CN114147692B - Parallel robot with adjustable working space - Google Patents
Parallel robot with adjustable working space Download PDFInfo
- Publication number
- CN114147692B CN114147692B CN202111560966.7A CN202111560966A CN114147692B CN 114147692 B CN114147692 B CN 114147692B CN 202111560966 A CN202111560966 A CN 202111560966A CN 114147692 B CN114147692 B CN 114147692B
- Authority
- CN
- China
- Prior art keywords
- platform
- servo motor
- bevel gear
- working space
- ball screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a parallel robot with an adjustable working space, which comprises a static platform, a dynamic platform and three driving branched chains connected with the dynamic platform, wherein the static platform is provided with a driving device and three groups of driven devices with the same structure; the driving device comprises a belt wheel servo motor and a first synchronous belt wheel, the driven device comprises a sliding groove, a sliding block, a ball screw, a first bevel gear, a second bevel gear and a second synchronous belt wheel, and the second synchronous belt wheels of the three driven devices are respectively connected with the first synchronous belt wheel in a transmission way through a synchronous belt. The parallel robot adjusts the position of each branched chain servo motor in the static platform by utilizing the belt pulley servo motor, the synchronous belt transmission, the gear transmission and the ball screw pair, achieves the aim of adjusting the theoretical radius of the static platform to change the working space of the parallel robot, has simple whole mechanical structure, low manufacturing cost, high precision and simple working principle, and is easy to carry out kinematic analysis, track planning and solution analysis of the working space.
Description
Technical Field
The invention belongs to the technical field of robot exploitation, and particularly relates to a parallel robot with an adjustable working space.
Background
The high-speed development of modern industry makes the processing technology of products be continuously perfected, the processing technology of the processing industry technology is continuously advanced, and more enterprises gradually select to use industrial robots to replace traditional workers. The industrial robot can particularly replace some personnel working under a special severe working environment, avoid the body of related personnel from being irreversibly damaged in the working process, avoid the occurrence of safety accidents and ensure the life safety of the personnel. The industrial robot can maintain high working efficiency on the premise of ensuring the product quality.
The common industrial robot mainly has two forms of serial connection and parallel connection, and compared with a serial connection mechanism, the parallel connection robot has the advantages of high rigidity, stable structure, high bearing capacity, no accumulated error, high precision and the like, expands the application field of the robot, and is particularly widely applied to industrial production. And from the structure alone, the parallel robot has relatively compact structure, good rigidity and large bearing capacity.
The parallel robot in the prior art generally comprises a support, a movable platform and three driving branched chains connected between the support and the movable platform. The driving branched chain comprises a driving device fixedly connected with the bracket, a first connecting rod hinged with the movable platform and a second connecting rod hinged between the driving device and the first connecting rod. The driving device drives the second connecting rod to rotate, and the second connecting rod drives the first connecting rod to move so as to realize the lifting and sinking of the movable platform. The parallel robot disclosed in chinese patent CN 102069495A comprises a support, a movable platform, a translational branched chain and a rotational branched chain connected between the support and the movable platform, and a first power device and a second power device fixed on the support, wherein the first power device drives the translational branched chain, the second power device drives the rotational branched chain, the first power device comprises a driving wheel, the translational branched chain comprises a first transmission member and a transmission rope, the first transmission member comprises a sector transmission part, the middle part of the transmission rope is wound on the driving wheel, and the rest part of the transmission rope is wound on the arc edge of the sector transmission part, so that the driving wheel drives the first transmission member to rotate through the transmission rope, and the parallel robot realizes speed reduction transmission through the transmission rope wound on the driving wheel of the first power device and the sector transmission part of the first transmission member of the translational branched chain.
However, the size of the working space of the parallel robot with the structure is limited, in order to increase the size of the working space of the parallel robot, a person skilled in the art takes some feasible measures, and the most common way is to replace the driving arm and the driven arm with different lengths to achieve the purpose of adjusting the working space of the parallel robot. Chinese patent 201420064808.1 discloses an upper arm of a parallel robot, and the patent mainly designs an active arm made of a novel material, changes the arm length of the upper arm by adjusting a tool, and can adapt to the processing and mounting requirements of different products by adjusting the arm length. However, the steps of replacing the driving arm or the driven arm of the parallel robot are relatively complicated, and the actual production and processing progress can be influenced by the mode.
Disclosure of Invention
The invention aims to provide a parallel robot mechanism with simple structure, easy control and high motion precision and capable of adjusting working space, and the mechanical device mainly utilizes a ball screw pair to adjust the position of a servo motor in a static platform, so as to achieve the effect of adjusting the theoretical radius of the static platform and finally achieve the aim of adjusting the working space of the parallel robot.
The technical scheme of the invention is as follows: the utility model provides an adjustable working space's parallel robot, including quiet platform, movable platform and three drive branch chains of connecting the sound platform, three drive branch chains are around central equiangular distribution on quiet platform, each drive branch chain's structure is the same, all include servo motor, reduction gear, initiative arm and driven arm, servo motor establishes in quiet platform below, the reduction gear is connected to servo motor's output, the one end of initiative arm and the output rigid coupling of reduction gear, the other end and driven arm swing joint, driven arm and movable platform swing joint; the static platform is provided with a driving device and three groups of driven devices with the same structure, and the three groups of driven devices are arranged in one-to-one correspondence with the three driving branched chains; the driving device comprises a belt wheel servo motor and a first synchronous belt wheel, the belt wheel servo motor is fixed on the static platform, and the first synchronous belt wheel is connected with the output end of the belt wheel servo motor; the driven device comprises a sliding groove, a sliding block, a ball screw, a first bevel gear, a second bevel gear and a second synchronous pulley, wherein the sliding block is slidably connected in the sliding groove, a servo motor is fixed below the corresponding sliding block, the ball screw is arranged above the sliding block, the sliding block is movably connected with the ball screw through a screw nut, the first bevel gear is arranged at the inner side end of the ball screw, the first bevel gear is meshed with the second bevel gear, the second bevel gear is connected on a gear shaft, the second synchronous pulley is arranged at the upper end of the gear shaft, the gear shaft is rotatably connected on a static platform, and the second synchronous pulleys of the three driven devices are respectively connected with the first synchronous pulley through a synchronous belt in a transmission manner.
Further, a movable groove which is longitudinally communicated is respectively arranged at the position, corresponding to each driving arm, on the static platform, and extends from the edge of the static platform to the center direction of the static platform.
Further, the sliding groove longitudinally penetrates through the upper surface and the lower surface of the static platform, the extending direction of the sliding groove is the same as that of the adjacent movable groove, and the sliding block can slide along the length direction of the sliding groove.
Further, the axis of the first bevel gear is perpendicular to the axis of the second bevel gear.
Further, the ball screw extends along the length direction of the sliding groove, two ends of the ball screw are respectively and rotatably connected to a screw bracket, and the bottom of the screw bracket is fixedly connected to the static platform.
Further, a belt pulley speed reducer is arranged between the belt pulley servo motor and the first synchronous belt pulley, the belt pulley speed reducer is connected to the output end of the belt pulley servo motor, and the first synchronous belt pulley is connected to the output end of the belt pulley speed reducer.
Compared with the prior art, the invention has the following advantages:
1. according to the parallel robot with the adjustable working space, a set of robot working space adjusting equipment which is provided with a driving device and three groups of driven devices is additionally arranged on the basis of an existing device, the positions of servo motors of all driving branched chains in a static platform are integrally adjusted by utilizing three ball screw pairs which are synchronously transmitted, the movement of the movable platform in the multi-axis direction is realized, the purpose of adjusting the working space of the parallel robot is finally achieved, and different working requirements in the industrial manufacturing process are met;
2. the parallel robot with the adjustable working space has the characteristics of simple whole mechanical structure, easiness in installation, low manufacturing cost, high transmission precision and the like, and has the characteristic of adjustable working space, so that corresponding purposes are achieved without changing a driving arm and a driven arm when processing and installing different products, the operation process is more convenient, and the working efficiency is ensured;
3. the parallel robot with the adjustable working space has the advantages that the working principle of the whole mechanism is simple, and the kinematic analysis, the planning of the tail end track and the control of the whole mechanical structure of the parallel robot are facilitated.
Drawings
FIG. 1 is a schematic diagram of a parallel robot with adjustable working space;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is a schematic top view of the stationary platform;
FIG. 4 is a schematic illustration of a driving device cooperatively coupled to a set of driven devices;
wherein, the device comprises a 1-static platform, a 2-dynamic platform, a 3-driving branched chain, a 4-driving device and a 5-driven device;
31-servo motor, 32-RV reducer, 33-driving arm, 34-driven arm and 35-movable groove;
41-pulley servomotor, 42-pulley RV reducer, 43-first synchronous pulley;
51-sliding grooves, 52-sliding blocks, 53-ball screws, 54-first bevel gears, 55-second bevel gears, 56-second synchronous pulleys, 57-lead screw nuts, 58-gear shafts and 59-synchronous belts.
Detailed Description
The following description of the present invention is provided with reference to the accompanying drawings, but is not limited to the following description, and any modifications or equivalent substitutions of the present invention should be included in the scope of the present invention without departing from the spirit and scope of the present invention.
Example 1
In order to orderly lift the working space of the parallel robot, the embodiment discloses an adjustable working space parallel robot, which comprises a static platform 1, a movable platform 2 and three driving branched chains 3 connected with the movable platform, wherein the three driving branched chains 3 are distributed on the static platform 1 around the center of the static platform at equal angles, each driving branched chain 3 has the same structure and comprises a servo motor 31, an RV reducer 32, a driving arm 33 and a driven arm 34, the servo motor 31 is arranged below the static platform 1, the output end of the servo motor 31 is connected with the RV reducer 32, one end of the driving arm 33 is fixedly connected with the output end of the RV reducer 32, the other end of the driving arm is movably connected with the driven arm 34, the driven arm 34 is movably connected with the movable platform 2, and in the embodiment, the driving arm 33 is connected with the driven arm 34 in a hinged mode, and the driven arm 34 is also movably connected with the movable platform 2 in a hinged mode.
The servo motor 31 drives the driving arm 33 to realize rotary motion, drives the driven arm 34 to displace longitudinally, and further controls the motion of the movable platform 2.
In order to ensure that the driving arms 33 do not interfere with the static platform 1 in the process of rotating, a movable groove 35 which is longitudinally penetrated is respectively arranged on the static platform 1 and corresponds to each driving arm 33, and the movable groove 35 extends from the edge of the static platform 1 to the center direction of the static platform 1.
The driving branched chain 3 under the structure can control the motion of the movable platform 2 in a certain working space in the longitudinal direction, but the working space of the robot is limited, the arm length of the driving arm 33 is required to be changed by adjusting the tool, and the processing and mounting requirements of different products can be met by adjusting the arm length. However, the steps for replacing the driving arm 33 or the driven arm 34 of the parallel robot are relatively complicated, and the actual production and processing progress is affected by the mode
In order to solve the above problem, the adjustable working space of the parallel robot is further enlarged, in this embodiment, a driving device 4 and three groups of driven devices 5 with the same structure are additionally arranged on the static platform 1, the three groups of driven devices 5 are arranged in one-to-one correspondence with the three driving branched chains 3, the driving device 4 comprises a belt pulley servo motor 41, a belt pulley RV reducer 42 and a first synchronous belt pulley 43, the belt pulley servo motor 41 is fixed at the central position of the static platform 1, the belt pulley RV reducer 42 is connected at the output end of the belt pulley servo motor 41, and the first synchronous belt pulley 43 is connected at the output end of the belt pulley RV reducer 42;
the driven device 5 comprises a sliding groove 51, a sliding block 52, a ball screw 53, a first bevel gear 54, a second bevel gear 55 and a second synchronous pulley 56, wherein the sliding groove 51 is the same as the adjacent movable groove 35 in the extending direction, the sliding block 52 is movably connected in the sliding groove 51 and can slide along the length direction, three servo motors 31 are fixed below the sliding block 52 correspondingly arranged so as to horizontally slide along with the sliding block 52, the ball screw 53 is arranged above the sliding block 52, the sliding block 52 is connected with a screw nut 57, the sliding block 52 is movably connected with the ball screw 53 through the screw nut 57, further, the rotary motion of the ball screw 53 is converted into the horizontal sliding of the sliding block 52 in the sliding groove 51, two ends of the ball screw 53 are respectively and rotatably connected to a screw bracket, the bottom of the screw bracket is fixedly connected to the static platform 1, the inner side end of the ball screw 53 is connected with the first bevel gear 54, the first bevel gear 54 is meshed with the second bevel gear 55, the axis of the first bevel gear 54 is vertical to the axis of the second bevel gear 55, the second bevel gear shaft 55 is coaxially connected with the second bevel gear shaft 58, the second bevel gear shaft 58 is coaxially connected with the second synchronous pulley 58 and the second synchronous pulley is coaxially connected with the second synchronous pulley 5 through the second synchronous pulley 56, and the synchronous pulley is respectively connected with the second synchronous pulley 5 through the synchronous pulley 59.
The belt pulley servo motor 41 drives the first synchronous belt pulley 43 to rotate, and then drives the three second synchronous belt pulleys 56 to synchronously rotate through the three synchronous belts 59, the second synchronous belt pulleys 56 drive the second bevel gears 55 to synchronously rotate, and the first bevel gears 54 are meshed with the second bevel gears 55, so that the first bevel gears 54 also rotate, the ball screw 53 is driven to rotate, the whole circle rotation of the ball screw 53 is converted into the horizontal movement process of the sliding block 52 in the sliding groove 51, the servo motor 31 fixedly connected to the bottom of the sliding block 52 synchronously horizontally moves, and the position of the servo motor 31 on the static platform 1 can be adjusted in the mode; and finally, the accurate motion of the movable platform 2 in the X axis, the Y axis and the Z axis is realized.
The parallel robot transmits the power of the belt pulley servo motor 41 to the ball screw 53 of each driven device mainly through the belt transmission and the gear transmission of each branched chain, and the mechanical structures of the driven devices are the same, so the ball screws 53 of the driven devices have the same rotation direction, and the three driven devices 5 are integrally driven by the single driving device 4, so the three ball screws 53 can synchronously rotate in the same direction, and the horizontal forward and backward moving distance of the screw nuts 57 in the driven devices 4 is equal, so the purposes of integrally adjusting the theoretical radius of the static platform 1 and changing the working space of the parallel robot can be finally achieved; the motion mode of the movable platform of the parallel robot is the same as that of the conventional parallel robot, and the servo motor 31 for driving each branched chain driving arm 33 is controlled to realize the rotation of each branched chain driving arm 33, so that the aim of precisely controlling the movable platform is finally achieved by matching with each branched chain driven arm 34.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (5)
1. The utility model provides an adjustable working space's parallel robot, including quiet platform, movable platform and three drive branch chains of connecting the sound platform, three drive branch chains are around central equiangular distribution on quiet platform, each drive branch chain's structure is the same, all include servo motor, reduction gear, initiative arm and driven arm, servo motor establishes in quiet platform below, the reduction gear is connected to servo motor's output, the one end of initiative arm and the output rigid coupling of reduction gear, the other end and driven arm swing joint, driven arm and movable platform swing joint; it is characterized in that the method comprises the steps of,
the static platform is provided with a driving device and three groups of driven devices with the same structure, and the three groups of driven devices are arranged in one-to-one correspondence with the three driving branched chains;
the driving device comprises a belt wheel servo motor and a first synchronous belt wheel, the belt wheel servo motor is fixed on the static platform, and the first synchronous belt wheel is connected with the output end of the belt wheel servo motor;
the driven device comprises a sliding groove, a sliding block, a ball screw, a first bevel gear, a second bevel gear and a second synchronous pulley, wherein the sliding block is in sliding connection with the sliding groove, a servo motor is fixed below the corresponding sliding block, the ball screw is arranged above the sliding block, the sliding block is in movable connection with the ball screw through a screw nut, the first bevel gear is arranged at the inner side end of the ball screw, the first bevel gear is meshed with the second bevel gear, the second bevel gear is connected with a gear shaft, the upper end of the gear shaft is provided with the second synchronous pulley, the gear shaft is rotatably connected with the static platform, and the second synchronous pulleys of the three driven devices are respectively in transmission connection with the first synchronous pulley through a synchronous belt;
a movable groove which is longitudinally communicated is respectively arranged at the position, corresponding to each driving arm, on the static platform, and extends from the edge of the static platform to the center direction of the static platform.
2. The robot in parallel with an adjustable working space according to claim 1, wherein the sliding groove longitudinally penetrates the upper and lower surfaces of the stationary platform, and the sliding groove is identical to the adjacent movable groove in the extending direction, and the sliding block is slidable along the length direction of the sliding groove.
3. A parallel robot with adjustable working space as recited in claim 1, wherein the axis of the first bevel gear is perpendicular to the axis of the second bevel gear.
4. The robot in parallel with an adjustable working space as set forth in claim 1, wherein the ball screw extends along the length direction of the sliding groove, both ends of the ball screw are rotatably connected to a screw bracket, respectively, and the bottom of the screw bracket is fixedly connected to the stationary platform.
5. The adjustable workspace parallel robot of claim 1 wherein a pulley reducer is disposed between the pulley servomotor and the first synchronous pulley, the pulley reducer is connected to an output of the pulley servomotor, and the first synchronous pulley is connected to an output of the pulley reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111560966.7A CN114147692B (en) | 2021-12-20 | 2021-12-20 | Parallel robot with adjustable working space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111560966.7A CN114147692B (en) | 2021-12-20 | 2021-12-20 | Parallel robot with adjustable working space |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114147692A CN114147692A (en) | 2022-03-08 |
| CN114147692B true CN114147692B (en) | 2023-05-05 |
Family
ID=80451569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111560966.7A Active CN114147692B (en) | 2021-12-20 | 2021-12-20 | Parallel robot with adjustable working space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114147692B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100029087A (en) * | 2007-05-08 | 2010-03-15 | 브룩스 오토메이션 인코퍼레이티드 | Substrate transport apparatus with multiple movable arms utilizing a mechanical switch mechanism |
| CN102357879A (en) * | 2011-09-05 | 2012-02-22 | 北京华巍中兴电气有限公司 | Eight-degree-of-freedom series-parallel combined automatic welding robot |
| CN103101048A (en) * | 2012-11-08 | 2013-05-15 | 上海理工大学 | Three-freedom-degree parallel robot adjustable in arm length |
| CN203293189U (en) * | 2013-06-25 | 2013-11-20 | 安徽工业大学 | Dual translation parallel robot with separated driving branch and driven branch |
| CN204748616U (en) * | 2015-07-27 | 2015-11-11 | 吉林大学 | But three -dimensional translation parallel mechanism of motion decoupling zero |
| CN106737600A (en) * | 2017-01-16 | 2017-05-31 | 安徽工业大学 | A kind of seven freedom transfer robot containing ball-screw moving platform |
| CN107756348A (en) * | 2017-10-17 | 2018-03-06 | 安徽千智能设备股份有限公司 | The six-freedom parallel test platform that a kind of moving platform height can adjust on a large scale |
| CN110815183A (en) * | 2019-11-13 | 2020-02-21 | 南京理工大学 | Four-freedom-degree high-speed parallel robot mechanism with double-drive branched chains |
| CN110815185A (en) * | 2019-11-13 | 2020-02-21 | 南京理工大学 | Six-degree-of-freedom high-speed parallel mechanism containing composite branched chain |
| CN210256123U (en) * | 2019-07-29 | 2020-04-07 | 深圳市一越智能科技有限公司 | Parallel sorting robot convenient to install |
| WO2021147265A1 (en) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | Control method for surgical robot arm, computer device, and surgical robot arm |
| CN113459071A (en) * | 2021-07-13 | 2021-10-01 | 江苏理工学院 | Three-degree-of-freedom parallel robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11584013B2 (en) * | 2020-03-31 | 2023-02-21 | Wipro Limited | System, device and method for determining error in robotic manipulator-to-camera calibration |
-
2021
- 2021-12-20 CN CN202111560966.7A patent/CN114147692B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100029087A (en) * | 2007-05-08 | 2010-03-15 | 브룩스 오토메이션 인코퍼레이티드 | Substrate transport apparatus with multiple movable arms utilizing a mechanical switch mechanism |
| CN102357879A (en) * | 2011-09-05 | 2012-02-22 | 北京华巍中兴电气有限公司 | Eight-degree-of-freedom series-parallel combined automatic welding robot |
| CN103101048A (en) * | 2012-11-08 | 2013-05-15 | 上海理工大学 | Three-freedom-degree parallel robot adjustable in arm length |
| CN203293189U (en) * | 2013-06-25 | 2013-11-20 | 安徽工业大学 | Dual translation parallel robot with separated driving branch and driven branch |
| CN204748616U (en) * | 2015-07-27 | 2015-11-11 | 吉林大学 | But three -dimensional translation parallel mechanism of motion decoupling zero |
| CN106737600A (en) * | 2017-01-16 | 2017-05-31 | 安徽工业大学 | A kind of seven freedom transfer robot containing ball-screw moving platform |
| CN107756348A (en) * | 2017-10-17 | 2018-03-06 | 安徽千智能设备股份有限公司 | The six-freedom parallel test platform that a kind of moving platform height can adjust on a large scale |
| CN210256123U (en) * | 2019-07-29 | 2020-04-07 | 深圳市一越智能科技有限公司 | Parallel sorting robot convenient to install |
| CN110815183A (en) * | 2019-11-13 | 2020-02-21 | 南京理工大学 | Four-freedom-degree high-speed parallel robot mechanism with double-drive branched chains |
| CN110815185A (en) * | 2019-11-13 | 2020-02-21 | 南京理工大学 | Six-degree-of-freedom high-speed parallel mechanism containing composite branched chain |
| WO2021147265A1 (en) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | Control method for surgical robot arm, computer device, and surgical robot arm |
| CN113459071A (en) * | 2021-07-13 | 2021-10-01 | 江苏理工学院 | Three-degree-of-freedom parallel robot |
Non-Patent Citations (1)
| Title |
|---|
| 3-PRRS并联机构多目标可靠性优化设计;杜岩锦;郭宗和;杜晴晴;徐昭;;机械设计与制造(02);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114147692A (en) | 2022-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107008602B (en) | Series-parallel type spraying robot | |
| CN204976630U (en) | Horizontal joint robot of four -axis | |
| CN101214098B (en) | Five-freedom shoemaking automatically grinding glue-spraying processing device | |
| CN113304923B (en) | Adjustable flexible cable driving spraying robot for coating inner wall of complex curved surface | |
| CN104440906B (en) | Production line system high-speed robot | |
| CN110026786B (en) | Large-stroke five-degree-of-freedom series-parallel machine tool with reconfigurable characteristic | |
| CN104827461A (en) | Novel series-parallel hybrid robot | |
| CN114147692B (en) | Parallel robot with adjustable working space | |
| CN110509738B (en) | Six-freedom-degree series branched chain leg based on ground sealing | |
| CN110000755B (en) | Parallel mechanism with two-movement-one-screw and two-movement-one-rotation motion modes | |
| CN112060051A (en) | Lifting mechanism and robot thereof | |
| CN216180522U (en) | Industrial robot truss device based on three-axis adjustment | |
| CN210879639U (en) | Four-degree-of-freedom hybrid robot | |
| CN113635290A (en) | Horizontal multi-joint robot | |
| CN204913894U (en) | Three degree of freedom robots | |
| CN201175914Y (en) | Branched chain nested three-freedom movable platform continuously rotating parallel robot mechanism | |
| CN211804569U (en) | Multi-axis linkage flexible positioning equipment for multi-vehicle type mixed line production | |
| CN205734925U (en) | A kind of mechanical arm adjusting means | |
| CN110000756B (en) | Parallel mechanism with three-movement and two-movement one-spiral movement modes | |
| CN110355741B (en) | Parallel mechanism with two motion modes of 3T1R and 2T2R | |
| CN110000757B (en) | Parallel mechanism with two-movement one-rotation and two-movement one-spiral motion modes | |
| CN209210252U (en) | A kind of luffing range of cantilever support control mechanism | |
| CN207104953U (en) | A kind of end effector of adjustable tool axis | |
| CN111702748A (en) | Flexible parallel mechanism suitable for grabbing in special environment | |
| CN216645301U (en) | Stepless center distance adjusting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |