CN107511846A - Six shaft mechanical arm manufacturing process - Google Patents
Six shaft mechanical arm manufacturing process Download PDFInfo
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- CN107511846A CN107511846A CN201710774456.7A CN201710774456A CN107511846A CN 107511846 A CN107511846 A CN 107511846A CN 201710774456 A CN201710774456 A CN 201710774456A CN 107511846 A CN107511846 A CN 107511846A
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- Prior art keywords
- armed lever
- connection ring
- joint
- circular connection
- cylinder
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to the manufacturing field of industrial robot, provide a kind of six shaft mechanical arm manufacturing process, including the base of mechanical arm is fixed on the platform of distribution box, first armed lever one end and the base are hinged and form the first joint, second armed lever one end and the first armed lever other end are hinged and form second joint, 3rd armed lever one end and the second armed lever other end are hinged and form the 3rd joint, 4th armed lever one end and the 3rd armed lever other end are hinged and form the 4th joint, 5th armed lever one end and the 4th armed lever other end are hinged and form the 5th joint, supporting line is arranged in inside corresponding armed lever by two adjacent armed levers when carrying out hinge mounted, transmission device is assembled in the corresponding joint when carrying out the hinge operation.Can be simple and easy in technique with the integrated degree of the part of elevating mechanism arm with the present invention, can be optimized the manufacturing process of tradition machinery arm.
Description
Technical field
The present invention relates to the manufacturing field of industrial robot, more particularly to a kind of manufacturing process of six shaft mechanicals arm.
Background technology
Industrial machinery arm is the Mechatronic device of anthropomorphic arm, wrist and hand function.Anthropomorphic arm, wrist and hand function
Mechatronic device；It can move the time-varying requirement of any object or instrument spatially pose (position and posture),
So as to complete a certain industrial job requirements.Such as clamp soldering turret or welding gun, spot welding has been carried out to automobile or body of motor cycle
Or arc-welding, die casting or stamping forming part or component are carried, is cut by laser, sprayed, make-up machinery parts etc..
With the development of industrial automation, occur various mechanical arms on the market, but most of mechanical arm
Mechanism is complicated, and parts are various, and technological level is not high, causes manufacture difficult.
The content of the invention
In order to solve the above technical problems, it is an object of the invention to provide a kind of six shaft mechanical arm manufacturing process, it can
Optimize technique structure and manufacturing process, simplify the assembling of mechanical arm, lift the processing performance of six shaft mechanical arms.
Based on this, a kind of six shaft mechanicals arm manufacturing process provided by the invention, it is characterised in that comprise the following steps：
(1) base of mechanical arm is fixed on the platform of distribution box；
(2) first armed lever one end and the base are hinged and form the first joint, by second armed lever one end and described first
The armed lever other end is be hinged to form second joint, and the 3rd armed lever one end and the second armed lever other end are hinged and form the 3rd pass
Section, the 4th joint is formed by the 4th armed lever one end and the 3rd armed lever other end are be hinged, by the 5th armed lever one end and described the
The four armed lever other ends are be hinged to form the 5th joint, and supporting line is arranged in by adjacent two armed levers when carrying out hinge mounted
Inside corresponding armed lever；
(3) transmission device is assembled in the corresponding joint when carrying out the hinge operation.
Optionally, flange is processed respectively on the outer wall of the corresponding armed lever of the joint junction, in two adjacent institutes
State to process respectively on the flange of armed lever and can make articulation to the pin hole that pin series winding can be used to overlap during unique positions.
Optionally, before the step (2), first armed lever is molded with essence casting of high-strength aluminum alloy in advance.
Optionally, before the step (2), second armed lever is once cast into " work " with high-strength aluminum alloy in advance
Font, second armed lever, which is once cast into " work " font with high-strength aluminum alloy, to be included：Process two thin-walled side plates, Yi Jijia
Work is connected to the tubular crossbeam in the middle part of two side plates, and the tubular crossbeam radial direction area is increased from centre to both ends.
Optionally, before the step (2), in advance by the 3rd armed lever high-strength aluminum alloy one-step die casting,
The 3rd armed lever high-strength aluminum alloy one-step die casting includes：In the processing of the first cylinder sides with first cylinder
First core-drawing hole of portion's connection, positioned at the position on the first core-drawing hole opposite processing and described the on first cylindrical wall
The second cylinder that is that one cylinder is plugged into T-shape and being connected with first cylinder interior.
Optionally, before the step (2), in advance by the 4th armed lever high-strength aluminum alloy one-step die casting,
The 4th armed lever high-strength aluminum alloy one-step die casting includes：Process the first circular connection ring, the second circular connection ring
Cause the central axis of the described first circular connection ring and the central shaft of the second circular connection ring with the 3rd circular connection ring
Line on the same axis, and processes the central axis for causing the 3rd circular connection ring and the described first circular connection ring or institute
The central axis for stating the second circular connection ring intersects, while the described first circular connection ring and the second circular connection ring point
The opposite sides in the central axis of the 3rd circular connection ring is not processed, in the described first circular connection ring and described second
Process support bar is attached circular connection ring with the 3rd circular connection ring respectively, between two adjacent support bars
Processing connecting rod is attached.
Optionally, before the step (2), in advance by the 5th armed lever high-strength aluminum alloy one-step die casting,
The 5th armed lever high-strength aluminum alloy one-step die casting includes：In the processing of the 3rd cylinder sides with the 3rd cylinder
Second core-drawing hole of portion's connection, positioned at the position on the second core-drawing hole opposite processing and described the on the 3rd cylindrical wall
The 4th cylinder that is that three cylinders are plugged into T-shape and being connected with the 3rd cylinder interior, and outside the 4th cylinder sides
Process the annex installation portion being connected with the 4th cylinder interior.
Optionally, installing the transmission device includes：First wave producer is fixed on the first motor output shaft, by
One flexbile gear is fixed on output flange, and the output flange is fixed on corresponding output armed lever, by the first motor body and the
One steel wheel is fixed on the first mounting flange, and first mounting flange is fixed on corresponding input armed lever.
Optionally, the second mounting flange is processed in joint described in the 5th armed lever end, the second motor body is fixed on
On second mounting flange, the second wave producer is fixed on the second motor output shaft, the second firm gear is fixed on described
On two mounting flanges, end effector flange is fixed on the second flexbile gear.
Optionally, installed outside the side plate of second armed lever for protecting and hiding the second armed lever internal structure
Protective cover.
Implement the embodiment of the present invention, have the advantages that：
1st, the mechanical arm manufactured by six shaft mechanicals arm manufacturing process provided by the invention, can pass through each joint drive
Mechanical arm moves in three dimensions, and six shaft mechanicals arm manufacturing process provided by the invention is simple and easy in technique, Neng Goujian
Change structure and the assembling of mechanical arm, and then can be optimized the manufacturing process of tradition machinery arm.
2nd, by the way that each armed lever is realized in a manner of a die casting or essence casting shaping, the part of elevating mechanism arm is advantageous to
Integrated degree.
Brief description of the drawings
Fig. 1 is the structural representation of six shaft mechanical arms described in the preferred embodiment of the present invention.
Fig. 2 is the structural representation of the first armed lever described in the preferred embodiment of the present invention.
Fig. 3 is the structural representation of the second armed lever described in the preferred embodiment of the present invention.
Fig. 4 is the structural representation of the 3rd armed lever described in the preferred embodiment of the present invention.
Fig. 5 is the structural representation of the 4th armed lever described in the preferred embodiment of the present invention.
Fig. 6 is the structural representation of the 5th armed lever described in the preferred embodiment of the present invention.
Fig. 7 is the 5th armed lever and its end structure schematic diagram described in the preferred embodiment of the present invention.
Fig. 8 is the structural representation of the transmission device described in the preferred embodiment of the present invention.
Description of reference numerals：
1st, the first armed lever, the 2, second armed lever, the 3, the 3rd armed lever, the 4, the 4th armed lever, the 5, the 5th armed lever, 6, end effector method
Orchid, 7, base, the 8, first joint, 9, second joint, the 10, the 3rd joint, the 11, the 4th joint, the 12, the 5th joint, 13, protection
Cover, the 14, first motor, the 15, first wave producer, the 16, first flexbile gear, the 17, first steel wheel, the 18, first mounting flange, 19, defeated
Go out flange, the 20, second motor, the 21, second mounting flange, the 22, second flexbile gear, the 23, second wave producer, the 24, second firm gear,
201st, tubular crossbeam, 202, thin-walled side plate, 203, pin hole, the 301, first cylinder, the 302, second cylinder, the 303, first core pulling
Hole, the 401, first circular connection ring, the 402, second circular connection ring, the 403, the 3rd circular connection ring, 404, support bar, 405, even
Extension bar, the 501, the 3rd cylinder, the 502, the 4th cylinder, the 503, second core-drawing hole, 504, annex installation portion.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The embodiment of the present invention proposes a kind of six shaft mechanical arm manufacturing process, can be produced such as Fig. 1 to Fig. 8 institutes by the technique
The six shaft mechanical arms shown, it comprises the following steps：
The base 7 of mechanical arm is fixed on the platform of distribution box, forms the by the one end of the first armed lever 1 and base 7 are be hinged
One joint 8, second joint 9 is formed by the one end of the second armed lever 2 and the other end of the first armed lever 1 are be hinged, by one end of the 3rd armed lever 3 and the
The other end of two armed lever 2 is be hinged to form the 3rd joint 10, and the one end of the 4th armed lever 4 and the other end of the 3rd armed lever 3 are hinged and form the 4th
Joint 11, the one end of the 5th armed lever 5 and the other end of the 4th armed lever 4 are hinged and form the 5th joint 12, adjacent two armed levers are entering
Supporting line is arranged in inside corresponding armed lever during row hinge mounted, accordingly closed transmission device assembling when carrying out hinge operation
At section.Mechanical arm base is cast with gray cast iron to be formed, and possesses the firm, characteristic of antidetonation, angular contact axle is selected in the first joint
Make as kinematic mount, can bear to remove the axial force of base above section from mechanical arm, while be advantageous to elimination and be moved through
Gap in journey, improve kinematic accuracy.In addition, each joint can carry out the phase between adjacent armed lever by be hinged structure
The energy and signal input are provided to rotation, while by the supporting line inside mechanical arm, so as to realize mechanical arm in three dimensions
Interior various actions.
In addition, process flange respectively on the outer wall of the corresponding armed lever of joint junction, in the convex of two adjacent armed levers
Processing can make articulation to the pin hole 203 for the coincidence that can be contacted during unique positions with pin respectively on edge.Due to by environment,
The various factors such as gravity, loss influence, and repetitive positioning accuracy of the mechanical arm after acting many times can decline.Therefore, exist
Only one position is set at articulation as mechanical zero, i.e., above-mentioned armed lever kitchen appliance pin hole 203, in mechanical arm several times
After action, the pin hole 203 that adjacent two mechanical arm is injected by the use of dowel special positions calibration as mechanical zero, can greatly improve
The operational precision of mechanical arm., can be with addition, transported again after injecting the pin hole 203 of adjacent two mechanical arm with dowel special
Prevent due to the relative displacement between two adjacent mechanical arms caused by the factor such as gravity, vibrations in transportation, and then protect electricity
Machine and mechanical arm are injury-free.
Before the first armed lever 1 is assembled, the first armed lever 1 is molded with essence casting of high-strength aluminum alloy in advance.Require emphasis
, the high-strength aluminum alloy that refers in the present invention, its intensity is not weaker than the intensity of No. 35 steel under equal conditions.High intensity aluminium
Alloy precision casting technology can ensure the feasibility of labyrinth processing, while the rigidity of armed lever and precision is reached requirement, in addition,
The armed lever processing and forming is additionally included in armed lever shell and joint junction processing radial pattern reinforcement, it is ensured that armed lever is light-weighted same
Shi Qiangdu is protected, moreover, the reinforcement of radial pattern causes the uniform force at this, prevents local broken caused by unbalance stress
Split.The structure of first armed lever 1 is as shown in Figure 2.
Before assembling the second armed lever 2, the second armed lever 2 is once cast into " work " font with high-strength aluminum alloy in advance, second
Armed lever 2, which is once cast into " work " font with high-strength aluminum alloy, to be included：Two thin-walled side plates 202 are processed, and processing is connected to
Tubular crossbeam 201 in the middle part of two side plates, tubular crossbeam radial direction area are increased from centre to both ends.This armed lever employs thin-walled
Design structure, and the processing technology of one-step die casting make it that material combines even closer during shaping, can exclude trachoma, stomata etc.
Defect, it ensure that the second armed lever 2 is light-weighted while intensity reaches design requirement.In addition, in tubular crossbeam 201 and thin-walled side plate
202 junctions process orthodrome reinforcement, and between the both ends of tubular crossbeam 201 and the joint junction of thin-walled side plate 202
Radial pattern reinforcement is processed, further strengthens the intensity of the second armed lever 2 and eliminates mechanical arm caused shape in motion process
Change and problem of stress concentration.It should be noted that installed outside the thin-walled side plate 202 of the second armed lever 2 for protecting and hiding
The protective cover 13 of second armed lever internal structure, the protective cover 13 are plastic material, more have relative to metal material it is formability thereof and
Weight mitigates significantly.The structure of second armed lever 2 is as shown in Figure 3.
Before the 3rd armed lever 3 is assembled, in advance by the 3rd high-strength aluminum alloy one-step die casting of armed lever 3, the 3rd armed lever 3
Included with high-strength aluminum alloy one-step die casting：The processing and connected inside the first cylinder 301 the in the side of the first cylinder 301
One core-drawing hole 303, on the wall of the first cylinder 301 positioned at the opposite of the first core-drawing hole 303 position processing with the first cylinder 301 with
The second cylinder 302 that is that T-shape is plugged into and being connected with the inside of the first cylinder 301.This armed lever 3 equally employs the design knot of thin-walled
Structure, and the processing technology of one-step die casting make it that material combines even closer during shaping, excludes trachoma, the defects of stomata, protects
The 3rd armed lever 3 is demonstrate,proved and has realized that light-weighted while mechanical strength reaches design requirement.In addition, process first on the 3rd armed lever 3
Core-drawing hole 303 on the one hand can in order to during one-step die casting mould core pulling mechanism detach, on the one hand reduce armed lever deadweight,
It should be noted that the circumference of the first core-drawing hole 303 also needs in addition away from designing within 1/3rd of the closed loop of the first cylinder 301 circle
Big oblique angle reinforcement is processed on the first core-drawing hole 303, further strengthens the 3rd armed lever 3 intensity of itself.3rd armed lever 3
Structure is as shown in Figure 4.
Before the 4th armed lever 4 is assembled, before step (2), the 4th armed lever 4 is once cast into high-strength aluminum alloy in advance
Type, the 4th armed lever 4 are included with high-strength aluminum alloy one-step die casting：Process the first circular circular connection of connection ring 401, second
Ring 402 and the 3rd circular connection ring 403 causes the central axis and the second circular connection ring 402 of the first circular connection ring 401
Central axis on the same axis, and processes the central axis and the first circular connection ring 401 for causing the 3rd circular connection ring 403
Or second the central axis of circular connection ring 402 intersect, while the first circular 401 and second circular connection ring 402 of connection ring
The opposite sides in the central axis of the 3rd circular connection ring 403 is processed respectively, it is circular in the first circular connection ring 401 and second
Process support bar 404 is attached connection ring 402 with the 3rd circular connection ring 403 respectively, between two adjacent support bars 404
Processing connecting rod 405 is attached.As described above, for the armed lever using the structure of " skeleton " type, the connection of key position is main
Connected with rod-like structure, greatly reduce the weight of the armed lever body while ensure that intensity, in addition, shaft-like junction is appropriate
Reinforcement is processed, can further increase the intensity of armed lever 4.The structure of 4th armed lever 4 is as shown in Figure 5.
Before the 5th armed lever 5 is assembled, in advance by the 5th high-strength aluminum alloy one-step die casting of armed lever 5, the 5th armed lever
Included with high-strength aluminum alloy one-step die casting：The processing and connected inside the 3rd cylinder 501 the in the side of the 3rd cylinder 501
Two core-drawing holes 503, on the wall of the 3rd cylinder 501 positioned at the opposite of the second core-drawing hole 503 position processing with the 3rd cylinder 501 with
The 4th cylinder 502 that is that T-shape is plugged into and connect with the inside of the 3rd cylinder 501, and the processing and the outside the side of the 4th cylinder 502
The annex installation portion 504 being connected inside four cylinders 502.In addition, the second core-drawing hole 503 is processed on the 5th armed lever 5 on the one hand
Can in order to during one-step die casting mould core pulling mechanism detach, on the one hand reduce armed lever 5 and conduct oneself with dignity, it is necessary to which what is illustrated is
The circumference of two core-drawing hole 503 is away from design within 1/3rd of the closed loop of the 3rd cylinder 501 circle, it is also necessary in the second core-drawing hole 503
The upper big oblique angle reinforcement of processing, further reinforcement armed lever 5 intensity of itself.The structure of 5th armed lever 5 is as shown in Figure 6.
Further, the second mounting flange 21 is processed in the end joint of the 5th armed lever 5, the body of the second motor 20 is fixed
On the second mounting flange 21, the second wave producer 23 is fixed on the output shaft of the second motor 20, the second firm gear 24 is fixed on
On second mounting flange 21, end effector flange 6 is fixed on the second flexbile gear 22.Can be by not on end effector flange 6
Need executing agency is installed with working situation and realize and the operation such as grab, inhale, take or put.
Further, installation transmission device includes：First wave producer 15 is fixed on the output shaft of the first motor 14, will
First flexbile gear 16 is fixed on output flange 19, and output flange 19 is fixed on corresponding next armed lever, by 14, the first motor
Body and the first steel wheel 17 are fixed on the first mounting flange 18, and the first mounting flange 18 is fixed on a corresponding upper armed lever.
It should be noted that a upper armed lever for transmission device connecting joint and next armed lever are, it is necessary to illustrate, in second joint
One armed lever refers to the first armed lever, and next armed lever refers to the second armed lever, and in the 3rd joint, a upper armed lever refers to the second armed lever, next armed lever
Refer to the 3rd armed lever, by that analogy.The decelerator of transmission device can make the small volume of transmission device, weight from harmonic speed reducer
Gently, stable drive, noiseless and kinematic accuracy are high, in addition, the auxiliary assembling of the mounting flange 18 of output flange 19 and first ensures
The concentricity of articulation, the running precision of elevating mechanism arm and life-span.The structure of transmission device is as shown in Figure 8.
To sum up, the six shaft mechanical arm manufacturing process that the present embodiment provides are simple and easy in technique, can simplify mechanical arm
Structure and assembling, and then can be optimized the manufacturing process of tradition machinery arm.And by the way that each armed lever is once pressed
The mode of casting or essence casting shaping is realized, is advantageous to the integrated degree of the part of elevating mechanism arm.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvement and deformation can also be made, these are improved and deformation is also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of six shaft mechanical arm manufacturing process, it is characterised in that comprise the following steps：
(1) base of mechanical arm is fixed on the platform of distribution box；
(2) first armed lever one end and the base are hinged and form the first joint, by second armed lever one end and first armed lever
The other end is be hinged to form second joint, and the 3rd armed lever one end and the second armed lever other end are hinged and form the 3rd joint, will
4th armed lever one end is hinged with the 3rd armed lever other end and forms the 4th joint, by the 5th armed lever one end and the 4th armed lever
The other end is be hinged to form the 5th joint, and supporting line is arranged in respective arms by adjacent two armed levers when carrying out hinge mounted
Inside bar；
(3) transmission device is assembled in the corresponding joint when carrying out the hinge operation.
2. six shaft mechanicals arm manufacturing process according to claim 1, it is characterised in that in the corresponding of the joint junction
Flange is processed respectively on the outer wall of armed lever, and processing can arrive articulation respectively on the flange of two adjacent armed levers
Can be contacted the pin hole overlapped during unique positions with pin.
3. six shaft mechanicals arm manufacturing process according to claim 1, it is characterised in that before the step (2), in advance will
First armed lever is molded with essence casting of high-strength aluminum alloy.
4. six shaft mechanicals arm manufacturing process according to claim 1, it is characterised in that before the step (2), in advance will
Second armed lever is once cast into " work " font with high-strength aluminum alloy, and second armed lever is once pressed with high-strength aluminum alloy
Casting " work " font includes：Two thin-walled side plates are processed, and processing is connected to the tubular horizontal stroke in the middle part of two thin-walled side plates
Beam, the tubular crossbeam are processed into the shape that radial direction area increases from centre to both ends.
5. six shaft mechanicals arm manufacturing process according to claim 1, it is characterised in that before the step (2), in advance will
The 3rd armed lever high-strength aluminum alloy one-step die casting, the 3rd armed lever high-strength aluminum alloy one-step die casting
Including：The first core-drawing hole connected with first cylinder interior is processed in the first cylinder sides, on first cylindrical wall
Positioned at the first core-drawing hole opposite position processing with first cylinder plugged into T-shape and with first cylinder
Second cylinder of portion's connection.
6. six shaft mechanicals arm manufacturing process according to claim 1, it is characterised in that before the step (2), in advance will
The 4th armed lever high-strength aluminum alloy one-step die casting, the 4th armed lever high-strength aluminum alloy one-step die casting
Including：Process the first circular connection ring, the second circular connection ring and the 3rd circular connection ring and cause the described first circular connection ring
Central axis and the second circular connection ring central axis on the same axis, and process the circular connection ring and cause
The central axis of the 3rd circular connection ring and the central shaft of the described first circular connection ring or the second circular connection ring
Line intersects, while the described first circular connection ring and the second circular connection ring are separately positioned on the described 3rd circular connection
The opposite sides of the central axis of ring, and in the described first circular connection ring and the second circular connection ring difference process support
Bar is attached with the 3rd circular connection ring, and is processed connecting rod between two adjacent support bars and connected
Connect.
7. six shaft mechanicals arm manufacturing process according to claim 1, it is characterised in that before the step (2), in advance will
The 5th armed lever high-strength aluminum alloy one-step die casting, the 5th armed lever high-strength aluminum alloy one-step die casting
Including：The second core-drawing hole connected with the 3rd cylinder interior is processed in the 3rd cylinder sides, on the 3rd cylindrical wall
Positioned at the second core-drawing hole opposite position processing with the 3rd cylinder plugged into T-shape and with the 3rd cylinder
4th cylinder of portion's connection, and the annex installation being connected with the 4th cylinder interior is processed outside the 4th cylinder sides
Portion.
8. six shaft mechanicals arm manufacturing process according to claim 1, it is characterised in that installing the transmission device includes：
First wave producer is fixed on the first motor output shaft, the first flexbile gear is fixed on output flange, by the output method
Orchid is fixed on the corresponding armed lever, and the first motor body and the first steel wheel are fixed on the first mounting flange, and by described in
First mounting flange is fixed on the corresponding armed lever.
9. six shaft mechanicals arm manufacturing process according to claim 1, it is characterised in that described in the 5th armed lever end
Joint processes the second mounting flange, the second motor body is fixed on second mounting flange, by the second wave producer
Second motor output shaft is fixed on, the second firm gear is fixed on second mounting flange, by end effector flange
It is fixed on the second flexbile gear.
10. six shaft mechanicals arm manufacturing process according to claim 4, it is characterised in that in the thin-walled of second armed lever
Protective cover for protecting and hiding the second armed lever internal structure is installed outside side plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710774456.7A CN107511846A (en) | 2017-08-31 | 2017-08-31 | Six shaft mechanical arm manufacturing process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710774456.7A CN107511846A (en) | 2017-08-31 | 2017-08-31 | Six shaft mechanical arm manufacturing process |
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| Publication Number | Publication Date |
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| CN107511846A true CN107511846A (en) | 2017-12-26 |
Family
ID=60724961
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710774456.7A Pending CN107511846A (en) | 2017-08-31 | 2017-08-31 | Six shaft mechanical arm manufacturing process |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115055789A (en) * | 2022-08-08 | 2022-09-16 | 江苏菲达宝开电气股份有限公司 | Laser tracking robot welding system |
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| CN203495975U (en) * | 2013-09-24 | 2014-03-26 | 昆山泰丰自动化技术有限公司 | Mechanical arm and original point positioning device of mechanical arm |
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| CN205438614U (en) * | 2015-12-24 | 2016-08-10 | 欢颜自动化设备（上海）有限公司 | Industrial six axis robot forearm structure |
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| CN102114634A (en) * | 2009-12-30 | 2011-07-06 | 鸿富锦精密工业（深圳）有限公司 | Multi-shaft robot and shaft fixing base used thereby |
| DE102011053077A1 (en) * | 2010-09-10 | 2012-03-15 | Denso Wave Inc. | Rotation limiting device for e.g. vertical multi-joint type industrial robot, has flange produced as rotation element, where rotation range of motion of element is limited by connecting outer casing with shaft by device within casing |
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| CN115055789A (en) * | 2022-08-08 | 2022-09-16 | 江苏菲达宝开电气股份有限公司 | Laser tracking robot welding system |
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Application publication date: 20171226 |
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| RJ01 | Rejection of invention patent application after publication |