CN109605392A - A kind of multi-joint parallel connection spray robot - Google Patents
A kind of multi-joint parallel connection spray robot Download PDFInfo
- Publication number
- CN109605392A CN109605392A CN201910007397.XA CN201910007397A CN109605392A CN 109605392 A CN109605392 A CN 109605392A CN 201910007397 A CN201910007397 A CN 201910007397A CN 109605392 A CN109605392 A CN 109605392A
- Authority
- CN
- China
- Prior art keywords
- joint
- spraying
- horizontally mounted
- parallel connection
- spray
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multi-joint parallel connection spray robots, including spraying robot human body, the right surface crown of the spraying robot human body is equipped with and is horizontally mounted shell, spraying robot human body is the integrated structure of spray robot and spraying cabinet, occupied space is smaller, internal mounting groove is for placing discharge tube and electric wiring, pass through electric wiring and discharge tube from inside, outside good integrity, integral layout is reasonable, neat and tidy, and the integral type flexible dustproof cover by being wrapped up on the outside of multi-joint spraying mechanism, keep multi-joint spraying mechanism and dust completely isolated, with good dustproof effect, furthermore, the angular deflection of each joint unit is realized by position of the adjusting nut on lead screw, axial stretching and radial small angle rotation, wherein each joint unit can realize that angular deflection is 24 °, axial stretching height is 24mm, radial small angle rotation are 35 °, realize multi-faceted spraying operation, flexibility ratio is high, adaptable.
Description
Technical field
The present invention relates to spray robot technical field, specific field is a kind of multi-joint parallel connection spray robot.
Background technique
Spray robot is can to carry out auto spray painting or spray the industrial robot of other coating, mainly there is robot sheet
Body, computer and corresponding control system composition, existing powder spraying apparatus are mostly dusted with artificial, articulated robot and automation
Based on equipment, however existing spray robot there is also some problems, existing spray robot occupied space is larger, and spray
Stringing and electrical traces are chronically exposed in external dust environment all on the outside of spray robot, and layout is in disorder to be unfavorable for equipment
Cleaning, dust-proof effect is poor, in addition, the flexibility that spray robot adjusts spray angle is poor, influences spraying effect, for this purpose,
We have proposed a kind of multi-joint parallel connection spray robots.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-joint parallel connection spray robots, to solve to propose in above-mentioned background technique
The problem of.
To achieve the above object, the invention provides the following technical scheme: a kind of multi-joint parallel connection spray robot, including spray
Robot body is applied, the right surface crown of the spraying robot human body, which is equipped with, is horizontally mounted shell, described to be horizontally mounted shell
Lower surface multi-joint spraying mechanism is installed, the multi-joint spraying mechanism includes six joint units, joint described in upper end
The upper surface of unit is connected by bolt with the shell that is horizontally mounted, and the lower end surface of joint unit described in lower end is equipped with spray
Head, the feed end of the spray head are communicated with one end of discharge tube, and the other end of the discharge tube runs through six joint units
It is connected with the shell that is horizontally mounted, the lateral wall of the multi-joint spray structure is enclosed with flexible dustproof cover, the flexibility
The upper surface of dust cover is fixedly connected with the shell that is horizontally mounted, and lower end surface and the spray head of the flexible dustproof cover are fixed
Connection；
Six joint units include circular mounting plate, and the side wall of the circular mounting plate is uniformly integrally formed with three
A rectangular mounting plate, the lower surface middle part of the circular mounting plate, which is run through, internal mounting groove, the following table of the rectangular mounting plate
The first fixed block has been bolted in face, and running through in the middle part of the lower surface of first fixed block has spherical groove, the spherical shape
The first universal ball end is rotatably connected in slot, the lower end surface of first universal ball end is integrally formed with the one of first connecting rod
End, the other end of the first connecting rod extend first fixed block and are fixedly installed with driving motor, the driving motor
Output end be fixedly connected with one end of lead screw, nut is threaded on the lead screw, the lateral wall of the nut is fixed to be connected
Connect sleeved one end, the other end of the sleeve is fixedly connected with one end of the second connecting rod, second connecting rod it is another
One end is integrally formed with the second everything bulb, the upper surface of the rectangular mounting plate and the lower section for being located at the second everything bulb
The second fixed block is bolted, the upper surface middle part of second fixed block, which runs through, spherical groove, in the spherical groove
It is rotatably connected to the second universal ball end.
Preferably, the driving motor is servo motor.
Preferably, the diameter of the circular mounting plate and internal mounting groove is sequentially reduced from top to bottom.
Preferably, the spray robot is set inside the body powder supply drum, and the inside for being horizontally mounted shell is equipped with
Storage cavity is communicated with pipeline between the powder supply drum and storage cavity.
Preferably, the upper surface of the sleeve and be located at the nut above be fixedly connected with socket cover.
Compared with prior art, the beneficial effects of the present invention are: spraying robot human body is spray robot and spraying cabinet
Integrated structure, occupied space is smaller, and internal mounting groove makes electric wiring and spray for placing discharge tube and electric wiring
Tube cell is passed through from inside, and outside good integrity, integral layout is reasonable, neat and tidy, and passes through packet on the outside of multi-joint spraying mechanism
The integral type flexible dustproof cover wrapped up in, keeps multi-joint spraying mechanism and dust completely isolated, has good dustproof effect, in addition, close more
Each joint unit is that independent control is then in parallel in section spraying mechanism, by position of the adjusting nut on lead screw to reality
The now angular deflection of each joint unit, axial stretching and radial small angle rotation, wherein each joint unit can realize that angle is inclined
Switch to 24 °, axial stretching height is 24mm, and radial small angle rotation is 35 °, realizes multi-faceted spraying operation, and flexibility ratio is high, fits
Ying Xingqiang.
Detailed description of the invention
Fig. 1 is schematic view of the front view of the invention；
Fig. 2 is the structural schematic diagram of multi-joint spraying mechanism of the present invention；
Fig. 3 is the partial enlargement structural representation of A in Fig. 2；
Fig. 4 is the overlooking structure diagram of circular mounting plate and three rectangular mounting plates of the present invention；
Fig. 5 is the main view of internal structure of lead screw of the present invention and sleeve.
In figure: 1- spraying robot human body, 2- are horizontally mounted shell, 3- multi-joint spraying mechanism, 302- spray head, 303- spray
Tube cell, 4- flexible dustproof cover, 5- circular mounting plate, tri- rectangular mounting plates of 6-, the inside 7- mounting groove, the first fixed block of 8-, 9-
Spherical groove, the first universal ball end of 10-, 11- first connecting rod, 12- driving motor, 13- lead screw, 14- nut, 15- sleeve, 16-
Second connecting rod, the second everything of 17- bulb, the second fixed block of 18-, 19- powder supply drum, 20- storage cavity, 21- socket cover.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-5 is please referred to, the present invention provides a kind of technical solution: a kind of multi-joint parallel connection spray robot, including spraying
Robot body 1, spraying robot human body are an overall structure for having spray robot and spraying cabinet to integrate, the flush coater
The right surface crown of device human body, which is equipped with, is horizontally mounted shell 2, and the lower surface for being horizontally mounted shell is equipped with multi-joint spray
Mechanism 3 is applied, the multi-joint spraying mechanism includes six joint units, which is similar to trunk structure, and flexibility ratio is high, adapts to
Property it is strong, the upper surface of joint unit described in upper end is connected by bolt with the shell that is horizontally mounted, the list of joint described in lower end
The lower end surface of member is equipped with spray head 302, and the feed end of the spray head is communicated with one end of discharge tube 303, the discharge tube it is another
One end is connected through six joint units with the shell that is horizontally mounted, the lateral wall packet of the multi-joint spray structure
It is wrapped with flexible dustproof cover 4, using the flexible dustproof cover of integral type, keeps multi-joint spraying mechanism and dust completely isolated, dust-proof effect
Fruit is good, and the upper surface of the flexible dustproof cover is fixedly connected with the shell that is horizontally mounted, the lower end surface of the flexible dustproof cover
It is fixedly connected with the spray head；
Six joint units include circular mounting plate 5, the side wall of the circular mounting plate uniformly integrally formed with
Three rectangular mounting plates 6, the lower surface middle part of the circular mounting plate is through there is internal mounting groove 7, and internal mounting groove is for putting
Discharge tube and electric wiring are set, passes through electric wiring from inside, integral layout is reasonable, neat and tidy, the rectangular mounting plate
Lower surface be bolted the first fixed block 8, through there is spherical groove 9 in the middle part of the lower surface of first fixed block,
The first universal ball end 10 is rotatably connected in the spherical groove, by spherical groove and the first everything bulb with lead screw and sleeve
Positional relationship carries out multi-angle deflection, the lower end surface of first universal ball end integrally formed with first connecting rod 11 one end,
The other end of the first connecting rod extends first fixed block and is fixedly installed with driving motor 12, and driving motor is power
Lesser motor can mitigate dead weight load, in addition, multi-joint spraying mechanism mainly uses almag, it is light-weight design,
Motor load is reduced, the output end of the driving motor is fixedly connected with one end of lead screw 13, is threaded on the lead screw
Nut 14, the lateral wall of the nut are fixedly connected with one end of sleeve 15, control lead screw positive and negative rotation by driving motor and adjust
Position of the nut on lead screw, to adjust the position of the sleeve and lead screw that are fixedly linked with nut, the other end of the sleeve
Be fixedly connected with one end of the second connecting rod 16, the other end of second connecting rod integrally formed with the second everything bulb 17,
The upper surface of the rectangular mounting plate and be located at the second everything bulb below the second fixed block 18 has been bolted,
The upper surface middle part of second fixed block is rotatably connected to the second universal ball end through there is spherical groove in the spherical groove, lead to
Spherical groove and the second everything bulb are crossed as the positional relationship of lead screw and sleeve carries out multi-angle deflection.
Specifically, the driving motor is servo motor, servo motor precision is preferable.
Specifically, the diameter of the circular mounting plate and internal mounting groove is sequentially reduced from top to bottom.
Specifically, the spray robot is set inside the body powder supply drum 19, the inside for being horizontally mounted shell
Equipped with storage cavity 20, pipeline is communicated between the powder supply drum and storage cavity.
Specifically, the upper surface of the sleeve and be located at the nut above be fixedly connected with socket cover 21, pass through
Nut is completely encapsulated in sleeve by socket cover.
Working principle: the present invention provides a kind of multi-joint parallel connection spray robot, and spray coating powder is injected spraying robot first
In powder supply drum in human body, the spray coating powder in powder supply drum is sent to by charging pump and is horizontally mounted the intracorporal storage cavity of shell
Interior, discharge tube is connected with storage cavity, and spray coating powder, which can enter spray head along discharge tube and spray along spray head, realizes spraying, passes through spraying
The control system control multi-joint spraying mechanism of robot body works, wherein each joint unit is that independent control is right
In parallel afterwards, each joint unit includes three driving motors, drives corresponding lead screw to rotate by each driving motor, adjusts spiral shell
Position of the mother on lead screw is to realize the angular deflection of each joint unit, axial stretching and radial small angle rotation, wherein often
A joint unit can realize that angular deflection is 24 °, and axial stretching height is 24mm, and radial small angle rotation is 35 °, realize multi-party
Position spraying operation.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of multi-joint parallel connection spray robot, including spraying robot human body (1), it is characterised in that: the spraying robot
The right surface crown of human body (1) is equipped with and is horizontally mounted shell (2), and the lower surface for being horizontally mounted shell (2) is equipped with more
Joint spraying mechanism (3), the multi-joint spraying mechanism (3) include six joint units, the upper end of joint unit described in upper end
Face is connected by bolt with the shell (2) that is horizontally mounted, and the lower end surface of joint unit described in lower end is equipped with spray head
(302), the feed end of the spray head (302) is communicated with one end of discharge tube (303), and the other end of the discharge tube (303) passes through
It wears six joint units to be connected with the shell (2) that is horizontally mounted, the lateral wall packet of the multi-joint spray structure (3)
It is wrapped with flexible dustproof cover (4), the upper surface of the flexible dustproof cover (4) is fixedly connected with the shell (2) that is horizontally mounted, described
The lower end surface of flexible dustproof cover (4) is fixedly connected with the spray head (302)；
Six joint units include circular mounting plate (5), the side wall of the circular mounting plate (5) uniformly integrally formed with
Three rectangular mounting plates (6), through having internal mounting groove (7), the rectangle is pacified at the lower surface middle part of the circular mounting plate (5)
The lower surface of loading board (6) has been bolted the first fixed block (8), passes through in the middle part of the lower surface of first fixed block (8)
It is installed with spherical groove (9), is rotatably connected to the first universal ball end (10) in the spherical groove (9), first universal ball end (10)
Lower end surface integrally formed with one end of first connecting rod (11), the other end of the first connecting rod (11) extends described
One fixed block (8) is fixedly installed with driving motor (12), and the output end of the driving motor (12) is fixedly connected with lead screw (13)
One end, be threaded with nut (14) on the lead screw (13), the lateral wall of the nut (14) is fixedly connected with sleeve
(15) other end of one end, the sleeve (15) is fixedly connected with one end of the second connecting rod (16), second connecting rod
(16) the other end upper surface of the rectangular mounting plate (6) and is located at described the integrally formed with the second everything bulb (17)
It has been bolted the second fixed block (18) below two everything bulbs (17), in the upper surface of second fixed block (18)
Portion is rotatably connected to the second universal ball end (17) in the spherical groove (9) through having spherical groove (9).
2. a kind of multi-joint parallel connection spray robot according to claim 1, it is characterised in that: the driving motor (12)
For servo motor.
3. a kind of multi-joint parallel connection spray robot according to claim 1, it is characterised in that: the circle from top to bottom
Mounting plate (5) and the diameter of internal mounting groove (7) are sequentially reduced.
4. a kind of multi-joint parallel connection spray robot according to claim 1, it is characterised in that: the spray robot sheet
The inside of body (1) is equipped with powder supply drum (19), and the inside for being horizontally mounted shell (2) is equipped with storage cavity (20), the powder supply drum
(19) pipeline is communicated between storage cavity (20).
5. a kind of multi-joint parallel connection spray robot according to claim 1, it is characterised in that: the sleeve (15) it is upper
End face and be located at the nut (14) above be fixedly connected with socket cover (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910007397.XA CN109605392B (en) | 2019-01-04 | 2019-01-04 | Multi-joint parallel spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910007397.XA CN109605392B (en) | 2019-01-04 | 2019-01-04 | Multi-joint parallel spraying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109605392A true CN109605392A (en) | 2019-04-12 |
| CN109605392B CN109605392B (en) | 2023-09-01 |
Family
ID=66018087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910007397.XA Active CN109605392B (en) | 2019-01-04 | 2019-01-04 | Multi-joint parallel spraying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109605392B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959303A (en) * | 2021-02-07 | 2021-06-15 | 曲阜师范大学 | Shell structure of service robot based on 5G |
| CN114851180A (en) * | 2022-04-08 | 2022-08-05 | 江苏科技大学 | Modularized robot for paint spraying and rust removing of ship and control method thereof |
| CN115213032A (en) * | 2022-07-15 | 2022-10-21 | 江苏科技大学 | Bionic elephant spraying robot and spraying control method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000046140A (en) * | 1998-07-31 | 2000-02-18 | Yaskawa Electric Corp | Motor-operated cylinder and parallel link robot |
| CN1647890A (en) * | 2005-02-06 | 2005-08-03 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN202765090U (en) * | 2012-09-12 | 2013-03-06 | 上海大学 | Automatic steering device of searching and rescuing robot |
| CN102990645A (en) * | 2012-12-04 | 2013-03-27 | 汕头大学 | Bionic proboscis robot |
| CN108098784A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | Aircraft wing drilling and milling robot |
| CN108214474A (en) * | 2018-03-08 | 2018-06-29 | 南京航空航天大学 | A kind of Bionic flexible mechanical arm towards narrow operating in limited space |
| CN209408502U (en) * | 2019-01-04 | 2019-09-20 | 杭州龙盛工贸有限公司 | A kind of multi-joint parallel connection spray robot |
-
2019
- 2019-01-04 CN CN201910007397.XA patent/CN109605392B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000046140A (en) * | 1998-07-31 | 2000-02-18 | Yaskawa Electric Corp | Motor-operated cylinder and parallel link robot |
| CN1647890A (en) * | 2005-02-06 | 2005-08-03 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN202765090U (en) * | 2012-09-12 | 2013-03-06 | 上海大学 | Automatic steering device of searching and rescuing robot |
| CN102990645A (en) * | 2012-12-04 | 2013-03-27 | 汕头大学 | Bionic proboscis robot |
| CN108098784A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | Aircraft wing drilling and milling robot |
| CN108214474A (en) * | 2018-03-08 | 2018-06-29 | 南京航空航天大学 | A kind of Bionic flexible mechanical arm towards narrow operating in limited space |
| CN209408502U (en) * | 2019-01-04 | 2019-09-20 | 杭州龙盛工贸有限公司 | A kind of multi-joint parallel connection spray robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959303A (en) * | 2021-02-07 | 2021-06-15 | 曲阜师范大学 | Shell structure of service robot based on 5G |
| CN112959303B (en) * | 2021-02-07 | 2023-08-01 | 曲阜师范大学 | 5G-based shell structure of service robot |
| CN114851180A (en) * | 2022-04-08 | 2022-08-05 | 江苏科技大学 | Modularized robot for paint spraying and rust removing of ship and control method thereof |
| CN115213032A (en) * | 2022-07-15 | 2022-10-21 | 江苏科技大学 | Bionic elephant spraying robot and spraying control method |
| CN115213032B (en) * | 2022-07-15 | 2023-10-27 | 江苏科技大学 | Bionic image spraying robot and spraying control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109605392B (en) | 2023-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109605392A (en) | A kind of multi-joint parallel connection spray robot | |
| CN107214720B (en) | Modular configuration-variable three-finger robot hand | |
| CN208977805U (en) | A kind of five articulated robots | |
| CN109304700A (en) | A kind of hydraulic clamping robot of industrial production | |
| CN103707292A (en) | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist | |
| CN202241311U (en) | 3-level telescopic motion arm | |
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN102962848A (en) | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot | |
| CN101745913A (en) | Nimble arm of six-DOF robot | |
| CN104802156A (en) | Dual-arm robot | |
| CN104149101A (en) | Multi-joint arm of humanoid robot capable of playing piano | |
| CN102126210A (en) | 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm | |
| CN208100398U (en) | A kind of ball shape robot structure | |
| CN110524522A (en) | A kind of series-parallel anthropomorphous machine's arm of multiple degrees of freedom redundancy | |
| CN107414791B (en) | Plane-symmetric over-constrained hybrid robot | |
| CN209408502U (en) | A kind of multi-joint parallel connection spray robot | |
| CN208246811U (en) | A kind of five articulated robots | |
| CN109278031A (en) | A kind of hollow six joint industrial robot | |
| CN209408486U (en) | A kind of multi-joint parallel connected bionic robot | |
| CN209425474U (en) | A kind of anthropomorphic robot arm structure | |
| CN108838996A (en) | A kind of five degree of freedom serial parallel mechanism | |
| CN204673643U (en) | A kind of articulated robot arm | |
| CN109590992B (en) | Multi-joint parallel bionic robot | |
| CN102490178A (en) | Spatial three-rotation one-translation parallel manipulator | |
| CN206510033U (en) | A kind of upside-down mounting robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |