CN211565893U - Six-shaft mechanical arm - Google Patents
Six-shaft mechanical arm Download PDFInfo
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- CN211565893U CN211565893U CN201921986243.1U CN201921986243U CN211565893U CN 211565893 U CN211565893 U CN 211565893U CN 201921986243 U CN201921986243 U CN 201921986243U CN 211565893 U CN211565893 U CN 211565893U
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Abstract
The utility model relates to a six-shaft mechanical arm, it has solved the low and with high costs technical problem of current six-shaft mechanical arm general use rate, it is equipped with base mechanism, primary shaft mechanism, secondary shaft mechanism, third shaft mechanism, fourth shaft mechanism, fifth shaft mechanism and sixth shaft mechanism, primary shaft mechanism is equipped with primary shaft driving motor, secondary shaft mechanism is equipped with secondary shaft drive unit, secondary shaft arm and secondary shaft transmission unit, third shaft mechanism is equipped with third shaft drive unit, third shaft arm and third shaft transmission unit, fourth shaft mechanism is equipped with fourth shaft driving motor and fourth shaft arm, fifth shaft mechanism is equipped with fifth shaft driving unit and fifth shaft transmission unit, sixth shaft mechanism is equipped with sixth shaft driving unit, sixth shaft arm and sixth shaft transmission unit. The utility model discloses but wide application in automation equipment field.
Description
Technical Field
The utility model belongs to the technical field of automation equipment and specifically relates to a six-shaft mechanical arm.
Background
With the continuous development and improvement of scientific technology, automatic production equipment cannot be separated in the production of the stepping motor, and the production efficiency, the product quality, the labor and the equipment universality are improved in the production process of the stepping motor. The universal six-axis mechanical arm is an indispensable automatic production device. The universal six-axis mechanical arm is automatic equipment suitable for each assembly station, and the universal six-axis mechanical arm can change a control program of the machine according to different stations and can meet different requirements. However, various existing automation devices are special for special machines, cannot be used universally, and are low in utilization rate and high in cost.
Disclosure of Invention
The utility model discloses be exactly for solving current method, provide general six manipulators, possess improvement production efficiency, improve product quality, practice thrift the advantage of manpower, solved the dedicated problem of automation equipment special plane, improve equipment utilization ratio.
Therefore, the utility model provides a six-axis manipulator, which is sequentially provided with a base mechanism, a first axis mechanism, a second axis mechanism, a third axis mechanism, a fourth axis mechanism, a fifth axis mechanism and a sixth axis mechanism, and is characterized in that the base mechanism is provided with a base plate, four corners of the base plate are respectively provided with a base foot cup, the middle part of the upper end surface of the base plate is provided with a base support, and the base support is connected with the first axis mechanism; the first shaft mechanism is provided with a first shaft driving motor, the first shaft driving motor is fixed on the first shaft motor support plate, and a first shaft coupling block is arranged between the first shaft driving motor and the first shaft motor support plate; the second shaft mechanism is provided with a second shaft driving unit, a second shaft arm and a second shaft transmission unit, the second shaft driving unit is provided with a second shaft driving motor and is vertically fixed on a second shaft motor support plate, the second shaft arm is provided with a second shaft transmission unit, and the second shaft transmission unit is provided with a second shaft motor synchronizing wheel, a second shaft synchronizing belt and a second shaft driving synchronizing wheel; the third shaft mechanism is provided with a third shaft driving unit, a third shaft arm and a third shaft transmission unit, the third shaft driving unit is provided with a third shaft driving motor and is vertically fixed on a third shaft motor support plate, one end of the third shaft driving motor penetrates through the third shaft motor support plate to be connected with the third shaft arm, the third shaft arm is provided with the third shaft transmission unit, and the third shaft transmission unit is provided with a third shaft motor synchronizing wheel, a third shaft synchronous belt and a third shaft driving synchronizing wheel; the fourth shaft mechanism is provided with a fourth shaft driving motor and a fourth shaft arm, the fourth shaft driving motor is fixed on a fourth shaft motor support plate, the fourth shaft arm is divided into a fourth left shaft arm and a fourth right shaft arm, and the fourth left shaft arm and the fourth right shaft arm are both fixedly connected on the fourth shaft motor support plate; the fifth shaft mechanism is provided with a fifth shaft driving unit and a fifth shaft transmission unit, the fifth shaft driving unit is provided with a fifth shaft driving motor, the fifth shaft driving motor is fixed between a fourth left shaft arm and a fourth right shaft arm, and the fifth shaft transmission unit is provided with a fifth shaft motor synchronous wheel, a fifth shaft synchronous belt and a fifth shaft driving synchronous wheel; the sixth shaft mechanism is provided with a sixth shaft driving unit, a sixth shaft arm and a sixth shaft transmission unit, the sixth shaft driving unit is provided with a sixth shaft driving motor and fixed on the sixth shaft jig support, a sixth shaft motor fixing plate is arranged between the sixth shaft jig support and the sixth shaft driving motor, the sixth shaft arm is connected with the sixth shaft motor fixing plate, the sixth shaft arm is connected with the sixth shaft transmission unit, and the sixth shaft transmission unit is provided with a sixth shaft driving synchronizing wheel and a sixth shaft rotating shaft.
Preferably, the second shaft motor synchronizing wheel is arranged at one end of the second shaft driving motor, the second shaft motor synchronizing wheel is connected with the second shaft driving synchronizing wheel through a second shaft synchronous belt, the second shaft driving synchronizing wheel is fixed on a circular second shaft limiting plate, and the second shaft limiting plate is fixed at the upper end of the second shaft arm.
Preferably, the third shaft motor synchronizing wheel is arranged at one end of the third shaft driving motor, the third shaft motor synchronizing wheel is connected with the third shaft driving synchronizing wheel through a third shaft synchronous belt, the third shaft driving synchronizing wheel is fixed on a circular third shaft limiting plate, and the third shaft limiting plate is fixed at the upper end of a third shaft arm.
Preferably, the second shaft mechanism and the third shaft mechanism are further provided with a second shaft protective cover and a third shaft protective cover, the second shaft protective cover is installed on the second shaft arm, and the third protective cover is installed on the third shaft arm.
Preferably, a fifth shaft inductor is arranged at the front end of the fourth left shaft arm.
Preferably, the fourth shaft mechanism is further provided with two fourth shaft protection covers, namely a fourth shaft left protection cover arranged on the fourth left shaft arm and a fourth right protection cover arranged on the fourth right shaft arm.
Preferably, the fifth shaft motor synchronous wheel is fixedly connected to one end of the fifth shaft driving motor, and the fifth shaft motor synchronous wheel is connected with the fifth shaft driving synchronous wheel through the fifth shaft synchronous belt.
Preferably, sixth axle mechanism still is equipped with sixth inductor and sixth response piece, and on the sixth inductor was fixed in sixth inductor support, sixth inductor support was fixed in sixth left axle arm bottom, and the sixth response piece was fixed in on the sixth tool support.
The utility model has the advantages that:
the universal six-axis mechanical arm is automatic equipment suitable for each assembly station, and the universal six-axis mechanical arm can change a control program of the machine according to different stations to meet different requirements. Possesses the improvement production efficiency, improves product quality, and is small, and the cost is lower than the manipulator on the market to practiced thrift the human cost, solved the dedicated problem of automation equipment special plane, improve equipment utilization.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
fig. 3 is a schematic structural diagram of the base mechanism of the present invention.
FIG. 4 is a schematic structural view of the upper portion of the base mechanism of the present invention;
fig. 5 is a schematic structural view of a second shaft mechanism, a third shaft mechanism, a fourth shaft mechanism, a fifth shaft mechanism and a sixth shaft mechanism of the present invention;
fig. 6 is a schematic structural diagram of a fourth shaft mechanism, a five shaft mechanism and a sixth shaft mechanism of the present invention;
fig. 7 is a schematic structural view of a sixth shaft mechanism of the present invention.
Reference numerals:
1. a base mechanism; 10. a base foot cup; 11. a base plate; 12. a base support;
2. a first shaft mechanism; 20. a first shaft motor support plate; 21. a first shaft drive motor; 22. a first coupling block;
3. a second shaft mechanism; 30. a second shaft drive motor; 31. a second shaft motor support plate; 32. a second shaft arm; 33. a second shaft motor synchronizing wheel; 34. a second shaft synchronous belt; 35. the second shaft drives the synchronizing wheel; 36. a second shaft limiting plate; 37. a second shaft shield;
4. a third axis mechanism; 40. a third shaft motor mounting plate; 41. a third shaft driving motor; 42. a third shaft arm; 43. a connecting rod; 44. a third shaft limiting plate; 45. a third shaft shield;
5. a fourth axis mechanism; 50. a fourth shaft driving motor; 51. a fourth shaft motor support plate; 52. a fourth shaft left brace panel; 53. a fourth shaft right bracket plate; 54. a fourth left axle arm; 55. a fourth right axle arm; 56. a fourth shaft left shield; 57. a fourth shaft right protective cover; 58. a fourth shaft connecting rod;
6. a fifth axis mechanism; 60. a fifth shaft driving motor; 61. a fifth shaft motor synchronous wheel; 62. a fifth shaft synchronous belt; 63. a fifth shaft drives a synchronous wheel; 64. a fifth limiting plate; 65. a fifth axis inductor;
7. a sixth axis mechanism; 70. a sixth shaft driving motor; 71. a sixth shaft shield; 72. a sixth shaft jig support; 73. a sixth shaft motor fixing plate; 74. a sixth left axle arm; 75. a sixth right shaft arm; 76. a sixth shaft drives the synchronizing wheel; 77. a sixth axis of rotation; 78. a sixth shaft left limit plate; 79. a sixth shaft right limit plate; 80. a sixth axis inductor support plate; 81. a sixth axis inductor; 82. and a sixth axis sensing piece.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, and it should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention and are not limited to the present invention.
The utility model provides a six-shaft mechanical arm, as shown in fig. 1-2, be equipped with base mechanism 1, primary shaft mechanism, secondary shaft mechanism 2, third shaft mechanism 3, fourth shaft mechanism 4, fifth shaft mechanism 5 and sixth shaft mechanism 7 in proper order.
As shown in figure 3, the base mechanism is provided with a base plate 1, four corners of the base plate 1 are provided with a base cup 10 for supporting the base plate 1, and the middle part of the upper end surface of the base plate 1 is provided with a base bracket 12 for supporting and connecting the first shaft mechanism 1.
As shown in fig. 4, the first shaft mechanism 1 is provided with a first shaft driving motor 21 for driving the first shaft mechanism 2 to rotate, so as to drive the second shaft mechanism 3, the third shaft mechanism 4, the fourth shaft mechanism 5, the fifth shaft mechanism 6 and the sixth shaft mechanism 7 to move left and right. The first shaft driving motor 21 is fixed on the first shaft motor support plate 20, and a first shaft coupling block 22 for coupling is arranged between the first shaft driving motor 21 and the first shaft motor support plate 20.
As shown in fig. 5, the second shaft mechanism 3 and the third shaft mechanism 4 are respectively connected to the left and right sides of the first shaft motor support plate 20, and the second shaft mechanism 3 and the third shaft mechanism 4 are symmetrical mechanisms. The second shaft mechanism 3 is provided with a second shaft driving unit, a second shaft arm 32 and a second shaft transmission unit, wherein the second shaft driving unit is provided with a second shaft driving motor 30 which is vertically fixed on a second shaft motor support plate 31 and used for driving the second shaft mechanism 3. The second shaft motor support plate 31 is vertically connected to the left end of the first shaft motor support plate 20. One end of the second shaft driving motor 30 passes through the second shaft motor support plate 31 to be connected with a second shaft arm 32, and a second shaft transmission unit is arranged on the second shaft arm 32. The second shaft transmission unit is provided with a second shaft motor synchronizing wheel 33, a second shaft synchronizing belt 34 and a second shaft driving synchronizing wheel 35. The second shaft motor synchronous wheel 33 is arranged at one end of the second shaft driving motor 30, the second shaft motor synchronous wheel 33 is connected with a second shaft driving synchronous wheel 35 through a second shaft synchronous belt 34, the second shaft driving synchronous wheel 35 is fixed on a circular second shaft limiting plate 36, and the second shaft limiting plate 36 is fixed at the upper end of the second shaft arm 32. The second shaft driving motor 30 drives the second shaft motor synchronizing wheel 33 to rotate, and the second shaft motor synchronizing wheel 33 drives the second shaft driving synchronizing wheel 35 to rotate, so that the second shaft arm 32 is driven to move up and down by taking the second shaft motor synchronizing wheel 33 as a fulcrum.
Similarly, the third shaft mechanism 4 is provided with a third shaft driving unit, a third shaft arm 42 and a third shaft transmission unit, and the third shaft driving unit is provided with a third shaft driving motor 41, which is vertically fixed on the third shaft motor support plate 40 and used for driving the third shaft mechanism 4. The third shaft motor support plate 40 is vertically connected to the right side end of the first shaft motor support plate 20. One end of the third shaft driving motor 41 passes through the third shaft motor support plate 40 and is connected with a third shaft arm 42, and a third shaft transmission unit is arranged on the third shaft arm 42. The third shaft transmission unit is provided with a third shaft motor synchronous wheel, a third shaft synchronous belt and a third shaft driving synchronous wheel (not marked in the figure). The third shaft motor synchronizing wheel is arranged at one end of the third shaft driving motor 41, the third shaft motor synchronizing wheel is connected with the third shaft driving synchronizing wheel through a third shaft synchronous belt, the third shaft driving synchronizing wheel is fixed on a circular third shaft limiting plate 44, and the third shaft limiting plate 44 is fixed at the upper end of a third shaft arm 42. The third shaft driving motor 41 drives the third shaft motor synchronizing wheel to rotate, and the third shaft motor synchronizing wheel drives the third shaft driving synchronizing wheel to rotate, so as to drive the third shaft arm 42 to move up and down by taking the third shaft motor synchronizing wheel as a fulcrum.
Wherein, a plurality of connecting rods 43 are arranged between the second shaft arm 32 and the third shaft arm 42 for connecting the second shaft arm 32 and the third shaft arm 42. The second shaft mechanism 3 and the third shaft mechanism 4 are further provided with a second shaft protective cover 37 and a third shaft protective cover 45 having a protective function, the second shaft protective cover 37 is mounted on the second shaft arm 32, and the third shaft protective cover 45 is mounted on the third shaft arm 42.
As shown in fig. 5-6, the fourth shaft mechanism 5 is provided with a fourth shaft driving motor 50 fixed on a fourth shaft motor support plate 51 for driving the fourth shaft mechanism 5 to rotate, so as to drive the fifth shaft mechanism 6 and the sixth shaft mechanism 7 to perform 360 ° rotation movement. A fourth shaft left bracket plate 52 and a fourth shaft right bracket plate 53 are vertically arranged on the left side and the right side of the fourth shaft motor bracket plate 51, one end of the fourth shaft left bracket plate 51 is fixed on the fourth shaft motor bracket plate 51, and the other end of the fourth shaft left bracket plate 51 is connected with a second shaft transmission unit of the second shaft mechanism 3; one end of the fourth shaft right supporting plate 53 is fixed on the fourth shaft motor supporting plate 51, and the other end is connected with the third shaft transmission unit of the third shaft mechanism 4. The fourth shaft arm is divided into a fourth left shaft arm 54 and a fourth right shaft arm 55, and the fourth left shaft arm 54 and the fourth right shaft arm 55 are both fixedly connected to the fourth shaft motor support plate 51. A plurality of fourth shaft connecting rods 58 are arranged between the fourth left shaft arm 54 and the fourth right shaft arm 55. The fourth shaft mechanism 5 is further provided with two fourth shaft protection covers with protection function, namely a fourth shaft left protection cover 56 installed on the fourth left shaft arm 54 and a fourth right protection cover 57 installed on the fourth right shaft arm 55.
The fifth shaft mechanism 6 is provided with a fifth shaft driving unit and a fifth shaft transmission unit, the fifth shaft driving unit is provided with a fifth shaft driving motor 60, and the fifth shaft driving motor 60 is fixed between the fourth left shaft arm 54 and the fourth right shaft arm 55 and used for driving the fifth shaft mechanism 6. The fifth shaft transmission unit is provided with a fifth shaft motor synchronous wheel 63, a fifth shaft synchronous belt 62 and a fifth shaft driving synchronous wheel 63. The fifth shaft motor synchronous wheel 61 is fixedly connected to one end of a fifth shaft driving motor 60, the fifth shaft motor synchronous wheel 63 is connected with the fifth shaft driving synchronous wheel 63 through a fifth shaft synchronous belt 62, the fifth shaft driving synchronous wheel 63 is fixed on a circular fifth shaft limiting plate 64, and the fifth shaft limiting plate 64 is fixed on the fourth right shaft arm 55. The fifth shaft driving motor 60 drives the fifth shaft motor synchronizing wheel 63 to rotate, and the fifth shaft motor synchronizing wheel 63 drives the fifth shaft driving synchronizing wheel to rotate simultaneously, so that the sixth shaft mechanism 7 is driven to move up and down.
In addition, a fifth axis sensor 65 is provided at the front end of the fourth left axis arm 54, and is used to detect whether the sixth axis mechanism 7 is restored to the original point state.
The sixth shaft mechanism 7 is provided with a sixth shaft driving unit, a sixth shaft arm and a sixth shaft transmission unit, and the sixth shaft driving unit is provided with a sixth shaft driving motor 70 fixed on a sixth shaft jig support 72 and used for driving the sixth shaft mechanism. A sixth shaft motor fixing plate 73 for supporting the sixth shaft driving motor 70 is provided between the sixth shaft jig support 72 and the sixth shaft driving motor 70. The sixth shaft motor fixing plate 73 is connected to a sixth shaft arm, and the sixth shaft arm is divided into a sixth left shaft arm 74 and a sixth right shaft arm 75 which are fixed to the sixth shaft motor fixing plate 73 respectively. The sixth shaft arm is connected with the sixth shaft transmission unit, the sixth shaft transmission unit is provided with a sixth shaft driving synchronous wheel 76 and a sixth shaft rotating shaft 77, the sixth shaft driving synchronous wheel 76 is fixedly connected with one end of the sixth shaft rotating shaft 77, the other end of the sixth shaft rotating shaft 77 is connected with a sixth left shaft arm 74, and the sixth left shaft arm is fixed and limited by a sixth left limiting plate 78. Correspondingly, a sixth shaft right limit plate 79 is also arranged between the sixth shaft driving synchronizing wheel 76 and the sixth right shaft arm 75 for fixing and limiting. The sixth shaft driving motor 70 rotates the sixth shaft rotating shaft 77, thereby driving the sixth shaft mechanism 7 to move up and down.
Further, the sixth shaft mechanism 7 is further provided with a sixth shaft sensor 81 and a sixth shaft sensing piece 82, the sixth shaft sensor 81 is fixed on a sixth shaft sensor support 80, and the sixth shaft sensor support 80 is fixed at the bottom end of the sixth left shaft arm 74; the sixth axis sensing piece 82 is fixed to the sixth axis jig support 72. The sixth axis sensor 81 ensures that the sixth axis mechanism 7 is restored to the original position by sensing the sixth axis sensing piece 82.
Further, the sixth shaft mechanism 7 is provided with a sixth shaft shield 71 having a shielding function, and is sleeved on the sixth shaft driving motor 70.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A six-axis manipulator is sequentially provided with a base mechanism, a first axis mechanism, a second axis mechanism, a third axis mechanism, a fourth axis mechanism, a fifth axis mechanism and a sixth axis mechanism, and is characterized in that the base mechanism is provided with a base plate, four corners of the base plate are provided with base foot cups, the middle part of the upper end face of the base plate is provided with a base support, and the base support is connected with the first axis mechanism;
the first shaft mechanism is provided with a first shaft driving motor, the first shaft driving motor is fixed on a first shaft motor support plate, and a first shaft coupling block is arranged between the first shaft driving motor and the first shaft motor support plate;
the second shaft mechanism is provided with a second shaft driving unit, a second shaft arm and a second shaft transmission unit, the second shaft driving unit is provided with a second shaft driving motor and is vertically fixed on a second shaft motor support plate, the second shaft arm is provided with a second shaft transmission unit, and the second shaft transmission unit is provided with a second shaft motor synchronizing wheel, a second shaft synchronizing belt and a second shaft driving synchronizing wheel;
the third shaft mechanism is provided with a third shaft driving unit, a third shaft arm and a third shaft transmission unit, the third shaft driving unit is provided with a third shaft driving motor and is vertically fixed on a third shaft motor support plate, one end of the third shaft driving motor penetrates through the third shaft motor support plate and is connected with the third shaft arm, the third shaft arm is provided with a third shaft transmission unit, and the third shaft transmission unit is provided with a third shaft motor synchronizing wheel, a third shaft synchronous belt and a third shaft driving synchronizing wheel;
the fourth shaft mechanism is provided with a fourth shaft driving motor and a fourth shaft arm, the fourth shaft driving motor is fixed on a fourth shaft motor support plate, the fourth shaft arm is divided into a fourth left shaft arm and a fourth right shaft arm, and the fourth left shaft arm and the fourth right shaft arm are both fixedly connected on the fourth shaft motor support plate;
the fifth shaft mechanism is provided with a fifth shaft driving unit and a fifth shaft transmission unit, the fifth shaft driving unit is provided with a fifth shaft driving motor, the fifth shaft driving motor is fixed between the fourth left shaft arm and the fourth right shaft arm, and the fifth shaft transmission unit is provided with a fifth shaft motor synchronous wheel, a fifth shaft synchronous belt and a fifth shaft driving synchronous wheel;
the sixth shaft mechanism is provided with a sixth shaft driving unit, a sixth shaft arm and a sixth shaft transmission unit, the sixth shaft driving unit is provided with a sixth shaft driving motor and fixed on a sixth shaft jig support, a sixth shaft motor fixing plate is arranged between the sixth shaft jig support and the sixth shaft driving motor, the sixth shaft arm is connected with the sixth shaft motor fixing plate, the sixth shaft arm is connected with the sixth shaft transmission unit, and the sixth shaft transmission unit is provided with a sixth shaft driving synchronizing wheel and a sixth shaft rotating shaft.
2. The six-axis manipulator according to claim 1, wherein the second shaft motor synchronizing wheel is arranged at one end of the second shaft driving motor, the second shaft motor synchronizing wheel is connected with the second shaft driving synchronizing wheel through the second shaft synchronizing belt, the second shaft driving synchronizing wheel is fixed on a circular second shaft limiting plate, and the second shaft limiting plate is fixed at the upper end of the second shaft arm.
3. The six-axis manipulator according to claim 1, wherein the third axis motor synchronizing wheel is disposed at one end of the third axis driving motor, and is connected with the third axis driving synchronizing wheel through a third axis synchronous belt, the third axis driving synchronizing wheel is fixed on a circular third axis limiting plate, and the third axis limiting plate is fixed at the upper end of the third axis arm.
4. The six-axis robot of claim 1, wherein the second and third axis mechanisms are further provided with a second axis shield mounted on the second axis arm and a third axis shield mounted on the third axis arm.
5. The six-axis robot of claim 1, wherein a fifth axis sensor is provided at a front end of the fourth left axis arm.
6. The six-axis robot of claim 1, wherein the fourth axis mechanism further comprises two fourth axis shields, a fourth axis left shield mounted on the fourth left axis arm and a fourth right shield mounted on the fourth right axis arm.
7. The six-axis robot of claim 1, wherein the fifth axis motor synchronous wheel is fixedly connected to one end of a fifth axis driving motor, and the fifth axis motor synchronous wheel is connected to the fifth axis driving synchronous wheel through a fifth axis synchronous belt.
8. The six-axis manipulator according to claim 1, wherein the sixth axis mechanism is further provided with a sixth axis sensor and a sixth axis sensor piece, the sixth axis sensor is fixed on a sixth axis sensor support, the sixth axis sensor support is fixed at the bottom end of a sixth left axis arm, and the sixth axis sensor piece is fixed on a sixth axis jig support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921986243.1U CN211565893U (en) | 2019-11-15 | 2019-11-15 | Six-shaft mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921986243.1U CN211565893U (en) | 2019-11-15 | 2019-11-15 | Six-shaft mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211565893U true CN211565893U (en) | 2020-09-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921986243.1U Active CN211565893U (en) | 2019-11-15 | 2019-11-15 | Six-shaft mechanical arm |
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| Country | Link |
|---|---|
| CN (1) | CN211565893U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211482A (en) * | 2021-12-31 | 2022-03-22 | 广东中昇华控智能科技股份有限公司 | Lightweight six-axis robot |
| CN114851216A (en) * | 2022-04-18 | 2022-08-05 | 湖南宁庆航空航天智能装备有限公司 | Multi freedom reclaimer manipulator |
-
2019
- 2019-11-15 CN CN201921986243.1U patent/CN211565893U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211482A (en) * | 2021-12-31 | 2022-03-22 | 广东中昇华控智能科技股份有限公司 | Lightweight six-axis robot |
| CN114851216A (en) * | 2022-04-18 | 2022-08-05 | 湖南宁庆航空航天智能装备有限公司 | Multi freedom reclaimer manipulator |
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