CN110253632A - A kind of robot end's flange and assembly - Google Patents
A kind of robot end's flange and assembly Download PDFInfo
- Publication number
- CN110253632A CN110253632A CN201910667715.5A CN201910667715A CN110253632A CN 110253632 A CN110253632 A CN 110253632A CN 201910667715 A CN201910667715 A CN 201910667715A CN 110253632 A CN110253632 A CN 110253632A
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- Prior art keywords
- flange
- adapter
- cable
- end flange
- hole
- Prior art date
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 47
- 230000001681 protective effect Effects 0.000 claims description 17
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000004804 winding Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 241000233855 Orchidaceae Species 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot end's flange and assembly, end flange has outer end face, is equipped with inner face inside end flange；End flange side is equipped with connector mounting hole, and electrical connector or pipe joint are fixedly mounted on connector mounting hole, and are protruded into inside end flange from connector mounting hole.Robot end's flange assembly, including end flange, the inner face of end flange connect hollow reducer by adapter；Adapter center is equipped with the cable-through hole being connected to the hollow shaft of hollow reducer；Passing channel is equipped between the inner face and adapter of end flange；One end of cable or pipeline is protruded into the hollow shaft of hollow reducer, is stretched out from cable-through hole, and protrude into the space between adapter and end flange along passing channel, and is connected with electrical connector corresponding on end flange or pipe joint.Present invention solution, which has showed to have, needs to increase end flange volume can prevent external pipeline winding robot the technical issues of meeting internal cabling requirement in technology.
Description
Technical field
The present invention relates to robotic technology field more particularly to the end flanges and end method of a kind of industrial robot
Blue assembly.
Background technique
The end flange of robot can be used for connecting various types of executing agencies, and executing agency needs to receive robot
Electrically, air pressure etc. controls signal to execute corresponding control command.In the prior art, generally outside the robot cabling (such as from
Robot arm draws cable or hangs lead-out wire cable from aerial) to transmit signal to executing agency, there are following for external cabling
Disadvantage: 1) cause robot shape not simple and beautiful enough；2) External cable is easy to wind with robot each joint, both influences
The normal operation of robot, and influence the normal transmission of signal.
Due to end flange small volume, inner space is more narrow, lacks internal cabling space, to from end flange
Output pipe is drawn, general way is to increase the volume of end flange, but after the volume of end flange increases, will lead to it
Flexibility reduces, and energy consumption increases.
Therefore, the technological progress for promotion industrial robot goes reality how under the premise of not increasing end flange volume
Now the problem of output pipe is current urgent need to resolve is drawn from end flange.
Summary of the invention
In view of the above shortcomings of the prior art, the present invention provides a kind of robot end's flange, and solution lacks in the prior art
Weary the technical issues of being suitable for from the end flange of robot interior cabling；The present invention also provides robot end's flange is total
At solution needs to increase end flange volume in the prior art come the technical issues of meeting internal cabling requirement.
In order to solve the above-mentioned technical problem, present invention employs the following technical solutions: a kind of robot end's flange, end
End flanges have the outer end face for connecting executing agency, are equipped with inside end flange adjacent and parallel in the outer end face
End plate, the inner end plate of the end flange are inner face away from the end face of outer end face；End flange side is equipped with connector mounting hole,
Electrical connector or pipe joint are fixedly mounted on connector mounting hole, and are protruded into inside end flange from connector mounting hole.
A kind of robot end's flange assembly, including above-mentioned robot end's flange, the inner face of end flange passes through
Adapter is connected with hollow reducer；Adapter center is equipped with the cable-through hole being connected to the hollow shaft of hollow reducer；End method
Being equipped between blue inner face and adapter can be by the mistake on the space and adapter between adapter and end flange inner wall
The passing channel that string holes is connected；One end of cable or pipeline enters to protrude into the hollow shaft of hollow reducer, stretches out from cable-through hole,
And it is protruded into the space between adapter and end flange along the passing channel, and corresponding on end flange electrically connect
Head or pipe joint connection.
Further, crossed beam trunking is provided on the inner face of the end flange, crossed beam trunking extends to interior from inner face edge
End face center；The connector mounting hole is several, and including the axial line not inclined hole vertical with end flange axial line；It is described
Electrical connector or pipe joint are connect with the connector mounting hole on end flange using screw fastening manner.
Further, cable or pipeline are coiled in adapter side, electrical connector or pipeline connect after passing channel stretching
Head is connected in the coiling section of cable or pipeline.
Further, the adapter is equipped with towards the end face of end flange in concentric locating torsion sensor
Stile or outer stile；Outer stile is arranged along adapter outer edge, and crossed beam trunking penetrates through outer stile, and torsion sensor is placed in outer stile and encloses
At groove in, and torsion sensor lateral surface is bonded with outer stile medial surface；The side of interior stile cable-through hole along adapter
Edge setting, torsion sensor center are equipped with the location hole for being inserted into interior stile, and interior stile lateral surface is bonded with location hole inner wall.
Compared with prior art, the invention has the following advantages:
1, accommodation space is provided for cable or pipeline in the hollow shaft of hollow reducer, the hollow shaft of hollow reducer is method again
The rotation center that orchid moves ensures that cable or pipeline only occur inside hollow channel in flange movement from torsion in this way.
The space between occupancy end flange and hollow reducer thus is avoided that accommodate cable or pipeline, to reduce end flange
Volume, while also assuring the reliability of electrical connection.
2, hollow reducer is fixed together by adapter and end flange, and electrical connector or pipe joint are fixed on end
In end flanges, when hollow reducer drives end flange and executing agency rotates, electrical connector or pipe joint are also with end
End flanges rotate together, and the cable or pipeline between connector or pipe joint and executing agency are also with end flange
It rotates together, to keep opposing stationary relative to end flange.Since cable only occurs to keep away from reversing inside hollow channel
It is exempted from and has wound end flange, this ensure that the normal transmission of the normal operation of end flange and signal.
3, connector mounting hole includes inclined hole, and inclined hole, which can satisfy, not to be increased end flange volume and come that installation length is longer to be connect
Head requirement, if lengthening joint is extended vertically into end flange by connector mounting hole, it require that end flange with it is hollow
There is biggish clearance space among speed reducer, the volume for increasing end flange certainly will be required.Through-hole is set as inclined hole, then sufficiently
The clearance space between end flange and hollow reducer is utilized.
4, electrical connector or pipe joint are connected in the coiling section of cable or pipeline, coiling section speed reducer and flange it
Between gap, the cable or pipeline that when demounting flange coils can be straightened, convenient for the peace of flange, electrical connector and pipe joint
Assembly and disassembly.The present invention makes full use of the clearance space between end flange and hollow reducer by way of coiling, realizes
In the case where connecting same polylinker, the volume of end flange is not increased.
5, the stile on adapter plays positioning action to torsion sensor, ensure that adapter is same with torsion sensor
The heart.
Detailed description of the invention
Fig. 1 is the main view of end flange in specific embodiment 1；
Fig. 2 is the perspective view of end flange in specific embodiment 1；
Fig. 3 is the mounting structure schematic diagram of end flange assembly in specific embodiment 1；
Fig. 4 is the mounting structure schematic diagram of end flange assembly in specific embodiment 2；
Fig. 5 is the rearview of end flange in specific embodiment 3；
Fig. 6 is the structural schematic diagram of adapter in specific embodiment 3；
Fig. 7 is the inside cabling schematic diagram of end flange assembly in specific embodiment 3；
Fig. 8 is the mounting structure schematic diagram of the end flange assembly of specific embodiment 3；
Fig. 9 is the mounting structure schematic diagram of the end flange assembly in specific embodiment 4.
Specific embodiment
The present invention is described in further detail with preferred embodiment with reference to the accompanying drawing.
Specific embodiment 1
With reference to shown in Fig. 1 and Fig. 2, a kind of robot end's flange, end flange 101 has the outer end for connecting executing agency
Face 10101, is equipped with the inner end plate adjacent and parallel to the outer end face 10101 inside end flange, the end flange it is interior
End plate is inner face 10102 away from the end face of outer end face 10101；End flange side be equipped with connector mounting hole, electrical connector or
Pipe joint is fixedly mounted on connector mounting hole, and is protruded into inside end flange from connector mounting hole.
In present embodiment, crossed beam trunking 10103, crossed beam trunking are provided on the inner face 10102 of the end flange
10103 extend to inner face center from inner face edge；The connector mounting hole be several, and including axial line not with end
The vertical inclined hole of flange axial line.Connector mounting hole includes inclined hole, and inclined hole, which can satisfy, does not increase end flange volume to install
The requirement of the longer connector of length, if lengthening joint is extended vertically into end flange by connector mounting hole, it require that last
There is biggish clearance space among end flanges and hollow reducer, the volume for increasing end flange certainly will be required.Through-hole setting
Inclined hole then takes full advantage of the clearance space between end flange and hollow reducer.
In present embodiment, the connector mounting hole on the electrical connector or pipe joint and end flange uses spiral shell
Fastening means connection is revolved, and is sealed by sealing ring, water proof and dust proof, quick release are played the role of.
Refering to what is shown in Fig. 3, a kind of robot end's flange assembly, robot end's method including present embodiment
The inner face 10102 of orchid, end flange 101 is connected with hollow reducer 104 by adapter 103；103 center of adapter is equipped with
The cable-through hole being connected to the hollow shaft of hollow reducer 104；It is equipped between the inner face 10102 and adapter 103 of end flange
The passing channel that space between adapter 103 and end flange inner wall can be connected with the cable-through hole on adapter 103；
One end of cable or pipeline is protruded into the hollow shaft of hollow reducer, is stretched out from cable-through hole, and protrude into along the passing channel
In space between adapter 103 and end flange 101, and with corresponding electrical connector or pipe joint on end flange 101
Connection.The passing channel is the crossed beam trunking 10103 being arranged on the inner face 10102 of end flange 101, crossed beam trunking 10103
Inner face center is extended to from inner face edge；One end of cable or pipeline is protruded into the hollow shaft of hollow reducer 104, from mistake
String holes is stretched out, and the space between adapter 103 and end flange 101 is protruded into along the crossed beam trunking 10103 on end flange 101
It is interior, and connected with corresponding electrical connector on end flange 101 or pipe joint.In addition, wrist is pressed in the installation of end flange assembly
In main body 106, harmonic wave speed reducing machine is can be used in hollow reducer 104, and harmonic wave speed reducing machine includes wave producer, flexbile gear and steel wheel, wave
The hollow shaft of generator is slowed down as input, flexbile gear relative to the engagement of steel wheel side set, and flexbile gear is as output and end flange
Connection.
Accommodation space is provided for cable or pipeline in the hollow shaft of hollow reducer, the hollow shaft of hollow reducer is again
The rotation center of flange movement ensures that cable or pipeline only occur to turn round certainly inside hollow channel in flange movement in this way
Turn.The space between occupancy end flange and hollow reducer thus is avoided that accommodate cable or pipeline, to reduce end
Flange volume, while also assuring the reliability of electrical connection.
Hollow reducer is fixed together by adapter and end flange, and electrical connector or pipe joint are fixed on end
On flange, when hollow reducer drives end flange and executing agency rotates, electrical connector or pipe joint are also with end
Flange rotates together, and the cable or pipeline between connector or pipe joint and executing agency are also with end flange one
Rotation is played, to keep opposing stationary relative to end flange.Since cable only occurs to avoid from reversing inside hollow channel
It winds end flange, this ensure that the normal transmission of the normal operation of end flange and signal.
In this specific implementation, cable or pipeline are coiled in adapter side, electrical connector or pipe after passing channel stretching
Pipeline connector is connected in the coiling section of cable or pipeline.Electrical connector or pipe joint are connected to the coiling section of cable or pipeline
On, coil gap of the section between speed reducer and flange, the cable or pipeline that when demounting flange coils can be straightened, and be convenient for method
Blue, electrical connector and pipe joint installation and removal.The present invention made full use of by way of coiling end flange with it is hollow
Clearance space between speed reducer realizes in the case where connecting same polylinker, does not increase the volume of end flange.
In present embodiment, the end face that the adapter is used to connect hollow reducer was fixedly connected with line protection
Set is crossed line protective case and is protruded into the hollow shaft of hollow reducer；The cable-through hole at the adapter center is connected to line protective case is crossed；
One end of cable or pipeline was protruded into line protective case；The adapter is integrally formed with line protective case is crossed.Cross line protective case energy
Enough reduce the friction between cable or pipeline and hollow reducer hollow shaft, the effect of starting protection hollow reducer.
It further include the control button being arranged on connector mounting hole, control button and the electricity in present embodiment
Cable electrical connection.Increase control button, more easily robot can be controlled.
In present embodiment, the adapter is equipped with towards the end face of end flange and passes for concentric locating torsion
The interior stile or outer stile of sensor；Outer stile is arranged along adapter outer edge, and crossed beam trunking penetrates through outer stile, and torsion sensor is placed in
In the groove that outer stile surrounds, and torsion sensor lateral surface is bonded with outer stile medial surface；Interior stile mistake along adapter
The edge of string holes is arranged, and torsion sensor center is equipped with the location hole for being inserted into interior stile, interior stile lateral surface and location hole
Inner wall fitting.
Specific embodiment 2
In order to detect the torsion of end flange, increase torsion sensor on the basis of specific embodiment 1, with reference to figure
Shown in 4, in present embodiment, torsion sensor 102 is connected between adapter 103 and the inner face of end flange 101,
So that torsion sensor 102 is connect by adapter 103 with hollow reducer 104；It is provided on torsion sensor 102 and adapter
The cable-through hole of 103 coaxial lines enables cable or pipeline successively from the cable-through hole on adapter 103 and torsion sensor 102
It stretches out, and is protruded into the space between adapter and end flange along the crossed beam trunking on end flange 101, and and end flange
Corresponding electrical connector or pipe joint connection on 101.
In addition, the installation of end flange assembly is pressed in wrist main body 106, harmonic wave speed reducing machine is can be used in hollow reducer 104, humorous
Wave speed reducer includes wave producer, flexbile gear and steel wheel, and the hollow shaft of wave producer as input, nibble relative to steel wheel side set by flexbile gear
Conjunction is slowed down, and flexbile gear is connect as output with torsion sensor.
Specific embodiment 3
Present embodiment is not set on the inner face 20102 of end flange 201 unlike shown in tool embodiment 1
Line outlet groove, with reference to shown in Fig. 5.
It with reference to shown in Fig. 6 to Fig. 8, adapter 203 and crosses line protective case 205 and is integrally formed, cross during line protective case 205 protrudes into
In the hollow shaft of empty speed reducer 204, the passing channel of the end flange assembly in present embodiment is to be arranged in adapter
Towards the crossed beam trunking 20301 on the end face of end flange on 203, the crossed beam trunking 20301 extends from the lateral surface of adapter 203
To cable-through hole, so that the lateral surface of adapter 203 is connected to cable-through hole；Line protective case was protruded into one end of cable or pipeline
205, it is stretched out from cable-through hole, and protruded between adapter 203 and end flange 201 along the crossed beam trunking 20301 on adapter 203
Space in, and connected with corresponding electrical connector on end flange 201 or pipe joint.
Specific embodiment 4
Refering to what is shown in Fig. 9, the torsion in order to detect end flange 201, present embodiment is in tool embodiment 3
On the basis of increase torsion sensor 202, in present embodiment, connect between adapter 203 and the inner face of end flange 201
Torsion sensor 202 is connect, so that torsion sensor 202 is connect by adapter 203 with hollow reducer 204.Adapter 203 with
The integrated molding of line protective case 205 is crossed, line protective case 205 is crossed and protrudes into the hollow shaft of hollow reducer 204, one end of cable or pipeline
Line protective case 205 was protruded into, was stretched out from cable-through hole, and protrude into adapter 203 and end method along the crossed beam trunking on adapter 203
In space between orchid 201, and connected with corresponding electrical connector on end flange 201 or pipe joint.
Claims (10)
1. a kind of robot end's flange, end flange has the outer end face for connecting executing agency, it is characterised in that: end
The inner end plate adjacent and parallel to the outer end face is equipped with inside flange, the inner end plate of the end flange deviates from the end of outer end face
Face is inner face；End flange side is equipped with connector mounting hole, and electrical connector or pipe joint are fixedly mounted on connector mounting hole
On, and protruded into inside end flange from connector mounting hole.
2. robot end's flange according to claim 1, it is characterised in that: be provided on the inner face of the end flange
Crossed beam trunking, crossed beam trunking extend to inner face center from inner face edge；The connector mounting hole is several, and including axial line
The not inclined hole vertical with end flange axial line；The electrical connector or pipe joint are adopted with the connector mounting hole on end flange
It is connected with screw fastening manner.
3. a kind of robot end's flange assembly, it is characterised in that: including robot end's flange as described in claim 1,
The inner face of end flange is connected with hollow reducer by adapter；Adapter center is equipped with the hollow shaft with hollow reducer
The cable-through hole of connection；Being equipped between the inner face and adapter of end flange can will be between adapter and end flange inner wall
The passing channel that space is connected with the cable-through hole on adapter；One end of cable or pipeline enters to protrude into the hollow of hollow reducer
In axis, stretched out from cable-through hole, and protruded into the space between adapter and end flange along the passing channel, and and end
Corresponding electrical connector or pipe joint connection on flange.
4. robot end's flange assembly according to claim 3, it is characterised in that: the passing channel is to be arranged at end
Crossed beam trunking on the inner face of end flanges, crossed beam trunking extend to inner face center from inner face edge；One end of cable or pipeline
It protrudes into the hollow shaft of hollow reducer, is stretched out from cable-through hole, and protrude into adapter and end along the crossed beam trunking on end flange
In space between end flanges, and connected with electrical connector corresponding on end flange or pipe joint.
5. robot end's flange assembly according to claim 4, it is characterised in that: the inner end of adapter and end flange
Torsion sensor is connected between face, so that torsion sensor is connect by adapter with hollow reducer；On torsion sensor
It is provided with the cable-through hole with adapter coaxial line, cable or pipeline is enabled successively to cross line from adapter and torsion sensor
Hole is stretched out, and is protruded into the space between adapter and end flange along the crossed beam trunking on end flange.
6. robot end's flange assembly according to claim 3, it is characterised in that: the passing channel is that setting is turning
It connecing towards the crossed beam trunking on the end face of end flange on device, the crossed beam trunking is extended to the over string holes from the lateral surface of adapter, from
And the lateral surface of adapter is connected to cable-through hole；Line protective case was protruded into one end of cable or pipeline, stretched out from cable-through hole, and
It is protruded into the space between adapter and end flange along the crossed beam trunking on adapter, and corresponding on end flange electrical
Connector or pipe joint connection.
7. robot end's flange assembly according to claim 6, it is characterised in that: the inner end of adapter and end flange
Torsion sensor is connected between face, so that torsion sensor is connect by adapter with hollow reducer.
8. according to robot end's flange assembly any in claim 3 to 7, it is characterised in that: cable or pipeline from
After passing channel stretches out, it is coiled in adapter side, electrical connector or pipe joint are connected in the coiling section of cable or pipeline.
9. according to robot end's flange assembly any in claim 3 to 7, it is characterised in that: the adapter is used for
The end face of connection hollow reducer was fixedly connected with line protective case, crosses line protective case and protrudes into the hollow shaft of hollow reducer；
The cable-through hole at the adapter center is connected to line protective case is crossed；One end of cable or pipeline was protruded into line protective case；It is described
Adapter is integrally formed with line protective case is crossed；Further include the control button being arranged on connector mounting hole, control button with it is described
Cable electrical connection.
10. according to any robot end's flange assembly of claim 5 or 6, it is characterised in that: the adapter direction
The end face of end flange is equipped with interior stile or outer stile for concentric locating torsion sensor；Outer stile is outside adapter
Edge setting, crossed beam trunking penetrate through outer stile, and torsion sensor is placed in the groove that outer stile surrounds, and torsion sensor lateral surface
It is bonded with outer stile medial surface；The edge of interior stile cable-through hole along adapter is arranged, and torsion sensor center is equipped with for inserting
Enter the location hole of interior stile, interior stile lateral surface is bonded with location hole inner wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910667715.5A CN110253632A (en) | 2019-07-23 | 2019-07-23 | A kind of robot end's flange and assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910667715.5A CN110253632A (en) | 2019-07-23 | 2019-07-23 | A kind of robot end's flange and assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110253632A true CN110253632A (en) | 2019-09-20 |
Family
ID=67927919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910667715.5A Pending CN110253632A (en) | 2019-07-23 | 2019-07-23 | A kind of robot end's flange and assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110253632A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720562A (en) * | 2021-01-08 | 2021-04-30 | 埃夫特智能装备股份有限公司 | Joint structure of robot |
| CN115847476A (en) * | 2023-02-27 | 2023-03-28 | 珞石（北京）科技有限公司 | Compact cooperative robot wrist |
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| JP2000000792A (en) * | 1998-06-16 | 2000-01-07 | Yaskawa Electric Corp | Industrial robot |
| US6014909A (en) * | 1997-04-23 | 2000-01-18 | Comau S.P.A. | Robot wrist |
| EP1964651A1 (en) * | 2007-02-28 | 2008-09-03 | KUKA Roboter GmbH | Robotic arm for an industrial robot |
| DE102009056455A1 (en) * | 2009-12-01 | 2011-06-09 | Kuka Roboter Gmbh | Line protection device for an industrial robot and industrial robot with such a line protection device |
| CN105406211A (en) * | 2015-07-31 | 2016-03-16 | 中航光电科技股份有限公司 | Connecting component and connector |
| CN106965204A (en) * | 2017-05-20 | 2017-07-21 | 重庆卓来科技有限责任公司 | A kind of industrial robot |
| US20170217024A1 (en) * | 2014-03-18 | 2017-08-03 | Dürr Systems Ag | Robot assembly and corresponding assembly method |
| CN107662221A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm |
| CN108705564A (en) * | 2018-07-08 | 2018-10-26 | 广西宏太智能机器人制造有限公司 | Robot swivel base |
| CN210173617U (en) * | 2019-07-23 | 2020-03-24 | 重庆卓来科技有限责任公司 | Robot tail end flange and assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6014909A (en) * | 1997-04-23 | 2000-01-18 | Comau S.P.A. | Robot wrist |
| JP2000000792A (en) * | 1998-06-16 | 2000-01-07 | Yaskawa Electric Corp | Industrial robot |
| EP1964651A1 (en) * | 2007-02-28 | 2008-09-03 | KUKA Roboter GmbH | Robotic arm for an industrial robot |
| DE102009056455A1 (en) * | 2009-12-01 | 2011-06-09 | Kuka Roboter Gmbh | Line protection device for an industrial robot and industrial robot with such a line protection device |
| US20170217024A1 (en) * | 2014-03-18 | 2017-08-03 | Dürr Systems Ag | Robot assembly and corresponding assembly method |
| CN105406211A (en) * | 2015-07-31 | 2016-03-16 | 中航光电科技股份有限公司 | Connecting component and connector |
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| CN108705564A (en) * | 2018-07-08 | 2018-10-26 | 广西宏太智能机器人制造有限公司 | Robot swivel base |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720562A (en) * | 2021-01-08 | 2021-04-30 | 埃夫特智能装备股份有限公司 | Joint structure of robot |
| CN115847476A (en) * | 2023-02-27 | 2023-03-28 | 珞石（北京）科技有限公司 | Compact cooperative robot wrist |
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