365178 U CN 201320365178U CN 203317423 U CN203317423 U CN 203317423U
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CN
China
Prior art keywords
transmission
axle
free degree
arm
shaft
Prior art date
Application number
CN2013203651787U
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Chinese (zh)
Inventor
王常勇
刘桂宝
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王常勇
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Priority to CN2013203651787U priority Critical patent/CN203317423U/en
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Publication of CN203317423U publication Critical patent/CN203317423U/en

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Abstract

The utility model discloses a six-axis DOF mechanical arm, which comprises a base, wherein a first transmission mechanism, a second transmission mechanism, a third transmission mechanism, a fourth transmission mechanism, a fifth transmission mechanism and a sixth transmission mechanism are in sequential transmission connection with the base; and the sixth transmission mechanism is in transmission connection with a mechanical arm palm part. According to the mechanical arm with the six-axis freedom degrees, a series of functions such as welding, spraying, carrying and the like are combined, a novel servo control system is adopted, and a series of novel functions which can meet the user industrial production are developed on a platform; a traditional tedious transmission process is greatly simplified in the aspect of mechanical transmission, and the characteristic that a traditional six-axis DOF mechanical arm adopts a bevel gear for meshed transmission is abandoned; therefore, the mechanical arm is more compact in structure, higher in transmission efficiency and more accurate in control, and can effectively prevent shaking of joint movement.

Description

A kind of six axle free degree manipulators
Technical field
The utility model relates to a kind of new mechanical arm, relates to specifically the high a kind of six axle free degree manipulators controlled flexibly of a kind of high accuracy, belongs to the novel high-tech product of automatic welding, automatic coating, automatic transporting loading and unloading machinery technical field.
Background technology
At present, although Chinese industrial automation development speed is very fast, in industrial production, universal scope is not also very wide, and much work is all completed by the people aborning, and the quality and the level that manually complete are uneven.This has just caused developing bottleneck, and this is also the major reason that causes the gap of we and developed country's industrial level.
Robotics develops abroad certain history, and our country greatly develops Industrial Robot Technology in recent years, and has obtained a series of technological achievement, but still with developed country, has a certain distance.
The application of China robot is mainly that at present domestic manipulator is the such common fault of ubiquity all in the field of welding spraying and carrying, and the complex structure transmission efficiency is low, controls unsettled characteristics.In industrial production, function ratio is more single, can not promote widely, is all often to carry out according to customer requirement the redesign of drawing, and this has just caused product not can manufacture, and production cost increases.
Summary of the invention
Problem to be solved in the utility model is for overcoming above-mentioned technological deficiency, provide a kind of simple in structure, but remote-controlled operation, can realize flexibly exercises, in the course of work, joint is stable, can meet a kind of six axle free degree manipulators of the high-precision high-speed of industrial welding, industry spraying, industrial carrying requirement simultaneously.
In order to address the above problem, the utility model by the following technical solutions:
A kind of six axle free degree manipulators, comprise pedestal, be connected with successively the first transmission mechanism, the second transmission mechanism, the 3rd transmission mechanism, the 4th transmission mechanism, the 5th transmission mechanism and the 6th transmission mechanism on pedestal, the 6th transmission mechanism is connected with mechanical palm portion.
Below the further optimization of the utility model to such scheme:
Pedestal is provided with automaton, and described the first transmission mechanism, the second transmission mechanism, the 3rd transmission mechanism, the 4th transmission mechanism, the 5th transmission mechanism and the 6th transmission mechanism carry out control action by automaton respectively.
Further optimize: the first transmission mechanism is arranged in pedestal, be fixedly connected with the second bracing strut on the first transmission mechanism, the other end of described the second bracing strut and the second transmission mechanism are in transmission connection, and the first transmission mechanism can drive between the second bracing strut and pedestal and carry out level ± 180 ° revolution.
Further optimize: the first transmission mechanism comprises the axle servomotor be fixedly mounted in pedestal, one axle servomotor upper driving is connected with harmonic speed reducer, be fixedly connected with the first gear on described harmonic speed reducer power shaft, the movement output end of harmonic speed reducer is fixedly connected with base rotary-disc;
The lower end of described the second bracing strut is provided with the chassis rotating disk, and the first gear is connected by belt transmission with the first belt wheel on being fixed on two axle servomotors.
Further optimize: be fixedly connected with large arm on the second transmission mechanism, the second transmission mechanism can drive between large arm and the second bracing strut and carry out-65 °~120 ° pitch rotation;
Further optimize: the second transmission mechanism comprises the two axle servomotors that are arranged on the second bracing strut, and two axle servomotor upper drivings are connected with the second axle RV decelerator, and the second axle RV decelerator directly is connected with large arm.
Further optimize: the 3rd transmission mechanism is connected with the other end of large arm, is fixedly connected with three axle Connection Blocks on the 3rd transmission mechanism, and the 3rd transmission mechanism can drive between three axle Connection Blocks and large arm and carry out ± 90 ° of pitch rotation.
Further optimize: the 3rd transmission mechanism comprises the three axle Connection Blocks that are connected with large arm end, be fixedly connected with the 3rd axle servomotor on three axle Connection Blocks, the 3rd axle servomotor upper driving is connected with the 3rd axle RV decelerator, and the 3rd axle RV decelerator directly is fixedly connected with large arm; .
Further optimize: the 4th transmission mechanism comprises four shaft housings, the 3rd transmission mechanism is fixedly connected with four shaft housings by three axle Connection Blocks, the 4th transmission mechanism and three axle Connection Blocks are in transmission connection, be fixedly connected with connecting rod on the 4th transmission mechanism, but carry out ± 180 ° of revolutions between the 4th transmission mechanism drivening rod and four shaft housings.
Further optimize: four axle servomotors are installed in four shaft housings, and four axle servomotor upper drivings are connected with four axle decelerators, and four axle decelerators are connected with connecting rod, and connecting rod is fixedly connected with by terminal pad with connecting rod.
Further optimize: the other end of the 5th transmission mechanism and connecting rod is in transmission connection, and the 5th transmission mechanism is connected with the 6th transmission mechanism, but the 6th transmission mechanism driving mechanical palm carries out ± 450 ° of revolutions.
Further optimize: the 5th transmission mechanism comprises five shaft housings, five axle harmonic speed reducers are installed in five shaft housings, on five axle harmonic speed reducers, the second gear is housed, with the second belt wheel on five axle servomotors of the other end, by belt transmission, be connected, the 5th transmission mechanism can drive between the 6th transmission mechanism and five shaft housings and carry out ± 120 ° of pitch rotation.
Further optimize:
The 6th transmission mechanism comprises the 6th shaft housing, be arranged on the do ± 120 ° of elevating movements that can drive the 6th shaft housing of five axle harmonic speed reducers in five shaft housings, the 6th shaft housing inside is equipped with six axle servomotors, and six axle servomotors and six axle decelerators are in transmission connection.
This manipulator utility model is simple and compact for structure, comprise altogether six parts: the first transmission mechanism, the second transmission mechanism, the 3rd transmission mechanism, the 4th transmission mechanism, the 5th transmission mechanism and the 6th transmission mechanism, six mechanisms carry out control action by automaton respectively.The utility model changes traditional six axles outputs directly into and connects harmonic speed reducer by servomotor, reduces traditionally by the umbrella gear transmission, has reduced the intermediate transmission link, and transmission accuracy is higher.End can be installed for welding, spraying, the end equipment of carrying, and the maximum load that can bear end equipment through this manipulator mechanism of force analysis, can meet the requirement of the industry of utility model.In addition decelerator adopt harmonic wave with two kinds of decelerators of RV, two kinds of decelerators are reasonably combined, can effectively avoid the shake in joint.
Six joint drives all directly are fixedly connected with decelerator by servomotor and realize, avoided in traditional gear drive process, and because gear accuracy of mesh problem causes control accuracy poor, the poor series of problems that waits of transmission efficiency.
The utility model is in conjunction with a series of functions such as welding, spraying, carryings, and adopts up-to-date servo-control system, on this platform, developed a series ofly can meet the industrial new function of user.Greatly simplify traditional loaded down with trivial details transmission process aspect machine driving, abandoned the characteristics that six traditional axles generally adopt the bevel gear engaged transmission; Make the structure of manipulator more compact, the efficiency of transmission is higher, controls more accurately, can effectively avoid the situation of joint motions shakes to occur.Can meet a series of industrial welding, the industry spraying, the requirement of industrial carrying, such design can meet most of user's demand, also can meet the requirement of product batch production, has reduced production cost.
Below in conjunction with drawings and Examples, the utility model is described in further detail.
The accompanying drawing explanation
The structural representation that Fig. 1 is the utility model embodiment;
The structural representation that Fig. 2 is the first transmission mechanism and the second transmission mechanism in the utility model embodiment;
The left view that Fig. 3 is accompanying drawing 2;
The structural representation that Fig. 4 is the 3rd transmission mechanism and the 4th transmission mechanism in the utility model embodiment;
The right view that Fig. 5 is accompanying drawing 4.
In figure: the 1-automaton; The 2-pedestal; The 3-base rotary-disc; The 4-harmonic speed reducer; 5-mono-axle servomotor backing plate; 6-mono-axle servomotor; 7-bis-axle servomotors; 8-the second bracing strut; 9-the first gear; 10-the first belt wheel; The large arm of 11-; The 12-ball bearing; 13-the second axle RV decelerator; 15-the 3rd axle RV decelerator; 16-tetra-journal box rear cover plates; 17 3 axle Connection Blocks; 18-tetra-shaft housings; The 19-welding block; 20-tetra-axle decelerators; 21-tetra-axle servomotors; The 22-cutting ferrule; The 23-terminal pad; The 24-connecting rod; 25-tetra-axle rear box; The 26-connecting rod; The 27-ball bearing; 28-five shaft housings; 29-the second belt wheel 30-five axle servomotors; 31-the second gear; 32-five axle harmonic speed reducers; 33-six axle servomotors; 34-six axle decelerators; 35-six journal box rear covers; 36-five axle side covers; 37-the 6th shaft housing; A-the first transmission mechanism; B-the second transmission mechanism; C-the 3rd transmission mechanism; D-the 4th transmission mechanism; E-the 5th transmission mechanism; F-the 6th transmission mechanism.
The specific embodiment
Embodiment, as shown in Figure 1, a kind of six axle free degree manipulators, comprise pedestal 2, be provided with the first transmission mechanism A in pedestal 2, be fixedly connected with the second bracing strut 8 on the first transmission mechanism A, the other end of described the second bracing strut 8 is connected with the second transmission mechanism B, and the first transmission mechanism A can drive between the second bracing strut 8 and pedestal 2 and carry out level ± 180 ° revolution;
Being fixedly connected with large arm 11, the second transmission mechanism B on the second transmission mechanism B can drive between large arm 11 and the second bracing strut 8 and carry out-65 °~120 ° pitch rotation;
The other end of large arm 11 is connected with the 3rd transmission mechanism C, is fixedly connected with three axle Connection Block 17, the three transmission mechanism C on the 3rd transmission mechanism C and can drives three axle Connection Blocks 17 and carry out ± 90 ° of pitch rotation between arm 11 greatly;
Three axle Connection Block 17 upper drivings are connected with the 4th transmission mechanism D; Be fixedly connected with connecting rod 24 on the 4th transmission mechanism D, but carry out ± 180 ° of revolutions between the 4th transmission mechanism D drivening rod 24 and four shaft housings 18;
The other end at connecting rod 24 is connected with the 5th transmission mechanism E, and the 5th transmission mechanism E is connected with the 6th transmission mechanism F, and the 5th transmission mechanism E can drive between the 6th transmission mechanism F and five shaft housings 28 and carry out ± 120 ° of pitch rotation;
The 6th transmission mechanism F mechanical palm portion that is in transmission connection, but the 6th transmission mechanism F driving mechanical palm carries out ± 450 ° of revolutions;
Pedestal 2 is provided with automaton 1, described the first transmission mechanism A, the second transmission mechanism B, the 3rd transmission mechanism C, the 4th transmission mechanism D, and the 5th transmission mechanism E, and the 6th transmission mechanism F carries out control action by automaton 1 respectively.
As shown in Figure 2, the first transmission mechanism A comprises the axle servomotor 6 be fixedly mounted in pedestal 2, one axle servomotor 6 upper drivings are connected with harmonic speed reducer 4, be fixedly connected with the first gear 9 on described harmonic speed reducer 4 power shafts, the movement output end of harmonic speed reducer 4 is fixedly connected with base rotary-disc 3.The first belt wheel 10 on the lower end of described the second bracing strut 8 is provided with chassis rotating disk 3, the first gears 9 and is fixed on two axle servomotors 7 is connected by belt transmission.Power is sent to the first gear 9 by the first belt wheel 10, then power is sent to the power shaft of harmonic speed reducer 4 by the first gear 9, drives chassis rotating disk 3 by the harmonic speed reducer outputting power and rotates.Be placed with ball bearing 12 between base rotary-disc 3 and harmonic speed reducer 4 simultaneously, can effectively reduce friction and improve rotational efficienty.
As shown in Figure 3, the second transmission mechanism B comprises that two axle servomotor 7, two axle servomotor 7 upper drivings that are arranged on the second bracing strut 8 are connected with the second axle RV decelerator 13, the second axle RV decelerators 13 and directly are connected with large arm 11;
As shown in Figure 4, Figure 5, the 3rd transmission mechanism C comprises the three axle Connection Blocks 17 that are connected with large arm 11 ends, be fixedly connected with the 3rd axle servomotor 14 on three axle Connection Blocks 17, the 3rd axle servomotor 14 upper drivings are connected with the 3rd axle RV decelerator 15, the three axle RV decelerators 15 and directly are fixedly connected with large arm 11;
The 3rd transmission mechanism C is fixedly connected with four shaft housings 18 by three axle Connection Blocks 17.The 4th transmission mechanism comprises four shaft housings 18, four axle servomotors 21 are installed in four shaft housings 18, four axle servomotor 21 upper drivings are connected with four axle decelerator 20, four axle decelerators 20 and are connected with connecting rod 24, and connecting rod 24 is fixedly connected with by terminal pad 23 with connecting rod 26; Ball bearing 27 is equipped with in junction, when assembling connecting rod 24 and four shaft housings 18 between junction be added with and cover the interior hexagonal of four journal box rear cover plate 16 use with four journal box rear cover plates 16 on cutting ferrule 22, four axle rear box 25 and be fixed on above the welding block 19 be welded on four shaft housings 18.
The 5th transmission mechanism E comprises five shaft housings 28, five axle harmonic speed reducers 32 are installed in five shaft housings 28, the second gear 31 is housed on five axle harmonic speed reducers 32, be connected by belt transmission with the second belt wheel 29 on five axle servomotors 30 of the other end, be arranged on the do ± 120 ° of elevating movements that can drive the 6th shaft housing of five axle harmonic speed reducers 32 in five shaft housings 28.
The 6th transmission mechanism F comprises that the 6th shaft housing 37, the six shaft housing 37 inside are equipped with six axle servomotor 33, six axle servomotors 33 and six axle decelerators 34 are rotationally connected by the axle on decelerator.This link has been omitted traditional being driven by umbrella gear, in the middle of having reduced, drives link, has greatly improved transmission accuracy and has effectively controlled.
In industrial production, if for welding, spraying, carrying, end equipment assemble, corresponding control system just mixes up and can meet the needs of production.Greatly reduce user's cost.Realize the maximum profit of producing.

Claims (10)

1. an axle free degree manipulator, comprise pedestal (2), it is characterized in that:
Be connected with successively the first transmission mechanism (A), the second transmission mechanism (B), the 3rd transmission mechanism (C), the 4th transmission mechanism (D), the 5th transmission mechanism (E) and the 6th transmission mechanism (F) on pedestal (2), the 6th transmission mechanism (F) is connected with mechanical palm portion.
2. a kind of six axle free degree manipulators according to claim 1 is characterized in that:
Pedestal (2) is provided with automaton (1), and described the first transmission mechanism (A), the second transmission mechanism (B), the 3rd transmission mechanism (C), the 4th transmission mechanism (D), the 5th transmission mechanism (E) and the 6th transmission mechanism (F) carry out control action by automaton (1) respectively.
3. a kind of six axle free degree manipulators according to claim 1 and 2 is characterized in that:
The first transmission mechanism (A) is arranged in pedestal (2), be fixedly connected with the second bracing strut (8) on the first transmission mechanism (A), the other end of described the second bracing strut (8) and the second transmission mechanism (B) are in transmission connection, and the first transmission mechanism (A) can drive between the second bracing strut (8) and pedestal (2) and carry out level ± (180) ° revolution.
4. a kind of six axle free degree manipulators according to claim 3 is characterized in that:
The first transmission mechanism (A) comprises the axle servomotor (6) be fixedly mounted in pedestal (2), one axle servomotor (6) upper driving is connected with harmonic speed reducer (4), be fixedly connected with the first gear (9) on described harmonic speed reducer (4) power shaft, the movement output end of harmonic speed reducer (4) is fixedly connected with base rotary-disc (3);
The lower end of described the second bracing strut (8) is provided with chassis rotating disk (3), and the first gear (9) is connected by belt transmission with the first belt wheel (10) on being fixed on two axle servomotors (7).
5. a kind of six axle free degree manipulators according to claim 4 is characterized in that:
Be fixedly connected with large arm (11) on the second transmission mechanism (B), the second transmission mechanism (B) can drive between large arm (11) and the second bracing strut (8) and carry out-65 °~120 ° pitch rotation.
6. a kind of six axle free degree manipulators according to claim 5 is characterized in that:
The second transmission mechanism (B) comprises the two axle servomotors (7) that are arranged on the second bracing strut (8), and two axle servomotor (7) upper drivings are connected with the second axle RV decelerator (13), and the second axle RV decelerator (13) directly is connected with large arm (11).
7. a kind of six axle free degree manipulators according to claim 6 is characterized in that:
The 3rd transmission mechanism (C) is connected with the other end of large arm (11), be fixedly connected with three axle Connection Blocks (17) on the 3rd transmission mechanism (C), the 3rd transmission mechanism (C) can drive between three axle Connection Blocks (17) and large arm (11) and carry out ± 90 ° of pitch rotation;
The 3rd transmission mechanism (C) comprises the three axle Connection Blocks (17) that are connected with large arm (11) end, be fixedly connected with the 3rd axle servomotor (14) on three axle Connection Blocks (17), the 3rd axle servomotor (14) upper driving is connected with the 3rd axle RV decelerator (15), and the 3rd axle RV decelerator (15) directly is fixedly connected with large arm (11).
8. a kind of six axle free degree manipulators according to claim 7, it is characterized in that: the 4th transmission mechanism comprises four shaft housings (18), the 3rd transmission mechanism (C) is fixedly connected with four shaft housings (18) by three axle Connection Blocks (17), the 4th transmission mechanism (D) is in transmission connection with three axle Connection Blocks (17), be fixedly connected with connecting rod (24) on the 4th transmission mechanism (D), the 4th transmission mechanism (D) but carry out ± 180 ° of revolutions between drivening rod (24) and four shaft housings (18);
Four axle servomotors (21) are installed in four shaft housings (18), four axle servomotor (21) upper drivings are connected with four axle decelerators (20), four axle decelerators (20) are connected with connecting rod (24), and connecting rod (24) is fixedly connected with by terminal pad (23) with connecting rod (26).
9. a kind of six axle free degree manipulators according to claim 8 is characterized in that:
The other end of the 5th transmission mechanism (E) and connecting rod (24) is in transmission connection, and the 5th transmission mechanism (E) is connected with the 6th transmission mechanism (F), the 6th transmission mechanism (F) but the driving mechanical palm carries out ± 450 ° of revolutions;
The 5th transmission mechanism (E) comprises five shaft housings (28), five axle harmonic speed reducers (32) are installed in five shaft housings (28), on five axle harmonic speed reducers (32), the second gear (31) is housed, with the second belt wheel (29) on five axle servomotors (30) of the other end, by belt transmission, be connected, the 5th transmission mechanism (E) can drive between the 6th transmission mechanism (F) and five shaft housings (28) and carry out ± 120 ° of pitch rotation.
10. a kind of six axle free degree manipulators according to claim 9 is characterized in that:
The 6th transmission mechanism (F) comprises the 6th shaft housing (37), the five axle harmonic speed reducers (32) that are arranged in five shaft housings (28) can drive the do ± 120 ° of elevating movements of the 6th shaft housing (37), the 6th shaft housing (37) inside is equipped with six axle servomotors (33), and six axle servomotors (33) are in transmission connection with six axle decelerators (34).
CN2013203651787U 2013-06-25 2013-06-25 Six-axis DOF (degree of freedom) mechanical arm CN203317423U (en)

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Application Number Priority Date Filing Date Title
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103568002A (en) * 2013-06-25 2014-02-12 王常勇 Six-axis degree-of-freedom manipulator
CN103737607A (en) * 2013-12-27 2014-04-23 柳州高华机械有限公司 Six-shaft joint mechanical hand
CN104002303A (en) * 2014-06-09 2014-08-27 国网上海市电力公司 Robot of six degrees of freedom for loading and unloading of automatic transformer verification flow line
CN104669299A (en) * 2014-01-16 2015-06-03 北京航空航天大学 Force sense manipulator with mechanical arm
CN104908031A (en) * 2015-06-23 2015-09-16 泉州市微柏工业机器人研究院有限公司 Multi-joint industrial mechanical arm
CN105033990A (en) * 2015-08-13 2015-11-11 宁波宫铁精机有限公司 Simple mechanical arm
CN105522567A (en) * 2016-01-30 2016-04-27 东莞市腾迈五金塑胶制品有限公司 Multifunctional six-axis manipulator
CN105751214A (en) * 2016-05-23 2016-07-13 东莞理工学院 Six-axis mechanical hand with demonstration effect and working method thereof
CN106002948A (en) * 2016-06-29 2016-10-12 北京空间飞行器总体设计部 Spatial hyper-redundant drive manipulator and assembling method
CN106112994A (en) * 2016-08-24 2016-11-16 沈阳莱茵机器人有限公司 Six axle deburring robot rotating shaft devices
CN106423667A (en) * 2016-10-28 2017-02-22 嘉善蓝欣涂料有限公司 Paint spraying device for bearing

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103568002A (en) * 2013-06-25 2014-02-12 王常勇 Six-axis degree-of-freedom manipulator
CN103737607A (en) * 2013-12-27 2014-04-23 柳州高华机械有限公司 Six-shaft joint mechanical hand
CN103737607B (en) * 2013-12-27 2016-01-06 柳州高华机械有限公司 Six axle joint mechanical hands
CN104669299B (en) * 2014-01-16 2016-08-24 北京航空航天大学 A kind of power feel operator with mechanical arm
CN104690708A (en) * 2014-01-16 2015-06-10 北京航空航天大学 Balance mechanism of force operator
CN104669299A (en) * 2014-01-16 2015-06-03 北京航空航天大学 Force sense manipulator with mechanical arm
CN104002303B (en) * 2014-06-09 2015-10-28 国网上海市电力公司 A kind of mutual inductor automation calibrating streamline loading and unloading six degree of freedom robot
CN104002303A (en) * 2014-06-09 2014-08-27 国网上海市电力公司 Robot of six degrees of freedom for loading and unloading of automatic transformer verification flow line
CN104908031A (en) * 2015-06-23 2015-09-16 泉州市微柏工业机器人研究院有限公司 Multi-joint industrial mechanical arm
CN105033990A (en) * 2015-08-13 2015-11-11 宁波宫铁精机有限公司 Simple mechanical arm
CN105522567A (en) * 2016-01-30 2016-04-27 东莞市腾迈五金塑胶制品有限公司 Multifunctional six-axis manipulator
CN105751214A (en) * 2016-05-23 2016-07-13 东莞理工学院 Six-axis mechanical hand with demonstration effect and working method thereof
CN106002948A (en) * 2016-06-29 2016-10-12 北京空间飞行器总体设计部 Spatial hyper-redundant drive manipulator and assembling method
CN106002948B (en) * 2016-06-29 2018-04-10 北京空间飞行器总体设计部 A kind of super redundant drive mechanical arm in space and assemble method
CN106112994A (en) * 2016-08-24 2016-11-16 沈阳莱茵机器人有限公司 Six axle deburring robot rotating shaft devices
CN106423667A (en) * 2016-10-28 2017-02-22 嘉善蓝欣涂料有限公司 Paint spraying device for bearing

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Granted publication date: 20131204

Effective date of abandoning: 20150909