CN107598942A - A kind of automatic telescopic spary coating type industrial robot and control method - Google Patents
A kind of automatic telescopic spary coating type industrial robot and control method Download PDFInfo
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- CN107598942A CN107598942A CN201710999235.XA CN201710999235A CN107598942A CN 107598942 A CN107598942 A CN 107598942A CN 201710999235 A CN201710999235 A CN 201710999235A CN 107598942 A CN107598942 A CN 107598942A
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Abstract
The invention discloses a kind of automatic telescopic spary coating type industrial robot, it includes robot body, the robot body includes base and motion axis mechanism, be set forth in kinematic axis mechanism includes first axle, the second axle, the 3rd axle, the 4th axle, the 5th axle and the 6th axle, the first axle, the second axle, the 3rd axle, the 4th axle, the 5th axle and the 6th axle are designed with synchronous turbin generator and hollow reducer, the motion axis mechanism is provided with telescoping mechanism, the base is provided with radiating subassembly, and the radiating subassembly includes radiator structure and buffer structure.Invention additionally discloses a kind of automatic telescopic spary coating type industrial robot control method.By the present invention in that with hollow reducer; realize the inside cabling of cable; and thermal insulation layer and anti-interference magnet ring are set in spool to protect cable and signal stabilization to transmit; the arm of robot can be extended or be shortened by telescoping mechanism; so as to extend or shorten the movement locus of robot; the practicality of robot is improved, and saves production cost.
Description
Technical field
The present invention relates to the technical field of industrial robot, and in particular to a kind of automatic telescopic spary coating type industrial robot and
Control method.
Background technology
With the development of mechanical industry, automatic metaplasia is realized in increasing process using industrial robot
Production.Existing robot end's transmission coordinates driving for precision auger helical teeth, and processing and assembling requires complicated, and fraction defective pole
Height, the demand in market can not be adapted to；, can not be by robot overall appearance for the frame mode of each axle of existing spray robot
The coordination one of design, and can not accomplish that the convenient sealing of total arrangement of line is crossed by robot in the prior art.
In robot, power is transmitted usually through motor and cable, so as to realize motion.In order to compact-sized, generally
Cable is directly passed through from robot interior, is typically fixed on cable on inwall by clip, this, which crosses line mode, needs
Using longer cable, increase cost of manufacture.And inwall crosses line mode also there is robot in motion, axle athletic meeting is pullled
Cable, cable is caused to damage, and servomotor can produce a certain amount of electromagnetic interference in the running, and cable is impacted,
Cause signal transmission unstable, influence the precision of robot.The arm of existing robot is mostly certain length, so as to limit machine
The movement locus scope of people, the mode solved at present be mostly mobile base is set or using cylinder by way of carry out robot
The extension of movement locus, increase the weight and cost of manufacture of robot using mobile base, it has not been convenient to carry and floor space is big；
The movement locus of robot is adjusted by setting cylinder, which shortcoming is to cannot be guaranteed precision, and can not enter
The micro-adjustment of row length, using effect are poor.
The content of the invention
This invention is to be directed to present technical deficiency, there is provided a kind of automatic telescopic spary coating type industrial robot.
The present invention also provides a kind of control method.
The used to achieve the above object technical scheme of the present invention is：
A kind of automatic telescopic spary coating type industrial robot, the robot include robot body, the robot body
Including base and motion axis mechanism, the motion axis mechanism is arranged on base, and being set forth in kinematic axis mechanism includes first axle, the
Two axles, the 3rd axle, the 4th axle, the 5th axle and the 6th axle, the motion axis mechanism are provided with telescoping mechanism；
The base is provided with radiating subassembly, and the radiating subassembly includes radiator structure and buffer structure, the telescoping mechanism
Including control assembly, body and connector, the connector is arranged on one end of body, and the control assembly is arranged on telescopic machine
Inside structure.
It is further improved, the telescoping mechanism is separately positioned between the second axle and the 3rd axle, the 4th axle and the 5th axle,
The first axle is arranged on base, and the first axle is provided with rotating seat, and second axle is arranged on rotating seat, and described second
Axle one end and one end of telescoping mechanism are connected, and the other end of the telescoping mechanism is connected with one end of the 3rd axle, the 3rd axle
The other end and the 4th axis connection, the 4th axle other end are fixed on by telescoping mechanism and the 5th axis connection, the 6th axle
On 5th axle.
It is further improved, the first axle, the second axle, the 3rd axle, the 4th axle, the 5th axle and the 6th axle are designed with synchronization
Turbin generator and hollow reducer, the first axle are additionally provided with synchronous turbin generator eccentric structure, the hollow reducer with the second axle
Centre is provided with through hole, and the through hole is provided with spool, thermal insulation layer and anti-interference magnet ring are provided with the spool.
It is further improved, control module and circuit is provided with inside the automatic telescopic spary coating type industrial robot, it is described
The synchronizing wheel motor connection that circuit passes through spool and the first axle, the second axle, the 3rd axle, the 4th axle, the 5th axle and the 6th axle.
It is further improved, the control assembly includes servomotor and driving member, the servomotor and control module
Connection, the servomotor are arranged on inside connector.
It is further improved, the driving member is leading screw and belt, and the leading screw is designed with synchronizing wheel with servomotor, institute
The synchronizing wheel for stating leading screw and servomotor is connected by belt, and fixed block is provided with the body, and the fixed block is provided with through hole,
The screw mandrel end is provided with connection fixing block, and the connection fixing block is connected with fixed block, the leading screw control contiguous block and pipe
Elongation and shortening between body.
It is further improved, the body is provided with chute, and the chute is provided with multiple fixing holes, and the contiguous block is provided with more
Individual projection, multiple projections are provided with multiple grooves, be designed with the groove band spring jacking block, the band spring jacking block with
The contiguous block is designed with magnechuck, and the magnechuck includes the first magnechuck and the second magnechuck, the projection
Both ends are provided with sensor.
It is further improved, first magnechuck is arranged on band spring jacking block, and first magnechuck is provided with
Multiple placement through holes, the band spring jacking block, which is arranged on, to be placed in through hole, and the band spring jacking block is provided with screens fixed structure, institute
State placement through hole and be provided with fixing port, screens fixed structure is arranged in fixing port, and second magnechuck is arranged under projection
In the contiguous block of side, two magnechucks are connected with control module.
It is further improved, the control that a kind of movement locus for implementing application type industrial robot described in right extends or shortened
Method processed, it comprises the following steps：
(1) control module receives length extension signal and handled, and controls servomotor and magnechuck to enter after processing
Action is made；
(2) under the effect of the magnetic attraction of the first magnechuck and the second magnechuck, band spring jacking block internally shrinks, and passes
Signal in place, and is fed back to control module by sensor detection band spring jacking block, and control module controls servomotor after being handled
Acted；
(3) Serve Motor Control leading screw carries out ejection action, drives body to be extended, and the servomotor operating number of turns reaches
When, body is extended in place, and signal is fed back to control module by servomotor；
(4) control module receives body and extends signal in place and handle, and controls the first magnechuck and the second electromagnetism to inhale
Disk carries out de-energizing actions, is outwards ejected under the elastic force effect of spring with spring jacking block, sensor detection band spring jacking block is upward
Ejection, signal is fed back into control module, completes the movement locus over reach of application type industrial robot.
It is further improved, its is further comprising the steps of：(5) shortening action is carried out to movement locus, control module receives
To shortening signal and being handled, servomotor and magnechuck is controlled to be acted；(6) in the first magnechuck and the second electricity
Under the magnetic attraction effect of magnetic-disc, band spring jacking block internally shrinks, and sensor detection band spring jacking block is in place, and anti-by signal
Control module is fed to, control servomotor is acted after control module is handled；(7) Serve Motor Control leading screw is pushed up
Go out action, drive body to be shortened, when the servomotor operating number of turns reaches, body shortens in place, and servomotor is anti-by signal
It is fed to control module；(8) control module receives body and extends signal in place and handle, and controls the first magnechuck and the second electricity
Magnetic-disc carries out de-energizing actions, is outwards ejected under the elastic force effect of spring with spring jacking block, sensor detection band spring jacking block
Ejection upwards, signal is fed back into control module, complete the movement locus shortening action of application type industrial robot.
Beneficial effects of the present invention：Design structure of the present invention is simple, and installation and line mode excessively are simple, shorten the length of cable
Degree, reduces cost of manufacture, and cable can pass through in hollow reducer, protect cable not to be worn, solve traditional inwall and cross line side
Formula is existing when operating, and cable is pullled, the problems such as causing cable damage, and thermal insulation layer and anti-interference magnet ring are provided with spool, every
Thermosphere protects cable, and by reductor, caused temperature is not influenceed in the running, improves the service life of cable, anti-dry by setting
Magnet ring is disturbed to prevent servomotor operationally caused electromagnetic interference, ensures the running precision of robot；It is flexible by setting
Mechanism, the extension or shortening of arm are realized, so as to extend or shorten the movement locus of robot, improve practicality, and pass through control
Servomotor in molding block and telescoping mechanism is controlled, improve Adjustment precision, by band spring jacking block and magnechuck come
Realize that the fast positioning of contiguous block and body is fixed, by setting radiator structure and buffer structure in base, protect inside it
Circuit components by shaking and high temperature is influenceed, do not ensure the normal use of robot；The present invention will by internal cabling mode
The coordination one of robot overall appearance design, the convenient sealing of total arrangement that line will be crossed, and the present invention is by improving arm
Mode realize the extension of movement locus or shortening, cost is low and practicality is high, so as to improve the efficiency of production.
Below in conjunction with the accompanying drawings with embodiment, the present invention is further described.
Brief description of the drawings
Fig. 1 is the automatic telescopic spary coating type industrial robot overall structure diagram of the present embodiment；
Fig. 2 is the automatic telescopic spary coating type industrial robot cabling schematic diagram of the present embodiment；
Fig. 3 is the automatic telescopic spary coating type industrial robot explosive view of the present embodiment；
Fig. 4 is the telescoping mechanism structural representation of the present embodiment；
Fig. 5 is the telescoping mechanism explosive view of the present embodiment；
Fig. 6 is the telescoping mechanism schematic cross-sectional view of the present embodiment；
Fig. 7 is the present embodiment A enlarged diagram；
Fig. 8 is the present embodiment B enlarged diagram；
Fig. 9 is the spool schematic cross-sectional view of the present embodiment.
In figure：1. automatic telescopic spary coating type industrial robot, 2. robot bodies, 3. bases, 4. motion axis mechanisms, 5. stretch
Contracting mechanism, 7. hollow reducers, 9. circuits, 10. magnechucks, 11. sensors, 340. first axles, 41. second axles, 42. the 3rd
Axle, 43. the 4th axles, 44. the 5th axles, 45. the 6th axles, 50. control assemblies, 51. bodys, 52. connectors, 70. spools, 100.
One magnechuck, 101. second magnechucks, 102. placement through holes, 103. fixing ports, 501. servomotors, 502. driving members,
510 fixed blocks, 503. connection fixing blocks, 511. chutes, 520. projections, 521. band spring jacking blocks, 522. screens fixed structures,
700. thermal insulation layers, 701. anti-interference magnet rings.
Embodiment
As described below is only presently preferred embodiments of the present invention, does not therefore limit the new protection domain of this entity.
Referring to 1~Fig. 9 of accompanying drawing, a kind of automatic telescopic spary coating type industrial robot 1 includes robot body 2, the machine
Human body 2 includes base 3 and motion axis mechanism 4, and the motion axis mechanism 4 is set on the base 3, is set forth in kinematic axis mechanism 4
Including first axle 40, the second axle 41, the 3rd axle 42, the 4th axle 43, the 5th axle 44 and the 6th axle 45, the motion axis mechanism 4 is set
There is telescoping mechanism 5；
The base 3 is provided with radiating subassembly, and the radiating subassembly includes radiator structure and buffer structure, the telescoping mechanism
5 include control assembly 50, body 51 and connector 52, and the connector 5 is arranged on one end of body 51, the control assembly 50
It is arranged on inside telescoping mechanism 5.
The telescoping mechanism 5 is separately positioned between the second axle 41 and the 3rd axle 42, the 4th axle 43 and the 5th axle 44, described
First axle 40 is set on the base 3, and the first axle 40 is provided with rotating seat, and second axle 41 is arranged on rotating seat, described
The one end of second axle 41 is connected with one end of telescoping mechanism 5, and the other end of the telescoping mechanism 5 is connected with one end of the 3rd axle 42,
The other end of 3rd axle 42 is connected with the 4th axle 43, and the other end of the 4th axle 43 is connected by telescoping mechanism 5 and the 5th axle 44
Connect, the 6th axle 45 is fixed on the 5th axle 44.
The first axle 40, the second axle 41, the 3rd axle 42, the 4th axle 43, the 5th axle 44 and the 6th axle 45 are designed with synchronization
Turbin generator and hollow reducer 7, the first axle 40 and the second axle 41 are additionally provided with synchronous turbin generator eccentric structure, described hollow to subtract
Through hole is provided among fast machine 7, the through hole is provided with spool 70, thermal insulation layer 700 and anti-interference magnet ring are provided with the spool 70
701, the thermal insulation layer 700 is isolated for operating caused heat to hollow reducer 7, the anti-interference magnet ring 701
For being eliminated to electromagnetic interference caused by the running of synchronous turbin generator, ensure the stable use of cable and the stable biography of signal
It is defeated.
The inside of automatic telescopic spary coating type industrial robot 1 is provided with control module and circuit 9, and the circuit 9 passes through line
The synchronous turbin generator of pipe 70 and the first axle 40, the second axle 41, the 3rd axle 42, the 4th axle 43, the 5th axle 44 and the 6th axle 45
Connection, the circuit 9 for it is interior walk formula cross line, solve traditional inwall and cross cable when line mode is existing to be operated to be pullled, cause
The problems such as cable damage.
The control assembly 50 includes servomotor 501 and driving member 502, and the servomotor 501 connects with control module
Connect, the servomotor 501 is arranged on inside connector 52.
The driving member 502 is leading screw and belt, and the leading screw 502 is designed with synchronizing wheel, the silk with servomotor 501
The synchronizing wheel of thick stick and servomotor 501 is connected by belt, is provided with fixed block 510 in the body 51, the fixed block 510 is set
There is through hole, the screw mandrel end is provided with connection fixing block 503, and the connection fixing block 503 is connected with fixed block 510, the silk
Thick stick controls the elongation and shortening between contiguous block 52 and body 51.
The body 51 is provided with chute 511, and the chute 511 is provided with multiple fixing holes, and the contiguous block 52 is provided with multiple
Projection 520, multiple projections 520 are provided with multiple grooves, and band spring jacking block 521, the band bullet are designed with the groove
Spring jacking block 521 and the contiguous block 52 are designed with magnechuck 10, and the magnechuck 10 includes the first magnechuck 100 and the
Two magnechucks 101, the both ends of projection 520 are provided with sensor 11, and the sensor 11 is used for detection band spring jacking block 521
Ejection and contraction detection, the magnechuck 10 is used to eject band spring jacking block 521 and contractive action.
First magnechuck 100 is arranged on band spring jacking block 521, and first magnechuck 100 is provided with multiple
Through hole 102 is placed, the band spring jacking block 521, which is arranged on, to be placed in through hole 102, and the band spring jacking block 521 is consolidated provided with screens
Determine structure 522, the placement through hole 102 is provided with fixing port 103, and screens fixed structure 522 is arranged in fixing port 103, described
Second magnechuck 101 is arranged in the contiguous block 52 of the lower section of projection 520, and two magnechucks 10 are connected with control module,
Pass through the connection of screens fixed structure 522 and fixing port 103 so that what can be stablized with spring jacking block 521 inhales with the first electromagnetism
Disk 100 is fixed as one.
The control method that a kind of movement locus of application type industrial robot described in implementation right extends or shortened, it includes
Following steps：
(1) control module receives length extension signal and handled, and servomotor 501 and magnechuck are controlled after processing
10 are acted；
(2) under the effect of the magnetic attraction of the first magnechuck 100 and the second magnechuck 101, band spring jacking block 521 is inside
Portion is shunk, and signal in place, and is fed back to control module by the detection band spring jacking block 521 of sensor 11, and control module is handled
Control servomotor 501 is acted afterwards；
(3) servomotor 501 controls leading screw to carry out ejection action, drives body 51 to be extended, servomotor 501 operates
When the number of turns reaches, body 51 is extended in place, and signal is fed back to control module by servomotor 501；
(4) control module receives body 51 and extends signal in place and handle, the electricity of the first magnechuck of control 100 and second
Magnetic-disc 101 carries out de-energizing actions, is outwards ejected under the elastic force effect of spring with spring jacking block 521, the detection band of sensor 11
Spring jacking block 521 is ejected upwards, and signal is fed back into control module, and the movement locus for completing application type industrial robot 1 extends
Action.
It is further improved, its is further comprising the steps of：(5) shortening action is carried out to movement locus, control module receives
To shortening signal and being handled, servomotor 501 and magnechuck 10 is controlled to be acted；(6) in the first magnechuck 100
And second magnechuck 101 magnetic attraction effect under, band spring jacking block 521 internally shrinks, the detection band spring top of sensor 11
Signal in place, and is fed back to control module by block 521, and control servomotor 501 is acted after control module is handled；
(7) servomotor 501 controls leading screw to carry out ejection action, drives body 51 to be shortened, and servomotor 501 operates the number of turns and reached
When, body 51 shortens in place, and signal is fed back to control module by servomotor 501；(8) control module receives body 51 and extended
Signal and handle in place, control the first magnechuck 100 and the second magnechuck 101 to carry out de-energizing actions, band spring jacking block 521
Outwards ejected under the elastic force effect of spring, the detection band spring jacking block 521 of sensor 11 is ejected upwards, and signal is fed back into control
Module, complete the movement locus shortening action of application type industrial robot 1.
Design structure of the present invention is simple, and installation and line mode excessively are simple, shorten the length of cable, reduce cost of manufacture, line
Cable can pass through in hollow reducer, protect cable not to be worn, and solve traditional inwall and cross cable when line mode is existing to be operated
Pullled, the problems such as causing cable damage, be provided with thermal insulation layer in spool and anti-interference magnet ring, thermal insulation layer protect cable not subtracted
Caused temperature influences fast machine in the running, improves the service life of cable, prevents that servo is electric by setting anti-interference magnet ring
Machine operationally caused electromagnetic interference, ensure the running precision of robot；By setting telescoping mechanism, the extension of arm is realized
Or shorten, so as to extend or shorten the movement locus of robot, practicality is improved, and by control module and telescoping mechanism
Servomotor is controlled, and improves Adjustment precision, by realizing the fast of contiguous block and body with spring jacking block and magnechuck
Speed positioning is fixed, by setting radiator structure and buffer structure in base, protect its internal circuit component do not shaken and
The influence of high temperature, ensure the normal use of robot；What the present invention was designed robot overall appearance by internal cabling mode
Coordinate one, the convenient sealing of total arrangement that line will be crossed, and the present invention realizes movement locus by way of improving arm
Extension or shortening, cost is low and practicality is high, so as to improve the efficiency of production.
The present invention is not limited to above-mentioned embodiment, using identical or approximate construction, device with the above embodiment of the present invention
Or method, and other obtained are used for automatic telescopic spary coating type industrial robot and movement locus extends or method for reducing, exist
Within protection scope of the present invention.
Claims (10)
- A kind of 1. automatic telescopic spary coating type industrial robot, it is characterised in that：The robot includes robot body, the machine Device human body includes base and motion axis mechanism, and the motion axis mechanism is arranged on base, and being set forth in kinematic axis mechanism includes First axle, the second axle, the 3rd axle, the 4th axle, the 5th axle and the 6th axle, the motion axis mechanism are provided with telescoping mechanism；The base is provided with radiating subassembly, and the radiating subassembly includes radiator structure and buffer structure, and the telescoping mechanism includes Control assembly, body and connector, the connector are arranged on one end of body, and the control assembly is arranged in telescoping mechanism Portion.
- 2. automatic telescopic spary coating type industrial robot according to claim 1, it is characterised in that：The telescoping mechanism difference It is arranged between the second axle and the 3rd axle, the 4th axle and the 5th axle, the first axle is arranged on base, and the first axle is provided with Rotating seat, second axle are arranged on rotating seat, one end connection of described second axle one end and telescoping mechanism, the telescopic machine The other end of structure is connected with one end of the 3rd axle, and the 3rd axle other end and the 4th axis connection, the 4th axle other end lead to Telescoping mechanism and the 5th axis connection are crossed, the 6th axle is fixed on the 5th axle.
- 3. automatic telescopic spary coating type industrial robot according to claim 2, it is characterised in that：The first axle, second Axle, the 3rd axle, the 4th axle, the 5th axle and the 6th axle are designed with synchronous turbin generator and hollow reducer, the first axle and second Axle is additionally provided with synchronous turbin generator eccentric structure, is provided with through hole among the hollow reducer, the through hole is provided with spool, the line Thermal insulation layer and anti-interference magnet ring are provided with pipe.
- 4. automatic telescopic spary coating type industrial robot according to claim 3, it is characterised in that：The automatic telescopic spraying Control module and circuit are provided with inside type industrial robot, the circuit passes through spool and the first axle, the second axle, the 3rd Axle, the 4th axle, the synchronizing wheel motor connection of the 5th axle and the 6th axle.
- 5. automatic telescopic spary coating type industrial robot according to claim 1, it is characterised in that：The control assembly includes Servomotor and driving member, the servomotor are connected with control module, and the servomotor is arranged on inside connector.
- 6. automatic telescopic spary coating type industrial robot according to claim 5, it is characterised in that：The driving member is leading screw And belt, the leading screw are designed with synchronizing wheel with servomotor, the synchronizing wheel of the leading screw and servomotor is connected by belt, Fixed block is provided with the body, the fixed block is provided with through hole, and the screw mandrel end is provided with connection fixing block, and the connection is solid Determine block to be connected with fixed block, elongation and shortening between the leading screw control contiguous block and body.
- 7. automatic telescopic spary coating type industrial robot according to claim 6, it is characterised in that：The body, which is provided with, to be slided Groove, the chute are provided with multiple fixing holes, and the contiguous block is provided with multiple projections, and multiple projections are provided with multiple grooves, Band spring jacking block is designed with the groove, the band spring jacking block is designed with magnechuck, the electromagnetism with the contiguous block Sucker includes the first magnechuck and the second magnechuck, and the projection both ends are provided with sensor.
- 8. automatic telescopic spary coating type industrial robot according to claim 7, it is characterised in that：First magnechuck It is arranged on band spring jacking block, first magnechuck is provided with multiple placement through holes, and the band spring jacking block is arranged on placement In through hole, the band spring jacking block is provided with screens fixed structure, and the placement through hole is provided with fixing port, and screens fixed structure is set In fixing port, second magnechuck is arranged in the contiguous block of underbump, two magnechucks and control module Connection.
- 9. a kind of control method for implementing one of the claim 1~8 application type industrial robot, it is characterised in that it is wrapped Include following steps：(1) control module receives length extension signal and handled, and controls servomotor and magnechuck to enter action after processing Make；(2) under the effect of the magnetic attraction of the first magnechuck and the second magnechuck, band spring jacking block internally shrinks, sensor Signal in place, and is fed back to control module by detection band spring jacking block, and control module controls servomotor to carry out after being handled Action；(3) Serve Motor Control leading screw carries out ejection action, drives body to be extended, when the servomotor operating number of turns reaches, Body is extended in place, and signal is fed back to control module by servomotor；(4) control module receives body and extends signal in place and handle, and controls the first magnechuck and the second magnechuck to enter Row de-energizing actions, outwards being ejected under the elastic force effect of spring with spring jacking block, sensor detection band spring jacking block ejects upwards, Signal is fed back into control module, completes the movement locus over reach of application type industrial robot.
- 10. control method according to claim 9, it is characterised in that its is further comprising the steps of：(5) carry out shortening action to movement locus, control module, which receives, to be shortened signal and is handled, control servomotor and Magnechuck is acted；(6) under the effect of the magnetic attraction of the first magnechuck and the second magnechuck, band spring jacking block is inside Portion is shunk, and signal in place, and is fed back to control module by sensor detection band spring jacking block, and control module controls after being handled Servomotor is acted；(7) Serve Motor Control leading screw carries out ejection action, drives body to be shortened, servomotor fortune Turn-take count to up to when, body shorten in place, signal is fed back to control module by servomotor；(8) control module receives body Extend signal in place and handle, control the first magnechuck and the second magnechuck to carry out de-energizing actions, band spring jacking block is in bullet Elastic force effect lower outwards ejection, the sensor detection band spring jacking block of spring are ejected upwards, and signal is fed back into control module, completed The movement locus shortening action of application type industrial robot.
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| CN110614180A (en) * | 2019-11-05 | 2019-12-27 | 常州工程职业技术学院 | Special mechanical arm for coating robot |
| CN111360552A (en) * | 2020-04-23 | 2020-07-03 | 天津三合智能装备制造有限公司 | Seven-axis machine tool |
| CN112388676A (en) * | 2020-12-01 | 2021-02-23 | 伯朗特机器人股份有限公司 | Robot assembly convenient to maintain |
| CN112518719A (en) * | 2020-12-01 | 2021-03-19 | 伯朗特机器人股份有限公司 | Four-axis robot convenient to maintain |
| CN113119093A (en) * | 2021-04-10 | 2021-07-16 | 新乡市银星机械设备有限公司 | Automatic welding and cutting robot |
| CN113459157A (en) * | 2020-03-31 | 2021-10-01 | 深圳市神州云海智能科技有限公司 | Robot and intelligent charging system |
| CN113561164A (en) * | 2021-05-19 | 2021-10-29 | 四川犍小茉科技有限公司 | Mechanical arm |
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| CN109263743B (en) * | 2018-06-20 | 2024-06-28 | 长春工业大学 | Bionic spider walking robot |
| CN114080301A (en) * | 2019-07-31 | 2022-02-22 | X开发有限责任公司 | Independently translating coaxial robotic arm and sensing housing |
| CN110514910A (en) * | 2019-09-04 | 2019-11-29 | 中山香山微波科技有限公司 | A kind of radio frequency testing robot system |
| CN110514910B (en) * | 2019-09-04 | 2024-07-12 | 中山香山微波科技有限公司 | Radio frequency test robot system |
| CN110614180A (en) * | 2019-11-05 | 2019-12-27 | 常州工程职业技术学院 | Special mechanical arm for coating robot |
| CN113459157A (en) * | 2020-03-31 | 2021-10-01 | 深圳市神州云海智能科技有限公司 | Robot and intelligent charging system |
| CN111360552A (en) * | 2020-04-23 | 2020-07-03 | 天津三合智能装备制造有限公司 | Seven-axis machine tool |
| CN112518719A (en) * | 2020-12-01 | 2021-03-19 | 伯朗特机器人股份有限公司 | Four-axis robot convenient to maintain |
| CN112388676A (en) * | 2020-12-01 | 2021-02-23 | 伯朗特机器人股份有限公司 | Robot assembly convenient to maintain |
| CN113119093A (en) * | 2021-04-10 | 2021-07-16 | 新乡市银星机械设备有限公司 | Automatic welding and cutting robot |
| CN113561164A (en) * | 2021-05-19 | 2021-10-29 | 四川犍小茉科技有限公司 | Mechanical arm |
| CN113561164B (en) * | 2021-05-19 | 2023-08-29 | 四川犍小茉科技有限公司 | Mechanical arm |
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