CN203697006U - Intelligent five-shaft manipulator - Google Patents

Intelligent five-shaft manipulator Download PDF

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Publication number
CN203697006U
CN203697006U CN 201420043330 CN201420043330U CN203697006U CN 203697006 U CN203697006 U CN 203697006U CN 201420043330 CN201420043330 CN 201420043330 CN 201420043330 U CN201420043330 U CN 201420043330U CN 203697006 U CN203697006 U CN 203697006U
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CN
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arm
mechanism
movement mechanism
moving mechanism
end
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CN 201420043330
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Chinese (zh)
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张世宏
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昆山威创精密机械有限公司
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Abstract

The utility model discloses an intelligent five-shaft manipulator. The intelligent five-shaft manipulator comprises a mechanical arm and five moving mechanisms, wherein the arm swinging moving mechanism is borne on the perpendicular moving mechanism and can move up and down for positioning under the driving of the perpendicular moving mechanism; the turnover moving mechanism is borne on the arm swinging moving mechanism and can rotate under the driving of the arm swinging moving mechanism; the horizontal moving mechanism and the executing end rotation moving mechanism are both borne on the turnover moving mechanism and rotate together under the driving of the turnover moving mechanism, the horizontal moving mechanism can drive a telescopic arm to make reciprocating movement in the direction of the length of a main arm, and the executing end rotation moving mechanism can drive a flange disk to rotate along the center of the executing end rotation moving mechanism; Because the mounting positions of the five moving mechanisms are reasonably arranged, the bearing amount of the arm swinging moving mechanism and the horizontal moving mechanism is reduced, and therefore the five-shaft manipulator is not only high in movement speed, small in inertia and flexible in operation but also is high in accuracy and good in stability and safety.

Description

智能五轴机械手 Smart five-axis robot

技术领域 FIELD

[0001] 本实用新型涉及机械手技术领域,具体提供一种智能五轴机械手。 [0001] The present invention relates to a robot technology, and in particular provides an intelligent five-axis robot.

背景技术 Background technique

[0002] 现有的智能机械手,通常包括五个运动机构,分别是:垂直运动机构、摆臂运动机构、翻转运动机构、水平运动机构和执行端旋转运动机构。 [0002] existing smart robots, typically including five motion mechanism, namely: a vertical moving mechanism, the swing arm moving mechanism, tilting motion mechanism, and the horizontal movement mechanism performing a rotational movement mechanism end. 但是现有的技术方案中,大多是由摆臂运动机构作为其它四个运动机构的支撑机构,这样在摆臂运动机构运动时就必须带动其它四个运动机构一起运动,从而承受着很大的重量,导致摆臂运动机构的转动惯量很大,进而使水平面上的定位精度较差,影响机械手整体设备的精度。 However, the prior art solutions, mostly by means of the swing arm movement mechanism as the support of the other four moving mechanism, so that when the swing arm moving mechanism must be driven by the other four motion moving mechanism moving together, so that under considerable by weight, resulting in a large moment of inertia of the swing arm movement mechanism, a horizontal plane and thus positioning accuracy is poor, affecting the accuracy of the entire robot apparatus.

发明内容 SUMMARY

[0003] 为了克服上述缺陷,本实用新型提供了一种智能五轴机械手,该机械手结构合理、紧凑,定位精度高,操作灵活且安全。 [0003] In order to overcome the above drawbacks, the present invention provides an intelligent five-axis robot, the mechanical hand rational and compact structure, high precision, safety and flexible operation.

[0004] 本实用新型为了解决其技术问题所采用的技术方案是:一种智能五轴机械手,包括机台、以及定位设置在所述机台上的机械臂、垂直运动机构、摆臂运动机构、翻转运动机构、水平运动机构和执行端旋转运动机构,所述机械臂包括主臂和承载于所述主臂上的伸缩臂,且所述伸缩臂的一端上还活动设置有一供吸盘或夹爪安装的法兰盘;所述摆臂运动机构承载于所述垂直运动机构上,并能够在所述垂直运动机构的带动下相对所述机台作上下移动定位;所述翻转运动机构承载于所述摆臂运动机构上,并能够在所述摆臂运动机构的带动下旋转;所述水平运动机构和所述执行端旋转运动机构均承载于所述翻转运动机构上,并能够在所述翻转运动机构的带动下一起旋转,且所述水平运动机构能够带动所述伸缩臂沿所述主臂的长度方向往复移动,所述执行端 [0004] The present invention to solve the technical problem technical proposal is: an intelligent five-axis robot, comprising a machine, and a positioning manipulator disposed on the machine table, a vertical moving mechanism, the swing arm moving mechanism , motion reversing mechanism, and the horizontal movement mechanism performing a rotational movement mechanism ends, the robot arm comprising a main arm and carried in the telescopic boom main arm, and further the activities provided on one end of the telescopic arm has a chuck or clamp for pawl mounting flange; the arm moving mechanism carried on said vertical movement means relative to the machine and can be moved vertically positioned in a vertical movement of the drive mechanism; the mechanism invert motion carried the swing arm moving mechanism, and rotatably driven by said swinging arm mechanism in motion; the horizontal movement mechanism and the rotational movement of the actuator end of said reversing mechanism are carried on a moving mechanism, and can be in the together with the tilting movement driven by the rotation mechanism, and the horizontal movement mechanism can bring the longitudinal direction of said telescopic arm in said main arm reciprocates, the execution end 转运动机构能够带动所述法兰盘绕其中心旋转。 Pivoting movement mechanism can bring the center of rotation of the coiled flange.

[0005] 作为本实用新型的进一步改进,所述垂直运动机构包括有定位内置于所述机台内部的第一伺服马达、第一滚珠螺杆组件、第一齿轮组和第一同步齿形带,所述第一滚珠螺杆组件包括第一螺杆和滑设于所述第一螺杆上的第一螺帽,所述第一齿轮组由一对第一齿轮组成,该对第一齿轮分别固定套设于所述第一伺服马达的输出轴和所述第一螺杆的一轴端上,且该对第一齿轮还通过所述第一同步齿形带传动连接; [0005] As a further improvement of the present invention, the vertical movement mechanism comprises a positioning machine built inside the first servo motor, a first ball screw assembly, the first gear set and the first timing belt, the first ball screw assembly includes a first screw and a first nut disposed sliding on the first screw, the first gear set consists of a pair of first gears, which are fixed to the first gear sleeved on a first axial end of said output shaft of the servo motor and said first screw, and the first gear through the first timing belt is connected;

[0006] 所述摆臂运动机构包括有亦定位内置于所述机台内部的第二伺服马达和少齿差行星齿轮减速机,所述第二伺服马达能够驱动所述少齿差行星齿轮减速机运转; [0006] The swing motion also comprises a positioning mechanism built inside the machine and at least a second servo motor gear reducer planetary differential gear, the second servomotor capable of driving the small teeth difference planetary gear reduction machine operation;

[0007] 所述摆臂运动机构承载于所述垂直运动机构上,并能够在所述垂直运动机构的带动下作上下移动定位的结构为:在所述机台内部还活动设置有一竖向导向板,所述第一螺帽与所述导向板的底端固连,所述第二伺服马达与所述导向板的上端固连。 [0007] The arm movement mechanism is carried on the vertical movement mechanism, and the drive can be positioned mainly as vertical movement of the vertical movement mechanism structure: inside the machine is also provided with a vertical guide activities a bottom end plate, the nut and the first guide plate fixedly connected with the upper end of the second servo motor fixedly connected to the guide plate.

[0008] 作为本实用新型的进一步改进,在所述机台内部还定位设置有竖向第一滑轨,所述导向板与所述第一滑轨相滑动配合连接。 [0008] As a further improvement of the present invention, in the interior of the machine is also provided with vertically positioned first slide, the first slide guide plate relative to the sliding fit connection.

[0009] 作为本实用新型的进一步改进,所述垂直运动机构还包括有定位内置于所述机台内部的升降气缸,所述升降气缸的输出轴与所述导向板固连。 [0009] As a further improvement of the present invention, the vertical movement mechanism further comprises a lifting cylinder positioned built inside the machine, the output shaft of the lifting cylinder is fixedly connected with the guide plate.

[0010] 作为本实用新型的进一步改进,所述翻转运动机构承载于所述摆臂运动机构上,并能够在所述摆臂运动机构的带动下旋转的结构为:在所述机台的顶端上还活动设有一用以承载所述翻转运动机构的基座,所述少齿差行星齿轮减速机的输出轴与所述基座固连。 [0010] As a further improvement of the present invention, the turning movement of said swing arm means carrying moving mechanism, and rotatably driven by said swinging arm movement mechanism structure: to the top of the machine the activity is also provided with a mechanism for supporting the pivotal movement of the base, the less the difference between the output pinion of the planetary gear reducer fixedly connected with the base.

[0011] 作为本实用新型的进一步改进,所述翻转运动机构包括定位设置于所述基座上端的第三伺服马达、以及定位设置于所述基座内部的第二齿轮组和中空翻转主轴,所述第二齿轮组由一对相互啮合的第二齿轮组成,且该对第二齿轮分别固定套设于所述第三伺服马达的输出轴和所述翻转主轴的外侧上。 [0011] As a further improvement of the present invention, the turning movement mechanism includes a positioning servomotor disposed in said third upper end of the base, and the positioning of the base disposed on the inside of the second gear set and a hollow reversing shaft, the second gear set consists of a pair of second intermeshing gears composition, and the pair of second gears respectively fixed to the sleeve disposed on the output shaft of the third servomotor and the outside of the reversing spindle.

[0012] 作为本实用新型的进一步改进,所述水平运动机构和所述执行端旋转运动机构均承载于所述翻转运动机构上,并能够在所述翻转运动机构的带动下一起旋转的结构为:所述主臂由横截面均呈方形框体的第一主臂和第二主臂组成,所述第一主臂和第二主臂分设于所述基座的两侧,分别对应与所述翻转主轴的两轴端固定连接,且所述第一主臂、第二主臂和翻转主轴相贯通并共同形成一用以容置所述水平运动机构和所述执行端旋转运动机构的容置腔。 [0012] As a further improvement of the present invention, the horizontal movement mechanism and the rotational movement of the actuator end of said reversing mechanism are carried on a moving mechanism, and rotatably driven together with the reversing motion mechanism structure : the main arm by a first and second main arm main arm showed a rectangular cross section housing the composition, the first and second main arm to said main arm is divided into sides of the base, corresponding to the inverting said two axial ends the spindle is fixedly connected to the main arm and the first, the second main arm and flip through the spindle and together form a relative rotational motion mechanism is a capacity for accommodating the horizontal movement mechanism and the actuator end set cavity.

[0013] 作为本实用新型的进一步改进,所述伸缩臂的横截面亦呈方形框体,且所述伸缩臂的一端通过所述水平运动机构沿所述第一主臂的长度方向滑设于所述第一主臂中,所述伸缩臂的另一端伸出所述第一主臂背向所述翻转主轴的一端外;其中: [0013] As a further improvement of the present invention, the cross section of the telescopic arm also found rectangular frame, and one end of the telescopic arm by means of the horizontal movement along the length of the first arm is slidably disposed on the main the first main arm, the other end of the telescopic arm extends away from said first end of said main arm outer reversing spindle; wherein:

[0014] 所述伸缩臂的一端通过所述水平运动机构沿所述第一主臂的长度方向滑设于所述第一主臂中的结构为:所述水平运动机构包括第四伺服马达、第一传动轴和第二滚珠螺杆组件,其中,所述第四伺服马达定位容置于所述第二主臂中,且所述第四伺服马达的输出轴通过联轴器与所述第一传动轴的一轴端固连,所述第二滚珠螺杆组件包括定位容置于所述第一主臂中的第二螺杆和滑设于所述第二螺杆上的第二螺帽,所述第二螺杆的一轴端通过联轴器与所述第一传动轴的另一轴端固连,所述第二螺帽与所述伸缩臂固连。 [0014] One end of the telescopic arm by means of the horizontal movement along the length of the first arm is slidably disposed on the main structure of the first main arm is as follows: the horizontal movement mechanism comprises a fourth servo motor, the first ball screw shaft and a second component, wherein said fourth servo motor accommodated in the second main positioning arm, and the output shaft through the fourth servo motors with the first coupling a shaft secured to the drive shaft, the second ball screw assembly comprises a first main locating accommodated in the second arm in a second nut screw and slidingly disposed on said second screw, said a second screw shaft via a coupling and the other axial end of the first transmission shaft fixedly connected with said second nut fixedly connected to the telescopic arm.

[0015] 作为本实用新型的进一步改进,所述执行端旋转运动机构能够带动所述法兰盘绕其中心旋转的结构为:所述执行端旋转运动机构包括第五伺服马达、第一转向齿轮机构、涡轮减速机、配对齿轮组、第二传动轴、传动套筒和第二转向齿轮机构,其中,所述第五伺服马达定位容置于所述第二主臂中,且所述第五伺服马达的输出轴通过所述第一转向齿轮机构能够驱动所述涡轮减速机运转,所述配对齿轮组定位容置于所述第一主臂中,且所述配对齿轮组中的一个齿轮固定套设于所述涡轮减速机的输出轴上,其另一个齿轮通过万向节联轴器固定连接于所述第二传动轴的一端,所述传动套筒活动容置于所述伸缩臂中并与所述第二传动轴构成花键传动,且所述传动套筒背向所述第二传动轴的一端还伸出所述伸缩臂夕卜,并通过所述第二转向齿轮机构定位连接 [0015] As a further improvement of the present invention, the mechanism capable of performing a rotational movement the end of the driven flange rotate around its coiled structure: the actuator mechanism includes a fifth end of a rotational movement of the servo motor, the first steering gear mechanism , turbine speed reducer, mating gear set, a second transmission shaft, the second drive sleeve and the steering gear mechanism, wherein said fifth positioning servo motor accommodated in the second main arm, and the fifth servo the output shaft of the motor through the steering gear mechanism is capable of driving the first turbine speed reducer operation, the mating gear set is accommodated in the first main positioning arm, and the pairing of a gear set is fixed sleeve provided on the output shaft of the turbine reduction gear, which gear is fixedly connected to the other end of the second drive shaft by a universal joint coupling said drive sleeve accommodated in the activities telescopic arm and and said second spline shaft constituting the drive, the drive sleeve and a second end facing away from the drive shaft further extending the telescopic arm Bu Xi, and through the second steering gear connecting mechanism positioned 所述法兰盘。 Said flange.

[0016] 作为本实用新型的进一步改进,在所述第一主臂内部还水平固设有第二滑轨,所述伸缩臂与所述第二滑轨相滑动配合连接;另所述第一转向齿轮机构和第二转向齿轮机构均由两个相互啮合并呈90度的齿轮组成。 [0016] As a further improvement of the present invention, in the interior of the first horizontal main arm further provided with a second slide fixing, the telescopic arm and the second rail is connected with sliding fit; the other of said first a steering gear mechanism and the second steering gear mechanism consists of two gears engaged with each other and showed a composition of 90 degrees.

[0017] 本实用新型的有益效果是:本实用新型通过对该五个运动机构的安装位置进行合理配置,减轻了摆臂运动机构、以及水平运动机构的承载量,从而使得该五轴机械手不仅动作速度快、惯量小、操作灵活,而且定位精度高、平稳性、安全性好,此外还有效节约了生产成本。 [0017] The beneficial effects of the present invention are: the present invention mounted position by means of the five motion rational allocation, reducing arm movement mechanism, and the carrying capacity of the horizontal movement mechanism, so that the robot axis only operation speed, low inertia, flexible operation, and the positioning accuracy, stability, safety, and also effectively saving production costs. 附图说明 BRIEF DESCRIPTION

[0018] 图1为本实用新型所述五轴机械手的结构示意图; [0018] FIG. 1 is a schematic structural diagram of the invention five-axis robot;

[0019] 图2为本实用新型所述五轴机械手中各运动机构的连接关系结构示意图; [0019] FIG. 2 is a schematic structural connection relationship between the novel five-axis robot movements practical mechanism;

[0020] 图3为本实用新型所述垂直运动机构的结构示意图; [0020] FIG. 3 is a schematic structural diagram of the invention, the vertical movement mechanism;

[0021] 图4为本实用新型所述摆臂运动机构的结构示意图; [0021] FIG. 4 is a schematic structural view of the swing arm movement mechanism of the present invention;

[0022] 图5为本实用新型所述翻转运动机构的结构示意图; [0022] FIG. 5 is a structural schematic view of the invention, the pivotal movement mechanism;

[0023] 图6为本实用新型所述水平运动机构的结构示意图; [0023] FIG. 6 is a schematic configuration of the invention of the present horizontal movement mechanism;

[0024]图7为本实用新型所述执行端旋转运动机构的结构示意图。 [0024] FIG. 7 of the present invention performs the rotational movement of the end structural diagram mechanism.

[0025] 结合附图,作以下说明: [0025] conjunction with the accompanying drawings, to make the following description:

[0026] 1——机台 2——导向板 [0026] 1-- guide plate machine 2--

[0027] 3——主臂 4——伸缩臂 [0027] 3-- 4-- telescopic main arm

[0028] 5——法兰盘 6——基座 [0028] 5-- base flange 6--

[0029] 10—第一伺服马达11—第一滚珠螺杆组件 [0029] 10- 11- first servomotor first ball screw assembly

[0030] 12——第一同步齿形带13——升降气缸 [0030] The first timing belt 13-- 12-- lifting cylinder

[0031] 20—第二伺服马达21—少齿差行星齿轮减速机 [0031] 20 second servo motor 21 small teeth difference planetary gear reducer

[0032] 30—第三伺服马达31—翻转主轴 [0032] 30- 31- flip third spindle servomotor

[0033] 40—第四伺服马达41—第一传动轴 [0033] The fourth servo motor 40 of the first shaft 41-

[0034] 42—第二滚珠螺杆组件50—第五伺服马达 [0034] The second ball screw assembly 50 42- fifth servomotors

[0035] 51——涡轮减速机52——配对齿轮组 [0035] 51-- 52-- turbine speed reducer gear set pairs

[0036] 53——第二传动轴54——传动套筒 [0036] 53-- second transmission sleeve shaft 54--

具体实施方式 detailed description

[0037] 下面参照图对本实用新型的优选实施例进行详细说明。 [0037] Referring to FIG embodiment of the present invention is preferably described in detail.

[0038] 本实用新型所述的一种智能五轴机械手,包括机台1、以及定位设置在所述机台I上的机械臂、垂直运动机构Z1、摆臂运动机构Z2、翻转运动机构Z3、水平运动机构TA和执行端旋转运动机构Z5,所述机械臂包括主臂3和承载于所述主臂上的伸缩臂4,且所述伸缩臂4的一端上还活动设置有一供吸盘或夹爪安装的法兰盘5 ;所述摆臂运动机构Z2承载于所述垂直运动机构Zl上,并能够在所述垂直运动机构Zl的带动下相对所述机台I作上下移动定位;所述翻转运动机构Z3承载于所述摆臂运动机构Z2上,并能够在所述摆臂运动机构Z2的带动下旋转;所述水平运动机构TA和所述执行端旋转运动机构Z5均承载于所述翻转运动机构Z3上,并能够在所述翻转运动机构Z3的带动下一起旋转,且所述水平运动机构TA能够带动所述伸缩臂4沿所述主臂3的长度方向往复移动,所述执行端旋转 [0038] An intelligent five-axis robot according to the present invention, comprises a robot arm machine 1, and a positioning disposed on the machine I, the vertical movement mechanism Z1, arm movement mechanism Z2, Z3 tilting movement mechanism , TA and performing horizontal movement mechanism ends the rotational movement mechanism Z5, the robot arm comprising a main arm 3 and the carrier arm to the main telescopic arm 4, and the further events is provided on one end of a telescopic arm 4 for the chuck or jaw 5 is mounted a flange; the arm movement mechanism is carried on the Z2 Zl vertical motion mechanism, and can be driven by the vertical motion mechanism Zl I relative to the machine moved vertically positioned; the said motion reversing mechanism Z3 carried on said pivot arm moving mechanism Z2, and rotatably driven by said swinging arm movement mechanism Z2; said horizontal movement mechanism TA and performing the rotational movement of the end to the carrier mechanism Z5 are reversing the motion of said mechanism Z3, and rotatably driven together with the tilting movement mechanism Z3, TA and the horizontal movement mechanism can bring the longitudinal direction of said telescopic arm 4 along the reciprocating movement of the main arm 3, the execution end rotation 动机构Z5能够带动所述法兰盘5绕其中心旋转。 Z5 mechanism can drive the flange 5 is rotated about its center.

[0039] 在本实施例中,所述垂直运动机构Zl包括有定位内置于所述机台I内部的第一伺服马达10、第一滚珠螺杆组件11、第一齿轮组和第一同步齿形带12,所述第一滚珠螺杆组件11包括第一螺杆和滑设于所述第一螺杆上的第一螺帽,所述第一齿轮组由一对第一齿轮组成,该对第一齿轮分别固定套设于所述第一伺服马达10的输出轴和所述第一螺杆的一轴端上,且该对第一齿轮还通过所述第一同步齿形带12传动连接;[0040] 所述摆臂运动机构Z2包括有亦定位内置于所述机台I内部的第二伺服马达20和少齿差行星齿轮减速机21,所述第二伺服马达20能够驱动所述少齿差行星齿轮减速机21运转; [0039] In the present embodiment, the vertical movement mechanism comprises a positioning Zl built inside the first servo motor 10 of the machine I, the first ball screw assembly 11, the first gear set and the first synchronous tooth belt 12, the first ball screw assembly 11 comprises a first nut on the first screw and a first screw disposed in the slide, the first gear set by a first pair of gears, the first gear are fixed to said first sleeve disposed on a shaft of the servo motor output shaft 10 and the first screw, and the first gear through the first timing belt 12 drivingly connected; [0040] the swing motion also comprises a positioning mechanism Z2 built inside the machine I servomotor 20 and a second small teeth difference planetary gear reducer 21, the second servo motor 20 capable of driving the - rings gear reducer 21 is driven;

[0041] 所述摆臂运动机构Z2承载于所述垂直运动机构Zl上,并能够在所述垂直运动机构Zl的带动下作上下移动定位的结构为:在所述机台I内部还活动设置有一竖向导向板2,所述第一螺帽与所述导向板2的底端固连,所述第二伺服马达20与所述导向板2的上端固连。 [0041] The arm movement mechanism is carried on the Z2 Zl vertical movement mechanism, and is capable of vertical movement of the drive positioning mechanism Zl mainly as vertical movement of the structure: is also movably disposed within the machine I 2 has a vertical guide plate, a bottom end of said first nut and said guide plate 2 is fixedly connected to the upper end of the second servo motor 20 and the guide plate 2 is secured.

[0042] 优选的,在所述机台I内部还定位设置有竖向第一滑轨,所述导向板2与所述第一滑轨相滑动配合连接。 [0042] Preferably, in the interior of the machine is provided with a vertically positioned further I first slide, the slide with the guide plate 2 and the first slide-fit connection.

[0043] 优选的,所述垂直运动机构Zl还包括有定位内置于所述机台I内部的升降气缸13,所述升降气缸13的输出轴与所述导向板2固连,从而减轻第一伺服马达10的负荷。 [0043] Preferably, the movement mechanism further comprises a vertically positioned Zl built inside the machine I lift cylinder 13, the lift 2 is fixedly connected to the output shaft and the guide plate cylinder 13, thereby reducing the first load servomotor 10.

[0044] 在本实施例中,所述翻转运动机构Z3承载于所述摆臂运动机构Z2上,并能够在所述摆臂运动机构Z2的带动下旋转的结构为:在所述机台I的顶端上还活动设有一用以承载所述翻转运动机构Z3的基座6,所述少齿差行星齿轮减速机21的输出轴通过旋转主轴与所述基座6固连。 [0044] In the present embodiment, the tilting movement of the mechanism Z3 carried Z2 swing arm moving mechanism, and rotatably driven by said swinging arm movement mechanism Z2 to a structure: the machine I also active on the tip is provided with a mechanism for supporting the pivotal movement of the base 6 Z3, the small teeth difference planetary gear reducer output shaft 21 connected through the rotary spindle 6 fixed to the base.

[0045] 在本实施例中,所述翻转运动机构Z3包括定位设置于所述基座上端的第三伺服马达30、以及定位设置于所述基座内部的第二齿轮组和中空翻转主轴31,所述第二齿轮组由一对相互啮合的第二齿轮组成,该对第二齿轮的外径大小不等,且该对第二齿轮分别固定套设于所述第三伺服马达30的输出轴和所述翻转主轴31的外侧上。 [0045] In the present embodiment, the tilting movement mechanism comprises Z3 is positioned at the upper end of the base is provided a third servomotor 30, and a positioning base disposed on the inside of the second gear set 31 and the hollow spindle flipping , the second gear set consists of a pair of second intermeshing gears composition, the size of the outer diameter of the second gear range, and the pair of second gears respectively fixed to the output sleeve 30 is arranged a third servo motor reversing shaft and the main shaft 31 on the outside.

[0046] 在本实施例中,所述水平运动机构TA和所述执行端旋转运动机构Z5均承载于所述翻转运动机构Z3上,并能够在所述翻转运动机构Z3的带动下一起旋转的结构为:所述主臂3由横截面均呈方形框体的第一主臂和第二主臂组成,所述第一主臂和第二主臂分设于所述基座6的两侧,分别对应与所述翻转主轴31的两轴端固定连接,且所述第一主臂、第二主臂和翻转主轴31相贯通并共同形成一用以容置所述水平运动机构TA和所述执行端旋转运动机构Z5的容置腔。 [0046] In the present embodiment, the horizontal movement mechanism TA and performing the rotational movement mechanism end Z5 are carried to the reversing mechanism movement Z3, and rotatably driven together with the reversing of the movement mechanism Z3 structure: said main arm 3 showed a square cross-section housing a first and a second main arm composed of the main arm, the main arm of the first and second divided main arm to the base sides 6, respectively correspond to the two reversing spindle shaft 31 is fixedly connected, and said first main arm, the main arm and the second inverted shaft 31 is formed with a through-together and for accommodating the horizontal movement mechanism and the TA end of the rotating mechanism performing movement Z5 receiving chamber.

[0047] 在本实施例中,所述伸缩臂4的横截面亦呈方形框体,且所述伸缩臂4的一端通过所述水平运动机构Z4沿所述第一主臂的长度方向滑设于所述第一主臂中,所述伸缩臂4的另一端伸出所述第一主臂背向所述翻转主轴31的一端外;其中: [0047] In the present embodiment, the cross section of the telescopic arm 4 also found a square frame, and said one end of telescopic arm 4 by the longitudinal direction along the first horizontal main arm Z4 motion mechanism slidably disposed said first main arm, the other end of the telescopic arm 4 extends the inverting shaft facing away from the first outer end 31 of the main arm; wherein:

[0048] 所述伸缩臂4的一端通过所述水平运动机构TA沿所述第一主臂的长度方向滑设于所述第一主臂中的结构为:所述水平运动机构Z4包括第四伺服马达40、第一传动轴41和第二滚珠螺杆组件42,其中,所述第四伺服马达40定位容置于所述第二主臂中,且所述第四伺服马达40的输出轴通过联轴器与所述第一传动轴41的一轴端固连,所述第二滚珠螺杆组件42包括定位容置于所述第一主臂中的第二螺杆和滑设于所述第二螺杆上的第二螺帽,所述第二螺杆的一轴端通过联轴器与所述第一传动轴41上并穿设过所述翻转主轴31的另一轴端固连,所述第二螺帽与所述伸缩臂4固连。 [0048] One end of the telescopic arm 4 by the horizontal movement mechanism TA in the longitudinal direction of the first main arm slidingly disposed on the first main arm structure: the horizontal motion mechanism includes a fourth Z4 servo motor 40, a first drive shaft 41 and the second ball screw assembly 42, wherein said fourth servo motor 40 is positioned accommodated in the second main arm, and the fourth servo motor 40 through the output shaft coupling a shaft fixedly connected with said first transmission shaft 41, the second ball screw assembly 42 comprises a main positioning arm accommodated in the first and the second screw disposed on the second carriage a second nut on the screw, a second axial end of the screw through the first coupling shaft 41 runs through the inverting and the other axial end 31 secured to the spindle, the second two nut and the telescopic arm 4 is secured.

[0049] 所述执行端旋转运动机构Z5能够带动所述法兰盘5绕其中心旋转的结构为:所述执行端旋转运动机构Z5包括第五伺服马达50、第一转向齿轮机构、涡轮减速机51、配对齿轮组52、第二传动轴53、传动套筒54和第二转向齿轮机构,其中,所述第五伺服马达50定位容置于所述第二主臂中,且所述第五伺服马达50的输出轴通过所述第一转向齿轮机构能够驱动所述涡轮减速机51运转,所述配对齿轮组52定位容置于所述第一主臂中,且所述配对齿轮组52中的一个齿轮固定套设于所述涡轮减速机51的输出轴上,其另一个齿轮通过万向节联轴器固定连接于所述第二传动轴53的一端,所述传动套筒54活动容置于所述伸缩臂4中并与所述第二传动轴53构成花键传动,且所述传动套筒54背向所述第二传动轴53的一端还伸出所述伸缩臂4外,并通过所述第二转向齿轮机构定位连接于所 [0049] The rotational movement of the actuator end of the drive mechanism can be Z5 flange 5 rotates about its center structure: the terminal performs a rotational movement mechanism comprises a fifth Z5 servomotor 50, the first steering gear mechanism, decelerate the turbine machine 51, mating-gear set 52, second shaft 53, the drive sleeve 54 and the second steering gear mechanism, wherein said fifth servomotor 50 is positioned accommodated in the second main arm and the first five output shaft of the servo motor 50 through a steering mechanism capable of driving the first gear speed reducer 51 of the turbine operation, the mating gear set 52 accommodated in the first main positioning arm, and the mating gear set 52 a fixed gear sleeved on the output shaft of the turbine reduction machine 51, which is connected to the other gear fixed to an end of the second transmission shaft 53 via a universal joint couplings, the drive sleeve 54 activity second transmission shaft 53 is accommodated in one end of the telescopic arm extends further in and constitute a spline gear 4 and the second transmission shaft 53, the drive sleeve 54 and the telescopic arm 4 facing away from the outer and are connected via the second positioning means to the steering gear 法兰盘5。 Flange 5.

[0050] 优选的,在所述第一主臂内部还水平固设有第二滑轨,所述伸缩臂4与所述第二滑轨相滑动配合连接;另所述第一转向齿轮机构和第二转向齿轮机构均由两个相互啮合并呈90度的齿轮组成。 [0050] Preferably, in the interior of the first horizontal main arm further provided with a second slide fixing, the telescopic arm 4 is connected to the second slide rail with a sliding fit; the other of the first and the steering gear mechanism the second steering gear mechanism consists of two mutually meshing gears and was composed of 90 degrees.

Claims (10)

  1. 1.一种智能五轴机械手,包括机台(I)、以及定位设置在所述机台(I)上的机械臂、垂直运动机构(Zl)、摆臂运动机构(Z2)、翻转运动机构(Z3)、水平运动机构(Z4)和执行端旋转运动机构(Z5),所述机械臂包括主臂(3)和承载于所述主臂上的伸缩臂(4),且所述伸缩臂(4)的一端上还活动设置有一供吸盘或夹爪安装的法兰盘(5);其特征在于:所述摆臂运动机构(Z2)承载于所述垂直运动机构(Zl)上,并能够在所述垂直运动机构(Zl)的带动下相对所述机台(I)作上下移动定位;所述翻转运动机构(Z3)承载于所述摆臂运动机构(Z2)上,并能够在所述摆臂运动机构(Z2)的带动下旋转;所述水平运动机构(Z4)和所述执行端旋转运动机构(Z5)均承载于所述翻转运动机构(Z3)上,并能够在所述翻转运动机构(Z3)的带动下一起旋转,且所述水平运动机构(Z4)能够带动所述伸缩臂(4)沿所述主臂(3)的长度方向 1. An intelligent robot axis, comprising a machine (I), and a positioning manipulator is provided in the machine, the vertical movement mechanism (Zl), arm movement mechanism (Z2 of), the tilting movement mechanism (I) (Z3), a horizontal movement mechanism (Z4) and performs a rotational movement mechanism ends (Z5), the robot arm comprises a main arm (3) and the carrier arm to the main telescopic arm (4) and the telescopic arm one end (4) is further provided with a supply activities flange (5) of the mounting chuck or jaws; characterized in that: said swing arm moving mechanism (Z2) carried on said vertical movement means (Zl) on, and can be driven by the vertical movement mechanism (Zl) with respect to said machine (I) are moved vertically positioned; the turning movement mechanism (Z3) carried on said swing arm moving mechanism (Z2) on, and is capable of the swing arm driven by a movement mechanism (Z2) of rotation; the horizontal movement mechanism (Z4) and the terminal performs a rotational movement mechanism (Z5) are carried on said motion reversing mechanism (Z3), and is capable of being said rotating mechanism driven by the pivotal movement (Z3) together, and the horizontal movement means (Z4) can be driven by the telescopic arm (4) along the main arm (3) in the longitudinal direction 复移动,所述执行端旋转运动机构(Z5)能够带动所述法兰盘(5)绕其中心旋转。 Reciprocating movement, the rotational movement mechanism performs end (Z5) can be driven by the flange (5) is rotated about its center.
  2. 2.根据权利要求1所述的智能五轴机械手,其特征在于:所述垂直运动机构(Zl)包括有定位内置于所述机台(I)内部的第一伺服马达(10)、第一滚珠螺杆组件(11)、第一齿轮组和第一同步齿形带(12),所述第一滚珠螺杆组件(11)包括第一螺杆和滑设于所述第一螺杆上的第一螺帽,所述第一齿轮组由一对第一齿轮组成,该对第一齿轮分别固定套设于所述第一伺服马达(10)的输出轴和所述第一螺杆的一轴端上,且该对第一齿轮还通过所述第一同步齿形带(12)传动连接; 所述摆臂运动机构(Z2)包括有亦定位内置于所述机台(I)内部的第二伺服马达(20)和少齿差行星齿轮减速机(21),所述第二伺服马达(20)能够驱动所述少齿差行星齿轮减速机(21)运转; 所述摆臂运动机构(Z2)承载于所述垂直运动机构(Zl)上,并能够在所述垂直运动机构(Zl)的带动下作上下移动定位的结构为:在所述机台 The five-axis robot as claimed in claim smart claim 1, wherein: said vertical motion means (Zl) comprises a positioning built in the machine (I) inside the first servo motor (10), a first a ball screw assembly (11), a first gear set and the first timing belt (12), the first ball screw assembly (11) comprises a first screw and a first screw slidably disposed on the first screw cap, the first gear set by a first pair of gears, the pair of first gears each provided on a sleeve fixed to the first shaft servo motor (10) and the output shaft of the first screw, and the first gear through the first timing belt (12) drivingly connected; said swinging arm movement mechanism (Z2) also including built-in positioning (I) of the machine inside a second servo motor (20) and the small teeth difference planetary gear reducer (21), said second servomotor (20) capable of driving said small teeth difference planetary gear reducer (21) operation; the swing arm movement mechanism (Z2) carried on said vertical movement means (Zl), and can be positioned vertically move the vertical movement of the entrainment means (Zl) mainly as the structure: the machine (I)内部还活动设置有一竖向导向板(2),所述第一螺帽与所述导向板(2)的底端固连,所述第二伺服马达(20)与所述导向板(2)的上端固连。 (I) is also active inside a vertical guide is provided with a bottom plate (2), said first nut and said guide plate (2) is secured, said second servomotor (20) with the guide plates the upper end (2) is secured.
  3. 3.根据权利要求2所述的智能五轴机械手,其特征在于:在所述机台(I)内部还定位设置有竖向第一滑轨,所述导向板(2)与所述第一滑轨相滑动配合连接。 The intelligent axis manipulator according to claim 2, wherein: the machine (I) is also positioned inside a first slide provided with a vertical, the guide plate (2) and the first rails with a sliding fit connection.
  4. 4.根据权利要求2所述的智能五轴机械手,其特征在于:所述垂直运动机构(Zl)还包括有定位内置于所述机台(I)内部的升降气缸(13),所述升降气缸(13)的输出轴与所述导向板(2)固连。 Smart according to claim 2 of the five-axis manipulator, characterized in that: said vertical motion means (Zl) further comprises a built-in positioning (I) of the machine inside a lifting cylinder (13), the lifting a cylinder (13) to the output shaft of the guide plate (2) is fixedly connected.
  5. 5.根据权利要求2所述的智能五轴机械手,其特征在于:所述翻转运动机构(Z3)承载于所述摆臂运动机构(Z2)上,并能够在所述摆臂运动机构(Z2)的带动下旋转的结构为:在所述机台(I)的顶端上还活动设有一用以承载所述翻转运动机构(Z3)的基座(6),所述少齿差行星齿轮减速机(21)的输出轴与所述基座(6)固连。 Smart according to claim 2 of the five-axis manipulator, characterized in that: said motion reversing mechanism (Z3) carried on said swing arm moving mechanism (Z2) on the swing arm and capable of moving mechanism (Z2 ) rotatably driven by the structure: is also active on the top end (I) of the machine is provided for carrying a base (6) of said tilting movement means (Z3) of the small teeth difference planetary gear reduction (21) an output shaft of said base (6) fixedly connected.
  6. 6.根据权利要求5所述的智能五轴机械手,其特征在于:所述翻转运动机构(Z3)包括定位设置于所述基座上端的第三伺服马达(30)、以及定位设置于所述基座内部的第二齿轮组和中空翻转主轴(31),所述第二齿轮组由一对相互啮合的第二齿轮组成,且该对第二齿轮分别固定套设于所述第三伺服马达(30)的输出轴和所述翻转主轴(31)的外侧上。 According to claim smart axis robot 5, wherein: said motion reversing means (Z3) comprises a positioning base disposed on the upper end of the third servo motor (30), disposed and positioned in said the interior of the hollow base and the second gear set reversing spindle (31), the second gear set consists of a pair of second intermeshing gears composition, and the pair of second gears respectively fixed to the third sleeve disposed servomotor the outside (30) of the output shaft and the reversing shaft (31) on.
  7. 7.根据权利要求6所述的智能五轴机械手,其特征在于:所述水平运动机构(Z4)和所述执行端旋转运动机构(Z5)均承载于所述翻转运动机构(Z3)上,并能够在所述翻转运动机构(Z3)的带动下一起旋转的结构为:所述主臂(3)由横截面均呈方形框体的第一主臂和第二主臂组成,所述第一主臂和第二主臂分设于所述基座(6)的两侧,分别对应与所述翻转主轴(31)的两轴端固定连接,且所述第一主臂、第二主臂和翻转主轴(31)相贯通并共同形成一用以容置所述水平运动机构(Z4)和所述执行端旋转运动机构(Z5)的容置腔。 Smart according to claim 6, the five-axis manipulator, characterized in that: said horizontal movement mechanism (Z4) and the terminal performs a rotational movement mechanism (Z5) are carried in the turning motion mechanism (Z3), the and rotatable together with the driven movement of the reversing mechanism (Z3) of the structure: said main arm (3) by the first and second main arm main arm showed a square cross section of the frame body composition, the second a second main arm and the main arm is divided to the base (6) on both sides, two axial ends respectively fixedly connected with the turning spindle (31) and said first main arm, a second main arm and reversing spindle (31) and jointly form a through for accommodating the horizontal movement mechanism (Z4) and the accommodation chamber side performs a rotational movement mechanism (Z5) of.
  8. 8.根据权利要求7所述的智能五轴机械手,其特征在于:所述伸缩臂(4)的横截面亦呈方形框体,且所述伸缩臂(4)的一端通过所述水平运动机构(Z4)沿所述第一主臂的长度方向滑设于所述第一主臂中,所述伸缩臂(4)的另一端伸出所述第一主臂背向所述翻转主轴(31)的一端外;其中: 所述伸缩臂(4)的一端通过所述水平运动机构(Z4)沿所述第一主臂的长度方向滑设于所述第一主臂中的结构为:所述水平运动机构(Z4)包括第四伺服马达(40)、第一传动轴(41)和第二滚珠螺杆组件(42),其中,所述第四伺服马达(40)定位容置于所述第二主臂中,且所述第四伺服马达(40)的输出轴通过联轴器与所述第一传动轴(41)的一轴端固连,所述第二滚珠螺杆组件(42)包括定位容置于所述第一主臂中的第二螺杆和滑设于所述第二螺杆上的第二螺帽,所述第二螺杆的一轴端通过联轴器与所述第一传 Smart according to claim 7 of the robot axis, characterized in that: the cross section of the telescopic arm (4) was also found in a square frame, and an end of the telescopic arm (4) by said horizontal movement mechanism (Z4) along a longitudinal direction of said first main arm slidingly disposed on the first main arm, the other end of the telescopic arm (4) extending out of said first main arm facing away from the flip axis (31 ) of the outer end thereof; wherein: one end of the telescopic arm (4) by said horizontal movement mechanism (Z4) along a longitudinal direction of said first main arm slidingly disposed on the first main arm structure: the said horizontal movement mechanism (Z4) comprises a fourth servomotor (40), a first drive shaft (41) and a second ball screw assembly (42), wherein said fourth servo motor (40) accommodated in the positioning a second main arm, and the fourth servo motor (40) via a coupling of the output shaft of the first transmission shaft (41) secured to an axial end, the second ball screw assembly (42) comprises positioning said first main arm accommodated in the second screw and a second nut disposed on the second carriage screw, a second axial end of the screw through the first coupling pass 轴(41)的另一轴端固连,所述第二螺帽与所述伸缩臂(4)固连。 Another axial end shaft (41) fixedly connected to the nut and the second telescopic arm (4) is fixedly connected.
  9. 9.根据权利要求8所述的智能五轴机械手,其特征在于:所述执行端旋转运动机构(Z5)能够带动所述法兰盘(5)绕其中心旋转的结构为:所述执行端旋转运动机构(Z5)包括第五伺服马达(50)、第一转向齿轮机构、涡轮减速机(51)、配对齿轮组(52)、第二传动轴(53)、传动套筒(54)和第二转向齿轮机构,其中,所述第五伺服马达(50)定位容置于所述第二主臂中,且所述第五伺服马达(50)的输出轴通过所述第一转向齿轮机构能够驱动所述涡轮减速机(51)运转,所述配对齿轮组(52 )定位容置于所述第一主臂中,且所述配对齿轮组(52)中的一个齿轮固定套设于所述涡轮减速机(51)的输出轴上,其另一个齿轮通过万向节联轴器固定连接于所述第二传动轴(53)的一端,所述传动套筒(54)活动容置于所述伸缩臂(4)中并与所述第二传动轴(53)构成花键传动,且所述传动套筒(54)背向所述第二传动 Smart according to claim 8 of the robot axis, characterized in that: said mechanism performing a rotational movement end (Z5) can be driven by the flange (5) rotates about its center structure: the execution end the rotational movement mechanism (Z5) comprises a fifth servo motor (50), a first steering gear mechanism, the turbine speed reducer (51), mating-gear set (52), a second transmission shaft (53), a drive sleeve (54) and the second steering gear mechanism, wherein, the fifth servo motor (50) accommodated in the second main positioning arm, and the output shaft of the fifth servo motor (50) by the first steering gear mechanism the turbine can be driven gear (51) operation, said mating gear set (52) accommodated in the first main positioning arm, and a pair of said gear set (52) disposed on the fixed sleeve a turbine output shaft of said speed reducer (51), which via a universal joint coupling the other gear fixedly attached to one end of the second transmission shaft (53), said drive sleeve (54) housed activity the telescopic arm (4) and the second transmission shaft (53) constituting the drive splines, and said drive sleeve (54) facing away from the second transmission (53)的一端还伸出所述伸缩臂(4)外,并通过所述第二转向齿轮机构定位连接于所述法兰盘(5)。 One end (53) of the telescopic arm extends further (4), and through the second steering gear mechanism is connected to the positioning flange (5).
  10. 10.根据权利要求9所述的智能五轴机械手,其特征在于:在所述第一主臂内部还水平固设有第二滑轨,所述伸缩臂(4)与所述第二滑轨相滑动配合连接;另所述第一转向齿轮机构和第二转向齿轮机构均由两个相互啮合并呈90度的齿轮组成。 According to claim smart axis robot of claim 9, wherein: the first level further inside the main arm is provided with a second slide fixing, the telescopic arm (4) and the second rail It is connected with sliding fit; the other of said first steering gear mechanism and the second steering gear mechanism consists of two mutually meshing gears and was composed of 90 degrees.
CN 201420043330 2014-01-23 2014-01-23 Intelligent five-shaft manipulator CN203697006U (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103737587A (en) * 2014-01-23 2014-04-23 昆山威创精密机械有限公司 Intelligent five-shaft manipulator
CN104192600A (en) * 2014-08-27 2014-12-10 杭州中亚机械股份有限公司 Sheet conveying device
CN104401648A (en) * 2014-10-27 2015-03-11 嘉兴职业技术学院 Conveyer device for single-chip microcomputer chip processing process
CN104438922A (en) * 2014-10-29 2015-03-25 合肥泰禾光电科技股份有限公司 Punching machine intelligent feeding-cropping mechanical arm
CN104890012A (en) * 2015-05-30 2015-09-09 中山火炬职业技术学院 Automatic mechanism hand drive mechanism used for material turnover
CN104908026A (en) * 2015-05-30 2015-09-16 中山火炬职业技术学院 Automatic mechanical arm applied to material turnover
CN104908052A (en) * 2015-05-30 2015-09-16 中山火炬职业技术学院 Manipulator and automatic equipment adopting same
CN105710875A (en) * 2016-04-05 2016-06-29 苏州盟川自动化科技有限公司 Five-axis robot
CN106141783A (en) * 2015-03-23 2016-11-23 东莞市承恩自动化设备有限公司 Novel multi-shaft industrial robot
CN106216771A (en) * 2016-08-11 2016-12-14 安庆晟扬精密机械零部件有限公司 Steel plate cutting device

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103737587A (en) * 2014-01-23 2014-04-23 昆山威创精密机械有限公司 Intelligent five-shaft manipulator
CN103737587B (en) * 2014-01-23 2016-07-06 昆山威创精密机械有限公司 Smart five-axis robot
CN104192600A (en) * 2014-08-27 2014-12-10 杭州中亚机械股份有限公司 Sheet conveying device
CN104192600B (en) * 2014-08-27 2017-02-15 杭州中亚机械股份有限公司 A sheet conveying apparatus
CN104401648A (en) * 2014-10-27 2015-03-11 嘉兴职业技术学院 Conveyer device for single-chip microcomputer chip processing process
CN104401648B (en) * 2014-10-27 2016-04-27 嘉兴职业技术学院 A SCM processing chip delivery device
CN104438922A (en) * 2014-10-29 2015-03-25 合肥泰禾光电科技股份有限公司 Punching machine intelligent feeding-cropping mechanical arm
CN106141783A (en) * 2015-03-23 2016-11-23 东莞市承恩自动化设备有限公司 Novel multi-shaft industrial robot
CN104908026A (en) * 2015-05-30 2015-09-16 中山火炬职业技术学院 Automatic mechanical arm applied to material turnover
CN104890012A (en) * 2015-05-30 2015-09-09 中山火炬职业技术学院 Automatic mechanism hand drive mechanism used for material turnover
CN104908052A (en) * 2015-05-30 2015-09-16 中山火炬职业技术学院 Manipulator and automatic equipment adopting same
CN105710875A (en) * 2016-04-05 2016-06-29 苏州盟川自动化科技有限公司 Five-axis robot
CN105710875B (en) * 2016-04-05 2018-03-13 苏州盟川自动化科技有限公司 A Five - axis robot
CN106216771A (en) * 2016-08-11 2016-12-14 安庆晟扬精密机械零部件有限公司 Steel plate cutting device

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