CN111283725A - Symmetrical robot joint - Google Patents
Symmetrical robot joint Download PDFInfo
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- CN111283725A CN111283725A CN201811501668.9A CN201811501668A CN111283725A CN 111283725 A CN111283725 A CN 111283725A CN 201811501668 A CN201811501668 A CN 201811501668A CN 111283725 A CN111283725 A CN 111283725A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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Abstract
The invention belongs to the technical field of robots, and particularly relates to a symmetrical robot joint. The wrist shaft assembly comprises a base, a waist seat, a large arm, a three-axis assembly, a small arm, a wrist shaft assembly and a tail end flange which are sequentially connected in a rotating manner, wherein a five-axis driving mechanism and a six-axis driving mechanism are symmetrically arranged in the small arm, the five-axis driving mechanism is connected with the wrist shaft assembly and used for driving the wrist shaft assembly to rotate around a fifth axis relative to the small arm, the six-axis driving mechanism is connected with the tail end flange and used for driving the tail end flange to rotate around the sixth axis, and the sixth axis is perpendicular to the fifth axis. The precision speed reducer is transferred from the axis position of the six shafts to the axis position of the five shafts, so that the hollowness, miniaturization and flexibility of the six shafts are improved; therefore, the transmission viscous resistance is small, and the energy-saving and environment-friendly efficiency is high; the inertia is small, and the control difficulty is low.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a symmetrical robot joint.
Background
Conventionally, an industrial robot includes an arm and a wrist portion rotatably coupled to the arm, and is configured to perform a predetermined operation by an end effector (e.g., a welding torch for arc welding) attached to an end of the robot while the wrist portion is rotated by an actuator. Conventionally, industrial robots have been disclosed as follows: the welding device includes a plurality of links connected to each other in a rotatable manner, and performs a predetermined operation by an end effector (for example, a welding torch for arc welding) attached to a tip of the end effector while rotationally driving the links by an actuator.
Conventionally, there has been proposed an industrial robot which includes a plurality of links rotatably connected to each other and is capable of performing a predetermined operation by using an end effector (arc torch or the like) attached to a distal end of an arm of the robot while rotatably driving the links by using an actuator.
Conventionally, there has been proposed an industrial robot which includes a plurality of links rotatably connected to each other and is capable of performing a predetermined operation by using an end effector (arc torch or the like) attached to a distal end of an arm of the robot while rotatably driving the links by using an actuator. The existing industrial robot has the problems of complex structure, dependence on a precise speed reducer, overstaffed wrist joint structure and large volume.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a symmetric robot joint to reduce the dependence of an industrial robot on a precision reducer, and achieve the purpose of further miniaturization and light weight of a wrist joint.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a symmetrical robot joint, includes base, waist seat, big arm, triaxial subassembly, forearm, wrist axle subassembly and the terminal flange that rotates the connection in proper order, and wherein the symmetry is equipped with five-axis drive mechanism and six actuating mechanism in the forearm, five-axis drive mechanism with wrist axle subassembly is connected, is used for the drive wrist axle subassembly is relative the forearm rotates around the fifth axis, six actuating mechanism with terminal flange joint is used for the drive terminal flange rotates around the sixth axis, the sixth axis with the fifth axis is perpendicular.
The five-axis driving mechanism comprises a five-axis motor, a five-axis first synchronous belt, a five-axis small belt wheel, a five-axis large belt wheel, a five-axis central shaft and a five-axis harmonic speed reducer, wherein the five-axis motor and the five-axis harmonic speed reducer are fixed in the small arm, the five-axis small belt wheel is arranged on an output shaft of the five-axis motor, an input shaft of the five-axis harmonic speed reducer is connected with the five-axis central shaft, the five-axis central shaft is rotatably connected with the small arm, the five-axis large belt wheel is arranged on the five-axis central shaft and is in transmission connection with the five-axis small belt wheel through the five-axis first synchronous.
And a five-axis first compensation device which is abutted against the five-axis first synchronous belt is arranged in the small arm, and the five-axis first compensation device is used for performing clearance elimination and vibration compensation on the five-axis first synchronous belt.
The five-axis harmonic speed reducer is arranged on the position of the fifth axis, and the axis of the five-axis central shaft is collinear with the fifth axis.
The six-shaft driving mechanism comprises a six-shaft motor, a six-shaft first synchronous belt, a six-shaft small belt wheel, a sixth harmonic speed reducer, a six-shaft large belt wheel, a six-shaft central shaft and a gear transmission device, wherein the six-shaft motor and the sixth harmonic speed reducer are fixed in the small arm, the six-shaft small belt wheel is arranged on an output shaft of the six-shaft motor, an input shaft of the sixth harmonic speed reducer is connected with the six-shaft central shaft, the six-shaft central shaft is rotatably connected with the small arm, the six-shaft large belt wheel is arranged on the six-shaft central shaft and is in transmission connection with the six-shaft small belt wheel through the six-shaft first synchronous belt, and an output shaft of the sixth harmonic speed reducer is connected with the tail end flange through the gear transmission device.
And a first compensation device with six shafts is arranged in the small arm and is used for performing clearance elimination and vibration compensation on the first synchronous belt with six shafts.
The sixth harmonic speed reducer is located on the position of the fifth axis, and the axis of the six-axis central shaft is collinear with the fifth axis.
The gear transmission device comprises a large bevel gear and a small bevel gear, wherein the large bevel gear is arranged on an output shaft of the sixth-axis harmonic speed reducer, the small bevel gear is arranged on the tail end flange and meshed with the large bevel gear, an elastic disc spring is arranged between the end part of the small bevel gear and the tail end flange, and the elastic disc spring is used for forming pressure between the large bevel gear and the small bevel gear.
The six-shaft large belt wheel is located on the outer side of the small arm and is in sealing connection with the small arm through an outer fifth axis dynamic sealing device, and the wrist shaft assembly is located on the inner side of the small arm and is in sealing connection with the small arm through an inner fifth axis dynamic sealing device.
The wrist shaft assembly is of a split structure and comprises a small arm connecting end and a tail end flange connecting end, wherein the small arm connecting end and the tail end flange connecting end are connected through elastic static sealing glue.
The invention has the advantages and beneficial effects that:
the precision speed reducer is transferred from the axis position of the six shafts to the axis position of the five shafts, so that the hollowness, miniaturization and flexibility of the six shafts are improved; therefore, the transmission viscous resistance is small, and the energy-saving and environment-friendly efficiency is high; the inertia is small, and the control difficulty is low.
The appearance of the wrist joint is basically symmetrical, which is beneficial to miniaturizing the wrist joint.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a partial exploded view of the present invention;
FIG. 3 is an enlarged view taken at I in FIG. 2;
FIG. 4 is a front view of the present invention;
fig. 5 is a sectional view taken along line a-a in fig. 4.
In the figure: 1 is a base, 2 is a waist seat, 3 is a big arm, 4 is a three-axis component, 5 is a small arm, 6 is a wrist shaft component, 7 is a tail end flange, 8 is a small arm side cover, 9 is a rear end sealing ring, 10 is an elastic disc spring, 11 is a bearing gland, 12 is a sixth-axis crossed roller bearing, 13 is a front end sealing ring, 14 is a hollow walking line part, 15 is a sixth axis, 16 is elastic static sealing glue, 17 is a wrist shaft end cover, 18 is a six-axis motor, 19 is a six-axis first synchronous belt, 20 is a six-axis small belt wheel, 21 is a six-axis first compensating device, 22 is a fifth axis, 23 is a sixth-axis harmonic reducer, 24 is an inner-side fifth-axis dynamic sealing device, 25 is a six-axis large belt wheel, 26 is a six-axis central shaft, 27 is a bearing, 28 is an outer-side fifth-axis dynamic sealing device, 29 is a big ball bearing, 30 is a big bevel gear, 31 is a small bevel gear, 32 is a five-axis motor, and 33 is a five-axis first, the five-axis harmonic reducer comprises a five-axis small belt wheel 34, a five-axis first compensation device 35, a five-axis large belt wheel 36, a five-axis central shaft 37, a five-ball small bearing 38, a five-ball large bearing 39 and a five-axis harmonic reducer 40.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2 and 5, the symmetrical robot joint provided by the invention comprises a base 1, a waist seat 2, a large arm 3, a triaxial assembly 4, a small arm 5, a wrist shaft assembly 6 and a terminal flange 7 which are sequentially and rotatably connected, wherein a five-axis driving mechanism and a six-axis driving mechanism are symmetrically arranged in the small arm 5, the five-axis driving mechanism is connected with the wrist shaft assembly 6 and used for driving the wrist shaft assembly 6 to rotate around a fifth axis 22 relative to the small arm 5, the six-axis driving mechanism is connected with the terminal flange 7 and used for driving the terminal flange 7 to rotate around a sixth axis 15, and the sixth axis 15 is perpendicular to the fifth axis 22.
As shown in fig. 3, the five-axis driving mechanism includes a five-axis motor 32, a five-axis first synchronous belt 33, a five-axis small belt pulley 34, a five-axis large belt pulley 36, a five-axis central shaft 37 and a five-axis harmonic speed reducer 40, wherein the five-axis motor 32 and the five-axis harmonic speed reducer 40 are fixed in the small arm 5, the five-axis small belt pulley 34 is arranged on an output shaft of the five-axis motor 32, an input shaft of the five-axis harmonic speed reducer 40 is connected with the five-axis central shaft 37, the five-axis central shaft 37 is rotatably connected with the small arm 5, the five-axis large belt pulley 36 is arranged on the five-axis central shaft 37 and is in transmission connection with the five-axis.
The five-axis first compensation device 35 abutted against the five-axis first synchronous belt 33 is arranged in the small arm 5, and the five-axis first compensation device 35 is used for performing clearance elimination and vibration compensation on the five-axis first synchronous belt 33.
The five-axis harmonic speed reducer 40 is arranged on the position of the fifth axis 22, and the axis of the five-axis central shaft 37 is collinear with the fifth axis 22.
The six-shaft driving mechanism comprises a six-shaft motor 18, a six-shaft first synchronous belt 19, a six-shaft small belt pulley 20, a sixth harmonic speed reducer 23, a six-shaft large belt pulley 25, a six-shaft central shaft 26 and a gear transmission device, wherein the six-shaft motor 18 and the sixth harmonic speed reducer 23 are fixed in the small arm 5, the six-shaft small belt pulley 20 is arranged on an output shaft of the six-shaft motor 18, an input shaft of the sixth harmonic speed reducer 23 is connected with the six-shaft central shaft 26, the six-shaft central shaft 26 is rotatably connected with the small arm 5, the six-shaft large belt pulley 25 is arranged on the six-shaft central shaft 26 and is in transmission connection with the six-shaft small belt pulley 20 through the six-shaft first synchronous belt 19, and an output shaft of the sixth harmonic speed reducer 23 is connected with the tail end flange 7 through.
A six-shaft first compensation device 21 is arranged in the small arm 5, and the six-shaft first compensation device 21 is used for performing clearance elimination and vibration compensation on the six-shaft first synchronous belt 19. The first compensation device 35 and the six-axis first compensation device 21 are tension wheels.
The sixth harmonic reducer 23 is located on the fifth axis 22, the six-axis center shaft 26 is rotatable relative to the small arm 5 through the small ball bearing 27 and the large ball bearing 29, and the axis of the six-axis center shaft 26 is collinear with the fifth axis 22.
As shown in fig. 4 to 5, the gear transmission device includes a large bevel gear 30 and a small bevel gear 31, wherein the large bevel gear 30 is disposed on the output shaft of the sixth harmonic reducer 23, the small bevel gear 31 is disposed on the end flange 7 and is engaged with the large bevel gear 30, an elastic disc spring 10 is disposed between the end of the small bevel gear 31 and the end flange 7, and the elastic disc spring 10 is used for forming a pressure between the large bevel gear 30 and the small bevel gear 31.
The six-shaft large belt wheel 25 is positioned on the outer side of the small arm 5 and is in sealing connection with the small arm 5 through an outer fifth axial line dynamic sealing device 28, and the wrist shaft assembly 6 is positioned on the inner side of the small arm 5 and is in sealing connection with the small arm 5 through an inner fifth axial line dynamic sealing device 24.
The wrist shaft assembly 6 is of a split structure and comprises a small arm connecting end and a tail end flange connecting end, and the small arm connecting end and the tail end flange connecting end are connected through elastic static sealing glue 16. And small arm side covers 8 are arranged on two sides of the small arm 5, and the small arm side covers 8 perform IP64 grade protection on the sixth transmission chain.
Two ends of the tail end flange 7 pass through a rear end sealing ring 9 and a front end sealing ring 13, the inner ring of the rear end sealing ring 9 and the tail end flange 7 are in dynamic sealing isolation of external part air and internal lubricating grease, and the outer ring of the rear end sealing ring 9 and the wrist shaft assembly 6 are tightly sleeved and statically sealed isolation of the external part air and the internal lubricating grease. The inner ring of the front end sealing ring 13 and the tail end flange 7 are in dynamic sealing isolation of external air and internal lubricating grease, and the outer ring of the front end sealing ring 13 and the wrist shaft end cover 17 are tightly sleeved and statically sealed isolation of the external air and the internal lubricating grease.
The working principle of the invention is as follows:
according to the symmetrical robot joint, the precision speed reducer is transferred from the position of the axis of the six shafts to the position of the axis of the five shafts, so that the hollowness, miniaturization and flexibility of the six shafts are improved. The invention is fixed by a base 1, a waist seat 2 can rotate relative to the base 1, a large arm 3 can rotate relative to the waist seat 2, a three-axis component 4 can rotate relative to the large arm 3, a small arm 5 can rotate relative to the three-axis component 4, a wrist shaft component 6 can rotate relative to the small arm 5, and a tail end flange 7 can rotate relative to the wrist shaft component 6. The small arm side cover 8 protects the sixth transmission chain with IP64 grade. A six-shaft motor 18 of the sixth transmission chain is relatively fixed inside the small arm 5, the six-shaft motor 18 transmits power speed reduction and torque increase to a six-shaft large belt wheel 25 through a six-shaft small belt wheel 20 and a six-shaft first synchronous belt 19, and meanwhile, a six-shaft first compensation device 21 performs clearance elimination and vibration compensation on the six-shaft first synchronous belt 19. The six-shaft large belt wheel 25 is fixedly connected with a six-shaft central shaft 26, and the six-shaft central shaft 26 can rotate relative to the small arm 5 through a small ball bearing 27 and a large ball bearing 29. The sixth harmonic speed reducer 23 is located on the fifth axis 22, the input end of the sixth harmonic speed reducer 23 is connected with the six-axis central shaft 26, the output end of the sixth harmonic speed reducer 23 is connected with the large bevel gear 30, and the fixed end of the sixth harmonic speed reducer 23 is connected with the small arm 5. The small bevel gear 31 and the large bevel gear 30 transmit the power of the six-shaft motor 18 to the end flange 7, and the end flange 7 can rotate relative to the wrist shaft assembly 6. The outer fifth axis dynamic sealing device dynamically separates a lubricating oil cavity and a non-lubricating oil cavity in the small arm 5, and the inner fifth axis dynamic sealing device 24 dynamically separates the lubricating oil cavity and the non-lubricating oil cavity in the small arm 5. The bevel pinion 31 can float in the direction of the sixth axis 15 of the end flange 7, and the bevel pinion 31 can transmit movement and power to the direction of rotation of the sixth axis 15 of the end flange 7. One end of the bearing cover 11 and the end flange 7 clamp the inner race of the sixth cross roller bearing 12, allowing the bearing cover 11 and the end flange 7 to rotate relative to the wrist shaft assembly 6. The other end of the bearing gland 11 presses between the small bevel gear 31 and the large bevel gear 30 through the elastic disc spring 10 to thereby eliminate backlash, reduce transmission resistance caused by machining errors, and eliminate backlash. The hollow routing portion 14 is an internal cylindrical surface of the end flange 7 having a finish that facilitates engineering practices. One end of the wrist end cap 17 and the wrist shaft assembly 6 hold the outer race of the sixth cross roller bearing 12, and the end flange 7 is rotatable relative to the wrist shaft assembly 6. The sixth drive chain drives the end flange 7 to rotate relative to the wrist shaft assembly 6. The elastic static sealing glue 16 is connected with the static seal between the two parts of the wrist shaft assembly 6, and meanwhile, the two parts of the wrist shaft assembly 6 divided by the elastic static sealing glue 16 have relative elasticity and damping, so that the aim of transmission and vibration elimination of the sixth transmission chain can be achieved. The fifth drive train drive wrist assembly 6 is rotatable relative to the small arm 5.
A five-axis motor 32 of a fifth transmission chain is relatively fixed inside the small arm 5, the five-axis motor 32 transmits power speed reduction and torque increase to a five-axis large belt wheel 36 through a five-axis small belt wheel 34 and a five-axis first synchronous belt 33, and meanwhile, a five-axis first compensation device 35 conducts clearance elimination and vibration compensation on the five-axis first synchronous belt 33. The five-axis large belt wheel 36 is fixedly connected with a five-axis central shaft 37, the five-axis central shaft 37 can rotate relative to the small arm 5 through a five-ball small bearing 38 and a five-ball large bearing 39, and a fifth-axis harmonic speed reducer 40 is arranged on the position of a fifth axis 22. The input end of a fifth shaft harmonic speed reducer 40 is connected with a fifth shaft central shaft 37, the output end of the fifth shaft harmonic speed reducer 40 is connected with a wrist shaft assembly 6, and the fixed end of the fifth shaft harmonic speed reducer 40 is connected with a small arm 5.
The precision speed reducer is transferred from the axis position of the six shafts to the axis position of the five shafts, so that the hollowness, miniaturization and flexibility of the six shafts are improved. The light weight has certain benefits, so the transmission viscous resistance is small, and the energy-saving and environment-friendly efficiency is high; the inertia is small, and the control difficulty is low. The appearance of the wrist joint is basically symmetrical, which is beneficial to miniaturizing the wrist joint.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a symmetry type robot joint, its characterized in that, is including base (1), waist seat (2), big arm (3), triaxial subassembly (4), forearm (5), wrist axle subassembly (6) and terminal flange (7) that rotate the connection in proper order, wherein the symmetry is equipped with five actuating mechanism and six actuating mechanism in forearm (5), five actuating mechanism with wrist axle subassembly (6) are connected, are used for the drive wrist axle subassembly (6) are relative forearm (5) are rotated around fifth axis (22), six actuating mechanism with terminal flange (7) are connected, are used for the drive terminal flange (7) are rotated around sixth axis (15), sixth axis (15) with fifth axis (22) are perpendicular.
2. The symmetrical robotic joint of claim 1, wherein said five-axis drive mechanism comprises a five-axis motor (32), a five-axis first synchronous belt (33), a five-axis small belt pulley (34), a five-axis large belt pulley (36), a five-axis central shaft (37) and a five-axis harmonic reducer (40), wherein said five-axis motor (32) and said five-axis harmonic reducer (40) are fixed in said small arm (5), said five-axis small belt pulley (34) is disposed on an output shaft of said five-axis motor (32), an input shaft of said five-axis harmonic reducer (40) is connected to said five-axis central shaft (37), said five-axis central shaft (37) is rotatably connected to said small arm (5), said five-axis large belt pulley (36) is disposed on said five-axis central shaft (37) and is drivingly connected to said five-axis small belt pulley (34) through said five-axis first synchronous belt pulley (33), and an output shaft of the five-axis harmonic speed reducer (40) is connected with the wrist shaft assembly (6).
3. The symmetric robotic joint according to claim 2, wherein said forearm (5) is provided with a five-axis first compensation means (35) abutting said five-axis first synchronization belt (33), said five-axis first compensation means (35) being adapted to compensate for backlash and vibration of said five-axis first synchronization belt (33).
4. The symmetric robotic joint of claim 2, wherein said five-axis harmonic reducer (40) is disposed at the location of said fifth axis (22), the axis of said five-axis central axis (37) being collinear with said fifth axis (22).
5. The symmetrical robotic joint of claim 1, wherein the six-axis drive mechanism comprises a six-axis motor (18), a six-axis first synchronous belt (19), a six-axis small belt pulley (20), a sixth harmonic reducer (23), a six-axis large belt pulley (25), a six-axis central shaft (26), and a gear transmission, wherein the six-axis motor (18) and the sixth harmonic reducer (23) are fixed inside the small arm (5), the six-axis small belt pulley (20) is disposed on an output shaft of the six-axis motor (18), an input shaft of the sixth harmonic reducer (23) is connected with the six-axis central shaft (26), the six-axis central shaft (26) is rotatably connected with the small arm (5), the six-axis large belt pulley (25) is disposed on the six-axis central shaft (26) and is drivingly connected with the six-axis small belt pulley (20) through the six-axis first synchronous belt (19), and an output shaft of the sixth harmonic speed reducer (23) is connected with the tail end flange (7) through a gear transmission device.
6. A symmetric robotic joint according to claim 5, characterized in that a six-axis first compensation means (21) is provided in said small arm (5), said six-axis first compensation means (21) being adapted to compensate for backlash and vibration of said six-axis first synchronization belt (19).
7. The symmetric robotic joint according to claim 5, wherein said sixth harmonic reducer (23) is located at the position of said fifth axis (22), the axis of said six-axis central shaft (26) being collinear with said fifth axis (22).
8. The symmetrical robotic joint of claim 5, wherein the gear transmission comprises a large bevel gear (30) and a small bevel gear (31), wherein the large bevel gear (30) is disposed on the output shaft of the sixth harmonic reducer (23), the small bevel gear (31) is disposed on the end flange (7) and engaged with the large bevel gear (30), an elastic disc spring (10) is disposed between the end of the small bevel gear (31) and the end flange (7), and the elastic disc spring (10) is used for forming a pressure between the large bevel gear (30) and the small bevel gear (31).
9. The symmetrical robotic joint of claim 5, wherein said six-axis large pulley (25) is located outside said small arm (5) and sealingly connected to said small arm (5) by an outer fifth axis dynamic seal (28), and said wrist shaft assembly (6) is located inside said small arm (5) and sealingly connected to said small arm (5) by an inner fifth axis dynamic seal (24).
10. The symmetric robotic joint of claim 1, wherein said wrist shaft assembly (6) is a split structure comprising a lower arm attachment end and an end flange attachment end, said lower arm attachment end and said end flange attachment end being connected by an elastomeric static sealant (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811501668.9A CN111283725A (en) | 2018-12-10 | 2018-12-10 | Symmetrical robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811501668.9A CN111283725A (en) | 2018-12-10 | 2018-12-10 | Symmetrical robot joint |
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| CN111283725A true CN111283725A (en) | 2020-06-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201811501668.9A Withdrawn CN111283725A (en) | 2018-12-10 | 2018-12-10 | Symmetrical robot joint |
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| CN (1) | CN111283725A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910291A (en) * | 2021-12-14 | 2022-01-11 | 沈阳新松机器人自动化股份有限公司 | Robot terminal hollow joint structure |
| JP7111932B1 (en) * | 2021-01-27 | 2022-08-02 | ファナック株式会社 | Articulated structures and robots |
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| CN108312175A (en) * | 2018-01-10 | 2018-07-24 | 杭州娃哈哈精密机械有限公司 | A kind of wrist joint and its method of operating of mechanical arm |
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| JPH05131388A (en) * | 1991-11-07 | 1993-05-28 | Hitachi Ltd | Wrist device for industrial robot |
| JP2000176876A (en) * | 1998-12-10 | 2000-06-27 | Komatsu Ltd | Work carrier device and attitude holding method of work carrier device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7111932B1 (en) * | 2021-01-27 | 2022-08-02 | ファナック株式会社 | Articulated structures and robots |
| WO2022163510A1 (en) * | 2021-01-27 | 2022-08-04 | ファナック株式会社 | Joint structure and robot |
| TWI815287B (en) * | 2021-01-27 | 2023-09-11 | 日商發那科股份有限公司 | Joint structure and robot |
| CN113910291A (en) * | 2021-12-14 | 2022-01-11 | 沈阳新松机器人自动化股份有限公司 | Robot terminal hollow joint structure |
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Application publication date: 20200616 |