CN104440937A - Industrious robot - Google Patents
Industrious robot Download PDFInfo
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- CN104440937A CN104440937A CN201410482130.3A CN201410482130A CN104440937A CN 104440937 A CN104440937 A CN 104440937A CN 201410482130 A CN201410482130 A CN 201410482130A CN 104440937 A CN104440937 A CN 104440937A
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Abstract
The invention provides an industrious robot which enables cable wire arrangement to be easy and prevents wire cable damage and deformation when an arm part works. The (upper) arm part (9) of the robot (100) is orderly provided with a hollow part (15), a cutting opening part (16) and a toggle joint configuration part (17). A first cable wire (7a) between a robot main body side and a toggle joint (18), a flexible guiding pipe (31) through which the first cable wire runs, a second cable wire (7b) connected with a toggle joint swing driving electromotor (27) and a third cable wire (7c) connected with a toggle joint rotation driving electromotor (28) are connected in the arm part in a plugged manner. One end of the flexible guiding pipe is connected with the toggle joint, the other side is fixed in on a fixed component (29) arranged on the hollow part, a middle part is supported by a support component (32) to be capable of moving in the axial direction and is limited to moving in toward an axial right angle, the support component (32) is fixed inside the arm part, the cross section of the axial right angle is quadrilateral in shape, and upper and lower edges relative to a shaft are shaped as rollers (33, 34) having edges as shafts.
Description
Technical field
The present invention relates to a kind of industrial robot, described industrial robot is provided with cable in arm, and one end of described arm is installed in the mode of freely rotating relative to robot body, and the other end is provided with the toggle freely rotated.
Background technology
General industrial robot (below, is only recited as " robot ".) possess: robot body, the arm installed with free rotating manner relative to robot body, to install with free rotating manner relative to arm and the toggle of end-effector is installed.To for making the driving mechanism of arm, wrist rotation (such as, servomotor) provide the power line of power supply and a branch of (following, the structure of this state is recited as " cable " for providing the air hose etc. of air to be concentrated as to the cylinder be arranged in end-effector.), be contained in the inside of robot body or connect up with being fixed on external.
The arm of robot, toggle are set to carry out free rotation in the angle of regulation.When arm, wrist rotation, cable is extremely stretched, and probably there is the danger that broken string equivalent damage occurs.Therefore, even if for making cable also not damage when arm, toggle maximum rotation, described cable is connected up by the mode with slackness (surplus length).But, if this slackness is excessive, then can produce resistance when arm, wrist rotation, probably there is the danger cushioned with the component of periphery.Therefore, cable or cable are protected by flexible conduit, supporting member is set in critical positions, cable etc. is fixed.But, cable " lose shape (あ ば れ Ru) " such phenomenon can be produced when carrying out high speed operation at arm, toggle.And then the cable wiring space around robot becomes large.In addition, outward appearance also unsightly.
Therefore, occur many cable being accommodated in arm, be more preferably accommodated in the application in flexible conduit further.These applications, by being configured in by cable etc. to shorten the length of cable in arm, by reversing the revolution absorbing arm axle, toggle shaft, reducing and turning round by toggle the deflection caused.In addition, by be accommodated in arm thus to stop cable in the distortion of axle right angle orientation, in addition, by stoping distortion further through flexible conduit.And then, in patent document 1, the toggle side of the flexible conduit be arranged in arm is fixed on toggle, main body arm side is arranged to slide (movement) to arm direction of principal axis, be released in the power on the draw direction of cable, so that the lower flexible conduit of situation worked at toggle (wrist element) and cable are by the impact of irrational power.
Patent document 1: Japanese Unexamined Patent Publication 2009-28875 publication
Summary of the invention
But the product of this arm built-in, when arm, toggle high speed operation, cable can lose shape.In addition, there is the problem that flexible conduit also loses shape in the lump.In addition, due to the reason such as installation of operability, maintenance, lightweight, drive motor, a part for arm cut and form opening, cable may not be closed in arm.In addition, in patent document 1, flexible conduit keeps the state of cantilever support, owing to there is free end in axial direction, so it is elongated because of stretching to cause flexible conduit by centrifugal force.Therefore, there is the problem of more losing shape.In addition, if fix flexible conduit as the situation of outer-installed type, then there is its advantage by the problem of cutting down.
Problem of the present invention is in view of this problem points provides a kind of robot, even if this robot also can make cable not sustain damage when high speed operation, and easily carries out the wiring operation of cable when not making deteriorated appearance.
In the present invention, aforementioned problems is solved by providing a kind of industrial robot, this industrial robot possesses arm, one end of described arm relative to robot body side to install around axle or in the mode that above-below direction freely rotates, be provided with around toggle shaft and the toggle that freely rotates in described axle right angle orientation in the other end, possess in described arm: the first cable, this first cable connects between described robot body side and described toggle, flexible conduit, described first cable this flexible conduit through, second cable, this second cable connects between described arm and the wobble drive motor rotating described toggle in described axle right angle orientation along described first cable, 3rd cable, 3rd cable connects between described arm and the revolution drive motor rotating described toggle around described axle along described first cable, it is characterized in that, described arm is disposed with hollow part from a described end side, there is the notch in the space configuring described two drive motors, with the toggle configuration section of installing described toggle, described wobble drive motor is fixed on the described notch of described arm, described rotating drive motor is positioned at the described notch of described arm and is fixed in described toggle side, one end of described flexible conduit is connected with described toggle, opposite side is fixed in the fixed component being arranged on described hollow part, and then, the pars intermedia of one end and opposite side with can move at described direction of principal axis and the mode limited to the movement of axle right angle orientation by the support member support being arranged at described notch.
That is, due to notch and toggle close, be subject to reversing, bending impact be large.Therefore, at least flexible conduit is set on notch, the first cable is protected.And then, notch is provided with the supporting member that can support flexible conduit to a certain extent movably.On the other hand, in hollow part, cable and flexible conduit all or part of besieged in surrounding, has distance with toggle, so the necessity of fixed component or supporting member is low.But, for guaranteeing the stability of the flexible conduit on notch, hollow part being provided with fixed component, flexible conduit is fixed.Ideally, fixed component is arranged on the end of hollow part, and supporting member is arranged on the pars intermedia of notch.Supporting member can have enables flexible conduit reverse, the space of degree of stretching, move forward and backward.
In addition, the center of the first cable and flexible conduit is by with arm axle center concentric arrangement or roughly configure point-blank along axle center.In addition, flexible conduit also freely can connect two ends on direction of principal axis gyratory directions, or fixing one end, or both sides are individually fixed in arm side and toggle.In addition, although flexible conduit also using fixed component as end, also can extend in hollow part further, and then arrive arm end.
In the hollow part that distance toggle is far away, for the mobile restriction of the first cable, flexible conduit, mainly can reverse.In notch, the axle of toggle turns round, the impact of swing is large.Therefore, in the invention that technical scheme 2 is recorded, industrial robot is so formed, that is: described supporting member is fixed in inside described arm, and described axle right-angle cross-section is quadrangle, is take limit as the roll shape of axle below relative to described axle upper.
The supporting member of the flexible conduit in support cutout portion is quadrangle, has the space that flexible conduit can be made to reverse, stretch, move forward and backward degree in axle right angle orientation.And then the limit of above-below direction is roller, absorbs the impact of the swaying direction of toggle.Allow bending, flexible, the torsion of flexible conduit thus.In addition, roller also can be non-orbiting, but it is desirable to can pivotal mode.
On the other hand, the 3rd cable is connected to the drive motor of toggle side, shorter than the first cable.Therefore, in the invention recorded in technical scheme 3, industrial robot is so formed, that is: described second cable is fixed on described fixed component at described hollow part, described notch with can move at described direction of principal axis and the mode limited to the movement of axle right angle orientation by support member support.And then the 3rd cable and the first cable and flexible conduit differently configure along flexible conduit.In addition, identical with flexible conduit supporting member, for fixed component and supporting member, it is desirable to the end that fixed component is hollow part, supporting member is arranged on the pars intermedia of notch.
In addition, in the invention that technical scheme 4 is recorded, industrial robot is so formed, that is: to the restriction of described 3rd cable to the movement of axle right angle orientation, make compared with the movement of the left and right directions relative to described axle, the movement of above-below direction is larger.In addition, supporting member also can be general.Therefore, in the invention that technical scheme 5 is recorded, industrial robot is so formed, that is: the supporting member of the supporting member of described flexible conduit and the described notch of described 3rd cable adopts one or general opening.
In the present invention; the fixed component of fixing flexible conduit is provided with in hollow part; the supporting member supporting flexible conduit is provided with in notch; flexible conduit can be moved at direction of principal axis; limit the movement to axle right angle orientation, the torsion of flexible conduit can be carried out, stretch, move forward and backward, owing to protecting the first cable; so losing shape of the first cable can be absorbed by hollow part and flexible conduit, losing shape of flexible conduit can be absorbed by supporting member.In addition, because the first cable does not vibrate, loses shape, so the damage be subject to is also few.In addition, because supporting member is also installed in the vicinity of notch in robot arms, notch, so the outward appearance of robot is also clean and tidy, easily safeguard.
In addition, in the invention that technical scheme 2 is recorded, the above-below direction limit of supporting member is roller, absorb the impact of the swaying direction of toggle, bending, flexible, the torsion of flexible conduit can be allowed, so working range can not diminish, even if run up the situation that also there will not be cable etc. to lose shape.
In addition, in the invention that technical scheme 3 is recorded, the second cable is also limited by the movement of the fixed component of hollow part and the supporting member subtend axle right angle orientation of notch, situation about lose shape so less, vibrating.In addition, in the invention that technical scheme 4 is recorded, because the second cable is large in the movement of above-below direction, so absorb the swing of toggle.And then, in the invention that technical scheme 5 is recorded, because the supporting member of the supporting member of flexible conduit and the notch of the second cable have employed one or general opening, so can realize small-sized, cheap.
Accompanying drawing explanation
Fig. 1 is the stereogram of the industrial robot representing embodiments of the present invention.
Fig. 2 is the amplification stereogram of the pith of the industrial robot of the cross-section of Fig. 1.
Fig. 3 is the part amplification stereogram of the supporting member of the notch representing embodiments of the present invention.
Fig. 4 is the amplification view of the first cable.
Detailed description of the invention
Below, with reference to accompanying drawing, embodiments of the present invention are described.First, the overall structure about the industrial robot 100 (welding robot) representing embodiments of the present invention is described.As shown in Figure 1, the base 1 arranged in the installation surfaces such as floor such as, load framework 2.The baseplate part 3 that this framework 2 possesses the upper surface being configured in base 1 and the standing board portion 4 erected from baseplate part 3.In addition, at the upper surface of baseplate part 3, be provided with for making the entirety of the framework 2 motor (not shown) that (in the face paralleled with floor) rotates in horizontal plane.By making the motor reel of motor turn round by prescribed direction, framework 2 rotates centered by the first pivot center 5 arranged perpendicular to floor.
In the standing board portion 4 of framework 2, the bottom of main body side arm (lower arm part) 6 is mounted with cantilever support state.For making the cable 7 (with reference to Fig. 2) come by connecting up from base 2 pass through, lower arm part 6 is hollow shape.Lower arm part 6 is supported by the standing board portion 4 of framework 2, freely rotates centered by the second pivot center 8.
In the upper end of lower arm part 6, arm (upper arm parts) 9 is mounted with cantilever support state.Upper arm parts 9 possesses the first upper arm parts 11, second upper arm parts 12 extended from an end of the first upper arm parts 11 that same lower arm part 6 is connected.Under the state that upper arm parts 9 is connected in same lower arm part 6, rotate centered by the 3rd pivot center 13.And the second upper arm parts 12, relative to the first upper arm parts 11, carries out free rotation centered by the 4th pivot center 14.
As shown in Figures 1 and 2, at the right-hand part (end of that side be connected with the first upper arm parts 11) of the second upper arm parts 12, form the hollow part (cylindrical portion) 15 offering the through hole 26 of tubular.The left part of the hollow part 15 in the second upper arm parts 12, being pruned in the sidewall portion of lower edge and nearby side (face side), forms notch 16.In the sidewall portion (inner wall part) of the inner side of notch 16, wobble drive motor 27 is installed.And in the left side (end of the opposition side of that side be connected with the first upper arm parts 11) of the second upper arm parts 12, the extended inner wall part having notch 16, forms toggle configuration section 17.
In toggle configuration section 17, with cantilever support state, toggle 18 is installed.Toggle 18 is made up of main part 21 and discoid flange portion 24, described main part 21 links through the toggle configuration section 17 of reductor (not shown) and the second upper arm parts 12 and carries out freely swing (rotation) centered by the 5th pivot center 19 relative to toggle configuration section 17, and described flange portion 24 is connected through reductor 22 and main part 21 and centered by the 6th pivot center 23, carries out free rotation relative to main part 21.In flange portion 24, end-effector (not shown) is installed.The axle center part of flange portion 24 is provided with through hole 25, passes through for the cable 7 come that connected up from upper arm parts 9.
As previously mentioned, the robot 100 of present embodiment is for being provided with 6 axle articulated robots of the first to the 6th pivot center 5,8,13,14,19,23.Cable 7 being introduced into externally in base 1 from robot 100 of robot 100, by framework 2, lower arm part 6, upper arm parts 9 and toggle 18, is routed to end-effector.But, only the wiring of the cable 7 from upper arm parts 9 to toggle 18 is illustrated in this description, eliminates the explanation to the wiring of cable 7 in part in addition and diagram.
Next, the notch 16 of the second upper arm parts 12 is described.As shown in Figure 2, in the hollow part 15 of the second upper arm parts 12, form the through hole 26 of the tubular coaxial with the 4th central axis 14 of upper arm parts 9.And, in the inner wall part of the notch 16 of the second upper arm parts 12, the wobble drive motor 27 for making toggle 18 rotate is installed.Wobble drive motor 27 is installed with the form that motor reel (not shown) is orthogonal with the 4th pivot center 14.In addition, in the main part 21 of toggle 18, the form configured with paralleling with the 6th pivot center 23 with the center line of motor reel, is provided with the revolution drive motor 28 for making flange portion 24 rotate.
In the exit portion of the through hole 26 in the notch 16 of upper arm parts 9, fixed component (bracket) 29 is installed.This bracket 29 is fixed in the main body side end of flexible conduit (helical spring) 31.In addition, flexible conduit also can extend at main body side further.The internal diameter of flexible conduit 31 is greater than the external diameter of cable 7.Flexible conduit 31 and the 4th pivot center 14 and the 6th pivot center 23 roughly arranged coaxial, the state that its other end is connected with the through hole 25 of the flange portion 24 with toggle 18 is fixed.Through the cable 7a of the through hole 26 of the hollow part 15 of the second upper arm parts 12, through flexible conduit 31, intactly pass at the through hole 25 of the flange portion 24 of toggle 18 and draw.
As shown in Figure 2, in the inner wall part of the notch 16 of the second upper arm parts 12, supporting member (guide portion) 32 is installed.As shown in Figure 3, supporting member 32 possesses: 2 first deflector rolls 33,34 at right angles to configured at the axle that is upper and lower and flexible conduit 31 of flexible conduit 31, and at 2 second deflector rolls 35,36 that the nearby side of the first upper and lower deflector roll 33,34 and each first deflector roll 33,34 at right angles to configure.These deflector rolls 33,34,35,36 freely turn round independently of one another.The mode that the first upper and lower deflector roll 33,34 is a bit larger tham the external diameter of flexible conduit 31 with their interval configures.In addition, the interval of the second deflector roll 35 from the inner wall part of the notch 16 of the second upper arm parts 12 to inner side is a bit larger tham the external diameter of flexible conduit 31.Therefore, flexible conduit 31 can be configured at the space (roughly foursquare space) surrounded by the second deflector roll 35 of the inner wall part of notch 16, the first upper and lower deflector roll 33,34 and inner side.And 2 second deflector rolls 35,36 have the compartment of terrain configuration of regulation.
As shown in Figures 2 and 3, the cable 7 being routed to the second upper arm parts 12 of the robot 100 of present embodiment possesses main push-towing rope line 7a, second cable 7b and the 3rd cable 7c, main push-towing rope line 7a passes flexible conduit 31 by the through hole 26 of the hollow part 15 of the second upper arm parts 12, further pass through the through hole 25 of the flange portion 24 of toggle 18, second cable 7b is by the through hole 26 of hollow part 15, do not pass through from the side of flexible conduit 31 through flexible conduit 31, be connected with wobble drive motor 27, 3rd cable 7c does not pass through from the side of flexible conduit 31 through flexible conduit 31 equally, by 2 deflector rolls 35 of guide portion 32, between 36, be connected with revolution drive motor 28.Herein, as shown in Figure 4, first (master) cable 7a, for by many first cables 37 (situation of present embodiment is 3), holding wire cable 38 (situation of present embodiment is 4), for plumbing and provide the pipeline 39 (situation of present embodiment is total 7) of air to be bundled into a branch of form.The external diameter of the first cable 7a is maximum, and the external diameter of the second cable (wobble drive motor cable) 7b, the 3rd cable (revolution drive motor cable) 7c is little.
In the robot 100 of present embodiment, wobble drive motor 27 is installed in same guide portion 32 and compares the nearer side of hollow part 15 apart from the second upper arm parts 12.Therefore, the second cable 7b is not directly connected with wobble drive motor 27 by guide portion 32.Because wobble drive motor 27 is mounted, so the first cable 7b can work integratedly with the second upper arm parts 12 with stationary state in the second upper arm parts 12.On the other hand, revolution drive motor 28 is installed in same guide portion 32 and compares farther side (side near toggle 18).Therefore, turn round drive motor cable 7c to be connected with revolution drive motor 28 through the second deflector roll 35,36 of 2 in guide portion 32.Because toggle 18 rotates centered by the 5th pivot center 19, so revolution drive motor cable 7c is connected with revolution drive motor 28 with having the slackness (surplus) of regulation.
When toggle 18 rotates centered by the 5th pivot center 19, the first cable 7a is stretched.As robot in the past, when cable is routed to the surrounding of upper arm parts 9, because can be subject to the effect of factitious power along with the rotation cable of toggle, cable easily sustains damage.On the other hand, first cable 7a of the robot 100 of present embodiment is because the state with roughly straight line from the first upper arm parts 11 is configured, so be certain along with the rotation of toggle 18 all the time to the tensile force of the first cable 7a effect, so the first cable 7a is not easy to sustain damage.And because the surrounding of the first cable 7a is covered by hollow part 15, flexible conduit 31, so the first cable 7a does not contact with surrounding member, the coating of the first cable 7a can not sustain damage.In addition, because the first cable 7a and the 6th pivot center 23 configure roughly coaxially, so the torsion of the first cable 7a when the flange portion 24 of toggle is rotated centered by the 6th pivot center 23 just can for minimum.And then, the robot 100 of present embodiment, the the first cable 7a (cable that external diameter is large) being only routed to toggle 18 is connected up with the state of straight line, and second cable 7b, the revolution drive motor cable 7c and first cable 7a little to the external diameter swung, revolution drive motor 27,28 links are connected up dividually.Thus, the external diameter of the first cable 7a attenuates, and its wiring becomes easy while, the first cable 7a also becomes and not easily sustains damage.
And in the robot 100 of present embodiment, along with the rotation of toggle 18, the 3rd cable 7c of the first stressed cable 7a and revolution drive motor 28 is guided by supporting member 32, and is limited within the specific limits.Thereby, it is possible to prevent the 3rd cable 7c of the first cable 7a and revolution drive motor 28 from causing losing shape due to the reason such as vibration of active machine people 100.
When connecting up to cable 7, maximum the first cable 7a of external diameter is configured by the state with straight line.Therefore, do not need the bending first cable 7a that makes an effort, be easy to the wiring operation carrying out the first cable 7a.In addition, because second, third cable 7b, 7c are thin, so easily bend and carry out wiring operation.
In addition, the first cable 7a is in the state in the through hole 26 and flexible conduit 31 being accommodated in the second upper arm parts 12, is beyond recognition from outside.Therefore, the outward appearance of robot 100 is good.
In the robot 100 of present embodiment, be provided integrally with the first deflector roll 33,34 and second deflector roll 35,36 forming supporting member 32.Thereby, it is possible to realize space saving.But the first deflector roll 33,34 and second deflector roll 35,36 also can be set individually.
Form a pair first deflector rolls 33,34 of supporting member 32, for guiding flexible conduit 31.And, form a pair second deflector rolls 35,36 of supporting member 32, guide the 3rd cable 7c of revolution drive motor 28.But the 3rd cable 7c also through a pair second deflector rolls 35,36, and can not be formed (that is, guide portion 32 being formed as cable guide portion) through a pair first deflector rolls 33,34 forming supporting member 32.
Description of reference numerals
6 main body side arms (lower arm part)
7 cables
7a first cable (main push-towing rope line)
7b second cable (wobble drive motor cable)
7c the 3rd cable (rotating drive motor cable)
9 arms (upper arm parts)
15 hollow parts
16 notch
17 toggle configuration sections
18 toggles
19 axle right angle orientation swinging axles
26 wrist rotation axles
27 wobble drive motor
28 revolution drive motors
29 fixed components (bracket)
31 flexible conduits (helical spring)
32 supporting members (guide portion)
33,34 rollers (the first deflector roll)
35,36 second deflector rolls
100 industrial robots.
Claims (5)
1. an industrial robot, this industrial robot possesses arm, one end of described arm relative to robot body side to install around axle or in the mode that above-below direction freely rotates, be provided with around toggle shaft and the toggle that freely rotates in described axle right angle orientation in the other end, possess in described arm: the first cable, this first cable connects between described robot body side and described toggle; Flexible conduit, described first cable this flexible conduit through; Second cable, this second cable connects between described arm and the wobble drive motor rotating described toggle in described axle right angle orientation along described first cable; 3rd cable, the 3rd cable connects between described arm and the revolution drive motor rotating described toggle around described axle along described first cable, it is characterized in that,
Described arm is disposed with hollow part, has the notch in the space configuring described two drive motors and install the toggle configuration section of described toggle from a described end side, described wobble drive motor is fixed on the described notch of described arm, described rotating drive motor is positioned at the described notch of described arm and is fixed in described toggle side
One end of described flexible conduit is connected with described toggle, opposite side is fixed in the fixed component being arranged on described hollow part, and then, the pars intermedia of one end and opposite side with can move at described direction of principal axis and the mode limited to the movement of axle right angle orientation by the support member support being arranged at described notch.
2. industrial robot as claimed in claim 1, it is characterized in that, described supporting member is fixed in inside described arm, and described axle right-angle cross-section is quadrangle, is take limit as the roll shape of axle below relative to described axle upper.
3. industrial robot as claimed in claim 1 or 2, it is characterized in that, described 3rd cable is fixed on described fixed component at described hollow part, described notch with can move at described direction of principal axis and the mode limited to the movement of axle right angle orientation by support member support.
4. industrial robot as claimed in claim 3, is characterized in that, to the restriction of described 3rd cable to the movement of axle right angle orientation, make larger than the movement of left and right directions relative to the movement of the above-below direction of described axle.
5. industrial robot as claimed in claim 4, is characterized in that, the supporting member of the supporting member of described flexible conduit and the described notch pars intermedia of described 3rd cable adopts one or general opening.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-195463 | 2013-09-20 | ||
| JP2013195463A JP6163999B2 (en) | 2013-09-20 | 2013-09-20 | Industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104440937A true CN104440937A (en) | 2015-03-25 |
| CN104440937B CN104440937B (en) | 2016-06-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410482130.3A Active CN104440937B (en) | 2013-09-20 | 2014-09-19 | Industrial robot |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6163999B2 (en) |
| CN (1) | CN104440937B (en) |
Cited By (6)
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| CN106041991A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Robot terminal hollow rotating structure |
| CN106078719A (en) * | 2016-07-28 | 2016-11-09 | 佛山市三水区诺尔贝机器人研究院有限公司 | End arms before robot |
| CN106956256A (en) * | 2017-05-26 | 2017-07-18 | 苏州光宝科技股份有限公司 | Articulated robot |
| CN109746903A (en) * | 2017-11-06 | 2019-05-14 | 精工爱普生株式会社 | robot |
| CN110355781A (en) * | 2018-04-11 | 2019-10-22 | 发那科株式会社 | The wrist structure of robot |
| CN112405592A (en) * | 2019-08-23 | 2021-02-26 | 发那科株式会社 | Interface mechanism and horizontal multi-joint robot |
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| CN106965208B (en) * | 2017-05-26 | 2023-10-13 | 山东宇鹤智能科技有限公司 | Self-drainage mechanical arm |
| JP7492822B2 (en) | 2019-12-17 | 2024-05-30 | 株式会社ダイヘン | Industrial Robots |
| JP7396888B2 (en) * | 2019-12-17 | 2023-12-12 | 株式会社ダイヘン | industrial robot |
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| CN106041991A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Robot terminal hollow rotating structure |
| CN106078719A (en) * | 2016-07-28 | 2016-11-09 | 佛山市三水区诺尔贝机器人研究院有限公司 | End arms before robot |
| CN106078719B (en) * | 2016-07-28 | 2018-09-07 | 佛山市三水区诺尔贝机器人研究院有限公司 | End arms before robot |
| CN106956256A (en) * | 2017-05-26 | 2017-07-18 | 苏州光宝科技股份有限公司 | Articulated robot |
| CN109746903A (en) * | 2017-11-06 | 2019-05-14 | 精工爱普生株式会社 | robot |
| CN109746903B (en) * | 2017-11-06 | 2023-11-03 | 精工爱普生株式会社 | robot |
| CN110355781A (en) * | 2018-04-11 | 2019-10-22 | 发那科株式会社 | The wrist structure of robot |
| CN112405592A (en) * | 2019-08-23 | 2021-02-26 | 发那科株式会社 | Interface mechanism and horizontal multi-joint robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104440937B (en) | 2016-06-01 |
| JP2015058521A (en) | 2015-03-30 |
| JP6163999B2 (en) | 2017-07-19 |
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