CN209111078U - A kind of desktop industrial robot - Google Patents
A kind of desktop industrial robot Download PDFInfo
- Publication number
- CN209111078U CN209111078U CN201821728100.6U CN201821728100U CN209111078U CN 209111078 U CN209111078 U CN 209111078U CN 201821728100 U CN201821728100 U CN 201821728100U CN 209111078 U CN209111078 U CN 209111078U
- Authority
- CN
- China
- Prior art keywords
- transmission mechanism
- speed reducer
- shaft
- steel tape
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of desktop industrial robots, including pedestal, the first transmission mechanism, the second transmission mechanism, third transmission mechanism, the 4th transmission mechanism and the 5th transmission mechanism, the top of the pedestal is fixedly connected with the flange on first transmission mechanism, first transmission mechanism and the second transmission mechanism are rotatablely connected, the third transmission mechanism is spindle rotationally arranged in the top of the second transmission mechanism, 4th transmission mechanism is connected with third transmission mechanism, and the 5th transmission mechanism is connected with the 4th transmission mechanism.Compared to the prior art it can be performed simultaneously movement compared with each mechanism of the utility model, improves operational efficiency, reduce the waiting time, operating efficiency greatly promotes；Structure fixed below the gyration block of end can replace according to demand simultaneously, versatility is good, and robot body is mostly tightly connected by processing aluminum products workpiece by bolt lock, and low in cost easy to process, overall volume is small to be suitble to small-sized production line operation.
Description
Technical field
The utility model relates to small intelligent equipment technology field, especially a kind of desktop industrial robot.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability, can be according to the program of preparatory layout
Operation, the principle program action that modern industrial robot can also be formulated according to artificial intelligence technology, but existing industry
Robot architecture is many and diverse, and volume can not be suitable for greatly small-sized production line operation, seriously affects the development of enterprise.
In addition, the arm body and turntable of existing robot are all made of the production technology of Mechanical processing of casting, which is in high-volume
Production phase can effectively reduce cost, and be conducive to Industrial Moulding Design.However, with market competition it is fierce into
Row, the trend that small lot customizes is more obvious, inevitable if continuing to use traditional Mechanical processing of casting mode manufacture machine people
So that the factors such as development process is elongated, and the cost of mold investment is big, finally by the research and development cost of larger production, to influence emerging
The development of medium-sized and small enterprises.
Summary of the invention
It is as above to solve the problems, such as the purpose of this utility model is to provide a kind of desktop industrial robot, the desktop machine
5 axis of people arrangement, wherein 1# axis realizes that revolution acts on X/Y plane；It is arranged in parallel between 2#, 3#, 4#, and perpendicular to XY
Plane realizes that the movement of product space and posture rotary movement, 5# are fixed on 4#, realizes the final posture overturning of product
Movement；The structure that the arm body and pedestal of desktop machine people all uses sheet fabrication part to be bolted to connection, stable structure
Securely, size is small, and total quality also decreases compared with casting structure, more succinct compared with plate welding structure production technology.
In order to solve the above technical problems, the utility model is realized as follows: a kind of table described in the utility model
Face industrial robot, including pedestal, the first transmission mechanism, the second transmission mechanism, third transmission mechanism, the 4th transmission mechanism and
Five transmission mechanisms, the top of the pedestal are fixedly connected with the flange on first transmission mechanism, first transmission mechanism
It is rotatablely connected with the second transmission mechanism, the third transmission mechanism is spindle rotationally arranged in the top of the second transmission mechanism, described
4th transmission mechanism is connected with third transmission mechanism, and the 5th transmission mechanism is connected with the 4th transmission mechanism；Described
Four transmission mechanisms include: the 4th motor, the 4th speed reducer, the 4th shaft, fourth bearing, the first supporting block, the second supporting block and
Bottom plate, the 4th shaft are set in the end of third transmission mechanism, and the output end and the 4th speed reducer of the 4th motor are defeated
Enter end and constitute transmission connection, the output shaft of the 4th speed reducer is connected with the 4th shaft, first supporting block and
4th shaft is fixedly connected, and the fourth bearing is set in the end of third transmission mechanism, and second supporting block is set in
On the inner sidewall of four bearings, fixes and connect with the bottom of the first supporting block and the second supporting block at left and right sides of the upper surface of the bottom plate
It connects.
Preferably, first transmission mechanism include: first motor, the first speed reducer, crossed roller bearing, platform base and
Flange sleeve；The first motor output shaft and the first speed reducer input shaft, which are constituted, to be sequentially connected；First speed reducer and
Platform base is fixedly connected, and the first speed reducer output shaft is mutually fixedly connected by flange sleeve with pedestal；The crossed roller bearing
It is fixedly connected on one side with platform base, another side pedestal is fixedly connected；The platform base includes platform floor, left side vertical plate, right side
Vertical plate and gusset；The left side vertical plate is fixedly mounted on platform floor by gusset；The right side vertical plate and left side vertical plate pair
Claim setting.
Preferably, second transmission mechanism includes: the second motor, the second speed reducer, the second shaft, second bearing,
Two steel tapes I, the second steel tape II and the first arm panel assembly, second motor are connected with second speed reducer；It is described
The output shaft of second speed reducer and second shaft constitute transmission connection；The second bearing is socketed in the second shaft two sides；
Second steel tape I and the second steel tape II are symmetricly set on the second shaft two sides, and the second steel tape I, the second steel tape
It II and second is bolted to connection between shaft；Mutually fixation connects second steel tape I with the first arm panel assembly
It connects, second steel tape II is connected with the first arm panel assembly, and intermediate equipped with washer.
Preferably, the first arm panel assembly includes: the first arm plate and long slab, between the long slab and the first arm plate
Logical gusset is fixedly connected；The first arm board ends portion is in hollow circular shape, is connected between two circles by hollow rectangle；
The first arm plate and long slab are made of aluminum products.
Preferably, the third transmission mechanism includes: third motor, third speed reducer, third shaft, 3rd bearing,
Three steel tapes I, third steel tape II and the second arm panel assembly, the third motor are connected with the third speed reducer；It is described
The output shaft of third speed reducer and the third shaft constitute transmission connection；The 3rd bearing is socketed in third shaft two sides；
The third steel tape I and third steel tape II are symmetricly set on third shaft two sides, and third steel tape I, third steel tape
It is bolted to connection between II and third shaft；Mutually fixation connects the third steel tape I with the second arm panel assembly
It connects, the third steel tape II is connected with the second arm panel assembly, and intermediate equipped with washer.
Preferably, the second arm panel assembly includes side plate I, side plate II and connection sheet；The side plate I and side plate II are symmetrical
Setting；It is fixedly connected between the side plate I and the connection sheet by gusset；Pass through between the side plate II and the connection sheet
Gusset is fixedly connected；Positioning convex platform there are two being set on the side plate II.
Preferably, the 5th transmission mechanism includes: the 5th motor, the 5th speed reducer, flange sleeve I and end gyration block,
5th motor is fixedly connected with the 4th transmission mechanism, and the flange sleeve I and the bottom of the 4th transmission mechanism are solid
Fixed connection is equipped with end gyration block, the fixed company of output end of the 5th speed reducer of the gyration block and institute below the flange sleeve I
It connects；The input shaft of 5th speed reducer is flexibly connected with the 5th motor composition；It is set on the excircle of the flange sleeve I
It is jagged.
Preferably, second steel tape I and the second steel tape II are equipped with pin hole.
Preferably, the pedestal is made of aluminum products；4th motor is one of stepper motor or servo motor；
4th speed reducer is planet-gear speed reducer.
Preferably, the second arm panel assembly is made of aluminum products.
Compared with prior art, the technical solution of the utility model has the advantage that is driven by programming Control first
Mechanism, the second transmission mechanism, third transmission mechanism, the 4th transmission mechanism and the 5th transmission mechanism act respectively, can drive end
Gyration block completes various complex job movements, and each mechanism can be performed simultaneously movement, improve operational efficiency, reduces the waiting time, makees
Industry efficiency greatly promotes；Structure fixed below the gyration block of end can replace according to demand simultaneously, and versatility is good, robot master
Body is mostly tightly connected by processing aluminum products workpiece by bolt lock, low in cost easy to process, and overall volume is small to be suitble to
Small-sized production line operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of this hair.
Fig. 2 is the first transmission mechanism schematic diagram.
Fig. 3 is the second transmission mechanism schematic diagram.
Fig. 4 is third transmission mechanism schematic diagram.
Fig. 5 is the second arm panel assembly structural schematic diagram.
Fig. 6 is the first arm panel assembly structural schematic diagram.
Fig. 7 is the 5th transmission mechanism schematic diagram.
Fig. 8 is platform base structural schematic diagram.
Specific embodiment
In order to make those skilled in the art better understand the scheme of the utility model, below in conjunction with the utility model reality
The attached drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the embodiment of the utility model a part, instead of all the embodiments.Based on the reality in the utility model
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts is all answered
When the range for belonging to the utility model protection.
It should be noted that the specification and claims of the utility model and term " first " in above-mentioned attached drawing,
" second " etc. is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.
Please refer to shown in attached drawing 1: a kind of desktop industrial robot described in the utility model includes that pedestal 1, first is driven
Mechanism 2, the second transmission mechanism 3, third transmission mechanism 4, the 4th transmission mechanism 5 and the 5th transmission mechanism 6, the top of the pedestal 1
Portion is fixedly connected with the flange on first transmission mechanism 2, and first transmission mechanism 2 and the rotation of the second transmission mechanism 3 connect
It connects, the third transmission mechanism 4 is spindle rotationally arranged in the top of the second transmission mechanism 3, the 4th transmission mechanism 5 and third
Transmission mechanism 6 is connected, and the 5th transmission mechanism 6 is connected with the 4th transmission mechanism 5.
Preferably, as shown in attached drawing 1 and Fig. 7, the 4th transmission mechanism 5 includes: the 4th motor 51, the 4th speed reducer
52, the 4th shaft 53, fourth bearing 54, the first supporting block 55, the second supporting block 56 and bottom plate 57, the 4th shaft set 53 are set
In the end of third transmission mechanism 4, the output end and 52 input terminal of the 4th speed reducer of the 4th motor 51 constitute transmission connection,
The output shaft of 4th speed reducer 52 is connected with the 4th shaft 53, and first supporting block 55 and the 4th shaft 54 are solid
Fixed connection, the fourth bearing set 54 are located at the end of third transmission mechanism 4；Second supporting block 56 is set in fourth bearing
On 54 inner sidewall, the bottom at left and right sides of the upper surface of the bottom plate 57 with the first supporting block 55 and the second supporting block 56 is fixed
Connection.
As shown in attached drawing 2 and Fig. 8, the first transmission mechanism 2 described in the utility model includes: that first motor 21, first is slowed down
Machine 22, crossed roller bearing 23, platform base 24 and flange sleeve 25；21 output shaft of first motor and first speed reducer 22
Input shaft constitutes transmission connection；First speed reducer 22 is fixedly connected with platform base 24, and 21 output shaft of the first speed reducer is logical
Flange sleeve is crossed to be fixedly connected with 1 phase of pedestal；23 one side of crossed roller bearing is fixedly connected with platform base 24, another side pedestal
1 is fixedly connected；The platform base 24 includes platform floor 241, left side vertical plate 242, right side vertical plate 243 and gusset 244；The left side
Cant board 242 is fixedly mounted on 241 plate of platform bottom by gusset 244；The right side vertical plate 243 and left side vertical plate 241 are symmetrical
Setting.The first transmission mechanism of the utility model 2 is driven using crossed roller bearing, is obtained the effect of revolving support, is increased axis
Resistance to tipping moment.Mounting means uses outer ring to be fixed on, and pedestal is motionless, and it is fixed with stepper motor motor that inner ring is fixed on revolving platform
Son is moved with platform base 24, but crossed roller bearing inner ring, motor stator, does not have relative motion between platform base three.Motor
Rotor (motor shaft) connect with the first speed reducer 22 after be fixed on pedestal by flange sleeve.The motor of axis consumes more in this way
Some rotary inertias but solve the problems, such as the big of space hold.
As shown in Fig. 3, second transmission mechanism 3 described in the utility model includes: the second motor 31, the second speed reducer
32, the second shaft 33, second bearing 34, the second steel tape I 35, the second steel tape II 36 and the first arm panel assembly 37, described
Two motors 31 are connected with second speed reducer 32, for by the second motor 31(servo motor) revolving speed of output passes through planet
A next executive item is being transmitted after wheel deceleration and speed change；The output shaft of second speed reducer 32 and 33 structure of the second shaft
At transmission connection；The second bearing socket 34 is in 33 two sides of the second shaft；Second steel tape I 35 and the second steel tape II
63 are symmetricly set on 33 two sides of the second shaft, and lead between the second steel tape I 35, the second steel tape II 36 and the second shaft 33
Bolt is crossed to be fixedly connected；Second steel tape I 35 is fixedly connected with 37 phase of the first arm panel assembly, second steel tape
II 36 are connected with the first arm panel assembly 37, and intermediate equipped with washer 38.Second transmission mechanism 3 of the utility model, is adopted
With two power transmission ring flanges, it is respectively connected with axis and arm.Torque on axis is passed on arm.Two of them power transmission ring flange and axis
There is matching relationship with arm, this matching relationship ensure that the concentricity of shafting components, and in addition the precision of half is then positioned by 3
Pin is to guarantee.
Third transmission mechanism 4 described in the utility model as shown in Fig. 4 includes: third motor 41, third speed reducer 42, the
Three shafts 43,3rd bearing 44, third steel tape I 45, third steel tape II 46 and the second arm panel assembly 47, wherein third motor
41 are connected with the third speed reducer 42, and the output shaft and third shaft 43 of third speed reducer 42 constitute transmission connection；Third
Bearing 44 is socketed in 43 two sides of third shaft；Third steel tape I 45 and third steel tape II 46 are symmetricly set on third shaft 43
Two sides, and be bolted to connection between third steel tape I 45, third steel tape II 46 and third shaft 43；Third passes
Power piece I 45 is fixedly connected with 47 phase of the second arm panel assembly, and third steel tape II 46 is connected with the second arm panel assembly 47
It connects, and intermediate equipped with washer 48.
Further, as shown in Fig. 5, the second arm panel assembly 47 includes side plate I 471, side plate II 472 and connection
Piece 473；The side plate I 471 and side plate II 472 are symmetrical arranged；Pass through bolt between the side plate I 472 and the connection sheet 472
Cooperation is fixedly connected with lock on the corresponding threaded hole of gusset 244；Pass through gusset between the side plate II and the connection sheet
244 are fixedly connected；Positioning convex platform there are two being set on the side plate II.
Further, as shown in fig. 6, the first arm panel assembly 37 includes: the first arm plate 371 and long slab 372, wherein
Lead to gusset 244 between long slab 372 and the first arm plate 371 to be fixedly connected；First arm plate, 371 both ends are in hollow circular shape,
It is connected between two circles by hollow rectangle；The first arm plate 371 and long slab 372 are made of aluminum products.
Further, as shown in Fig. 7, the 5th transmission mechanism 6 includes: the 5th motor 61, the 5th speed reducer 62, method
Orchid set I 63 and end gyration block 64, the 5th motor 61 are fixedly connected with the 4th transmission mechanism 5, the flange sleeve I 63
It is fixedly connected with the bottom of the 4th transmission mechanism 4, I 63 lower section of flange sleeve is equipped with end gyration block 64, the revolution
Block 64 with the output end of the 5th speed reducer 62 be fixedly connected；The input shaft of 5th speed reducer 62 and the 5th motor
61 constitute flexible connection；The excircle of the flange sleeve I 63 is equipped with notch
The use principle of the utility model: it is acted by plc process control first motor 21, first motor 21 is with moving platform
All mechanisms of 24 top of seat realize whole revolution；Second motor 31 drives the movement of the first arm panel assembly 37, and then realizes and drive
The mechanism molar behavior of first arm panel assembly, 37 top, third motor 41 drive the movement of the second arm panel assembly 47, the 4th driver
Structure 5 and the 5th transmission mechanism 6 are moved with the movement of the second arm panel assembly 47；4th motor 51 drives 53 turns of the 4th shaft
It is dynamic, and then the movement of the first supporting block 55 is driven, so that bottom plate 57 is driven to act, the 5th mechanism 6 entirety with the movement of bottom plate
Mobile, the component of 64 bottom of end gyration block is moved with the movement of each mechanism.All workpieces of the utility model are all
It is processed by aluminum products, reduces the R&D and production period, the small production for being suitble to small-sized flow production line of overall volume.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (9)
1. a kind of desktop industrial robot, it is characterised in that: passed including pedestal, the first transmission mechanism, the second transmission mechanism, third
Flange on motivation structure, the 4th transmission mechanism and the 5th transmission mechanism, the top of the pedestal and first transmission mechanism is solid
Fixed connection, first transmission mechanism and the second transmission mechanism are rotatablely connected, and the third transmission mechanism is spindle rotationally arranged in
The top of second transmission mechanism, the 4th transmission mechanism are connected with third transmission mechanism, the 5th transmission mechanism and
Four transmission mechanisms are connected；4th transmission mechanism include: the 4th motor, the 4th speed reducer, the 4th shaft, fourth bearing,
First supporting block, the second supporting block and bottom plate, the 4th shaft are set in the end of third transmission mechanism, the 4th motor
Output end and the 4th speed reducer input terminal constitute be sequentially connected, output shaft and the 4th shaft phase of the 4th speed reducer
Connection, first supporting block are fixedly connected with the 4th shaft, and the fourth bearing is set in the end of third transmission mechanism, institute
The second supporting block is stated to be set on the inner sidewall of fourth bearing, at left and right sides of the upper surface of the bottom plate with the first supporting block and the
The bottom of two supporting blocks is fixedly connected.
2. a kind of desktop industrial robot according to claim 1, which is characterized in that first transmission mechanism includes:
First motor, the first speed reducer, crossed roller bearing, platform base and flange sleeve；The first motor output shaft and described first
Speed reducer input shaft constitutes transmission connection；First speed reducer is fixedly connected with platform base, and the first speed reducer output shaft is logical
It crosses flange sleeve and pedestal is connected to a fixed；The crossed roller bearing one side is fixedly connected with platform base, and another side pedestal is fixed
Connection；The platform base includes platform floor, left side vertical plate, right side vertical plate and gusset；The left side vertical plate is fixed by gusset
It is mounted on platform floor；The right side vertical plate and left side vertical plate are symmetrical arranged.
3. a kind of desktop industrial robot according to claim 1, which is characterized in that second transmission mechanism includes:
Second motor, the second speed reducer, the second shaft, second bearing, the second steel tape I, the second steel tape II and the first arm panel assembly,
Second motor is connected with second speed reducer；The output shaft of second speed reducer and second shaft, which are constituted, to be passed
Dynamic connection；The second bearing is socketed in the second shaft two sides；Second steel tape I and the second steel tape II are symmetricly set on
Second shaft two sides, and be bolted to connection between the second steel tape I, the second steel tape II and the second shaft；It is described
Second steel tape I is mutually fixedly connected with the first arm panel assembly, second steel tape II and the first arm panel assembly phase
Connection, and it is intermediate equipped with washer.
4. a kind of desktop industrial robot according to claim 3, which is characterized in that the first arm panel assembly includes:
First arm plate and long slab lead to gusset and are fixedly connected between the long slab and the first arm plate；The first arm board ends portion is in
Hollow circular shape is connected between two circles by hollow rectangle；The first arm plate and long slab are made of aluminum products.
5. a kind of desktop industrial robot according to claim 1, which is characterized in that the third transmission mechanism includes:
Third motor, third speed reducer, third shaft, 3rd bearing, third steel tape I, third steel tape II and the second arm panel assembly,
The third motor is connected with the third speed reducer；The output shaft of the third speed reducer and the third shaft, which are constituted, to be passed
Dynamic connection；The 3rd bearing is socketed in third shaft two sides；The third steel tape I and third steel tape II are symmetricly set on
Third shaft two sides, and be bolted to connection between third steel tape I, third steel tape II and third shaft；It is described
Third steel tape I is mutually fixedly connected with the second arm panel assembly, the third steel tape II and the second arm panel assembly phase
Connection, and it is intermediate equipped with washer；The second arm panel assembly is made of aluminum products.
6. a kind of desktop industrial robot according to claim 5, which is characterized in that the second arm panel assembly includes side
Plate I, side plate II and connection sheet；The side plate I and side plate II are symmetrical arranged；Pass through muscle between the side plate I and the connection sheet
Plate is fixedly connected；It is fixedly connected between the side plate II and the connection sheet by gusset；It is fixed there are two being set on the side plate II
Position boss.
7. a kind of desktop industrial robot according to claim 1, which is characterized in that the 5th transmission mechanism includes:
5th motor, the 5th speed reducer, flange sleeve I and end gyration block, the 5th motor and the 4th transmission mechanism are fixed to be connected
It connects, the flange sleeve is fixedly connected with the bottom of the 4th transmission mechanism, and end gyration block, institute are equipped with below the flange sleeve
State gyration block with the output end of the 5th speed reducer be fixedly connected；The input shaft of 5th speed reducer and the 5th motor
It constitutes and is flexibly connected；The excircle of the flange sleeve is equipped with notch.
8. a kind of desktop industrial robot according to claim 3, which is characterized in that second steel tape I and second
Steel tape II is equipped with pin hole.
9. a kind of desktop industrial robot according to claim 1, it is characterised in that the pedestal is made of aluminum products；Institute
Stating the 4th motor is one of stepper motor or servo motor；4th speed reducer is planet-gear speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821728100.6U CN209111078U (en) | 2018-10-24 | 2018-10-24 | A kind of desktop industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821728100.6U CN209111078U (en) | 2018-10-24 | 2018-10-24 | A kind of desktop industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209111078U true CN209111078U (en) | 2019-07-16 |
Family
ID=67202061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821728100.6U Expired - Fee Related CN209111078U (en) | 2018-10-24 | 2018-10-24 | A kind of desktop industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209111078U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129455A (en) * | 2018-10-24 | 2019-01-04 | 厦门工学院 | A kind of desktop industrial robot and its application method |
-
2018
- 2018-10-24 CN CN201821728100.6U patent/CN209111078U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129455A (en) * | 2018-10-24 | 2019-01-04 | 厦门工学院 | A kind of desktop industrial robot and its application method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103568002B (en) | Six axle free degree manipulators | |
| CN110842623B (en) | Flexible manufacturing unit for various small-batch box parts | |
| CN105583819A (en) | Palletizing robot with grabbing function | |
| CN106541395A (en) | A kind of new Five-degree-of-freedmanipulator manipulator | |
| CN205111421U (en) | Arm robot | |
| CN203266023U (en) | Welding positioner mechanism | |
| CN111923025A (en) | Three-branch parallel mechanism with two operation modes | |
| CN117086849B (en) | Manipulator for carrying mold | |
| CN209111078U (en) | A kind of desktop industrial robot | |
| CN204913877U (en) | Industrial robot multistation interaction system | |
| CN205129835U (en) | Six coordinated type robots | |
| US6439076B1 (en) | Robotic loader for machinery | |
| CN108839057B (en) | Modularized parameterized design method for mechanical structure of industrial robot | |
| CN209319370U (en) | A kind of Twin-shaft machinery positioner device | |
| CN207630066U (en) | A kind of mechanical arm of rotatable operation | |
| CN206567556U (en) | A kind of motor-driven fixture | |
| CN109129455A (en) | A kind of desktop industrial robot and its application method | |
| CN214641480U (en) | Welding positioner for mechanical central suspension robot | |
| CN209615516U (en) | A kind of four axis robot of high load | |
| CN211332579U (en) | Grinding mechanism based on series-parallel connection | |
| CN210452763U (en) | Multi-station robot clamping jaw | |
| CN112157647A (en) | Six-degree-of-freedom industrial robot | |
| CN112705416A (en) | Platform is glued to five-axis linkage multipurpose point | |
| CN218905390U (en) | Plane parallel robot | |
| CN212443970U (en) | Automobile part welding positioner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190716 Termination date: 20191024 |