CN206011130U - A kind of hollow wrist structure of spray robot - Google Patents
A kind of hollow wrist structure of spray robot Download PDFInfo
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- CN206011130U CN206011130U CN201620834331.XU CN201620834331U CN206011130U CN 206011130 U CN206011130 U CN 206011130U CN 201620834331 U CN201620834331 U CN 201620834331U CN 206011130 U CN206011130 U CN 206011130U
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Abstract
This utility model is related to a kind of hollow wrist structure of spray robot, including 4 axle wrist fixed seats, 5 axle wrist fixed seats, 6 axle wrist fixed seats, 5 axle inner hollow bend pipes, 6 axle inner hollow bend pipes, 4 axle drive gears, end output flange, 4 axle wrist fixed seats are set with 5 axle wrist fixed seats；5 axle wrist fixed seats are connected with 4 axle drive gears；6 axle wrist fixed seats are connected with 5 axle rotating mechanisms；The both sides of 6 axle inner hollow bend pipes are connected with 6 axle wrist fixed seats；5 axle inner hollow bend pipes are sleeved in 5 axle wrist fixed seats；5 axle wrist fixed seats are connected with 5 axle rotating mechanisms；6 shaft transmissions are set with 5 axle rotating mechanisms；End output flange is connected with one end of 6 axle wrist fixed seats.This utility model own wt is light, and interior bone is big, and overall dimensions are compact, and each axle range of movement is unrestricted, improve the scope of application and work efficiency of spray robot, it is ensured that maximum spraying overlay area.
Description
Technical field
This utility model is related to industrial robot spraying technology field, the hollow wrist of specifically a kind of spray robot
Structure.
Background technology
In spraying industry, as spray coating operations environmental pollution is serious, big to people's harm, increasing enterprise is using spraying
Robot carries out automatic spraying operation.But due to spraying above used spray gun or rotation cup, the paint pipeline for being connect and control
Tubulation road is more, if these pipelines are arranged in the outside of wrist, the job area of spray robot and path can be formed dry
Disturb, affect coating quality and spray efficiency, it is therefore necessary to design a kind of inner hollow, can allow and paint pipeline and control piper
From the hollow wrist that inside passes through, and wrist compact conformation, from heavy and light, support the use on spray robot, to lift spraying
The performance of robot.
1st, existing Control During Paint Spraying by Robot wrist complex structure or inside is not hollow or inner hollow diameter is less than 50mm；
2nd, paint and control piper are inconvenient in the arrangement of wrist portion.
Such as the hollow bias structure of a kind of industrial robot wrist that China Patent No. is 201520655960.1, though employ
Hollow design, but have the following disadvantages：
1st, overall dimensions are long, and weight weight, and action is dumb；
2nd, wrist folding angles are little, and spraying overlay area is inadequate；
3rd, in inside, through hole footpath is too small, it is impossible to meet spraying equipment requirement.
Therefore, a kind of new hollow wrist structure of urgent needss.
Content of the invention
In order to make up the deficiencies in the prior art, this utility model designs the unrestricted rotation of achievable 4 axle, 5 axles, 6 axles,
And a kind of hollow wrist structure of spray robot of compact conformation, interior bone diameter is big, and interior bone is fully sealed, and can be completely cut off
The lubricant grease of wrist portion gear.
This utility model solves the technical scheme adopted by its technical problem：
A kind of hollow wrist structure of spray robot, solid including 4 axle wrist fixed seats, 5 axle wrist fixed seats, 6 axle wrists
Reservation, 5 axle inner hollow bend pipes, 6 axle inner hollow bend pipes, 4 axle drive gears, end output flange, the 4 axle wrist are fixed
Seat is held by 4 axle rotating support shafts and is set with 5 axle wrist fixed seats, and 4 axle wrist fixed seats are fixed on external spray robot
Technique arm on；The 5 axle wrist fixed seat is connected with 4 axle drive gears, when 4 axle drive gears rotate, can drive 5 axle wrists
Fixed seat is rotated around 4 axle axis, it is achieved that the rotary motion of 4 axles；The 6 axle wrist fixed seat is connected with 5 axle rotating mechanisms；Institute
The both sides for stating 6 axle inner hollow bend pipes are connected with 6 axle wrist fixed seats, to guarantee that 6 axle inner hollow bend pipes and 6 axle wrists are fixed
Seat keeps identical attitude, without relative motion；The 5 axle inner hollow bend pipe is sleeved in 5 axle wrist fixed seats, in 5 axle inside
The both sides of empty bend pipe are connected with 5 axle wrist fixed seats by bolt, to guarantee 5 axle inner hollow bend pipes, 5 axle wrist fixed seats
Attitude keeps identical, without relative motion；The 5 axle wrist fixed seat is connected with 5 axle rotating mechanisms；In the 5 axle rotating mechanism
6 shaft transmissions are set with, such 6 shaft transmission and 5 axle rotating mechanisms can be with relative motioies；The end output flange leads to
Cross end flange spring bearing to be connected with the one end in 6 axle wrist fixed seats away from 4 axle wrist fixed seats.Of the present utility model can
To realize that the unrestricted rotation of 4 axles, 5 axles, 6 axles, 4 axles, 5 axles, the adjacent angle of 6 axles are 110 °, 5 axle inner hollows are curved
Pipe, the hollow directly reachable 70mm of 6 axle inner hollow bend pipes, the line of crossing for meeting the existing spray robot end wrist in market will
Ask.
The 5 axle rotating mechanism includes the first drive gear, the second drive gear and the 3rd drive gear, and described first drives
Moving gear is connected according to the mode of dead in line with the second drive gear, and the second drive gear is held and 5 by 5 axle rotating support shafts
Axle wrist fixed seat is connected, and the 3rd drive gear is connected with 5 axle wrist fixed seats by bearing one, the 3rd sliding tooth
Wheel is bolted in 6 axle wrist fixed seats, so as to 6 axle wrist fixed seats can be driven to rotate around the axis of 5 axles, described
3rd drive gear is engaged with the second drive gear realizes that power is transmitted.When the first drive gear rotates, drive by the 3rd
Gear engages transmission power, the other end that rotary motion is sent to 5 axle wrist fixed seats with the second drive gear, it is achieved that
The rotary motion of 5 axles, as 5 axle wrist fixed seats are 110 ° of corner structures, by this combination, can achieve 4 axles and the rotation of 5 axles
Turn 110 ° of inclined knot structures at center,
6 shaft transmission includes the 4th drive gear, the 5th drive gear, the 6th drive gear, the 7th sliding tooth
Wheel, the 8th drive gear, the 4th drive gear are held two by 6 axle rotating support shafts and are connected with the first drive gear, and the 4th drives
Gear is connected according to the mode of dead in line with the 5th drive gear, the 5th drive gear by 6 axle rotating support shafts hold one with
Second drive gear is connected, and the 7th drive gear is connected with the 3rd drive gear by bearing two, the 6th drive gear and the 7th
Drive gear is connected, and the 8th drive gear is connected with end output flange, so as to end output flange can be solid with 6 axle wrists
Reservation is rotated around 6 axle axle center together, and the 8th drive gear is connected with 6 axle wrist fixed seats by end flange spring bearing.
When the 4th drive gear rotates, can be further driven to the 5th drive gear, the 6th drive gear, the 7th drive gear, the 8th
Drive gear is rotated, and wherein the 4th drive gear, the 5th drive gear are rotated around the axle center of 4 axles, the 6th drive gear, the 7th
Drive gear is rotated around the axle center of 5 axles, and the 8th drive gear is rotated around the axle center of 6 axles, is so once transmitted, it is possible to achieve
Angle between the rotary motion of 6 axles, and the axis of the axis of 6 axles and 5 axles is 110 °.
4 shaft seals are installed at the position that 4 axle rotating support shafts are held in the 4 axle wrist fixed seat, to prevent
In 4 axle rotating support shafts of dust entrance are held.
5 shaft seals are installed at the position of bearing one in the 5 axle wrist fixed seat, to prevent dust from entering into
In bearing one.
6 shaft seals are installed at the position of end flange spring bearing in the 6 axle wrist fixed seat, to prevent
Dust is entered in end flange spring bearing.
The two ends of the 5 axle inner hollow bend pipe are close by internal bend pipe with the 5th drive gear, the 6th drive gear
Sealing realizes sealing.
The inside of the 4 axle wrist fixed seat is provided with and is tightly connected by internal trap seal part with the 4th drive gear
Hollow channel, to completely cut off pollution.
The 5 axle inner hollow bend pipe, 6 axle inner hollow bend pipes join end to end, and define and wrist gear lubrication area phase
Mutually the inner passage of isolation, is available for spray gun pipeline to use.
4 axle wrist fixed seats, 5 axle wrist fixed seats, 6 axle wrist fixed seats, 5 axle inner hollow bend pipes, 6 axle inner hollows
Bend pipe is made using carbon fibre composite.
The beneficial effects of the utility model are：This utility model own wt is light, and interior bone is big, and overall dimensions are compact,
And each axle range of movement is unrestricted, various spray guns and rotation cup can be adapted to, substantially increase spray robot the scope of application and
Work efficiency.110 ° of each axle clamp angle of the present utility model, it is ensured that maximum spraying overlay area, larger inside pass through, can
The service life of Internal cable is improved, is hardly damaged by pipeline therein, be particularly suitable for spraying industry.
Description of the drawings
With reference to the accompanying drawings and examples this utility model is further illustrated.
Fig. 1 is front view of the present utility model；
Fig. 2 is dimensional structure diagram of the present utility model；
Fig. 3 is internal structure schematic diagram of the present utility model；
Fig. 4 be 4 axle drive gear of the present utility model, the first drive gear, the second drive gear, the 4th drive gear,
The structural representation of the 5th drive gear connection；
Fig. 5 is 5 axle inner hollow bend pipe of the present utility model, 6 axle inner hollow bend pipes, the knot of end output flange connection
Structure schematic diagram.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that this utility model is realized are easy to understand, under
Face in conjunction with specific embodiments and illustrates, and this utility model is expanded on further.
As shown in figure 1, a, b, the c in figure represents 4 axle axis, 5 axle axis, 6 axle axis respectively.
As shown in Figures 2 to 5, the hollow wrist structure of a kind of spray robot, including 4 axle wrist fixed seats 1,5 axle wrists
Fixed seat 2,6 axle wrist fixed seats 3,5 axle inner hollow bend pipes 4,6 axle inner hollow bend pipes 5,4 axle drive gears 6, end are defeated
Go out flange 10, the 4 axle wrist fixed seat 1 is held 9 by 4 axle rotating support shafts and is set with 5 axle wrist fixed seats 2,4 axle wrists are solid
Reservation 1 is fixed on the technique arm of external spray robot；The 5 axle wrist fixed seat 2 is connected with 4 axle drive gears 6, and 4
When axle drive gear 6 rotates, 5 axle wrist fixed seats 2 can be driven to rotate around 4 axle axis, it is achieved that the rotary motion of 4 axles；Described 6
Axle wrist fixed seat 3 is connected with 5 axle rotating mechanisms 7；The both sides of the 6 axle inner hollow bend pipe 5 and 6 axle wrist fixed seat, 3 phase
Even, to guarantee that 6 axle inner hollow bend pipes 5 and 6 axle wrist fixed seats 3 keep identical attitude, without relative motion；Inside 5 axle
Hollow bend pipe 4 is sleeved in 5 axle wrist fixed seats 2, and the both sides of 5 axle inner hollow bend pipes 4 are by bolt and 5 axle wrist fixed seats
2 be connected, with guarantee 5 axle inner hollow bend pipes 4,5 axle wrist fixed seats 2 attitude keep identical, without relative motion；5 axle
Wrist fixed seat 2 is connected with 5 axle rotating mechanisms 7；6 shaft transmissions 8 are set with the 5 axle rotating mechanism 7, and such 6 axle is passed
Motivation structure 8 and 5 axle rotating mechanisms 7 can be with relative motioies；The end output flange 10 passes through end flange spring bearing 18 and 6
One end in axle wrist fixed seat 3 away from 4 axle wrist fixed seats 1 is connected.Of the present utility model can realize 4 axles, 5 axles, 6 axles
Unrestricted rotation, 4 axles, 5 axles, the adjacent angle of 6 axles are 110 °, 5 axle inner hollow bend pipes 4,6 axle inner hollow bend pipes 5
Hollow directly up to 70mm, meet the existing spray robot end wrist in market crosses line requirement.
The 5 axle rotating mechanism 7 includes the first drive gear 7.1, the second drive gear 7.2 and the 3rd drive gear 7.3,
First drive gear 7.1 is connected according to the mode of dead in line with the second drive gear 7.2, and the second drive gear 7.2 leads to
Cross 5 axle rotating support shafts and hold 11 and be connected with 5 axle wrist fixed seats 2, the 3rd drive gear 7.3 is by bearing 1 and 5 axles
Wrist fixed seat 2 is connected, and the 3rd drive gear 7.3 is bolted in 6 axle wrist fixed seats 3, so as to drive 6
Axle wrist fixed seat 3 is rotated around the axis of 5 axles, and it is dynamic that the 3rd drive gear 7.3 engages realization with the second drive gear 7.2
Power is transmitted.When the first drive gear 7.1 rotates, transmission engaged by the 3rd drive gear 7.3 and the second drive gear 7.2
Power, the other end that rotary motion is sent to 5 axle wrist fixed seats 2, it is achieved that the rotary motion of 5 axles, due to 5 axle wrists admittedly
Reservation 2 is 110 ° of corner structure, by this combination, can achieve 110 ° of inclined knot structures of 4 axles and 5 axle center of rotation,
6 shaft transmission 8 include the 4th drive gear 8.1, the 5th drive gear 8.2, the 6th drive gear 8.3,
7th drive gear 8.4, the 8th drive gear 8.5, the 4th drive gear 8.1 hold 2 13 and first by 6 axle rotating support shafts
Drive gear 7.1 is connected, and the 4th drive gear 8.1 is connected according to the mode of dead in line with the 5th drive gear 8.2, and the 5th drives
Moving gear 8.2 is held 1 by 6 axle rotating support shafts and is connected with the second drive gear 7.2, and the 7th drive gear 8.4 passes through bearing
2 20 are connected with the 3rd drive gear 7.3, and the 6th drive gear 8.3 and the 7th drive gear 8.4 are connected, the 8th drive gear
8.5 are connected with end output flange 10, so as to end output flange 10 can be as 6 axle wrist fixed seats 3 be together around 6 axle axles
The heart rotates, and the 8th drive gear 8.5 is connected with 6 axle wrist fixed seats 3 by end flange spring bearing 18.When the 4th sliding tooth
When wheel 8.1 rotates, the 5th drive gear 8.2, the 6th drive gear 8.3, the 7th drive gear the 8.4, the 8th can be further driven to
Drive gear 8.5 is rotated, and wherein the 4th drive gear 8.1, the 5th drive gear 8.2 are rotated around the axle center of 4 axles, and the 6th drives
Gear 8.3, the 7th drive gear 8.4 are rotated around the axle center of 5 axles, and the 8th drive gear 8.5 is rotated around the axle center of 6 axles, such as
This once transmits, it is possible to achieve the angle between the rotary motion of 6 axles, and the axis of the axis of 6 axles and 5 axles is 110 °, increase
Wrist and to working range.
At the position that 9 are held in the 4 axle wrist fixed seat 1 near 4 axle rotating support shafts, 4 shaft seals 14 are installed, with
Prevent from dust from entering 4 axle rotating support shafts to hold in 9.
5 shaft seals 15 are installed at the position of bearing 1 in the 5 axle wrist fixed seat 2, to prevent dust
Enter in bearing 1.
6 shaft seals 16 are installed at the position of end flange spring bearing 18 in the 6 axle wrist fixed seat 3,
To prevent dust from entering in end flange spring bearing 18.
The two ends of the 5 axle inner hollow bend pipe 4 are with the 5th drive gear 8.2, the 6th drive gear 8.3 by inside
Trap seal part 17 realizes sealing.
The inside of the 4 axle wrist fixed seat 1 is provided with and is sealed by internal trap seal part 17 with the 4th drive gear 8.1
The hollow channel 21 of connection；
The 5 axle inner hollow bend pipe 4,6 axle inner hollow bend pipes 5 join end to end, and define and wrist gear lubrication area
Mutually isolated inner passage, is available for spray gun pipeline to use.
Inside 4 axle wrist fixed seats 1,5 axle wrist fixed seats 2,6 axle wrist fixed seats 3,5 axle inner hollow bend pipes 4,6 axles
Hollow bend pipe 5 is made through 3D printing using carbon fibre composite, it is ensured that interior bone diameter is big.
During use, according to actual work requirements with corresponding moving component action, so as to execute different actions.Drive
Dynamic 4 axle drive gears 6 rotate, and 5 axle wrist fixed seats 2 can be driven to rotate around 4 axle axis, it is achieved that the rotary motion of 4 axles；When
When one drive gear 7.1 rotates, power is transmitted with engaging for the second drive gear 7.2 by the 3rd drive gear 7.3, will rotation
Motion is sent to the other end of 5 axle wrist fixed seats 2, to achieve the rotary motion of 5 axles；The 4th drive gear 8.1 is driven to revolve
When turning, passed by means of the 5th drive gear 8.2, the 6th drive gear 8.3, the 7th drive gear 8.4, the 8th drive gear 8.5
Graduating power, allows end output flange 10 be rotated around 6 axle axle center with 6 axle wrist fixed seats 3 together, so as to carry out phase
The spray process that answers.
In structure design of the present utility model, by 4 axle drive gears 6, the first drive gear 7.1, the 4th drive gear 8.1
Concentrate and place, reduce space, and maintain easily and install；4 axle rotating support shafts are held 9,5 axle rotating support shafts and hold the rotation of 11,6 axles
Turn thin-wall bearing of the spring bearing 2 13 using particular design, lightweight, interior bone is big；In 5 axle inside of the present utility model
Empty bend pipe 4, the Seal Design of 6 axle inner hollow bend pipes 5, moreover it is possible to meet the function of rotation.
Ultimate principle of the present utility model, principal character and advantage has been shown and described above.The technical staff of the industry
It should be appreciated that this utility model is not restricted to the described embodiments, described in above-described embodiment and description is this practicality
New principle, on the premise of without departing from this utility model spirit and scope, this utility model also has various change and changes
Enter, these changes and improvements are both fallen within the range of claimed this utility model.The claimed scope of this utility model is by institute
Attached claims and its equivalent thereof.
Claims (9)
1. the hollow wrist structure of a kind of spray robot, including 4 axles wrist fixed seat (1), 5 axles wrist fixed seat (2), 6 axle handss
Wrist fixed seat (3), 5 axles inner hollow bend pipe (4), 6 axles inner hollow bend pipe (5), 4 axle drive gears (6), end output flange
(10), it is characterised in that：The 4 axle wrist fixed seat (1) holds (9) and 5 axles wrist fixed seat (2) by 4 axle rotating support shafts
Suit；The 5 axle wrist fixed seat (2) is connected with 4 axle drive gears (6)；The 6 axle wrist fixed seat (3) is connected with 5 axles and turns
Motivation structure (7)；The both sides of the 6 axle inner hollow bend pipe (5) are connected with 6 axles wrist fixed seat (3)；The 5 axle inner hollow
Bend pipe (4) is sleeved in 5 axles wrist fixed seat (2)；The 5 axle wrist fixed seat (2) is connected with 5 axle rotating mechanisms (7)；Described
6 shaft transmissions (8) are set with 5 axle rotating mechanisms (7)；On end output flange (10) and 6 axles wrist fixed seat (3)
One end away from 4 axles wrist fixed seat (1) is connected.
2. the hollow wrist structure of a kind of spray robot according to claim 1, it is characterised in that：The 5 axle rotating machine
Structure (7) includes the first drive gear (7.1), the second drive gear (7.2) and the 3rd drive gear (7.3), and described first drives
Gear (7.1) is connected according to the mode of dead in line with the second drive gear (7.2), and the second drive gear (7.2) is revolved by 5 axles
Turn spring bearing (11) to be connected with 5 axles wrist fixed seat (2), the 3rd drive gear (7.3) is by bearing one (19) and 5 axles
Wrist fixed seat (2) is connected, and the 3rd drive gear (7.3) is bolted on 6 axles wrist fixed seat (3), described
3rd drive gear (7.3) is engaged with the second drive gear (7.2) realizes that power is transmitted；
Described 6 shaft transmission (8) include the 4th drive gear (8.1), the 5th drive gear (8.2), the 6th drive gear
(8.3), the 7th drive gear (8.4), the 8th drive gear (8.5), the 4th drive gear (8.1) pass through 6 axle rotating support shafts
Hold two (13) to be connected with the first drive gear (7.1), the 4th drive gear (8.1) is with the 5th drive gear (8.2) according to axis
The mode of coincidence is connected, and the 5th drive gear (8.2) holds one (12) with the second drive gear (7.2) by 6 axle rotating support shafts
It is connected, the 7th drive gear (8.4) is connected with the 3rd drive gear (7.3) by bearing two (20), the 6th drive gear (8.3)
It is connected with the 7th drive gear (8.4), the 8th drive gear (8.5) is connected with end output flange (10), the 8th drive gear
(8.5) it is connected with 6 axles wrist fixed seat (3) by end flange spring bearing (18).
3. the hollow wrist structure of a kind of spray robot according to claim 1, it is characterised in that：The 4 axle wrist is solid
Reservation (1) upper holding near 4 axle rotating support shafts be provided with the position of (9) 4 shaft seals (14).
4. the hollow wrist structure of a kind of spray robot according to claim 2, it is characterised in that：The 5 axle wrist is solid
Reservation (2) is upper to be provided with 5 shaft seals (15) at the position of bearing one (19).
5. the hollow wrist structure of a kind of spray robot according to claim 1, it is characterised in that：The 6 axle wrist is solid
Reservation (3) is upper to be provided with 6 shaft seals (16) at the position of end flange spring bearing (18).
6. the hollow wrist structure of a kind of spray robot according to claim 2, it is characterised in that：In the 5 axle inside
The two ends of empty bend pipe (4) are with the 5th drive gear (8.2), the 6th drive gear (8.3) by internal trap seal part (17)
Realize sealing.
7. the hollow wrist structure of a kind of spray robot according to claim 2, it is characterised in that：The 4 axle wrist is solid
The inside of reservation (1) is provided with the hollow channel being tightly connected with the 4th drive gear (8.1) by internal trap seal part (17)
(21).
8. the hollow wrist structure of a kind of spray robot according to claim 1, it is characterised in that：In the 5 axle inside
Empty bend pipe (4), 6 axles inner hollow bend pipe (5) join end to end, and define the inside mutually isolated with wrist gear lubrication area and lead to
Road.
9. the hollow wrist structure of a kind of spray robot according to claim 1, it is characterised in that：4 axle wrist fixed seats
(1), 5 axles wrist fixed seat (2), 6 axles wrist fixed seat (3), 5 axles inner hollow bend pipe (4), 6 axles inner hollow bend pipe (5) are equal
Made using carbon fibre composite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620834331.XU CN206011130U (en) | 2016-08-03 | 2016-08-03 | A kind of hollow wrist structure of spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620834331.XU CN206011130U (en) | 2016-08-03 | 2016-08-03 | A kind of hollow wrist structure of spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206011130U true CN206011130U (en) | 2017-03-15 |
Family
ID=58245484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620834331.XU Active CN206011130U (en) | 2016-08-03 | 2016-08-03 | A kind of hollow wrist structure of spray robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206011130U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142131A (en) * | 2016-08-03 | 2016-11-23 | 希美埃（芜湖）机器人技术有限公司 | A kind of spray robot hollow wrist structure |
| CN107379004A (en) * | 2017-08-29 | 2017-11-24 | 天津大学 | A kind of Three Degree Of Freedom flexible hollow wrist |
| CN110962110A (en) * | 2018-09-30 | 2020-04-07 | 上海微电子装备（集团）股份有限公司 | Mechanical arm and automatic conveying device |
-
2016
- 2016-08-03 CN CN201620834331.XU patent/CN206011130U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142131A (en) * | 2016-08-03 | 2016-11-23 | 希美埃（芜湖）机器人技术有限公司 | A kind of spray robot hollow wrist structure |
| CN107379004A (en) * | 2017-08-29 | 2017-11-24 | 天津大学 | A kind of Three Degree Of Freedom flexible hollow wrist |
| CN110962110A (en) * | 2018-09-30 | 2020-04-07 | 上海微电子装备（集团）股份有限公司 | Mechanical arm and automatic conveying device |
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