CN214981047U - Novel six-axis-column coordinate industrial robot - Google Patents
Novel six-axis-column coordinate industrial robot Download PDFInfo
- Publication number
- CN214981047U CN214981047U CN202022022753.6U CN202022022753U CN214981047U CN 214981047 U CN214981047 U CN 214981047U CN 202022022753 U CN202022022753 U CN 202022022753U CN 214981047 U CN214981047 U CN 214981047U
- Authority
- CN
- China
- Prior art keywords
- arm
- component
- vertical
- servo motor
- reducer
- 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.)
- Active
Links
Images
Abstract
The utility model relates to a novel six-axis column coordinate industrial robot, including base part, the stand part, the slide part, first armed lever part, second armed lever part, vertical arm part, lower swing arm part, wrist coupling flange and calibration pole, the vertical direction shift axle pair is constituteed to slide part and stand part, first armed lever part and slide part constitute first level horizontal revolving axle pair, second armed lever part and first armed lever part constitute second level horizontal revolving axle pair, vertical arm part and second armed lever part constitute third level horizontal revolving axle pair, lower swing arm part horizontal installation is at vertical arm part lower extreme, the vertical gyration forms the vertical revolving axle pair, when calibrating the mechanical zero position of each articulated axle, the calibration pole is installed on wrist coupling flange; the device realizes the optimization of the space structure of the robot structure, the structure of the arm rod is compact, the tail end tool realizes the realization of any posture of the three-dimensional space, and no posture application dead angle exists.
Description
Technical Field
The utility model belongs to the technical field of big-and-middle-sized special industrial robot equipment technique and specifically relates to a novel six-axis column coordinate industrial robot.
Background
The industrial robot can replace manpower to complete long-time and high-intensity repeated labor under various complex working conditions and high-risk harmful environments, and is highly automatic in work. The intelligent, multifunctional and flexible automatic production is realized. Industrial robots need better position accessibility and pose accessibility.
The mechanical zero point position of the industrial robot is an important basis for forming a robot kinematic model, and the industrial robot can achieve the highest point precision and track precision or can completely move in a motion set by programming only when obtaining a high-precision calibration zero point. Especially, in the off-line programming application under the absolute coordinate environment, the high position attitude precision application of auxiliary locating such as laser, video and the like, the mechanical zero point position of the robot is a key factor for meeting the high precision application of the robot.
The application of the traditional six-axis joint industrial robot in the continuous closed track of the space has certain limitation. In many cases, a six-axis joint industrial robot system needs to add an external coordinate walking axis to expand the application range of the robot. The robot mechanical zero calibration is near the joint, the angle calibration measurement radius is small, the error influence factor is large, and the high-precision zero calibration can be achieved only by means of other external tool methods.
How to realize the application of the industrial robot in the application can realize the application of a space continuous closed track, has larger space accessibility and is suitable for various process requirements. Meanwhile, the mechanical zero position of each joint shaft can be calibrated with high precision under the conditions of factory calibration and zero loss, and the motion precision of the industrial robot is improved. The space coordinate operation application of the industrial robot can be realized, the space position posture is higher, the integrated application cost of the robot system is reduced, and the technical problem which is urgently needed to be solved by researchers is solved.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defect that prior art exists, a novel six-axis column coordinate industrial robot is provided.
A novel six-axis column coordinate industrial robot comprises a base part, an upright part, a sliding seat part, a first arm rod part, a second arm rod part, a vertical arm part, a lower swing arm part, a wrist connecting flange and a calibration rod, wherein the upright part is fixedly connected with the base part, the sliding seat part is installed on the upright part, and the sliding seat part and the upright part form a vertical direction moving shaft pair;
the first arm rod part is arranged on the sliding seat part, and the first arm rod part and the sliding seat part form a first-stage horizontal rotating shaft pair;
the second arm lever part is arranged on the first arm lever part, and the second arm lever part and the first arm lever part form a second-stage horizontal rotating shaft pair;
the vertical arm component is arranged on the second arm rod component, and the vertical arm component and the second arm rod component form a third-stage horizontal rotating shaft pair;
the lower swing arm component is horizontally arranged at the lower end of the vertical arm component and vertically rotates to form a vertical rotating shaft pair;
the axis of the wrist joint at the front end of the lower swing arm component is vertically orthogonal to the upper level of the plumb revolving shaft pair. The wrist connecting flange is arranged at the front end part of the lower swing arm component, and the calibration rod is arranged on the wrist connecting flange when the mechanical zero position of each joint shaft is calibrated;
and a transmission assembly consisting of a fourth servo motor and a harmonic reducer is arranged on the corresponding connecting surface of the lower swing arm component.
Furthermore, the upright post component adopts a box-shaped post structure, and is provided with a lower bearing seat, a ball screw, a lifting nut seat, a nut, two groups of linear guide rails which are matched with each other, a sliding block, a bearing seat component, a speed reducer and a servo motor;
the servo motor, the speed reducer, the bearing seat assembly and the ball screw are integrally arranged on the upright post part, and the lower part of the ball screw is arranged on the lower bearing seat;
two groups of linear guide rails and sliding blocks are arranged on the connecting surface of the guide rail of the upright post part; the lifting nut seat, the nut and the ball screw are matched and are arranged on the corresponding connecting surface of the sliding seat component together with the sliding block to form a vertical moving shaft pair moving along the linear guide rail.
Furthermore, the lower part of the upright post part is provided with a hinged support assembly, the hinged support assembly is fixedly connected with the base part and is suitable for controlling the arm rod of the robot to be folded, and the upright post part is horizontally connected.
Furthermore, a first servo motor, a first RV reducer, a first hollow transmission shaft and a first bearing component are arranged on one side of the sliding seat component;
the sliding seat component is fixedly connected with the first RV reducer, the first servo motor is installed at the input end of the first RV reducer, a first hollow transmission shaft is installed on the output flange face of the first RV reducer, the first hollow transmission shaft is matched with a bearing inner hole of the first bearing component, the first bearing component is supported on the sliding seat component, and the shaft end of the first hollow transmission shaft is fixedly installed with the first arm rod component to form a first-stage horizontal rotating shaft pair.
Furthermore, one side of the first arm lever part is provided with a second servo motor, a second RV reducer, a second hollow transmission shaft and a second bearing part;
a second RV reducer is fixedly installed at the extending end of the first arm lever part, and the input end of the second RV reducer is connected with a second servo motor; the second hollow transmission shaft is arranged on the output flange face of the second RV reducer, the second hollow transmission shaft is matched with a bearing inner hole of a second bearing part, the second bearing part is supported on the first arm rod part, the shaft end of the second hollow transmission shaft is fixedly installed with the second arm rod part to form a second-stage horizontal rotating shaft pair, a front-end arm rod servo motor cable penetrates through the second hollow transmission shaft to the first arm rod part, and a calibration block used for calibrating the mechanical zero point position of the joint shaft is designed on the first arm rod part.
Furthermore, a third servo motor, a third RV reducer, a third hollow transmission shaft and a third bearing part are arranged on one side of the second arm rod part;
the third hollow transmission shaft is matched with a bearing inner hole of a third bearing part, the third bearing part is supported on the second arm lever part, and the shaft end of the third hollow transmission shaft is fixedly installed with a vertical arm part to form a third-stage horizontal rotating shaft pair;
and the front-end arm lever servo motor cable penetrates through the third hollow transmission shaft to the second arm lever part, and the second arm lever part is provided with a calibration block for calibrating the mechanical zero position of the joint shaft.
Furthermore, one side of the vertical arm component is provided with a first transmission component, a first bevel gear component, a second bevel gear component and a horizontal rotating shaft component;
the vertical arm component is characterized in that a first transmission component consisting of a support, a servo motor, a harmonic reducer and a coupler is arranged on a connecting surface at the lower part of the vertical arm component, a first bevel gear component is arranged at the output end of the first transmission component, the first bevel gear component is orthogonally meshed with a second bevel gear component, the second bevel gear component is arranged on a horizontal revolving shaft component, the horizontal revolving shaft component forms a vertical revolving shaft pair, a lower swinging arm component is arranged at the front end of the horizontal revolving shaft component, and a front end arm rod servo motor cable penetrates through the horizontal revolving shaft component to the vertical arm component.
The structural design and the D-H parameter design of the arm lever of the robot meet the functional requirements of the arm lever for folding completely. When the mechanical zero positions of all the joint shafts are calibrated, the calibration rod is installed on the wrist connecting flange, the servo motor brake and the vector energy of all the joint shafts of the robot are released, all the joint shafts are manually rotated, so that the positions of the calibration blocks of the first arm rod part and the second arm rod part are coincided, the knife edge at the front end of the calibration rod is coincided with the positioning surface of the calibration block, and the simple and quick calibration of the mechanical zero positions of all the joint shafts except the upright post part is completed at one time.
The utility model has the advantages that: the absolute position precision of the robot arm rod coordinate system, the rigidity of the robot system and the attitude precision of the tail end tool are superior to those of the existing six-joint robot in the principle of robot construction. The working range is larger, and a larger working space can be built on a smaller occupied ground. The industrial robot can be applied to space continuous closed tracks and has larger space accessibility. The lower swing arm component can extend into a narrow space of an inner cavity of a workpiece to complete various operations, and can realize the translation and rotation operations of axes in any postures in space. Meanwhile, the mechanical zero position of each joint shaft can be calibrated simply and quickly with high precision under the conditions of factory calibration and zero loss, and the precision of the motion of the industrial robot is improved. The space coordinate operation application of the industrial robot can be realized, the space position posture is higher, the robot operation application of off-line track planning is very suitable, and the high-precision operation application of the end tool under various postures is realized under the auxiliary locating conditions based on laser, video and the like.
The equipment realizes the optimization of the space structure of the robot structure, has compact structure of the arm rod and can build larger working space on smaller occupied ground. In the aspect of accessibility of the gesture of the robot wrist tool, the terminal tool can achieve the accessibility of any gesture in a three-dimensional space, and no gesture application dead angle exists. The arm rod of the robot is folded, and the upright column part is laid flat in a connection mode, so that the transportation and the transition of equipment and the on-site quick installation and application are facilitated.
Drawings
Fig. 1 is a schematic structural view of the utility model in a folded state;
fig. 2 is a schematic cross-sectional view of the present invention in the unfolded state.
Detailed Description
As shown in fig. 1 and fig. 2, a novel six-axis cylindrical coordinate industrial robot comprises a base part 1, a column part 2, a slide seat part 3, a first arm lever part 4, a second arm lever part 5, a vertical arm part 6, a lower swing arm part 7, a wrist connecting flange 8 and a calibration rod 9, wherein the column part 2 is fixedly connected with the base part 1, the slide seat part 3 is installed on the column part 2, and the slide seat part 3 and the column part 2 form a vertical direction moving shaft pair;
the first arm rod part 4 is arranged on the sliding seat part 3, and the first arm rod part 4 and the sliding seat part 3 form a first-stage horizontal rotating shaft pair;
the second arm lever part 5 is arranged on the first arm lever part 4, and the second arm lever part 5 and the first arm lever part 4 form a second-stage horizontal rotating shaft pair;
the vertical arm part 6 is arranged on the second arm rod part 5, and the vertical arm part 6 and the second arm rod part 5 form a third-stage horizontal rotating shaft pair;
the lower swing arm component 7 is horizontally arranged at the lower end of the vertical arm component 6 and vertically rotates to form a vertical rotating shaft pair;
the axis of the wrist joint at the front end of the lower swing arm component 7 is vertically orthogonal to the upper level vertical revolving shaft pair. A wrist connecting flange 8 is arranged at the front end part of the lower swing arm component 7, and a calibration rod 9 is arranged on the wrist connecting flange 8 when the mechanical zero position of each joint shaft is calibrated;
and a transmission assembly consisting of a fourth servo motor 701 and a harmonic reducer 702 is arranged on the corresponding connecting surface of the lower swing arm component 7.
Further, the upright post part 2 adopts a box-shaped post structure to ensure the system rigidity of the robot, and the upright post part 2 is provided with a lower bearing seat 201, a ball screw 202, a lifting nut seat 203, a nut 204, two groups of linear guide rails 205 which are matched with each other, a sliding block 206, a bearing seat assembly 207, a speed reducer 208 and a servo motor 209;
the servo motor 209, the reducer 208, the bearing seat assembly 207 and the ball screw 202 are integrally installed on the upright column component 2, and the lower part of the ball screw 202 is installed on the lower bearing seat 201;
two groups of linear guide rails 205 and sliding blocks 206 are arranged on the guide rail connecting surface of the upright post component 2; the elevator nut base 203 and the nut 204 are engaged with the ball screw 202 and are mounted on the corresponding coupling surfaces of the slide member 3 together with the slider 206, forming a vertical moving axis pair that moves along the linear guide 205.
The hinged support component 210 is installed on the lower portion of the upright post component 2, the hinged support component 210 is fixedly connected with the base component 1 and is suitable for controlling the arm rod of the robot to be folded, and the upright post component 2 is horizontally connected.
One side of the sliding seat component 3 is provided with a first servo motor 301, a first RV reducer 302, a first hollow transmission shaft 303 and a first bearing component 304;
the sliding seat component 3 is fixedly connected with a first RV reducer 302, a first servo motor 301 is installed at the input end of the first RV reducer 302, a first hollow transmission shaft 303 is installed on the output flange face of the first RV reducer 302, the first hollow transmission shaft 303 is matched with a bearing inner hole of the first bearing component 304, the first bearing component 304 is supported on the sliding seat component 3, and the shaft end of the first hollow transmission shaft 303 is fixedly installed with a first arm rod component 4 to form a first-stage horizontal rotating shaft pair.
Further, a second servo motor 401, a second RV reducer 402, a second hollow transmission shaft 403, and a second bearing member 404 are provided on one side of the first arm lever member 4;
a second RV reducer 402 is fixedly installed at the extending end of the first arm lever part 4, and the input end of the second RV reducer 402 is connected with a second servo motor 401; a second hollow transmission shaft 403 is arranged on the output flange surface of the second RV reducer 402, the second hollow transmission shaft 403 is matched with a bearing inner hole of a second bearing part 404, the second bearing part 404 is supported on the first arm rod part 4, the shaft end of the second hollow transmission shaft 403 is fixedly arranged with the second arm rod part 5 to form a second-stage horizontal rotating shaft pair, a front-end arm rod servo motor cable penetrates through the second hollow transmission shaft 403 to reach the first arm rod part 4, and a calibration block for calibrating the mechanical zero position of the joint shaft is designed on the first arm rod part 4.
A third servo motor 501, a third RV reducer 502, a third hollow transmission shaft 503 and a third bearing part 504 are arranged on one side of the second arm lever part 5;
a third RV reducer 502 is fixedly installed at the extending end of the second arm lever part 5, the input end of the third RV reducer 502 is connected with a third servo motor 501, a third hollow transmission shaft 503 is installed on the output flange surface of the third RV reducer 502, the third hollow transmission shaft 503 is matched with a bearing inner hole of a third bearing part 504, the third bearing part 504 is supported on the second arm lever part 5, and the shaft end of the third hollow transmission shaft 503 is fixedly installed with a vertical arm part 6 to form a third-stage horizontal rotating shaft pair;
the front end arm lever servo motor cable passes through the third hollow transmission shaft 503 to the second arm lever part 5, and the second arm lever part 5 is provided with a calibration block for calibrating the mechanical zero point position of the joint shaft.
Further, a first transmission assembly 601, a first bevel gear assembly 602, a second bevel gear assembly 603, and a horizontal swivel shaft assembly 604 are provided at one side of the vertical arm member 6;
a first transmission assembly 601 composed of a support, a servo motor, a harmonic reducer and a coupling is arranged on a connecting surface of the lower part of a vertical arm component 6, a first bevel gear assembly 602 is arranged at the output end of the first transmission assembly 601, the first bevel gear assembly 602 is orthogonally meshed with a second bevel gear assembly 603, the second bevel gear assembly 603 is arranged on a horizontal revolving shaft assembly 604, the horizontal revolving shaft assembly 604 forms a vertical revolving shaft pair, a lower swing arm component 7 is arranged at the front end of the horizontal revolving shaft assembly 604, and a front end arm rod servo motor cable penetrates through the horizontal revolving shaft assembly 604 to the vertical arm component 6.
The structural design and the D-H parameter design of the arm lever of the robot meet the functional requirements of the arm lever for folding completely. When the mechanical zero point positions of all the joint shafts are calibrated, the calibration rod 9 is installed on the wrist connecting flange 8, the servo motor brake and the vector energy of all the joint shafts of the robot are released, all the joint shafts are manually rotated, so that the positions of the calibration blocks of the first arm rod part 4 and the second arm rod part 5 are overlapped, the knife edge at the front end of the calibration rod 9 is overlapped with the positioning surface of the calibration block, and the simple and quick calibration of the mechanical zero point positions of all the joint shafts except the upright post part 2 is completed at one time.
The absolute position precision of the robot arm rod coordinate system, the rigidity of the robot system and the attitude precision of the tail end tool are superior to those of the existing six-joint robot in the principle of robot construction. The working range is larger, and a larger working space can be built on a smaller occupied ground. The industrial robot can be applied to space continuous closed tracks and has larger space accessibility. The lower swing arm component can extend into a narrow space of an inner cavity of a workpiece to complete various operations, and can realize the translation and rotation operations of axes in any postures in space. Meanwhile, the mechanical zero position of each joint shaft can be calibrated simply and quickly with high precision under the conditions of factory calibration and zero loss, and the precision of the motion of the industrial robot is improved. The space coordinate operation application of the industrial robot can be realized, the space position posture is higher, the robot operation application of off-line track planning is very suitable, and the high-precision operation application of the end tool under various postures is realized under the auxiliary locating conditions based on laser, video and the like.
The equipment realizes the optimization of the space structure of the robot structure, the arm rod structure is the most compact, and a larger working space can be built on a smaller occupied ground. In the aspect of accessibility of the gesture of the robot wrist tool, the terminal tool can achieve the accessibility of any gesture in a three-dimensional space, and no gesture application dead angle exists. The arm rod of the robot is folded, and the upright column part is laid flat in a connection mode, so that the transportation and the transition of equipment and the on-site quick installation and application are facilitated.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the principles of the present invention may be applied to any other embodiment without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A novel six-axis column coordinate industrial robot comprises a base part (1), an upright part (2), a slide seat part (3), a first arm rod part (4), a second arm rod part (5), a vertical arm part (6), a lower swing arm part (7), a wrist connecting flange (8) and a calibration rod (9), and is characterized in that the upright part (2) is fixedly connected with the base part (1), the slide seat part (3) is installed on the upright part (2), and the slide seat part (3) and the upright part (2) form a vertical direction moving shaft pair;
the first arm rod part (4) is arranged on the sliding seat part (3), and the first arm rod part (4) and the sliding seat part (3) form a first-stage horizontal rotating shaft pair;
the second arm lever part (5) is arranged on the first arm lever part (4), and the second arm lever part (5) and the first arm lever part (4) form a second-stage horizontal rotating shaft pair;
the vertical arm component (6) is arranged on the second arm rod component (5), and the vertical arm component (6) and the second arm rod component (5) form a third-stage horizontal rotating shaft pair;
the lower swing arm component (7) is horizontally arranged at the lower end of the vertical arm component (6) and vertically rotates to form a vertical rotating shaft pair;
the wrist joint axis of the front end part of the lower swing arm component (7) and a perpendicular orthogonal wrist connecting flange (8) of the upper-level vertical revolving shaft pair are arranged at the front end part of the lower swing arm component (7), and a calibration rod (9) is arranged on the wrist connecting flange (8) when the mechanical zero position of each joint axis is calibrated;
a transmission assembly consisting of a fourth servo motor (701) and a harmonic reducer (702) is arranged on the corresponding connecting surface of the lower swing arm component (7);
the lower part of the upright post component (2) is provided with a hinged support component (210), the hinged support component (210) is fixedly connected with the base component (1) and is suitable for controlling the arm lever of the robot to be folded, and the upright post component (2) is horizontally connected.
2. The novel six-axis column coordinate industrial robot is characterized in that the column part (2) adopts a box column structure, and a lower bearing seat (201), a ball screw (202), a lifting nut seat (203), a nut (204), two groups of linear guide rails (205) which are matched with each other, a sliding block (206), a bearing seat assembly (207), a speed reducer (208) and a servo motor (209) are arranged on the column part (2);
the servo motor (209), the speed reducer (208), the bearing seat assembly (207) and the ball screw (202) are integrally installed on the upright post component (2), and the lower part of the ball screw (202) is installed on the lower bearing seat (201);
two groups of linear guide rails (205) and sliding blocks (206) are arranged on the guide rail connecting surface of the upright post component (2); the lifting nut seat (203) and the nut (204) are matched with the ball screw (202) and are arranged on the corresponding connecting surface of the sliding seat component (3) together with the sliding block (206) to form a vertical moving shaft pair moving along the linear guide rail (205).
3. A new six-axis cylindrical industrial robot according to claim 2, characterized in that one side of the slide part (3) is provided with a first servo motor (301), a first RV reducer (302), a first hollow drive shaft (303), a first bearing part (304);
slide part (3) and first RV reduction gear (302) fixed connection, install at first RV reduction gear (302) input first servo motor (301), install first hollow transmission shaft (303) on first RV reduction gear (302) output flange face, first hollow transmission shaft (303) and the bearing hole cooperation of first bearing part (304), first bearing part (304) support is on slide part (3), first hollow transmission shaft 303 axle head and first armed lever member (4) fixed mounting constitute first level horizontal swivel axle pair.
4. A new type six-axis cylindrical coordinate industrial robot according to claim 3, characterized in that one side of the first arm lever part (4) is provided with a second servo motor (401), a second RV reducer (402), a second hollow transmission shaft (403), a second bearing part (404);
a second RV reducer (402) is fixedly installed at the extending end of the first arm lever part (4), and the input end of the second RV reducer (402) is connected with a second servo motor (401); second hollow transmission shaft (403) is installed on the output flange face of second RV reducer (402), the bearing hole cooperation of second hollow transmission shaft (403) and second bearing part (404), second bearing part (404) supports on first armed lever part (4), second hollow transmission shaft (403) axle head and second armed lever part (5) fixed mounting, constitute second level horizontal revolving axle pair, front end armed lever servo motor cable passes second hollow transmission shaft (403), to first armed lever part (4), design has the calibration piece that is used for demarcating joint axle machinery zero point position on first armed lever part (4).
5. The novel six-axis cylindrical coordinate industrial robot is characterized in that a third servo motor (501), a third RV reducer (502), a third hollow transmission shaft (503) and a third bearing component (504) are arranged on one side of the second arm rod component (5);
the third-level horizontal rotating shaft pair is formed by fixedly mounting a third RV reducer (502) at the extending end of the second arm lever part (5), connecting the input end of the third RV reducer (502) with a third servo motor (501), mounting a third hollow transmission shaft (503) on the output flange surface of the third RV reducer (502), matching the third hollow transmission shaft (503) with the bearing inner hole of a third bearing part (504), supporting the third bearing part (504) on the second arm lever part (5), and fixedly mounting the shaft end of the third hollow transmission shaft (503) with a vertical arm part (6);
the front end arm lever servo motor cable passes through the third hollow transmission shaft (503) to the second arm lever part (5), and the second arm lever part (5) is provided with a calibration block for calibrating the mechanical zero point position of the joint shaft.
6. A new type of six-axis cylindrical industrial robot according to claim 5 characterized by the fact that one side of the vertical arm part (6) is provided with a first transmission assembly (601), a first bevel gear assembly (602), a second bevel gear assembly (603) and a horizontal swivel axis assembly (604);
a first transmission assembly (601) consisting of a support, a servo motor, a harmonic reducer and a coupling is arranged on a connecting surface of the lower part of a vertical arm component (6), a first bevel gear assembly (602) is arranged at the output end of the first transmission assembly (601), the first bevel gear assembly (602) is orthogonally meshed with a second bevel gear assembly (603), the second bevel gear assembly (603) is arranged on a horizontal rotating shaft assembly (604), the horizontal rotating shaft assembly (604) forms a vertical rotating shaft pair, a lower swinging arm component (7) is arranged at the front end of the horizontal rotating shaft assembly (604), and a front end arm rod servo motor cable penetrates through the horizontal rotating shaft assembly (604) to the vertical arm component (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022022753.6U CN214981047U (en) | 2020-09-16 | 2020-09-16 | Novel six-axis-column coordinate industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022022753.6U CN214981047U (en) | 2020-09-16 | 2020-09-16 | Novel six-axis-column coordinate industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214981047U true CN214981047U (en) | 2021-12-03 |
Family
ID=79138161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022022753.6U Active CN214981047U (en) | 2020-09-16 | 2020-09-16 | Novel six-axis-column coordinate industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214981047U (en) |
-
2020
- 2020-09-16 CN CN202022022753.6U patent/CN214981047U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110815180B (en) | Six-degree-of-freedom parallel robot motion analysis modeling and quick solving method | |
| CN103433918B (en) | A kind of five degree of freedom series-parallel connection industrial robot | |
| CN108656092B (en) | Series-parallel robot based on four branched chains, two-rotation and one-movement parallel mechanism | |
| CN101642906B (en) | Multi-stage telescopic redundant manipulator | |
| CN220404114U (en) | Mechanical arm, robot and minimally invasive surgery robot system | |
| CN108161896A (en) | 6-PSS parallel institutions and forward position analysis method | |
| CN103846649B (en) | A kind of two-stage parallel connection robot device for Fine Boring | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| CN112207806A (en) | Novel six-axis-column coordinate industrial robot | |
| CN109079761B (en) | Two-rotation one-movement parallel robot with closed-loop branched chain | |
| CN214981047U (en) | Novel six-axis-column coordinate industrial robot | |
| CN209175756U (en) | A kind of six axis all positon cutting robots | |
| CN112207400A (en) | Five special welding robots | |
| Brogårdh et al. | Application-oriented development of parallel kinematic manipulators with large workspace | |
| CN214724215U (en) | Six-axis column coordinate industrial robot | |
| CN211916851U (en) | Five-axis machining robot | |
| CN112207807A (en) | Six-axis column coordinate industrial robot | |
| CN212794938U (en) | Flexible industrial robot device with redundancy characteristic | |
| CN209830693U (en) | Six-axis welding robot | |
| CN209319074U (en) | A kind of dedicated all-position welding machine of five axis | |
| CN209598523U (en) | A kind of five axis all-position welding industrial robots | |
| CN209319794U (en) | A kind of five axis all positon cutting robots | |
| CN109128622A (en) | A kind of dedicated all-position welding machine of five axis | |
| CN210879639U (en) | Four-degree-of-freedom hybrid robot | |
| CN109604885A (en) | A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |