CN103934824A - Parallelogram mechanism used for robot and three-axis series-parallel mechanism industrial robot - Google Patents
Parallelogram mechanism used for robot and three-axis series-parallel mechanism industrial robot Download PDFInfo
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- CN103934824A CN103934824A CN201410191091.1A CN201410191091A CN103934824A CN 103934824 A CN103934824 A CN 103934824A CN 201410191091 A CN201410191091 A CN 201410191091A CN 103934824 A CN103934824 A CN 103934824A
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Abstract
The invention discloses a parallelogram mechanism used for a robot and the three-axis series-parallel mechanism industrial robot, and belongs to the technical field of industrial robots. According to a one-axis rotary motion mechanism of the three-axis series-parallel mechanism industrial robot, a one-axis speed reducer is driven by a one-axis motor, so that the one-axis rotary motion mechanism conducts rotary motion. A first speed reduction mechanism in a two-axis parallel motion mechanism drives a first connection rod, the first connection rod, a second connection rod and a third connection rod constitute a parallelogram structure, the third connection rod, a fourth connection rod, a fifth connection rod and a sixth connection rod also constitute a parallelogram structure, and the sixth connection rod is connected with a clamping block. A second speed reduction mechanism drives a seventh connection rod, the seventh connection rod, the eighth connection rod and the ninth connection rod constitute a parallelogram structure, and the ninth connection rod, a tenth connection rod, an eleventh connection rod and the sixth connection rod also constitute a parallelogram structure. The three-axis series-parallel mechanism industrial robot combines the advantages of a series robot and a parallel robot, and can replace a four-axis industrial robot in a certain range to conduct carrying, stacking, sorting, binning, linear working and the like.
Description
Technical field
The present invention relates to electromechanical integration field industrial robot basic machine new mechanism, more particularly, relate to parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot for a kind of robot.
Background technology
Industrial robot is the important automated arm of modern manufacturing industry, developed country has become a kind of trend with the automatic production line of the artificial core of machine, greatly guarantee and improved quality and the production efficiency of enterprise product, promoted the fast development of these industries, made the also high-new manufacturing technology to advanced person by conventional fabrication processes technical development of its manufacturing technology.Industrial robot mainly contains two kinds of technology paths: a kind of is cascaded structure, such as typical 6DOF multi-joint industrial robot; Another kind is parallel-connection structure, and a plurality of joints are associated movement on a point, and controls.Cascaded structure developing history is long, is widely used, and be the industrial robot frame for movement of main flow, but movement velocity is subject to certain restriction; The research and development of parallel robot are also more and more subject to people's attention now, because its speed is fast, cost is low, but the range of movement of parallel robot is narrow and small, and load is little is also the key factor of restriction parallel robot development.
By patent retrieval, existing similar open about the technical scheme of industrial robot.As Chinese Patent Application No.: 201210082006.9, the applying date: 2012-03-26, invention and created name is: the technical scheme of robot for carrying and piling discloses a kind of robot for carrying and piling, comprise base, be located at the rotary frame that can rotate around vertical direction on base, be located on rotary frame by the large arm in below, below forearm, the large arm in top, the large arm parallel-crank mechanism that top forearm forms, wrist horizontal attitude keeping parallelism quadrangular mechanism, the parallelogram arm mechanism being connected with wrist horizontal attitude keeping parallelism quadrangular mechanism with large arm parallel-crank mechanism, the wrist that can rotate around vertical direction being connected with parallelogram arm mechanism, on rotary frame, be provided with inclined guide rails, on this inclined guide rails, be provided with the slide block being driven by linear driving element, described slide block is flexibly connected with the fixed connecting piece of the large arm lower end, below of wrist horizontal attitude keeping parallelism quadrangular mechanism, the lower end of the large arm in top in large arm parallel-crank mechanism is coaxially connected with the upper end of a linear driving element, and the lower end of linear driving element is cut with scissors with rotary frame and is connected by rotation.
And for example, Chinese Patent Application No.: 201310079690.X, the applying date: 2013-03-13, invention and created name is: a kind of disclosed technical scheme of three-translational freedom robot mechanism that contains nearly frame parallelogram-frame parallel rod far away.Chinese Patent Application No.: 201010251559.3, the applying date: 2010-08-05, invention and created name is: the disclosed technical scheme of a kind of three-translational freedom robot mechanism that contains junction parallelogram.The technique scheme technical barrier that all unresolved parallel connection and serial machine people exist, still needs further improvement.
Summary of the invention
1. the technical problem that invention will solve
The object of the invention is to overcome the problem that in prior art, series and parallel connections robot architecture exists, parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot for a kind of robot is provided, adopted technical scheme of the present invention can ingeniously solve problem in parallel and that serial machine people exists.
2. technical scheme
For achieving the above object, technical scheme provided by the invention is:
A kind of robot of the present invention parallel-crank mechanism, comprise two axle supporting seats, also comprise the first parallelogram motion mechanism, the second parallelogram motion mechanism and grip block, wherein: the first described parallelogram motion mechanism comprises the first reducing gear, connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five and connecting rod six, the first described reducing gear drivening rod one, described connecting rod one, connecting rod two, connecting rod three forms a parallelogram sturcutre, described connecting rod three, connecting rod four, connecting rod five, connecting rod six also forms a parallelogram sturcutre, this connecting rod six is connected with grip block, the second described parallelogram motion mechanism comprises the second reducing gear, connecting rod seven, connecting rod eight, connecting rod nine, connecting rod ten and connecting rod 11, the second described reducing gear drivening rod seven, described connecting rod seven, connecting rod eight, connecting rod nine form a parallelogram sturcutre, and described connecting rod nine, connecting rod ten, connecting rod 11 and connecting rod six also form a parallelogram sturcutre.
Furthermore, the first described reducing gear and the second reducing gear are installed on two axle supporting seats, one end of connecting rod one is connected with the first reducing gear, one end chain connection of connecting rod two is on two axle supporting seats, the other end of connecting rod one and connecting rod three chain connections, the other end of connecting rod two also with connecting rod three chain connections; The two ends of described connecting rod four respectively with connecting rod three, connecting rod six chain connections, the two ends of described connecting rod five also respectively with connecting rod three, connecting rod six chain connections.
Furthermore, one end of described connecting rod seven is connected with the second reducing gear, one end chain connection of connecting rod eight on two axle supporting seats, the other end of connecting rod seven and connecting rod nine chain connections, the other end of connecting rod eight also with connecting rod nine chain connections; The two ends of described connecting rod ten respectively with connecting rod nine, connecting rod six chain connections, the two ends of described connecting rod 11 also respectively with connecting rod nine, connecting rod six chain connections.
Furthermore, described connecting rod one and connecting rod two are pair of parallel limit, and connecting rod four and connecting rod five are pair of parallel limit, and connecting rod seven and connecting rod eight are pair of parallel limit, and connecting rod ten and connecting rod 11 are pair of parallel limit; Above-mentioned connecting rod one, connecting rod two, connecting rod ten are identical with the length of connecting rod 11, and above-mentioned connecting rod four, connecting rod five, connecting rod seven are identical with the length of connecting rod eight.
A kind of three-axis series-multiple connection of the present invention mechanism industrial robot, comprise Yi Zhou gyration mechanism and two axle parallel moving mechanisms, wherein: Yi Zhou gyration mechanism, described Yi Zhou gyration mechanism comprises a spindle motor, an axle decelerator, an axle pedestal and two axle pedestals, this spindle motor drives an axle decelerator, Shi Yizhou gyration mechanism carries out gyration, drives two axle pedestal gyrations;
Two axle parallel moving mechanisms, two described axle parallel moving mechanisms comprise two axle supporting seats, the first parallelogram motion mechanism, the second parallelogram motion mechanism and grip block, this two axles supporting seat is fixed on two axle pedestals, wherein: the first described parallelogram motion mechanism comprises the first reducing gear, connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five and connecting rod six, the first described reducing gear drivening rod one, described connecting rod one, connecting rod two, connecting rod three forms a parallelogram sturcutre, described connecting rod three, connecting rod four, connecting rod five, connecting rod six also forms a parallelogram sturcutre, this connecting rod six is connected with grip block, the second described parallelogram motion mechanism comprises the second reducing gear, connecting rod seven, connecting rod eight, connecting rod nine, connecting rod ten and connecting rod 11, the second described reducing gear drivening rod seven, described connecting rod seven, connecting rod eight, connecting rod nine form a parallelogram sturcutre, and described connecting rod nine, connecting rod ten, connecting rod 11 and connecting rod six also form a parallelogram sturcutre.
Furthermore, the first described reducing gear and the second reducing gear are installed on two axle supporting seats, one end of connecting rod one is connected with the first reducing gear, one end chain connection of connecting rod two is on two axle supporting seats, the other end of connecting rod one and connecting rod three chain connections, the other end of connecting rod two also with connecting rod three chain connections; The two ends of described connecting rod four respectively with connecting rod three, connecting rod six chain connections, the two ends of described connecting rod five also respectively with connecting rod three, connecting rod six chain connections.
Furthermore, one end of described connecting rod seven is connected with the second reducing gear, one end chain connection of connecting rod eight on two axle supporting seats, the other end of connecting rod seven and connecting rod nine chain connections, the other end of connecting rod eight also with connecting rod nine chain connections; The two ends of described connecting rod ten respectively with connecting rod nine, connecting rod six chain connections, the two ends of described connecting rod 11 also respectively with connecting rod nine, connecting rod six chain connections.
Furthermore, described connecting rod one and connecting rod two are pair of parallel limit, and connecting rod four and connecting rod five are pair of parallel limit, and connecting rod seven and connecting rod eight are pair of parallel limit, and connecting rod ten and connecting rod 11 are pair of parallel limit; Above-mentioned connecting rod one, connecting rod two, connecting rod ten are identical with the length of connecting rod 11, and above-mentioned connecting rod four, connecting rod five, connecting rod seven are identical with the length of connecting rod eight.
3. beneficial effect
Adopt technical scheme provided by the invention, compared with prior art, there is following remarkable result:
(1) a kind of robot of the present invention parallel-crank mechanism, the design feature of the unique innovative design of its first parallelogram motion mechanism and the second parallelogram motion mechanism can guarantee that connecting rod six necessarily moves in vertical direction, by the first reducing gear and two reducing gears of the second reducing gear, drive, guaranteed that grip block can have a unique position in a space, the robot movement velocity that adopts parallel-crank mechanism of the present invention to make is fast, and simple in structure, cost is low.
(2) a kind of three-axis series-multiple connection of the present invention mechanism industrial robot, it adopts the three-axis series-multiple connection new construction of Liao Yizhou gyration mechanism and two axle parallel moving mechanisms, combine the advantage of serial machine people and parallel robot, the gyration of Yi Zhou gyration mechanism is greatly improved the range of movement of robot, two axle parallel moving mechanisms have adopted the parallel-crank mechanism of unique innovative design, its movement velocity is fast, and simple in structure, cost is low, industrial robot of the present invention can replace four shaft industrial robots to carry within the specific limits, piling, sorting, vanning, the work such as linear welding.
Accompanying drawing explanation
Fig. 1 is the structural representation of Zhong Yizhou gyration of the present invention mechanism;
Fig. 2 is the structural representation of two axle parallel moving mechanisms in the present invention.
Label declaration in schematic diagram:
1, a spindle motor; 2, an axle decelerator; 3, an axle pedestal; 41, two axle pedestals; 42, two axle supporting seats; 5, the first reducing gear; 61, connecting rod one; 62, connecting rod two; 63, connecting rod three; 64, connecting rod four; 65, connecting rod five; 66, connecting rod six; 71, connecting rod seven; 72, connecting rod eight; 73, connecting rod nine; 74, connecting rod ten; 75, connecting rod 11; 8, grip block.
The specific embodiment
For further understanding content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment 1
In conjunction with Fig. 1 and Fig. 2, a kind of three-axis series-multiple connection mechanism industrial robot of the present embodiment, comprises Yi Zhou gyration mechanism and two axle parallel moving mechanisms.As shown in Figure 1, Yi Zhou gyration mechanism in the present embodiment comprises a spindle motor 1, an axle decelerator 2, an axle pedestal 3 and two axle pedestals 41, this spindle motor 1 drives an axle decelerator 2, and Shi Yizhou gyration mechanism carries out gyration, drives two axle pedestal 41 gyrations.As shown in Figure 2, two axle parallel moving mechanisms in the present embodiment comprise two axle supporting seats 42, the first parallelogram motion mechanism, the second parallelogram motion mechanism and grip block 8, this two axles supporting seat 42 is fixed on two axle pedestals 41, wherein: the first described parallelogram motion mechanism comprises the first reducing gear 5, connecting rod 1, connecting rod 2 62, connecting rod 3 63, connecting rod 4 64, connecting rod 5 65 and connecting rod 6 66, the first described reducing gear 5 drivening rods 1, described connecting rod 1, connecting rod 2 62, connecting rod 3 63 forms a parallelogram sturcutre, described connecting rod 3 63, connecting rod 4 64, connecting rod 5 65, connecting rod 6 66 also forms a parallelogram sturcutre, this connecting rod 6 66 is connected with grip block 8.The second parallelogram motion mechanism comprises the second reducing gear, connecting rod 7 71, connecting rod 8 72, connecting rod 9 73, connecting rod 10 and connecting rod 11, the second described reducing gear drivening rod 7 71, described connecting rod 7 71, connecting rod 8 72, connecting rod 9 73 form a parallelogram sturcutre, and described connecting rod 9 73, connecting rod 10, connecting rod 11 and connecting rod 6 66 also form a parallelogram sturcutre.A kind of robot in the present embodiment is two axle parallel moving mechanisms with parallel-crank mechanism.
Concrete detailed structure is in the present embodiment described as follows: the first reducing gear 5 and the second reducing gear are installed on two axle supporting seats 42, one end of connecting rod 1 is connected with the first reducing gear 5, one end chain connection of connecting rod 2 62 is on two axle supporting seats 42, the other end of connecting rod 1 and connecting rod 3 63 chain connections, the other end of connecting rod 2 62 also with connecting rod 3 63 chain connections; The two ends of described connecting rod 4 64 respectively with connecting rod 3 63, connecting rod 6 66 chain connections, the two ends of described connecting rod 5 65 also respectively with connecting rod 3 63, connecting rod 6 66 chain connections.One end of connecting rod 7 71 is connected with the second reducing gear, one end chain connection of connecting rod 8 72 on two axle supporting seats 42, the other end of connecting rod 7 71 and connecting rod 9 73 chain connections, the other end of connecting rod 8 72 also with connecting rod 9 73 chain connections; The two ends of described connecting rod 10 respectively with connecting rod 9 73, connecting rod 6 66 chain connections, the two ends of described connecting rod 11 also respectively with connecting rod 9 73, connecting rod 6 66 chain connections.In Fig. 2, connecting rod 1 and connecting rod 2 62 are pair of parallel limit, and connecting rod 4 64 and connecting rod 5 65 are pair of parallel limit, and connecting rod 7 71 and connecting rod 8 72 are pair of parallel limit, and connecting rod 10 and connecting rod 11 are pair of parallel limit; Above-mentioned connecting rod 1, connecting rod 2 62, connecting rod 10 are identical with the length of connecting rod 11, and above-mentioned connecting rod 4 64, connecting rod 5 65, connecting rod 7 71 are identical with the length of connecting rod 8 72.Connecting rod 1 in the present embodiment, connecting rod 2 62, connecting rod 10 are identical with the length of connecting rod 11, connecting rod 4 64, connecting rod 5 65, connecting rod 7 71 are identical with the length of connecting rod 8 72, and such dimensional fits design has guaranteed the operation order of two axle parallel moving mechanisms.
Specifically in use, Yi Zhou gyration mechanism directly drives an axle decelerator 2 by a spindle motor 1, and Shi Yizhou gyration mechanism carries out gyration.Two axle parallel moving mechanisms are to connect respectively directly the first reducing gear 5 and the second reducing gear (in figure not label) by motor, take the first parallelogram motion mechanism is example, the first reducing gear 5 drivening rods 1, connecting rod 1, connecting rod 2 62, connecting rod 3 63 forms a parallelogram sturcutre, connecting rod 3 63, connecting rod 4 64, connecting rod 5 65, connecting rod 6 66 also forms a parallelogram sturcutre, in the process of the first reducing gear 5 motions, drive two above-mentioned parallelogram sturcutres to move, because the design feature of parallelogram guarantees that connecting rod 6 66 necessarily moves in vertical direction, and because there are two parallelogram sturcutres, only has the first reducing gear 5 as a power source, so unnecessary one of free degree.The version of the second parallelogram motion mechanism is the same with the first parallelogram motion mechanism, but the version of the first parallelogram motion mechanism and the second parallelogram motion mechanism is just in time contrary, the free degree that has guaranteed grip block 8 is two, but because have the first reducing gear 5 and the second reducing gear as two reducing gears, so guaranteed that grip block 8 can have a unique position in a space.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited to this.So, if those of ordinary skill in the art is enlightened by it, in the situation that not departing from the invention aim, without the creationary frame mode similar to this technical scheme and the embodiment of designing, all should belong to protection scope of the present invention.
Claims (8)
1.Yi Zhong robot parallel-crank mechanism, comprises two axle supporting seats (42), it is characterized in that: also comprise the first parallelogram motion mechanism, the second parallelogram motion mechanism and grip block (8), wherein:
The first described parallelogram motion mechanism comprises the first reducing gear (5), connecting rod one (61), connecting rod two (62), connecting rod three (63), connecting rod four (64), connecting rod five (65) and connecting rod six (66), described the first reducing gear (5) drivening rod one (61), described connecting rod one (61), connecting rod two (62), connecting rod three (63) forms a parallelogram sturcutre, described connecting rod three (63), connecting rod four (64), connecting rod five (65), connecting rod six (66) also forms a parallelogram sturcutre, this connecting rod six (66) is connected with grip block (8),
The second described parallelogram motion mechanism comprises the second reducing gear, connecting rod seven (71), connecting rod eight (72), connecting rod nine (73), connecting rod ten (74) and connecting rod ten one (75), the second described reducing gear drivening rod seven (71), described connecting rod seven (71), connecting rod eight (72), connecting rod nine (73) form a parallelogram sturcutre, and described connecting rod nine (73), connecting rod ten (74), connecting rod ten one (75) and connecting rod six (66) also form a parallelogram sturcutre.
2. a kind of robot according to claim 1 parallel-crank mechanism, it is characterized in that: described the first reducing gear (5) and the second reducing gear are installed on two axle supporting seats (42), one end of connecting rod one (61) is connected with the first reducing gear (5), one end chain connection of connecting rod two (62) is on two axle supporting seats (42), the other end of connecting rod one (61) and connecting rod three (63) chain connections, the other end of connecting rod two (62) also with connecting rod three (63) chain connections; The two ends of described connecting rod four (64) respectively with connecting rod three (63), connecting rod six (66) chain connections, the two ends of described connecting rod five (65) also respectively with connecting rod three (63), connecting rod six (66) chain connections.
3. a kind of robot according to claim 2 parallel-crank mechanism, it is characterized in that: one end of described connecting rod seven (71) is connected with the second reducing gear, one end chain connection of connecting rod eight (72) is on two axle supporting seats (42), the other end of connecting rod seven (71) and connecting rod nine (73) chain connections, the other end of connecting rod eight (72) also with connecting rod nine (73) chain connections; The two ends of described connecting rod ten (74) respectively with connecting rod nine (73), connecting rod six (66) chain connections, the two ends of described connecting rod ten one (75) also respectively with connecting rod nine (73), connecting rod six (66) chain connections.
4. according to a kind of robot parallel-crank mechanism described in claim 1 or 2 or 3, it is characterized in that: described connecting rod one (61) and connecting rod two (62) are pair of parallel limit, connecting rod four (64) and connecting rod five (65) are pair of parallel limit, connecting rod seven (71) and connecting rod eight (72) are pair of parallel limit, and connecting rod ten (74) and connecting rod ten one (75) are pair of parallel limit; Above-mentioned connecting rod one (61), connecting rod two (62), connecting rod ten (74) are identical with the length of connecting rod ten one (75), and above-mentioned connecting rod four (64), connecting rod five (65), connecting rod seven (71) are identical with the length of connecting rod eight (72).
5.Yi Zhong three-axis series-multiple connection mechanism industrial robot, is characterized in that: comprise Yi Zhou gyration mechanism and two axle parallel moving mechanisms, wherein:
Yi Zhou gyration mechanism,
Described Yi Zhou gyration mechanism comprises a spindle motor (1), an axle decelerator (2), an axle pedestal (3) and two axle pedestals (41), this spindle motor (1) drives an axle decelerator (2), Shi Yizhou gyration mechanism carries out gyration, drives two axle pedestal (41) gyrations;
Two axle parallel moving mechanisms,
Two described axle parallel moving mechanisms comprise two axle supporting seats (42), the first parallelogram motion mechanism, the second parallelogram motion mechanism and grip block (8), this two axles supporting seat (42) is fixed on two axle pedestals (41), wherein: the first described parallelogram motion mechanism comprises the first reducing gear (5), connecting rod one (61), connecting rod two (62), connecting rod three (63), connecting rod four (64), connecting rod five (65) and connecting rod six (66), described the first reducing gear (5) drivening rod one (61), described connecting rod one (61), connecting rod two (62), connecting rod three (63) forms a parallelogram sturcutre, described connecting rod three (63), connecting rod four (64), connecting rod five (65), connecting rod six (66) also forms a parallelogram sturcutre, this connecting rod six (66) is connected with grip block (8), the second described parallelogram motion mechanism comprises the second reducing gear, connecting rod seven (71), connecting rod eight (72), connecting rod nine (73), connecting rod ten (74) and connecting rod ten one (75), the second described reducing gear drivening rod seven (71), described connecting rod seven (71), connecting rod eight (72), connecting rod nine (73) form a parallelogram sturcutre, and described connecting rod nine (73), connecting rod ten (74), connecting rod ten one (75) and connecting rod six (66) also form a parallelogram sturcutre.
6. a kind of three-axis series-multiple connection according to claim 5 mechanism industrial robot, it is characterized in that: described the first reducing gear (5) and the second reducing gear are installed on two axle supporting seats (42), one end of connecting rod one (61) is connected with the first reducing gear (5), one end chain connection of connecting rod two (62) is on two axle supporting seats (42), the other end of connecting rod one (61) and connecting rod three (63) chain connections, the other end of connecting rod two (62) also with connecting rod three (63) chain connections; The two ends of described connecting rod four (64) respectively with connecting rod three (63), connecting rod six (66) chain connections, the two ends of described connecting rod five (65) also respectively with connecting rod three (63), connecting rod six (66) chain connections.
7. a kind of three-axis series-multiple connection according to claim 6 mechanism industrial robot, it is characterized in that: one end of described connecting rod seven (71) is connected with the second reducing gear, one end chain connection of connecting rod eight (72) is on two axle supporting seats (42), the other end of connecting rod seven (71) and connecting rod nine (73) chain connections, the other end of connecting rod eight (72) also with connecting rod nine (73) chain connections; The two ends of described connecting rod ten (74) respectively with connecting rod nine (73), connecting rod six (66) chain connections, the two ends of described connecting rod ten one (75) also respectively with connecting rod nine (73), connecting rod six (66) chain connections.
8. according to a kind of three-axis series-multiple connection mechanism industrial robot described in claim 5 or 6 or 7, it is characterized in that: described connecting rod one (61) and connecting rod two (62) are pair of parallel limit, connecting rod four (64) and connecting rod five (65) are pair of parallel limit, connecting rod seven (71) and connecting rod eight (72) are pair of parallel limit, and connecting rod ten (74) and connecting rod ten one (75) are pair of parallel limit; Above-mentioned connecting rod one (61), connecting rod two (62), connecting rod ten (74) are identical with the length of connecting rod ten one (75), and above-mentioned connecting rod four (64), connecting rod five (65), connecting rod seven (71) are identical with the length of connecting rod eight (72).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510690222.5A CN105127988B (en) | 2014-05-07 | 2014-05-07 | A kind of three-axis series-multiple connection mechanism industrial robot |
| CN201410191091.1A CN103934824B (en) | 2014-05-07 | 2014-05-07 | A kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410191091.1A CN103934824B (en) | 2014-05-07 | 2014-05-07 | A kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot |
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| CN201510690222.5A Division CN105127988B (en) | 2014-05-07 | 2014-05-07 | A kind of three-axis series-multiple connection mechanism industrial robot |
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| CN103934824A true CN103934824A (en) | 2014-07-23 |
| CN103934824B CN103934824B (en) | 2016-03-16 |
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| CN201410191091.1A Expired - Fee Related CN103934824B (en) | 2014-05-07 | 2014-05-07 | A kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot |
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| CN104626109A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | MDOF controllable mechanism type hybrid carrying robot |
| CN104960859A (en) * | 2015-07-02 | 2015-10-07 | 山大鲁能信息科技有限公司 | Roaster cigarette holder installation and detachment equipment |
| CN105805252A (en) * | 2016-05-06 | 2016-07-27 | 广州市兴世机械制造有限公司 | Dual-drive five-linkage mechanism |
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| CN106180449B (en) * | 2016-07-06 | 2018-04-03 | 燕山大学 | Series-parallel configuration punching press loading and unloading manipulator |
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| CN103170965A (en) * | 2013-03-13 | 2013-06-26 | 安徽工业大学 | Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod |
| CN203427028U (en) * | 2013-08-23 | 2014-02-12 | 江苏建筑职业技术学院 | Four-degree-of-freedom hybrid robot |
| CN103727970A (en) * | 2013-11-06 | 2014-04-16 | 中国科学院上海光学精密机械研究所 | Synchronous torque angle indicator |
| CN203804972U (en) * | 2014-05-07 | 2014-09-03 | 马鞍山方宏自动化科技有限公司 | Parallelogram mechanism for robots and triaxial hybrid mechanism industrial robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626109A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | MDOF controllable mechanism type hybrid carrying robot |
| CN104960859A (en) * | 2015-07-02 | 2015-10-07 | 山大鲁能信息科技有限公司 | Roaster cigarette holder installation and detachment equipment |
| CN105805252A (en) * | 2016-05-06 | 2016-07-27 | 广州市兴世机械制造有限公司 | Dual-drive five-linkage mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105127988A (en) | 2015-12-09 |
| CN105127988B (en) | 2017-08-08 |
| CN103934824B (en) | 2016-03-16 |
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