CN106671074A - Six-axis mechanical arm effectively improving installing speed and precision - Google Patents
Six-axis mechanical arm effectively improving installing speed and precision Download PDFInfo
- Publication number
- CN106671074A CN106671074A CN201611143644.1A CN201611143644A CN106671074A CN 106671074 A CN106671074 A CN 106671074A CN 201611143644 A CN201611143644 A CN 201611143644A CN 106671074 A CN106671074 A CN 106671074A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- center parallel
- location hole
- center
- precision
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a six-axis mechanical arm effectively improving the installing speed and precision. The six-axis mechanical arm comprises multiple self-rotation joint pieces, swing arm rotation joint pieces, an arm piece connecting the two swing arm rotation joint pieces, a tail end swing arm joint piece and multiple speed reducers. Each of the swing arm rotation joint pieces is provided with a first installing plane and a second installing plane perpendicular to each other, and the tail end swing arm joint piece is provided with a first installing plane and a second installing plane perpendicular to each other. The first installing planes and the second installing planes are provided with center parallel positioning holes annularly distributed. Each of the self-rotation joint pieces is provided with a third installing plane and a fourth installing plane parallel to each other, and each of the speed reducers is provided with a third installing plane and a fourth installing plane parallel to each other. The third installing planes and the fourth installing planes are provided with center parallel positioning holes annularly distributed. A center parallel and vertical positioning manner is adopted in positioning of all joints in the six-axis mechanical arm, and the installing efficiency and the installing precision can be effectively improved; and few components are arranged in a whole, and the weight is small.
Description
【Technical field】
The invention belongs to technical field of automation, more particularly to a kind of six axle machines for effectively improving installation rate and precision
Tool hand.
【Background technology】
With economic continuous development and the continuous progress of science and technology, for enterprise development provides strong economy and
Technology pillar, promotes enterprise to stride forward towards intelligent and highly integrated etc. direction, and the intelligence that manipulator is exactly enterprise to be researched and developed
It is a kind of in the product of change.In order to mitigate the burden of operating personnel, or replacement operating personnel carry out dangerous operation, all be unable to do without machine
The application of tool hand.Go to substitute the operation of operating personnel by manipulator, thus reach the mesh for improving effect or protection operating personnel
, hence in so that manipulator is widely applied in the occasion of automated production.In prior art, the design of manipulator is big absolutely
Majority is customized according to the demand of client, and each joint, the shape of arm, size are different, it is impossible to realize batch
Production, and consumptive material is time-consuming, it is relatively costly.Realize multi-spindle machining hand, need very many parts through complicated assembling and
Debugging, installation effectiveness is low, and is difficult to realize precise positioning in installation process, after causing later programmed, six axis robot end
Kinematic accuracy it is low.
Therefore, it is necessary to provide a kind of new effectively improve installation rate with the six axis robot of precision to solve above-mentioned asking
Topic.
【The content of the invention】
Present invention is primarily targeted at a kind of six axis robot for effectively improving installation rate and precision is provided, each pass
The positioning of section adopts center parallel perpendicular positioning mode, can effectively improve installation effectiveness and installation accuracy, and one-piece parts number
Amount less, it is lightweight.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of six axle machines for effectively improving installation rate and precision
Tool hand, it include some spinning joint pieces with swing arm rotary joint part, be connected the arm of two swing arm rotary joint parts
Part, end swing arm joint piece and some decelerators, are all provided with the swing arm rotary joint part and the end swing arm joint piece
Orthogonal first mounting plane and the second mounting plane are equipped with, on first mounting plane and second mounting plane
The center parallel location hole of annular spread is provided with, in the spinning joint piece and the decelerator mutual putting down is provided with
Annular point is provided with capable the 3rd mounting surface and the 4th mounting surface, the 3rd mounting plane and the 4th mounting plane
The center parallel location hole of cloth.
Further, the spinning joint piece is hollow tubular structure, and one end surfaces are provided with annular spread
First center parallel location hole, it is top inside it to be provided with First terrace, the First terrace and the spinning joint
The end face of part is parallel and its surface is provided with the second center parallel location hole of annular spread.
Further, the swing arm rotary joint part includes positive swing arm rotary joint part and is inverted swing arm rotary joint
Part, the positive swing arm rotary joint part includes and the spinning joint piece end with the inversion swing arm rotary joint part
The first connecting seat that surface fits and with vertically disposed second connecting seat of first connecting seat.
Further, the first connection seating face is provided with the 3rd center parallel location hole of annular spread, and described the
Two connecting seat central authorities are provided with the mounting cylinder for housing the decelerator, are provided with an end face of second connecting seat and surround
4th center parallel location hole of the mounting cylinder circumferential annular distribution.
Further, the arm part includes the 3rd connecting seat fitted with the decelerator end face, and the described 3rd connects
Joint chair surface is provided with the 6th center parallel location hole and the 7th center parallel location hole of annular spread.
Further, the end swing arm joint piece is hollow tubular structure, and annular spread is provided with one end
The 8th center parallel location hole, the other end is extended with the 4th connecting seat perpendicular to the end face, the 4th connecting seat
Inner surface is the tenth center parallel location hole that annular spread is provided with plane and surface.
Further, the decelerator includes the first end face being connected with transmission part, and the first end face is included in platform
That rank is arranged and the 3rd step surface that is parallel to each other and the 4th step surface, are provided with the of annular spread on the 3rd step surface
11 center parallel location holes, are provided with the 12nd center parallel location hole of annular spread on the 4th step surface.
Further, in the spinning joint piece the second center parallel location hole, the swing arm rotary joint
The 8th center parallel location hole in the 4th center parallel location hole, the end swing arm joint piece and institute in part
The 11st center parallel position of positioning hole correspondence in decelerator is stated, and carries out center parallel positioning.
Further, the 3rd center parallel location hole, the arm part in the positive swing arm rotary joint part
In the 6th center parallel location hole and the 7th center parallel location hole, the end swing arm joint piece in it is described
Tenth center parallel location hole is corresponding with the 12nd center parallel position of positioning hole in the decelerator, and carries out center
Positioning.
Further, the 3rd center parallel location hole being inverted in swing arm rotary joint part and the spinning
The first center parallel position of positioning hole correspondence in joint piece, and carry out center parallel positioning.
Compared with prior art, a kind of beneficial effect for effectively improving installation rate and the six axis robot of precision of the present invention
It is：By the center parallel location hole of each joint piece, the accurate installation of each joint piece can be quickly finished, be carried significantly
High installation rate and installation accuracy；And by each joint piece modularization, the quantity of part is greatly reduced, so as to reduce system
Cause this and manipulator overall weight.
【Description of the drawings】
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the configuration schematic diagram of the embodiment of the present invention；
Fig. 3 is the structural representation of an angle of spinning joint piece in the embodiment of the present invention；
Fig. 4 is the structural representation of another angle of spinning joint piece in the embodiment of the present invention；
Fig. 5 is one of structural representation of swing arm rotary joint part in the embodiment of the present invention；
Fig. 6 is two of the structural representation of swing arm rotary joint part in the embodiment of the present invention；
Fig. 7 is three of the structural representation of swing arm rotary joint part in the embodiment of the present invention；
Fig. 8 is four of the structural representation of swing arm rotary joint part in the embodiment of the present invention；
Fig. 9 is the structural representation of arm part in the embodiment of the present invention；
Figure 10 is the structural representation of swing arm joint piece in end in the embodiment of the present invention；
Figure 11 is the structural representation of decelerator in the embodiment of the present invention；
Numeral is represented in figure：
100 six axis robots for effectively improving installation rate and precision；
1 spinning joint piece, 11 first center parallel location holes, 12 First terraces, 13 second center parallel location holes；
2 swing arm rotary joint parts, 21 first connecting seats, 22 second connecting seats, 23 the 3rd center parallel location holes, 24 install
Cylinder, 25 the 4th center parallel location holes, 26 the 5th center parallel location holes, 27 first bearing pins, 28 through holes；
3 arm parts, 31 the 3rd connecting seats, 32 the 6th center parallel location holes, 33 the 7th center parallel location holes, 34 second
Bearing pin, 35 the 3rd bearing pins；
4 end swing arm joint pieces, 41 the 8th center parallel location holes, 42 second step faces, 43 the 9th center parallels positioning
Hole, 44 the 4th connecting seats, 45 the tenth center parallel location holes, 46 the 4th bearing pins；
5 decelerators, 51 the 3rd step surfaces, 52 the 4th step surfaces, 53 the 11st center parallel location holes, 54 the 12nd centers
Positioned parallel hole.
【Specific embodiment】
Embodiment：
Fig. 1-Figure 11 is refer to, the present embodiment is the six axis robot 100 for effectively improving installation rate and precision, and it includes
Some spinning joint pieces 1 and swing arm rotary joint part 2, two pendulum of connection of the center perpendicular positioning connection of spinning joint piece 1
The arm part 3 of arm rotary joint part 2 and the vertical parallel end swing arm joint being located by connecting of the swing arm rotary joint part 2 of end
Part 4 and some decelerators 5.
Orthogonal first mounting plane and the are provided with swing arm rotary joint part 2 and end swing arm joint piece 4
The center parallel positioning of annular spread is provided with two mounting planes, first mounting plane and second mounting plane
Hole.It is provided with the 3rd mounting surface and the 4th mounting surface being parallel to each other in spinning joint piece 1 and decelerator 5, the described 3rd
The center parallel location hole of annular spread is provided with mounting plane and the 4th mounting plane.
Spinning joint piece 1 is hollow tubular structure, and one end surfaces are provided with same level and ring
First center parallel location hole 11 of shape distribution, its inside is top to be provided with First terrace 12, First terrace 12 and spin
Turn joint piece 1 end face is parallel and its surface is provided with the second center parallel location hole 13 of annular spread.First center parallel
The distribution center of circle of location hole 11, the distribution center of circle of the second center parallel location hole 13 are respectively positioned in spinning joint piece 1
Decelerator 5 rotating shaft axis on.
Swing arm rotary joint part 2 includes positive swing arm rotary joint part and is inverted swing arm rotary joint part.The forward direction
Swing arm rotary joint part and the inversion swing arm rotary joint part include the fitted with the end surface of spinning joint piece 1
A connecting seat 21 and with vertically disposed second connecting seat 22 of the first connecting seat 21.The surface of first connecting seat 21 is provided with annular
3rd center parallel location hole 23 of distribution.The central authorities of second connecting seat 22 are provided with the mounting cylinder 24 for housing decelerator 5, and second connects
The 4th center parallel location hole around the distribution of the circumferential annular of mounting cylinder 24 is respectively arranged with two opposing end surfaces of joint chair 22
25 and the 5th center parallel location hole 26.
The lower surface of the first connecting seat 22 in the positive swing arm rotary joint part is additionally provided with and the transmission of decelerator 5
First bearing pin 27, the central axis of the first bearing pin 27 and the axis collinear of the rotary shaft of decelerator 5.The inversion swing arm rotary joint
The through hole 28 of insertion upper and lower surface is provided with the first connecting seat 22 in part.
Arm part 3 includes the 3rd connecting seat 31 fitted with the end face of decelerator 5, and the surface of the 3rd connecting seat 31 is provided with ring
The 6th center parallel location hole 32 and the 7th center parallel location hole 33 of shape distribution, the 6th center parallel location hole 32 and the 7th
Center parallel location hole 33 is respectively positioned at two end positions on the surface of the 3rd connecting seat 31.6th 32 points of center parallel location hole
The central authorities of cloth are provided with the second bearing pin 34 with the transmission of decelerator 5.The central authorities of the distribution of the 7th center parallel location hole 33 are provided with
With the 3rd bearing pin 35 of the transmission of decelerator 5.
End swing arm joint piece 4 is hollow tubular structure, and its end surface is provided with the 8th center of annular spread and puts down
Row location hole 41, is internally provided with the second step face 42 parallel with its end surface, and on second step face 42 annular is provided with
9th center parallel location hole 43 of distribution.The other end surface of end swing arm joint piece 4 is extended with perpendicular to second step
4th connecting seat 44 in face 42, the inner surface of the 4th connecting seat 44 is to be provided with the tenth of annular spread the on plane and surface
Heart positioned parallel hole 45, the central authorities of the distribution of the tenth center parallel location hole 45 are provided with the 4th bearing pin 46 with the transmission of decelerator 5.
Decelerator 5 includes the first end face being connected with transmission part.The first end face includes in step setting and phase
Mutual the 3rd parallel step surface 51 and the 4th step surface 52.Put down at the 11st center that annular spread is provided with 3rd step surface 51
Row location hole 53, is provided with the 12nd center parallel location hole 54 of annular spread on the 4th step surface 52.
The 4th center parallel in the second center parallel location hole 13, swing arm rotary joint part 2 in spinning joint piece 1
The 8th center parallel location hole 41 in location hole 25, end swing arm joint piece 4 is determined with the 11st center parallel in decelerator 5
The position position of hole 53 correspondence, and carry out center parallel positioning.The 3rd center parallel positioning in the positive swing arm rotary joint part
In the 6th center parallel location hole 32 and the 7th center parallel location hole 33, end swing arm joint piece 4 in hole 23, arm part 3
The tenth center parallel location hole 45 it is corresponding with the position of the 12nd center parallel location hole 54 in decelerator 5, and carry out center
Positioning.In in the 3rd center parallel location hole 23 and spinning joint piece 1 being inverted in swing arm rotary joint part first
The position of heart positioned parallel hole 11 correspondence, and carry out center parallel positioning.
Swing arm rotary joint part 2 is by arranging the 3rd center parallel location hole 23 in two orthogonal planes
With the 4th center parallel location hole 25, it is ensured that by with the rotary motion of vertical axis with can with both rotary motions of trunnion axis
Absolute upright；Decelerator 5 is by arranging the 11st center parallel location hole 53 in two planes being parallel to each other and the
12 center parallel location holes 54, on the one hand ensure that the connection depth of parallelism and concentricity with fixing joint, on the other hand ensure
The absolute upright of drive end and rotary shaft.
The present embodiment effectively improves installation rate with the six axis robot 100 of precision by strictly controlling each joint piece
Machining accuracy, it is ensured that in associated joint part the first mounting surface and the orthogonal perpendicularity of the second mounting surface, the 3rd mounting surface with
The depth of parallelism, center parallel location hole and decelerator that 4th mounting surface is parallel to each other rotate the concentricity of circular arc, by above-mentioned
The strict control of precision and lifting, are greatly improved the installation accuracy after each joint piece is assembled with decelerator.
The present embodiment effectively improves installation rate：By each
The center parallel location hole of joint piece, can quickly finish the accurate installation of each joint piece, substantially increase installation rate
With installation accuracy；And by each joint piece modularization, the quantity of part is greatly reduced, so as to reduce manufacturing cost with machinery
Hand overall weight.Specifically, center precision is improved using center positioning hole, effectively improves the +/- 0.005mm of precision；Using position
Put location hole and improve beat precision, effectively improve the +/- 0.005mm of precision；Improve parallel using the workpiece of integration, vertically
Precision, effectively improves the +/- 0.005mm of precision；High accuracy is reached with concavo-convex principle and reduce the possibility of setup error；Just
In quickly installation, effectively lower the cost of personnel and product and improve the precision stability of product.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, not
On the premise of departing from the invention design, some deformations and improvement can also be made, these belong to the protection model of the present invention
Enclose.
Claims (10)
1. a kind of six axis robot for effectively improving installation rate and precision, it is characterised in that：It includes some spinning joints
Part and swing arm rotary joint part, the arm part for being connected two swing arm rotary joint parts, end swing arm joint piece and some
Decelerator, in the swing arm rotary joint part and the end swing arm joint piece orthogonal first mounting plane is provided with
With the center parallel that annular spread is provided with the second mounting plane, first mounting plane and second mounting plane
The 3rd mounting surface and the 4th installation being parallel to each other is provided with location hole, the spinning joint piece and the decelerator
The center parallel location hole of annular spread is provided with face, the 3rd mounting plane and the 4th mounting plane.
2. the six axis robot of installation rate and precision is effectively improved as claimed in claim 1, it is characterised in that：The spin
It is hollow tubular structure to turn joint piece, and one end surfaces are provided with the first center parallel location hole of annular spread, inside it
Top to be provided with First terrace, the First terrace is parallel with the end face of the spinning joint piece and its surface is provided with
Second center parallel location hole of annular spread.
3. the six axis robot of installation rate and precision is effectively improved as claimed in claim 2, it is characterised in that：The swing arm
Rotary joint part includes positive swing arm rotary joint part and is inverted swing arm rotary joint part, the positive swing arm rotary joint part
With the inversion swing arm rotary joint part include the first connecting seat for fitting with the spinning joint piece end surface with
And with vertically disposed second connecting seat of first connecting seat.
4. the six axis robot of installation rate and precision is effectively improved as claimed in claim 3, it is characterised in that：Described first
Connection seating face is provided with the 3rd center parallel location hole of annular spread, and it is described that the second connecting seat central authorities are provided with collecting
The mounting cylinder of decelerator, is provided with the around mounting cylinder circumferential annular distribution on an end face of second connecting seat
Four center parallel location holes.
5. the six axis robot of installation rate and precision is effectively improved as claimed in claim 4, it is characterised in that：The arm
Part includes the 3rd connecting seat fitted with the decelerator end face, and the 3rd connection seating face is provided with the of annular spread
Six center parallel location holes and the 7th center parallel location hole.
6. the six axis robot of installation rate and precision is effectively improved as claimed in claim 5, it is characterised in that：The end
Swing arm joint piece is hollow tubular structure, and the 8th center parallel location hole of annular spread is provided with one end, another
End is extended with the 4th connecting seat perpendicular to the end face, and the inner surface of the 4th connecting seat is to arrange on plane and surface
There is the tenth center parallel location hole of annular spread.
7. the six axis robot of installation rate and precision is effectively improved as claimed in claim 6, it is characterised in that：The deceleration
Device includes the first end face being connected with transmission part, and the first end face includes arranging in step and being parallel to each other the 3rd
Terrace and the 4th step surface, are provided with the 11st center parallel location hole of annular spread on the 3rd step surface, and described
The 12nd center parallel location hole of annular spread is provided with four step surfaces.
8. the six axis robot of installation rate and precision is effectively improved as claimed in claim 7, it is characterised in that：The spin
Turn the second center parallel location hole in joint piece, the positioning of the 4th center parallel in the swing arm rotary joint part
The 11st center in the 8th center parallel location hole in hole, the end swing arm joint piece and the decelerator
Positioned parallel hole site correspondence, and carry out center parallel positioning.
9. the six axis robot of installation rate and precision is effectively improved as claimed in claim 7, it is characterised in that：The forward direction
The 6th center parallel location hole in the 3rd center parallel location hole, the arm part in swing arm rotary joint part
Subtract with described with the tenth center parallel location hole in the 7th center parallel location hole, the end swing arm joint piece
The 12nd center parallel position of positioning hole correspondence in fast device, and carry out centralized positioning.
10. the six axis robot of installation rate and precision is effectively improved as claimed in claim 7, it is characterised in that：It is described fall
Put first center in the 3rd center parallel location hole in swing arm rotary joint part and the spinning joint piece
Positioned parallel hole site correspondence, and carry out center parallel positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611143644.1A CN106671074A (en) | 2016-12-13 | 2016-12-13 | Six-axis mechanical arm effectively improving installing speed and precision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611143644.1A CN106671074A (en) | 2016-12-13 | 2016-12-13 | Six-axis mechanical arm effectively improving installing speed and precision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106671074A true CN106671074A (en) | 2017-05-17 |
Family
ID=58868216
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611143644.1A Pending CN106671074A (en) | 2016-12-13 | 2016-12-13 | Six-axis mechanical arm effectively improving installing speed and precision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106671074A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312128A (en) * | 2018-03-20 | 2018-07-24 | 麦格瑞（北京）智能科技有限公司 | Man-machine collaboration robot |
| CN112919130A (en) * | 2021-01-29 | 2021-06-08 | 四川恒格光电科技有限公司 | Transfer device for lens processing |
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| DE2224349A1 (en) * | 1972-05-18 | 1973-11-29 | Pietzsch Ludwig | MANIPULATOR |
| DD271810A3 (en) * | 1986-02-03 | 1989-09-20 | Vukov | ORIENTATION MODULE FOR INDUSTRIAL ROBOT |
| JP2003103491A (en) * | 2001-09-28 | 2003-04-08 | Honda Motor Co Ltd | Mutual interference verification method and mutual interference verification display pattern for robot |
| JP2003103484A (en) * | 2001-09-28 | 2003-04-08 | Honda Motor Co Ltd | Interlock setting method for robot |
| JP2004358630A (en) * | 2003-06-06 | 2004-12-24 | Honda Motor Co Ltd | Method for setting teaching data of robot |
| CN101780673A (en) * | 2010-03-17 | 2010-07-21 | 上海大学 | Light-weight service robot arms |
| CN202726917U (en) * | 2012-08-07 | 2013-02-13 | 吕健 | Mechanical zero calibration device of industrial robot |
| CN103395064A (en) * | 2013-07-30 | 2013-11-20 | 武汉大学 | Rack pipe detection robot based on ultrasonic guided wave technology |
| CN206357227U (en) * | 2016-12-13 | 2017-07-28 | 昆山奥迪尔智能科技有限公司 | A kind of six axis robot for effectively improving installation rate and precision |
| CN109262601A (en) * | 2018-09-28 | 2019-01-25 | 中科新松有限公司 | Light-type mechanical arm and robot with it |
-
2016
- 2016-12-13 CN CN201611143644.1A patent/CN106671074A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2224349A1 (en) * | 1972-05-18 | 1973-11-29 | Pietzsch Ludwig | MANIPULATOR |
| DD271810A3 (en) * | 1986-02-03 | 1989-09-20 | Vukov | ORIENTATION MODULE FOR INDUSTRIAL ROBOT |
| JP2003103491A (en) * | 2001-09-28 | 2003-04-08 | Honda Motor Co Ltd | Mutual interference verification method and mutual interference verification display pattern for robot |
| JP2003103484A (en) * | 2001-09-28 | 2003-04-08 | Honda Motor Co Ltd | Interlock setting method for robot |
| JP2004358630A (en) * | 2003-06-06 | 2004-12-24 | Honda Motor Co Ltd | Method for setting teaching data of robot |
| CN101780673A (en) * | 2010-03-17 | 2010-07-21 | 上海大学 | Light-weight service robot arms |
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| CN103395064A (en) * | 2013-07-30 | 2013-11-20 | 武汉大学 | Rack pipe detection robot based on ultrasonic guided wave technology |
| CN206357227U (en) * | 2016-12-13 | 2017-07-28 | 昆山奥迪尔智能科技有限公司 | A kind of six axis robot for effectively improving installation rate and precision |
| CN109262601A (en) * | 2018-09-28 | 2019-01-25 | 中科新松有限公司 | Light-type mechanical arm and robot with it |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312128A (en) * | 2018-03-20 | 2018-07-24 | 麦格瑞（北京）智能科技有限公司 | Man-machine collaboration robot |
| CN112919130A (en) * | 2021-01-29 | 2021-06-08 | 四川恒格光电科技有限公司 | Transfer device for lens processing |
| CN112919130B (en) * | 2021-01-29 | 2023-03-10 | 四川恒格光电科技有限公司 | Transfer device for lens processing |
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