CN103538053A - Six-freedom-degree spray coating robot - Google Patents
Six-freedom-degree spray coating robot Download PDFInfo
- Publication number
- CN103538053A CN103538053A CN201210246224.1A CN201210246224A CN103538053A CN 103538053 A CN103538053 A CN 103538053A CN 201210246224 A CN201210246224 A CN 201210246224A CN 103538053 A CN103538053 A CN 103538053A
- Authority
- CN
- China
- Prior art keywords
- joint
- degree
- freedom
- wrist
- spray robot
- 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.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a six-freedom-degree spray coating robot which comprises a base, a waist joint, a big arm joint, a small arm joint, a three-freedom-degree obliquely crossed wrist, a spray gun support, flanges, bearings, a plurality of first drive mechanisms and second drive mechanisms, wherein the waist joint is movably fixed to the base, the big arm joint is movably fixed to the waist joint, the small arm joint is movably fixed to the big arm joint, the three-freedom-degree obliquely crossed base is movably fixed to the small arm joint, the spray gun support is connected to the tail end of the three-freedom-degree obliquely crossed wrist, and the flanges and the bearings are movably connected among all the joints or between the joints and the wrist. The first drive mechanisms are used for driving the waist joint, the big arm joint and the small arm joint to work, and the second drive mechanisms are used for driving the three-freedom-degree obliquely crossed wrist to work. Each first drive mechanism comprises a first servo motor and an RV speed reducer. Each second drive mechanism comprises a second servo motor, a planetary reducer, a hollow transmission shaft and a gear pair, wherein the planetary reducer is connected with the second servo motor, the hollow transmission shaft is connected with the planetary reducer in a matched mode, and the gear pair is arranged in the three-freedom-degree obliquely crossed wrist and connected with the hollow transmission shaft.
Description
Technical field
The present invention relates to a kind of spray robot, relate in particular to a kind of six degree of freedom spray robot.
Background technology
Along with the intensification day by day of modern industrialization degree and the development of Modern Manufacturing Technology, people are more and more higher to the appearance requirement of product, and especially, in industries such as household electrical appliances, automobile and light industrys, the presentation quality of product even has influence on the competitiveness of product on market.Spray efficiency is high owing to having for intelligent automatic coating equipment, coating even, pollute the advantages such as few, has replaced gradually Traditional Man spraying.At present, conventional automatic coating device mainly comprises coating machine.But existing coating machine exists following shortcoming on market: (1) free degree is few, and working space is little, be difficult to meet the needs of the automatic coating of large complicated part surfaces externally and internally.(2) flexible poor, spraying profile is single, can only spray specific component.(3) coating quality is low, for the higher part of appearance requirement, as outer surface of automobile, is difficult to meet spraying requirement.(4) positioning precision is low, utilization efficiency of coatings is low.
Therefore, be necessary to provide a kind of improved six degree of freedom spray robot to overcome the problems referred to above.
Summary of the invention
The object of the present invention is to provide and a kind ofly spray that the free degree is high, working space is large and coating quality and the high six degree of freedom spray robot of precision.
For achieving the above object, the invention provides a kind of six degree of freedom spray robot, comprise base, be movably fixed to the waist joint on base, be movably fixed to the large-arm joint on waist joint, be movably fixed to the little shoulder joint on large-arm joint, be movably fixed to the Three Degree Of Freedom oblique wrist on little shoulder joint, be connected to the gun stand of described Three Degree Of Freedom oblique wrist end, be movably connected in flange and bearing between each joint or between joint and wrist, in order to drive some first driving mechanisms of described waist joint and large-arm joint and forearm joint work and in order to drive the second driving mechanism of described Three Degree Of Freedom oblique wrist work, wherein said the first driving mechanism comprises the first servomotor and the RV reductor in mating connection with described the first servomotor, and described the second driving mechanism comprises the second servomotor, the planetary reducer being connected with described the second servomotor, the Hollow Transmission Shafts in mating connection with described planetary reducer and is arranged in described Three Degree Of Freedom oblique wrist and the gear pair being connected with described Hollow Transmission Shafts.
As a further improvement on the present invention, described waist joint is compared base and is become biasing setting, described large-arm joint is fixed on a side of described waist joint, described forearm arthrodesis is end one side away from described waist joint at large-arm joint, and described Three Degree Of Freedom oblique wrist is fixed on described little shoulder joint away from one end of described large-arm joint.
As a further improvement on the present invention, described waist joint, large-arm joint and little shoulder joint are hollow seal structure and form joint annular seal space in waist joint, large-arm joint and inside, forearm joint, and described the first driving mechanism is arranged in the annular seal space of described joint.
As a further improvement on the present invention, described six degree of freedom spray robot also comprises positive-pressure explosion-proof device, and described positive-pressure explosion-proof device comprises the malleation flow pick device that is fixed in described base, is fixed on the air compressor of chassis outer side and connects air compressor and stretch into the pneumatic tube in the annular seal space of described joint.
As a further improvement on the present invention, described malleation flow pick device comprises for picking up the Bending Tube Sensor of protective gas flow velocity in annular seal space and picking up the pressure difference switch of malleation in annular seal space.
As a further improvement on the present invention, described Three Degree Of Freedom oblique wrist is the non-spherical wrist of hollow oblique with three degree of freedom, and comprise the first-hand wrist joint being connected with described forearm joint motion, the second-hand's wrist joint being connected with first-hand wrist joints moving and the 3rd wrist joint being connected with second-hand's wrist joints moving, described gun stand is fixed on described the 3rd wrist joint, and described six degree of freedom spray robot comprises controls respectively first to the second driving mechanism described in three groups of the 3rd wrist joint.
As a further improvement on the present invention, described Hollow Transmission Shafts is arranged on inside, forearm joint and be arranged in parallel with little shoulder joint, one end of described Hollow Transmission Shafts is connected with the output optical axis of described planetary reducer, and the other end is by the bearings in the end flange of forearm joint.
As a further improvement on the present invention, described six degree of freedom spray robot also comprises coating pipeline, and it is inner that described coating pipeline is contained in described Three Degree Of Freedom oblique wrist.
The invention has the beneficial effects as follows: six degree of freedom spray robot of the present invention adopts six joint motions to connect, make to spray that the free degree is high, working space is large, coating quality is high and can meet the automatic coating of large complicated part surfaces externally and internally; In addition, adopt servomotor to coordinate RV reductor to drive, adopt simultaneously servomotor to coordinate planetary reducer and Hollow Transmission Shafts to drive Three Degree Of Freedom oblique wrist to waist joint and large-arm joint and little shoulder joint, can make spray robot transmission accuracy of the present invention high, and realize electrodeless variable-speed, and then realize high accuracy and control.
Accompanying drawing explanation
Fig. 1 is the stereogram of the six degree of freedom spray robot of the present invention's one specific embodiment;
Fig. 2 is by the part perspective diagram of six degree of freedom spray robot in Fig. 1, shows the internal driving mechanism of six degree of freedom spray robot.
The specific embodiment
Below with reference to each embodiment shown in the drawings, describe the present invention.But these embodiments do not limit the present invention, the conversion in the structure that those of ordinary skill in the art makes according to these embodiments, method or function is all included in protection scope of the present invention.
Please refer to Fig. 1 and Figure 2 shows that the better embodiment of six degree of freedom spray robot 100 of the present invention.Described six degree of freedom spray robot 100 comprises base 1, be movably fixed to the waist joint 2 on base 1, be movably fixed to the large-arm joint 3 on waist joint 2, be movably fixed to the forearm joint 4 on large-arm joint 3, be movably fixed to the Three Degree Of Freedom oblique wrist 5 on forearm joint 4, be connected to the gun stand 6 of described Three Degree Of Freedom oblique wrist 5 ends, be movably connected in each joint 2, 3, between 4 or joint 2, 3, 4 and wrist 5 between flange and bearing (not shown), in order to drive respectively described waist joint 2 with several first driving mechanisms 7 of large-arm joint 3 and 4 work of forearm joint and in order to drive the second driving mechanism 8 of described Three Degree Of Freedom oblique wrist 5 work.
Please refer to shown in Fig. 2, described in each, the first driving mechanism 7 comprises the first servomotor 71 and the RV reductor 72 in mating connection with described the first servomotor 71, and wherein the first servomotor 71 is connected with RV reductor 72 by straight spur gear secondary 73.In the present invention, the first driving mechanism 7 adopts the first servomotor 71 to coordinate driving can make transmission accuracy high with RV reductor 72, and realizes electrodeless variable-speed.Described the second driving mechanism 8 comprises the second servomotor 81, the planetary reducer 82 being connected with described the second servomotor 81, the Hollow Transmission Shafts 83 in mating connection with described planetary reducer 82 and is arranged in described Three Degree Of Freedom oblique wrist 5 and the gear pair (not shown) being connected with described Hollow Transmission Shafts 83.Described gun stand 6 is for fixed air atomizing lance or electrostatic gun 61 and coating pipe 62.Gun stand 6 is bolted, and is fixed in Three Degree Of Freedom oblique wrist 5.
Please refer to shown in Fig. 1, described waist joint 2 is compared 1 one-tenth biasing of base and is arranged, thereby makes six degree of freedom spray robot 100 compact conformations of the present invention, effectively expands working space.Described large-arm joint 3 is fixed on a side of described waist joint 2, and described forearm joint 4 is fixed on large-arm joint 3 away from end one side of described waist joint 2, and described Three Degree Of Freedom oblique wrist 5 is fixed on 4 one end away from described large-arm joint 3, described forearm joint.Described waist joint 2, large-arm joint 3 and forearm joint 4 are hollow seal structure, the connection of the composition shell in each joint 2,3,4 seals by rubber sheet gasket, sealing is good, and at the inner joint annular seal space that forms in waist joint 2, large-arm joint 3 and forearm joint 4.
Please refer to shown in Fig. 2, described base 1 for by spray robot 100 integral installations to ground or portal frame (not shown).In order to drive in the first driving mechanism 7 of described waist joint 2 work, RV reductor 72 is bolted on described base 1, and the first servomotor 71 is bolted on waist joint 2.Described base 1 is provided with the limited block 10 of anticollision, is mainly used in avoiding due to the excessive barrier that collides of waist joint 2 rotational angles.In order to drive in the first driving mechanism 7 of large-arm joint 3 work, the first servomotor 71 and RV reductor 72 are all bolted on described large-arm joint 3.In order to drive in the first driving mechanism 7 of forearm joint 4 work, the first servomotor 71 and RV reductor 72 are all bolted on described forearm joint 4.
Please refer to shown in Fig. 1 and Fig. 2, four lateral openings of described base 1, wherein a side is used for arranging cable (not shown) and the pneumatic tube (not shown) of servomotor 71,81, and rubber sheet gasket sealing plate 11 is installed to seal described cable and pneumatic tube in this side; One side is used for installing a positive-pressure explosion-proof device 9.In addition, base 1 four lateral openings of the present invention also can conveniently be tightened the bolt of the RV reductor 72 of fixed drive waist joint 2.Described positive-pressure explosion-proof device 9 comprises the malleation flow pick device that is fixed in described base 1, is fixed on the air compressor in base 1 outside and connects air compressor and stretch into the described pneumatic tube in the annular seal space of described joint.Described malleation flow pick device comprises for picking up the Bending Tube Sensor of protective gas flow velocity in the annular seal space of described joint and picking up the pressure difference switch of malleation in the annular seal space of described joint.Described the first driving mechanism 7 is all arranged in the annular seal space of described joint.Described cable and pneumatic tube are also arranged in the annular seal space of described joint, thus can prevent servomotor 71,81 and cable outside exposed and explosion caused.During spray robot 100 work of the present invention; protective gas after purified treatment enters into described joint annular seal space; through pneumatic tube, be delivered to servomotor 71,81 ends in waist joint 2, large-arm joint 3, forearm joint 4; imflammable gas in the annular seal space of joint is cleaned, then discharge.
Please refer to shown in Fig. 1 and Fig. 2, described Three Degree Of Freedom oblique wrist 5 is for having the non-spherical wrist of hollow oblique of three degree of freedom, hollow wall is used for arranging coating pipeline (not shown), avoid the coating line rupture protection valve hanging to spray surface, effectively prevent pipeline knotting or fracture, realizing three-dimensional any attitude.Described Three Degree Of Freedom oblique wrist 5 comprises the first-hand wrist joint 51 being flexibly connected with described forearm joint 4, the second-hand's wrist joint 52 being flexibly connected with first-hand wrist joint 51 and the 3rd wrist joint 53 being flexibly connected with second-hand's wrist joint 52.Described gun stand 6 is fixed on described the 3rd wrist joint 53.Described six degree of freedom spray robot 100 comprises controls respectively the second driving mechanism 8 described in three groups of the first to the 3rd wrist joint 51,52,53.In addition, the Hollow Transmission Shafts 83 in described the second driving mechanism 8 is all arranged on 4 inside, forearm joint and be arranged in parallel with forearm joint 4.One end of described Hollow Transmission Shafts 83 is connected with the output optical axis of described planetary reducer 82, and the other end is by the bearings in the 4 end flanges 41 of forearm joint.The present invention is arranged in forearm joint 4 front ends by three servomotors 81 of Three Degree Of Freedom oblique wrist 5, can reduce the space that takies described Three Degree Of Freedom oblique wrist 5, the load that alleviates large-arm joint 3, and structure is compacter.
In sum, six degree of freedom spray robot 100 of the present invention adopts six joints 2,3,4,51,52,53 to be flexibly connected, make to spray that the free degree is high, working space is large, coating quality is high and can meet the automatic coating of large complicated part surfaces externally and internally, the product that can adapt to spraying can be from auto industry, electronic product industry to household electrical appliance industry; In addition, adopt servomotor 71 to coordinate 72 pairs of waist joints 2 of RV reductor to drive, adopt simultaneously servomotor 81 to coordinate planetary reducer 82 and 83 pairs of Three Degree Of Freedom oblique wrists 5 of Hollow Transmission Shafts to drive with large-arm joint 3 and forearm joint 4, can make spray robot 100 transmission accuracies of the present invention high, and realize electrodeless variable-speed, and then realize high accuracy and control.
Be to be understood that, although this description is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of description is only for clarity sake, those skilled in the art should make description as a whole, technical scheme in each embodiment also can, through appropriately combined, form other embodiments that it will be appreciated by those skilled in the art that.
Listed a series of detailed description is above only illustrating for feasibility embodiment of the present invention; they are not in order to limit the scope of the invention, all disengaging within equivalent embodiment that skill spirit of the present invention does or change all should be included in protection scope of the present invention.
Claims (8)
1. a six degree of freedom spray robot, it is characterized in that: described six degree of freedom spray robot comprises base, be movably fixed to the waist joint on base, be movably fixed to the large-arm joint on waist joint, be movably fixed to the little shoulder joint on large-arm joint, be movably fixed to the Three Degree Of Freedom oblique wrist on little shoulder joint, be connected to the gun stand of described Three Degree Of Freedom oblique wrist end, be movably connected in flange and bearing between each joint or between joint and wrist, in order to drive some first driving mechanisms of described waist joint and large-arm joint and forearm joint work and in order to drive the second driving mechanism of described Three Degree Of Freedom oblique wrist work, wherein said the first driving mechanism comprises the first servomotor and the RV reductor in mating connection with described the first servomotor, and described the second driving mechanism comprises the second servomotor, the planetary reducer being connected with described the second servomotor, the Hollow Transmission Shafts in mating connection with described planetary reducer and is arranged in described Three Degree Of Freedom oblique wrist and the gear pair being connected with described Hollow Transmission Shafts.
2. six degree of freedom spray robot according to claim 1, it is characterized in that: described waist joint is compared base and become biasing setting, described large-arm joint is fixed on a side of described waist joint, described forearm arthrodesis is end one side away from described waist joint at large-arm joint, and described Three Degree Of Freedom oblique wrist is fixed on described little shoulder joint away from one end of described large-arm joint.
3. six degree of freedom spray robot according to claim 1, it is characterized in that: described waist joint, large-arm joint and little shoulder joint are hollow seal structure and at waist joint, large-arm joint and forearm joint inner formation joint annular seal space, described the first driving mechanism is arranged in the annular seal space of described joint.
4. six degree of freedom spray robot according to claim 3, it is characterized in that: described six degree of freedom spray robot also comprises positive-pressure explosion-proof device, described positive-pressure explosion-proof device comprises the malleation flow pick device that is fixed in described base, is fixed on the air compressor of chassis outer side and connects air compressor and stretch into the pneumatic tube in the annular seal space of described joint.
5. six degree of freedom spray robot according to claim 4, is characterized in that: described malleation flow pick device comprises for picking up the Bending Tube Sensor of protective gas flow velocity in annular seal space and picking up the pressure difference switch of malleation in annular seal space.
6. six degree of freedom spray robot according to claim 1, it is characterized in that: described Three Degree Of Freedom oblique wrist is the non-spherical wrist of hollow oblique with three degree of freedom, and comprise the first-hand wrist joint being connected with described forearm joint motion, the second-hand's wrist joint being connected with first-hand wrist joints moving and the 3rd wrist joint being connected with second-hand's wrist joints moving, described gun stand is fixed on described the 3rd wrist joint, and described six degree of freedom spray robot comprises controls respectively first to the second driving mechanism described in three groups of the 3rd wrist joint.
7. six degree of freedom spray robot according to claim 6, it is characterized in that: described Hollow Transmission Shafts is arranged on inside, forearm joint and be arranged in parallel with little shoulder joint, one end of described Hollow Transmission Shafts is connected with the output optical axis of described planetary reducer, and the other end is by the bearings in the end flange of forearm joint.
8. six degree of freedom spray robot according to claim 6, is characterized in that: described six degree of freedom spray robot also comprises coating pipeline, and it is inner that described coating pipeline is contained in described Three Degree Of Freedom oblique wrist.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210246224.1A CN103538053A (en) | 2012-07-17 | 2012-07-17 | Six-freedom-degree spray coating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210246224.1A CN103538053A (en) | 2012-07-17 | 2012-07-17 | Six-freedom-degree spray coating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103538053A true CN103538053A (en) | 2014-01-29 |
Family
ID=49962098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210246224.1A Pending CN103538053A (en) | 2012-07-17 | 2012-07-17 | Six-freedom-degree spray coating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103538053A (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104128293A (en) * | 2014-05-21 | 2014-11-05 | 安徽埃夫特智能装备有限公司 | Automobile door outer plate gluing equipment |
| CN104841592A (en) * | 2015-04-09 | 2015-08-19 | 徐州德坤电气科技有限公司 | Intelligent automatic spraying unit based on digital bus and usage method thereof |
| CN104959973A (en) * | 2015-07-06 | 2015-10-07 | 江苏小铁人机床有限公司 | Multi-purpose six-axis industrial robot |
| CN105058381A (en) * | 2015-07-28 | 2015-11-18 | 广西凯纵机械制造有限公司 | Six-freedom-degree eight-rod series-parallel connection spraying robot |
| CN105798887A (en) * | 2016-05-24 | 2016-07-27 | 李富平 | Obstacle avoidance spraying robot |
| CN106625748A (en) * | 2016-12-21 | 2017-05-10 | 扬州科文机器人有限公司 | Wrist structure of spray robot |
| CN107282342A (en) * | 2017-06-13 | 2017-10-24 | 宁波伊泽机器人有限公司 | Spray robot |
| CN107790316A (en) * | 2017-10-12 | 2018-03-13 | 广东伊雪松机器人设备有限公司 | A kind of robot automation's spray-painting plant |
| CN108115672A (en) * | 2016-11-26 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of kinetic control system and its method of oblique wrist spray robot |
| CN108115696A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of spray robot |
| CN108745728A (en) * | 2018-06-27 | 2018-11-06 | 江苏大洋海洋装备有限公司 | A kind of full-automatic outfititem airless spraying equipment robot |
| CN109249407A (en) * | 2018-11-01 | 2019-01-22 | 合肥工业大学 | A kind of hard and soft combination drive spray robot with non-individual body wrist joint |
| CN109500808A (en) * | 2017-09-15 | 2019-03-22 | 贵州大学 | A kind of Six-DOF industrial robot |
| CN109895078A (en) * | 2019-04-09 | 2019-06-18 | 徐伟锋 | A kind of big forearm linkage mechanism of robot |
| CN110038749A (en) * | 2019-04-30 | 2019-07-23 | 清研同创机器人（天津）有限公司 | A kind of spray robot |
| CN113198650A (en) * | 2021-05-25 | 2021-08-03 | 伯朗特机器人股份有限公司 | Spraying robot and positive pressure explosion-proof method thereof |
| CN114248258A (en) * | 2022-01-13 | 2022-03-29 | 佛山华数机器人有限公司 | High-precision large-arm joint-unfolding robot |
| CN109278031B (en) * | 2018-11-30 | 2023-12-15 | 埃夫特智能装备股份有限公司 | Hollow six-joint industrial robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10202575A (en) * | 1997-01-17 | 1998-08-04 | Tokico Ltd | Robot wrist mechanism |
| JPH11179687A (en) * | 1997-12-18 | 1999-07-06 | Tokico Ltd | Robot control device |
| JPH11277472A (en) * | 1998-03-31 | 1999-10-12 | Tokico Ltd | Coating robot |
| US20060102072A1 (en) * | 2004-09-28 | 2006-05-18 | Kawasaki Jukogyo Kabushiki Kaisha | Robot |
| CN201648235U (en) * | 2010-03-19 | 2010-11-24 | 常熟华融太阳能新型材料有限公司 | Automatic spraying equipment of solar energy quartz crucible |
| CN102553763A (en) * | 2010-12-09 | 2012-07-11 | 株式会社安川电机 | Painting robot and painting system |
| CN202684913U (en) * | 2012-07-17 | 2013-01-23 | 昆山华恒焊接股份有限公司 | Six-degree-of-freedom spraying robot |
-
2012
- 2012-07-17 CN CN201210246224.1A patent/CN103538053A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10202575A (en) * | 1997-01-17 | 1998-08-04 | Tokico Ltd | Robot wrist mechanism |
| JPH11179687A (en) * | 1997-12-18 | 1999-07-06 | Tokico Ltd | Robot control device |
| JPH11277472A (en) * | 1998-03-31 | 1999-10-12 | Tokico Ltd | Coating robot |
| US20060102072A1 (en) * | 2004-09-28 | 2006-05-18 | Kawasaki Jukogyo Kabushiki Kaisha | Robot |
| CN201648235U (en) * | 2010-03-19 | 2010-11-24 | 常熟华融太阳能新型材料有限公司 | Automatic spraying equipment of solar energy quartz crucible |
| CN102553763A (en) * | 2010-12-09 | 2012-07-11 | 株式会社安川电机 | Painting robot and painting system |
| CN202684913U (en) * | 2012-07-17 | 2013-01-23 | 昆山华恒焊接股份有限公司 | Six-degree-of-freedom spraying robot |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104128293B (en) * | 2014-05-21 | 2017-01-18 | 埃夫特智能装备股份有限公司 | Automobile door outer plate gluing equipment |
| CN104128293A (en) * | 2014-05-21 | 2014-11-05 | 安徽埃夫特智能装备有限公司 | Automobile door outer plate gluing equipment |
| CN104841592A (en) * | 2015-04-09 | 2015-08-19 | 徐州德坤电气科技有限公司 | Intelligent automatic spraying unit based on digital bus and usage method thereof |
| CN104841592B (en) * | 2015-04-09 | 2019-05-31 | 徐州德坤电气科技有限公司 | A kind of automatic spray unit of intelligence based on number bus and its application method |
| CN104959973A (en) * | 2015-07-06 | 2015-10-07 | 江苏小铁人机床有限公司 | Multi-purpose six-axis industrial robot |
| CN105058381A (en) * | 2015-07-28 | 2015-11-18 | 广西凯纵机械制造有限公司 | Six-freedom-degree eight-rod series-parallel connection spraying robot |
| CN105798887A (en) * | 2016-05-24 | 2016-07-27 | 李富平 | Obstacle avoidance spraying robot |
| CN108115672A (en) * | 2016-11-26 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of kinetic control system and its method of oblique wrist spray robot |
| CN108115672B (en) * | 2016-11-26 | 2021-04-20 | 沈阳新松机器人自动化股份有限公司 | Motion control system and method of oblique wrist spraying robot |
| CN108115696A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of spray robot |
| CN108115696B (en) * | 2016-11-28 | 2021-06-22 | 沈阳新松机器人自动化股份有限公司 | Spraying robot |
| CN106625748A (en) * | 2016-12-21 | 2017-05-10 | 扬州科文机器人有限公司 | Wrist structure of spray robot |
| CN107282342A (en) * | 2017-06-13 | 2017-10-24 | 宁波伊泽机器人有限公司 | Spray robot |
| CN109500808A (en) * | 2017-09-15 | 2019-03-22 | 贵州大学 | A kind of Six-DOF industrial robot |
| CN107790316A (en) * | 2017-10-12 | 2018-03-13 | 广东伊雪松机器人设备有限公司 | A kind of robot automation's spray-painting plant |
| CN108745728A (en) * | 2018-06-27 | 2018-11-06 | 江苏大洋海洋装备有限公司 | A kind of full-automatic outfititem airless spraying equipment robot |
| CN109249407A (en) * | 2018-11-01 | 2019-01-22 | 合肥工业大学 | A kind of hard and soft combination drive spray robot with non-individual body wrist joint |
| CN109278031B (en) * | 2018-11-30 | 2023-12-15 | 埃夫特智能装备股份有限公司 | Hollow six-joint industrial robot |
| CN109895078A (en) * | 2019-04-09 | 2019-06-18 | 徐伟锋 | A kind of big forearm linkage mechanism of robot |
| CN110038749A (en) * | 2019-04-30 | 2019-07-23 | 清研同创机器人（天津）有限公司 | A kind of spray robot |
| CN113198650A (en) * | 2021-05-25 | 2021-08-03 | 伯朗特机器人股份有限公司 | Spraying robot and positive pressure explosion-proof method thereof |
| CN114248258A (en) * | 2022-01-13 | 2022-03-29 | 佛山华数机器人有限公司 | High-precision large-arm joint-unfolding robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202684913U (en) | Six-degree-of-freedom spraying robot | |
| CN103538053A (en) | Six-freedom-degree spray coating robot | |
| CN205165042U (en) | 6 -degree of freedom spraying machine people | |
| CN101642906B (en) | Multi-stage telescopic redundant manipulator | |
| CN202241311U (en) | 3-level telescopic motion arm | |
| CN108527348B (en) | Multi-joint mechanical arm | |
| CN111408494B (en) | Rail type spraying robot | |
| CN105522563A (en) | Multi-joint robot | |
| CN112008741A (en) | High-precision industrial spraying robot | |
| CN108638051A (en) | A kind of high protection bispin articulated robot | |
| CN203726501U (en) | Foldable light type mechanical arm capable of following and monitoring target | |
| CN105252257A (en) | Rotary disc type automatic screw tightening device | |
| CN111152261A (en) | High-flexibility six-degree-of-freedom spraying robot | |
| CN104647364B (en) | A kind of reconfigurable drag articulation type four axle robots | |
| CN107696025A (en) | A kind of four axle pressing robots | |
| CN204487593U (en) | A kind of Three Degree Of Freedom robot wrist articulation mechanism based on Hollow Shaft Transmission | |
| CN212072007U (en) | High-flexibility six-degree-of-freedom spraying robot | |
| CN109807909A (en) | Seven freedom spray robot | |
| CN108044614A (en) | A kind of redundant mechanical arm based on modularized joint | |
| CN115213920A (en) | Cooperative robot suitable for metal plate spraying application environment | |
| CN213081482U (en) | High-precision industrial spraying robot | |
| CN212331031U (en) | Modular articulated power mechanical arm equipment | |
| CN210585559U (en) | Paint spraying mechanical arm structure for automobile manufacturing | |
| CN104589329B (en) | Gear drive electric cylinder is two translation manipulators at a high speed | |
| CN103990570A (en) | Manipulator for inner surface spraying of irregular barrel-shaped workpiece |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140129 |