CN112518719A - Four-axis robot convenient to maintain - Google Patents
Four-axis robot convenient to maintain Download PDFInfo
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- CN112518719A CN112518719A CN202011381256.3A CN202011381256A CN112518719A CN 112518719 A CN112518719 A CN 112518719A CN 202011381256 A CN202011381256 A CN 202011381256A CN 112518719 A CN112518719 A CN 112518719A
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- wire passing
- passing pipe
- axis
- base
- battery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A four-axis robot convenient to maintain comprises a base, a rotating seat, a first rotating joint, a second rotating joint, a terminal, a driving motor unit and an integrated battery unit, wherein the driving motor unit drives the base, the rotating seat, the first rotating joint, the second rotating joint and the terminal to rotate; the integrated battery unit comprises a support plate covered on the opening of the base, a battery support plate fixedly arranged on the surface of the support plate facing the inside of the base, a battery plate fixedly arranged on the battery support plate and a wire passing pipe communicated with the base and the rotating seat; the rotating seat is provided with an opening connected with the inlet of the wire passing pipe, and a cable connected with the driving motor unit enters the wire passing pipe from the inlet of the wire passing pipe and enters the base from the outlet of the wire passing pipe and then is connected with the battery panel. Compared with the prior art, the four-axis robot can reduce the frequency of battery replacement, is convenient for maintenance of robot components and improves the production efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a four-axis robot convenient to maintain.
Background
The robot processing is a trend of industrial production in modern society instead of human hand processing. In order to improve the flexibility of the robot to realize various processing actions, motors which move independently are generally arranged at each movable joint of the robot respectively.
Referring to fig. 1, a four-axis robot includes a base 10 disposed on a table top (not shown), a rotary base 20 disposed on the base 10 and rotating around a straight line perpendicular to the table top, a first rotary joint 30 hinged to the rotary base 20 and rotating around a straight line parallel to the table top, a second rotary joint 40 hinged to the first rotary joint 30 and rotating around a straight line parallel to an axis of the first rotary joint 30, and a terminal 50 mounted at an end of the second rotary joint 40 remote from the first rotary joint 30 and rotating around a straight line perpendicular to the table top. In order to drive the rotary base 20, the first rotary joint 30, the second rotary joint 40 and the terminal 50 to rotate around the shaft respectively, independent motors are respectively arranged at the joints of the joints, and the motors comprise a first motor 1 which is positioned on the rotary base 20 and drives the rotary base 20 to rotate, a second motor 2 which is positioned at the hinged part of the rotary base 20 and the first rotary joint 30 and drives the first rotary joint 30 to rotate, a third motor 3 which is positioned at the hinged part of the first rotary joint 30 and the second rotary joint 40 and drives the second rotary joint 40 to rotate, and a fourth motor 4 which is positioned at the tail end of the second rotary joint 40 far away from the first rotary joint 30 and drives the terminal 50 to rotate. The four-axis direction movement is realized under the driving of the first motor 1, the second motor 2, the third motor 3 and the fourth motor 4. In addition, in order to drive the first motor 1, the second motor 2, the third motor 3, and the fourth motor 4, independent batteries are respectively provided on the first motor 1, the second motor 2, the third motor 3, and the fourth motor 4 to supply power.
From above-mentioned four-axis robot structure can see out, whenever independently to first motor 1 the second motor 2 each battery electric quantity of third motor 3 and the power supply of fourth motor 4 is low when excessively, need carry out the battery change one by one to cause frequent shut down, influence work efficiency. And frequent stoppage can also cause robot failure, which is not conducive to robot maintenance.
Disclosure of Invention
Accordingly, an object of the present invention is to provide a four-axis robot which is convenient to maintain, thereby reducing frequent stoppage due to battery replacement.
The technical scheme adopted by the invention is as follows:
a four-axis robot convenient for maintenance comprises
The side surface of the base is provided with an opening;
the rotating seat is arranged on the base and rotates around a shaft;
the first rotating joint is hinged with the rotating seat and rotates around a straight line vertical to the axis of the rotating seat;
the second rotary joint is hinged with the first rotary joint and rotates around a straight line parallel to the axis of the first rotary joint;
the terminal is arranged at the tail end of the second rotary joint far away from the first rotary joint and rotates around a straight line parallel to the axis of the rotary seat;
the driving motor unit comprises a first motor for driving the rotating seat to rotate around a shaft, a second motor for driving the first rotating joint to rotate, a third motor for driving the second rotating joint to rotate and a fourth motor for driving the terminal to rotate; and
the integrated battery unit is movably arranged on the base; the battery rotating seat comprises a supporting plate covered on an opening of the base, a battery supporting plate fixedly arranged on a plate surface of the supporting plate facing the inside of the base, a battery plate fixedly arranged on the battery supporting plate and a wire passing pipe for communicating the base and the rotating seat; the rotating seat is provided with an opening connected with the inlet of the wire passing pipe, and cables connected with the first motor, the second motor, the third motor and the fourth motor enter the wire passing pipe from the inlet of the wire passing pipe and enter the base from the outlet of the wire passing pipe and then are connected with the battery panel.
Compared with the prior art, the four-axis robot has the advantages that the power supply for controlling the rotation of each joint is centralized on the base, so that the battery replacement frequency is reduced, the maintenance of robot components is facilitated, and the production efficiency is improved.
Further, the cable support device also comprises a cable support unit; the cable supporting unit includes a first support member disposed at the inlet of the wire passing pipe; the first supporting piece is provided with a fixing part which extends along the direction parallel to the axis of the wire passing pipe and is positioned above the inlet of the wire passing pipe; the side surface of one side of the fixing part faces the axis of the wire passing pipe and projects along the axis direction of the wire passing pipe, and the side surface of the fixing part facing the axis of the wire passing pipe is tangent to a circle with the wire passing pipe as the center of the circle; the cable is fixed on the side face, facing the axis of the wire passing pipe, of the fixing part. The first supporting piece supports the cable, separates the rotary seat and the cable to reduce abrasion, and meanwhile ensures that the cable extends along the axis of the wire passing pipe to enter the base at the shortest distance, so that the length allowance of the cable is kept in the base, and the cable is prevented from falling off during maintenance.
Further, the cable supporting unit further includes a second support member disposed at the outlet of the wire passing pipe; the second supporting piece is provided with a supporting part which extends along the direction parallel to the axis of the wire passing pipe and is positioned below the inlet of the wire passing pipe; the side surface of one side of the supporting part faces the axis of the wire passing pipe and projects along the axis direction of the wire passing pipe, and the side surface of the supporting part facing the axis of the wire passing pipe is tangent to a circle with the wire passing pipe as the center of the circle. The second support further supports the cable from contacting the base and maintains the cable extending along the axis within the conduit.
Further, the integrated battery unit also comprises a wiring board supporting plate fixedly arranged on the surface of the supporting plate facing the inside of the base and a wiring board fixedly arranged on the wiring board supporting plate; and the cable entering the base from the wire passing outlet is fixed on the wire binding plate and then connected with the battery panel. Fix the cable through wiring board for when maintaining and dragging the cable, the cable is difficult to drop from the panel.
Further, the battery supporting plate and the wiring board supporting plate are parallel to each other; the battery plate is arranged on the plate surface facing one side of the wiring board supporting plate, and the wiring board is arranged on the plate surface facing one side of the battery supporting plate. The wiring board and the battery board which are close to each other are beneficial to the connection of the cables.
Further, the wire binding plates are two and are respectively arranged on the two plate surfaces of the wire binding plate supporting plate. The two wiring boards are convenient for flexible wiring.
Furthermore, the axis of the wire passing pipe is overlapped with the axis of the rotating shaft of the rotating seat, so that the cable passes through the axis of the rotating seat, and the abrasion of the cable relative to the rotating seat is reduced.
Furthermore, the fixing part is provided with more than two through holes. The cable can be fixed on the side surface of the fixing part by the mode that the cable tie passes through the two through holes.
Further, the cable support unit further includes a first wire pressing member mounted on a side of the fixing portion facing the spool axis and a second wire pressing member mounted on a side of the support portion facing the spool axis; the cable passes between the fixing portion and the first wire pressing member and between the supporting portion and the second wire pressing member. The first wire pressing piece and the second wire pressing piece play a role in stabilizing when a plurality of cables are installed.
Furthermore, the wire passing pipe is fixed with the base, the first supporting piece and the second supporting piece are fixedly arranged on the wire passing pipe, and the rotating seat rotates relative to the first supporting piece, the second supporting piece and the wire passing pipe. The cable passes through the static first support part, the second support part and the wire passing pipe, so that relative movement is reduced, and abrasion is reduced.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a four-axis robot in the prior art;
FIG. 2 is a schematic view of the overall structure of a four-axis robot according to the present invention;
FIG. 3 is a schematic view of the overall structure of the robot assembly of the present invention;
FIG. 4 is an elevational cross-sectional projection of the robotic assembly of the present invention taken along line A-A of FIG. 3;
FIG. 5 is a schematic diagram of an integrated battery cell according to the present invention;
FIG. 6 is a schematic structural view of the wire binding plate of the present invention;
FIG. 7 is a schematic structural view of a binding plate support plate according to the present invention;
FIG. 8 is a schematic structural view of a first supporting member and a first wire pressing member according to the present invention;
fig. 9 is a schematic structural view of a second supporting member and a second wire pressing member according to the present invention.
Detailed Description
Referring to fig. 2, the four-axis robot using the robot assembly for facilitating maintenance according to the present invention includes a base 10 disposed on a table top (not shown), a rotary base 20 disposed on the base 10 and rotating around a straight line perpendicular to the table top, a first rotary joint 30 hinged to the rotary base 20 and rotating around a straight line parallel to the table top, a second rotary joint 40 hinged to the first rotary joint 30 and rotating around a straight line parallel to an axis of the first rotary joint 30, a terminal 50 mounted at an end of the second rotary joint 40 remote from the first rotary joint 30 and rotating around a straight line perpendicular to the table top, a driving motor unit 60, and an integrated battery unit 70 connected to the driving motor unit 60. The driving motor unit 60 includes a first motor 61 located on the rotary base 20 and driving the rotary base 20 to rotate, a second motor 62 located at the hinge joint of the rotary base 20 and the first rotary joint 30 and driving the first rotary joint 30 to rotate, a third motor 63 located at the hinge joint of the first rotary joint 30 and the second rotary joint 40 and driving the second rotary joint 40 to rotate, and a fourth motor 64 located at the end of the second rotary joint 40 far from the first rotary joint 30 and driving the terminal 50 to rotate. The movement of the robot in four-axis directions is realized under the driving of the first motor 61, the second motor 62, the third motor 63 and the fourth motor 64. The driving motor unit 60 is connected to the first motor 61, the second motor 62, the third motor 63, and the fourth motor 64 through a plurality of cables 100, respectively, to supply power. The battery needs to be replaced only when the driving motor unit 60 is short of electricity, so that the frequency of battery replacement is reduced, and the working efficiency is improved.
Referring to fig. 3 to 5, in order to replace the battery, the integrated battery unit 70 is disposed in the base 10, which is kept still, and an opening (not shown) is formed on one side of the base 10. The integrated battery unit 70 includes a supporting plate 71 covering the outer side of the opening of the base 10, a battery supporting plate 72 fixed on the inner side of the base 10 facing the supporting plate 71, a battery plate 73 fixed on the battery supporting plate 72, and a wire passing pipe 74 communicating the rotating base 20 and the base 10. The support plate 71 is mounted on the outer side of the base 10 by screws. Preferably, the battery plate 73 is mounted on the battery support plate 72 by screws and is spaced apart from the battery support plate 72 by a certain distance to facilitate heat dissipation. The rotary base 20 is provided with an opening connected with the inlet of the wire passing pipe 74. The cables 100 connecting the first motor 61, the second motor 62, the third motor 63 and the fourth motor 64 are routed outside the robot and collected to the inlet of the wire conduit 74, and then pass through the swivel 20 through the wire conduit 74 to enter the base 10 and connect with the battery panel 73. Preferably, the axis of the wire conduit 74 coincides with the axis of the rotary base 20 and is fixed to the base 10, and when the rotary base 20 rotates around a straight line perpendicular to the table top of the workbench, the cable 100 is stationary relative to the wire conduit 74, so that the abrasion of the cable 100 to the base 10 and the rotary base 20 is reduced, and the failure rate is reduced. Further, the integrated battery unit 70 further includes a wiring board support plate 75 fixedly provided on the inner side surface of the support plate 71 facing the base 10, and a wiring board 76 provided on the wiring board support plate 75. Referring to fig. 6, a plurality of U-shaped notches 761 are arranged on the surface of the line binding plate 76, and the U-shaped notches 761 are arranged side by side for clamping the cable 100, and face outward. Preferably, the wiring board support plate 75 and the battery support plate 72 have plate surfaces parallel to each other, the battery plate 73 is mounted on the plate surface of the battery support plate 72 on the side facing the wiring board support plate 75, and the wiring board 76 is fixed on the plate surface of the wiring board support plate 75 on the side facing the battery support plate 72 by screws; further, the number of the wire binding plates 76 is 2, please refer to fig. 7, 4 screw holes 751 with rectangular central connecting lines and used for installing the wire binding plates 76 and notches 752 arranged on the plate surface of the wire binding plate supporting plate 75 are arranged on the plate surface of the wire binding plate supporting plate 75, the two wire binding plates 76 are respectively arranged on the plate surfaces on two sides of the wire binding plate supporting plate 75 through screws and located above the notches 752, the wire binding plates 76 are relatively parallel and staggered on the notches 752, and an operator can pass the cable 100 through the notches 752 and flexibly fix the cable in the U-shaped notches 761 of the wire binding plates 76 as required to flexibly route the cable. When the battery plate 73 is repaired or replaced, the screws for fixing the support plate 71 to the base 10 are loosened, the support plate 71 is moved in a direction away from the base 10, and the battery support plate 72 and the wiring board support plate 75 are moved accordingly, so that the battery plate 73, the wiring board 76 and the cable 100 fixed to the wiring board 76 are moved out of the base 10 and the battery plate 73 is repaired or replaced, thereby facilitating maintenance.
Further, after the power of the first motor 61, the second motor 62, the third motor 63 and the fourth motor 64 is changed to the battery plate 73 centrally disposed in the base 10, the integrated battery unit 70 needs to be pulled out of the base 10 and the cable 100 needs to be pulled out of the base 10 when the battery plate 73 is repaired or replaced, so that the cable 100 is often pulled. In this case, if the cable 100 does not have a sufficient length margin, it is easily detached from the binding-wire plate 76 during pulling and even separated from the battery plate 73, causing a certain trouble for maintenance. In order to ensure that the length allowance of the cable 100 can be used for maintenance or battery replacement, the axis of the wire through pipe 74 is perpendicular to the table surface of the workbench and coincides with the axis of the rotary base 20, the robot assembly for facilitating maintenance further comprises a cable supporting unit 80 arranged at the inlet and the outlet of the wire through pipe 74 to ensure that the cable 100 vertically enters the wire through pipe 74 at the shortest distance, and the length allowance is kept in the base 10. The cable supporting unit 80 includes a first supporting member 81 fixedly installed at an inlet of the wire passing pipe 74 and a second supporting member 82 fixedly installed at an outlet of the wire passing pipe 74. In one embodiment, the outlet end of the wire conduit 74 is fixed to the base 10, the wire conduit 74 is kept absolutely stationary when the rotary base 20 rotates, the first supporting member 81 and the second supporting member 82 are both fixed to the wire conduit 74, and the rotary base 20 rotates relative to the wire conduit 74, the first supporting member 81, the second supporting member 82 and the cable 100 passing through the wire conduit 74. In another embodiment, the inlet end of the wire conduit 74 is fixed to the rotary base 20, the first supporting member 81 is fixed to the rotary base 20, the second supporting member 82 is fixed to the wire conduit 74, and when the rotary base 20 rotates, the wire conduit 74, the first supporting member 81, the second supporting member 82 and the rotary base 20 are kept stationary. In another embodiment, the wire guide 74 is fixed to the base 10, the first supporting member 81 is fixed to the rotary base 20, the second supporting member 82 is fixed to the wire guide 74, and when the rotary base 20 rotates, the rotary base 20 rotates relative to the wire guide 74 and the second supporting member 82. Referring to fig. 8 and 9, the first supporting member 81 is provided with a fixing portion 811 extending along the axial direction of the wire passing pipe 74 and located above the inlet of the wire passing pipe 74. The fixing part 811 is plate-shaped, and one side plate surface faces the axis of the wire passing pipe 74; preferably, in the axial projection of the bobbin 74, a side surface of the fixing portion 811 faces the axis of the bobbin 74 and is tangent to a circle centered on the axis of the bobbin 74, and the radius of the fixing portion is R1, so that when the rotary base 20 rotates around the axis and relative to the bobbin 74, the fixing portion 811 always rotates around the axis of the bobbin 74 toward the side surface of the axis of the bobbin 74. Further, the fixing portion 811 is provided with two or more through holes 812, and the cable 100 passing through the fixing portion 811 is pressed against the fixing portion 811 by the cable tie passing through the two through holes 812. The second support 82 is provided with a support 821 which is located below the outlet of the wire passing pipe and extends along a direction parallel to the axis of the wire passing pipe 74, and a side surface of the support 821, projected along the axis direction of the wire passing pipe 74, faces the axis of the wire passing pipe 74 and is tangent to a circle with the axis of the wire passing pipe 74 as the center of the circle, and the radius of the support is R2; preferably, a circle tangent to the fixing portion 811 and a circle tangent to the supporting portion 821 have their centers coinciding, and R1 is equal to R2, so that the cable 100 fixed to the fixing portion 811 extends in a direction parallel to the axis of the cable 74 after entering the cable 74, and is supported by the supporting portion 821 at the outlet of the cable 74, so that the cable 100 enters the base 10 at the shortest length distance while preventing the cable 100 from wearing the base 10 and the swivel 20, and most of the length margin remains in the base 10 for use in pulling out the integrated battery unit 70. Further, the cable support unit 80 is further provided with a first wire pressing member 83 fixed to the fixing portion 811 and a second wire pressing member 84 fixed to the support portion 821, and the cable 100 passes between the first wire pressing member 83 and the fixing portion 811 and between the second wire pressing member 84 and the support portion 821. In this embodiment, the first wire pressing member 83 and the second wire pressing member 84 are of a semi-circular ring type and are mounted by screws, and the cable 100 passes through the ring. Since the number of cables 100 connecting the first motor 61, the second motor 62, the third motor 63, and the fourth motor 64 is one or more, when a plurality of cables 100 are difficult to be fixed by a cable tie through the first support 81 and the second support 82, the first wire presser 83 and the second wire presser 84 play a role in pressing and stabilizing the cables 100.
Compared with the prior art, the four-axis robot has the advantages that the power supply for controlling the rotation of each joint is centralized on the base, so that the battery replacement frequency is reduced, the four-axis robot is convenient to maintain, and the production efficiency is improved. And be equipped with cable supporting element, when separating roating seat, base and cable in order to reduce wearing and tearing, guarantee that the cable extends along the spool axis, get into the base with the shortest distance, keep the length surplus of cable in the base to prevent droing of cable when maintaining. Furthermore, still be equipped with the wiring board that is close to each other with the panel, can prevent that the cable from droing from the panel. In addition, under the effect of first wire pressing piece and second wire pressing piece, also can install firmly to many cables.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. The utility model provides a four-axis robot convenient to maintain which characterized in that: comprises that
The side surface of the base is provided with an opening;
the rotating seat is arranged on the base and rotates around a shaft;
the first rotating joint is hinged with the rotating seat and rotates around a straight line vertical to the axis of the rotating seat;
the second rotary joint is hinged with the first rotary joint and rotates around a straight line parallel to the axis of the first rotary joint;
the terminal is arranged at the tail end of the second rotary joint far away from the first rotary joint and rotates around a straight line parallel to the axis of the rotary seat;
the driving motor unit comprises a first motor for driving the rotating seat to rotate around a shaft, a second motor for driving the first rotating joint to rotate, a third motor for driving the second rotating joint to rotate and a fourth motor for driving the terminal to rotate; and
the integrated battery unit is movably arranged on the base; the battery rotating seat comprises a supporting plate covered on an opening of the base, a battery supporting plate fixedly arranged on a plate surface of the supporting plate facing the inside of the base, a battery plate fixedly arranged on the battery supporting plate and a wire passing pipe for communicating the base and the rotating seat; the rotating seat is provided with an opening connected with the inlet of the wire passing pipe, and cables connected with the first motor, the second motor, the third motor and the fourth motor enter the wire passing pipe from the inlet of the wire passing pipe and enter the base from the outlet of the wire passing pipe and then are connected with the battery panel.
2. Four-axis robot convenient to maintain according to claim 1, characterized in that: also includes a cable support unit; the cable supporting unit includes a first support member disposed at the inlet of the wire passing pipe; the first supporting piece is provided with a fixing part which extends along the direction parallel to the axis of the wire passing pipe and is positioned above the inlet of the wire passing pipe; the side surface of one side of the fixing part faces the axis of the wire passing pipe and projects along the axis direction of the wire passing pipe, and the side surface of the fixing part facing the axis of the wire passing pipe is tangent to a circle with the wire passing pipe as the center of the circle; the cable is fixed on the side face, facing the axis of the wire passing pipe, of the fixing part.
3. The four-axis robot convenient for maintenance according to claim 2, wherein: the cable supporting unit further comprises a second support member disposed at the outlet of the wire passing pipe; the second supporting piece is provided with a supporting part which extends along the direction parallel to the axis of the wire passing pipe and is positioned below the inlet of the wire passing pipe; the side surface of one side of the supporting part faces the axis of the wire passing pipe and projects along the axis direction of the wire passing pipe, and the side surface of the supporting part facing the axis of the wire passing pipe is tangent to a circle with the wire passing pipe as the center of the circle.
4. Four-axis robot convenient to maintain according to claim 3, characterized in that: the integrated battery unit also comprises a wiring board supporting plate fixedly arranged on the surface of the supporting plate facing the inside of the base and a wiring board fixedly arranged on the wiring board supporting plate; and the cable entering the base from the wire passing outlet is fixed on the wire binding plate and then connected with the battery panel.
5. Four-axis robot convenient to maintain according to claim 4, characterized in that: the battery supporting plate and the wiring board supporting plate are parallel to each other; the battery plate is arranged on the plate surface facing one side of the wiring board supporting plate, and the wiring board is arranged on the plate surface facing one side of the battery supporting plate.
6. Four-axis robot convenient to maintain according to claim 5, characterized in that: the wire binding plates are two and are respectively arranged on two plate surfaces of the wire binding plate supporting plate.
7. Four-axis robot convenient to maintain according to claim 3, characterized in that: the axis of the wire passing pipe is overlapped with the axis of the rotating shaft of the rotating seat.
8. The four-axis robot convenient for maintenance according to claim 3, wherein: the fixing part is provided with more than two through holes.
9. The four-axis robot convenient for maintenance according to claim 3, wherein: the cable support unit further includes a first wire pressing member mounted on a side of the fixing portion facing the spool axis and a second wire pressing member mounted on a side of the support portion facing the spool axis; the cable passes between the fixing portion and the first wire pressing member and between the supporting portion and the second wire pressing member.
10. Four-axis robot convenient to maintain according to claim 3, characterized in that: the wire passing pipe is fixed with the base, the first supporting piece and the second supporting piece are fixedly arranged on the wire passing pipe, and the rotating seat rotates relative to the first supporting piece, the second supporting piece and the wire passing pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011381256.3A CN112518719A (en) | 2020-12-01 | 2020-12-01 | Four-axis robot convenient to maintain |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011381256.3A CN112518719A (en) | 2020-12-01 | 2020-12-01 | Four-axis robot convenient to maintain |
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| CN112518719A true CN112518719A (en) | 2021-03-19 |
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| CN202011381256.3A Pending CN112518719A (en) | 2020-12-01 | 2020-12-01 | Four-axis robot convenient to maintain |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113910201A (en) * | 2021-10-20 | 2022-01-11 | 珞石（北京）科技有限公司 | Compact base of cooperative mechanical arm without external control cabinet |
| 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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|---|---|---|---|---|
| CN113910201A (en) * | 2021-10-20 | 2022-01-11 | 珞石（北京）科技有限公司 | Compact base of cooperative mechanical arm without external control cabinet |
| 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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Application publication date: 20210319 |
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| RJ01 | Rejection of invention patent application after publication |