CN104742116A - Novel five-degree-of-freedom robot mechanism - Google Patents
Novel five-degree-of-freedom robot mechanism Download PDFInfo
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- CN104742116A CN104742116A CN201510070429.2A CN201510070429A CN104742116A CN 104742116 A CN104742116 A CN 104742116A CN 201510070429 A CN201510070429 A CN 201510070429A CN 104742116 A CN104742116 A CN 104742116A
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- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000003466 welding Methods 0.000 abstract description 9
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- 230000003028 elevating effect Effects 0.000 description 2
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Abstract
The invention provides a novel five-degree-of-freedom robot mechanism which comprises a base, a linear module and a mechanical arm. The linear module is fixedly connected to the base. The linear module comprises a motor, a ball screw, a guide rail and a sliding block. The mechanical arm is mounted on the sliding block, and the mechanical arm can move up and down along the guide rail which is vertically placed. The mechanical arm includes four rotary joints, the axes of the first three joints are parallel to one another, and the axis of the last joint is perpendicular to the axes of the first three joints. Based on an SCARA robot structure, the joint arrangement of the novel five-degree-of-freedom robot mechanism is improved, one degree of freedom is added, and thus the robot can achieve more flexibility. Different tail end tools can be assembled according to needs, the robot mechanism is used for carrying, positioning and assembling objects with low weights or conducting welding work and the like, the applicability is high, and the structure is simple and reliable.
Description
Technical field
The present invention relates to Industrial Robot Technology field, particularly, relate to a kind of five degree of freedom tandem type multi-purpose machine robot mechanism.
Background technology
General SCARA robot has two bar structures of serial connection, the arm of similar people, portable construction, and response is fast, can put in operation in the confined space and then regain, be suitable for moving and picking and placeing object.It has biddability on x, y direction, and has good rigidity in Z-direction, is applicable to plane positioning, and assembles in the vertical direction.But the occasion needing adjustment to capture thing attitude is especially higher to end requirement on flexibility and when needing to consider cost, common SCARA robot is difficult to be competent at, and is therefore necessary to be improved it.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of novel robot with five degrees of freedom mechanism, there is the function of similar SCARA robot in this robot, different end-of-arm toolings can be equipped with as required, to complete the work of different occasion, as carried, assembling or welding etc., and there is the dexterity higher than SCARA robot.
For realizing above object, the invention provides a kind of novel robot with five degrees of freedom mechanism, comprise pedestal, linear module and mechanical arm, wherein: mechanical arm comprises the large arm, linking arm, forearm and the wrist that connect successively, the slide block that linear module includes linear guides and slides up and down along this linear guides, linear guides and pedestal are connected the connection realizing linear module and pedestal, and large arm is arranged on connection slide block realizing mechanical arm and linear module;
Described robot mechanism comprises five joints, be respectively the linear joint along vertical axis direction formed between the large arm in linear module and mechanical arm, and mechanical arm intraware and large arm, linking arm, forearm, the rotary joint around horizontal axis that three rotary joints around vertical axis formed between wrist and wrist carry, wherein: three rotary joints around vertical axis are respectively the first rotary joint formed between large arm and linking arm, the second rotary joint formed between linking arm and forearm, the 3rd rotary joint formed between forearm and wrist, a rotary joint around horizontal axis is the 4th rotary joint that wrist end carries, first rotary joint, the second rotary joint, the 3rd rotary joint, the 4th rotary joint all can do single axial movement, the rotation of the first rotary joint, the second rotary joint, the 3rd rotary joint is the plumb line be parallel to each other, and the rotation of the 4th rotary joint is the horizontal line vertical with the rotation of the first rotary joint, the second rotary joint, the 3rd rotary joint.
Preferably, the ball-screw that described linear module also comprises motor and is attached thereto, convert rotational motion is that slide block makes the rectilinear motion of vertical direction along linear guides by motor driven ball screws; Large arm in mechanical arm is removably connected on the slide block in described linear module, thus realizes the up and down rectilinear movement of mechanical arm along linear module vertical axis direction, namely realizes the movement of described linear joint.
Preferably, described large arm comprises the first servomotor, the first synchronous pulley, the second synchronous pulley, first harmonic decelerator, wherein: the output shaft of the first servomotor connects the first synchronous pulley, one end that the power shaft of first harmonic decelerator connects the second synchronous pulley, output shaft and linking arm is connected, and is connected between the first synchronous pulley with the second synchronous pulley by Timing Belt; First servomotor transmits power to first harmonic decelerator by first, second synchronous pulley, after first harmonic decelerator slows down, drive linking arm to rotate relative to large arm by the output shaft of first harmonic decelerator, namely realize the rotation of described first rotary joint.
More preferably, the second described synchronous pulley is coaxial with first harmonic decelerator, and described linking arm rotates around the axis of the second synchronous pulley and first harmonic decelerator and first axle.
Preferably, described forearm comprises second harmonic decelerator, the 3rd synchronous pulley, the 4th synchronous pulley, the second servomotor, wherein: the output shaft of the second servomotor connects the 4th synchronous pulley, the other end that power shaft connects the 3rd synchronous pulley, output shaft connects linking arm of second harmonic decelerator, is connected by Timing Belt between the 3rd synchronous pulley with the 4th synchronous pulley; Second servomotor transmits power to second harmonic decelerator by the 4th, the 3rd synchronous pulley, after second harmonic decelerator slows down, drive forearm to rotate relative to linking arm by the output of second harmonic decelerator, namely realize the rotation of described second rotary joint.
More preferably, described second harmonic decelerator is coaxial with the 3rd synchronous pulley, and described linking arm rotates around axis i.e. second axis of second harmonic decelerator and the 3rd synchronous pulley.
Preferably, described forearm also comprises third harmonic decelerator, the 3rd servomotor, the first gear, the 4th servomotor, the second gear, wherein: the output shaft of the 3rd servomotor connects the power shaft of third harmonic decelerator, the output shaft of third harmonic decelerator connects the first gear, first, second gears meshing coordinates, and the second gear connects wrist; 3rd servomotor slows down through third harmonic decelerator, and transmits power to wrist by first, second gear, thus drives wrist to rotate relative to forearm, namely realizes the rotation of described 3rd rotary joint.
More preferably, axis i.e. the 3rd axis of the 4th described servomotor overlaps with the second gear centre, and described wrist rotates around the 3rd axis.
More preferably, the 4th described servomotor rotates and is independent of each other with the second gear.
More preferably, the 3rd described servomotor and third harmonic decelerator, the first gear are coaxial.
More preferably, the 3rd described servomotor and the 4th servomotor are arranged side by side.
Preferably, described wrist comprises the first bevel gear, the second bevel gear, the 4th harmonic speed reducer, end output shaft, wherein: end output shaft is installed on the end of the 4th harmonic speed reducer, second bevel gear is fixed on the output of the 4th servomotor, the first bevel gear, the second bevel gear engagement fit; The output of the 4th servomotor realizes orthogonal transmission to the 4th harmonic speed reducer by the first bevel gear and the second bevel gear, after the 4th harmonic speed reducer slows down, drive end output shaft to rotate around himself axis i.e. four axistyle, namely realize the rotation of described 4th rotary joint.
More preferably, the first described bevel gear center overlaps with four axistyle, the second described bevel gear center and the 3rd dead in line.
More preferably, described end output shaft can install different end-of-arm toolings additional as required.
The present invention adds one degree of freedom at end, and make total free degree reach 5, dexterity is higher; Be specially:
Motor rotation in control linear module, make it drive set frame mechanical arm to move up and down, this is the motion of linear joint; Control the first servomotor running in large arm, make it drive linking arm to rotate relative to large arm, this is the motion of the first rotary joint; Control the second servomotor running in forearm, make it drive forearm to rotate relative to linking arm, this is the motion of the second rotary joint; Control the 3rd servomotor running in forearm, make it drive wrist entirety to rotate relative to forearm, this is the motion of the 3rd rotary joint; The motion of linear joint, the first rotary joint, the second rotary joint, the 3rd rotary joint is used for the movement of end-of-arm tooling; Control the 4th servomotor running in forearm, make it drive end output shaft to rotate, this is the motion of the 4th rotary joint, for adjusting the attitude of end-of-arm tooling.
Compared with prior art, the present invention has following beneficial effect:
The present invention improves based on SCARA robot modeling, and when being moving linearly, integral elevating is together made in all joints; Add one degree of freedom at end, make total free degree reach 5, dexterity is higher, can make adjustment to the attitude of end-of-arm tooling; Use the scheme of motor postposition, in order to avoid end joint transmission chain is long, reduce the difference in height of end section and adjacent one arm, make latter two articulation structure compacter, and joint will be moved up and down be placed on cardinal extremity.Make this robot mechanism not only have the advantage of similar SCARA robot like this, and due to the increase of the free degree, dexterity is higher, and function is more various.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the overall pie graph of the present invention;
Fig. 2 is that mechanical arm each several part of the present invention forms schematic diagram;
In figure: pedestal 1, linear module 2, large arm 3, linking arm 4, forearm 5, wrist 6;
First servomotor 7, first synchronous pulley 8, second synchronous pulley 9, first harmonic decelerator 10, second harmonic decelerator 11, 3rd synchronous pulley 12, 4th synchronous pulley 13, second servomotor 14, third harmonic decelerator 15, 3rd servomotor 16, first gear 17, 4th servomotor 18, second gear 19, end output shaft 20, first axle 21, second axis 22, 3rd axis 23, four axistyle 24, first bevel gear 25, second bevel gear 26, 4th harmonic speed reducer 27.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As Fig. 1, shown in 2, the present embodiment provides a kind of novel robot with five degrees of freedom mechanism, comprise pedestal 1, linear module 2, large arm 3, linking arm 4, forearm 5 and wrist 6, wherein: the large arm 3 connected successively, linking arm 4, forearm 5 and wrist 6 form a mechanical arm, linear module 2 is by motor, ball-screw, linear guides and slide block composition, slide block can slide up and down along linear guides, linear guides in linear module 2 is removably mounted on pedestal 1 by screw, large arm 3 in mechanical arm is removably mounted on the slide block in linear module 2 by screw, thus mechanical arm can move up and down along the linear guides vertically placed.
As shown in Figure 2, described robot mechanism comprises five joints altogether, be respectively the linear joint along vertical axis direction formed between the large arm 3 in linear module 2 and mechanical arm, and the end rotary joint around horizontal axis direction that mechanical arm intraware and large arm 3 and linking arm 4, linking arm 4 and forearm 5, three rotary joints around vertical axis direction formed between forearm 5 and wrist 6 and wrist 6 carry, wherein: be the first rotary joint between large arm 3 and linking arm 4, its shaft axis is first axle 21; Be the second rotary joint between linking arm 4 and forearm 5, its shaft axis is the second axis 22; Be the 3rd rotary joint between forearm 5 and wrist 6, its shaft axis is the 3rd axis 23; Wrist 6 is the 4th rotary joint from end of tape rotary joint, and its shaft axis is four axistyle 24.
In the present embodiment, described first axle 21, second axis 22, the 3rd axis 23 are plumb line and are parallel to each other; Described four axistyle 24 is horizontal line, and vertical with described first axle 21, second axis 22, the 3rd axis 23.
In the present embodiment, in described linear module 2: motor, ball-screw, linear guides and slide block; Linear module 2 possesses and realizes the vertically reciprocating function of mechanical arm, concrete: motor driven ball screws, be that slide block makes the rectilinear motion of vertical direction along linear guides by convert rotational motion, thus realize mechanical arm makes vertical direction rectilinear motion up and down along linear guides vertical axis direction, namely realize the movement of described linear joint.
As a preferred embodiment, as shown in Figure 2, described large arm 3 comprises the first servomotor 7, first synchronous pulley 8, second synchronous pulley 9, first harmonic decelerator 10, wherein: the output shaft of the first servomotor 7 connects the first synchronous pulley 8, the power shaft of first harmonic decelerator 10 connects the second synchronous pulley 9, output shaft is connected by one end of screw and linking arm 4, and the first synchronous pulley 8 is connected by Timing Belt with between the second synchronous pulley 9;
Described first servomotor 7 moves for driving the joint between large arm 3 and linking arm 4 i.e. the first rotary joint: the first servomotor 7 transmits power to first harmonic decelerator 10 by the first synchronous pulley 8, second synchronous pulley 9, after first harmonic decelerator 10 slows down, linking arm 4 is driven to rotate relative to large arm 3 by the output shaft of first harmonic decelerator 10; Described linking arm 4 is ± 90 ° relative to the range of movement of large arm 3.
In the present embodiment, the second described synchronous pulley 9 is coaxial with first harmonic decelerator 10, and described linking arm 4 rotates around the axis of the second synchronous pulley 9 and first harmonic decelerator 10 and first axle 21.
As a preferred embodiment, as shown in Figure 2, described forearm 5 comprises second harmonic decelerator 11, the 3rd synchronous pulley 12, the 4th synchronous pulley 13, second servomotor 14, third harmonic decelerator 15, the 3rd servomotor 16, first gear 17, the 4th servomotor 18, second gear 19, wherein:
The output shaft of described second servomotor 14 connects the 4th synchronous pulley 13, the other end that power shaft connects the 3rd synchronous pulley 12, output shaft connects linking arm 4 of second harmonic decelerator 11, is connected by Timing Belt between the 3rd synchronous pulley 12 with the 4th synchronous pulley 13;
Second servomotor 14 moves in order to drive the joint between forearm 5 and linking arm 4 i.e. the second rotary joint: the second servomotor 14 transmits power to second harmonic decelerator 11 by the 4th synchronous pulley 13, the 3rd synchronous pulley 12, after second harmonic decelerator 11 slows down, forearm 5 is driven to rotate relative to linking arm 4 by the output of second harmonic decelerator 11; Described forearm 5 is ± 90 ° relative to the range of movement of linking arm 4;
Described 3rd servomotor 16 connects the power shaft of third harmonic decelerator 15, and the output shaft of third harmonic decelerator 15 connects the first gear 17, second gear 19 and connects wrist 6, the first gear 17 and the second gear 19 engagement fit;
Described 3rd servomotor 16 is for controlling the joint i.e. motion of the 3rd rotary joint between forearm 5 and wrist 6: the 3rd servomotor 16 slows down through third harmonic decelerator 15, and transmit power to wrist 6 by the first gear 17 and the second gear 19, thus wrist 6 is driven to rotate relative to forearm 5.
In the present embodiment, described second harmonic decelerator 11 is coaxial with the 3rd synchronous pulley 12, and described linking arm 4 rotates around axis i.e. second axis 22 of second harmonic decelerator 11 and the 3rd synchronous pulley 12.
In the present embodiment, the 3rd described servomotor 16 is coaxial with third harmonic decelerator 15, first gear 17.
In the present embodiment, axis i.e. the 3rd axis 23 of the 4th described servomotor 18 overlaps with the second gear 19 center line, and the second described gear 19 drives described wrist 6 to rotate around the 3rd axis 23; The 4th described servomotor 18 is relatively independent with the motion of described second gear 19, is independent of each other.
In the present embodiment, the 3rd described servomotor 16 and the 4th servomotor 18 are arranged side by side.
As a preferred embodiment, as shown in Figure 2, described wrist 6 comprises end output shaft 20, first bevel gear 25, second bevel gear 26, the 4th harmonic speed reducer 27, wherein: end output shaft 20 is installed on the end of the 4th harmonic speed reducer 27, second bevel gear 26 is fixed on the output of the 4th servomotor 18, the first bevel gear 25 and the second bevel gear 26 engagement fit;
Described 4th servomotor 18 is for controlling the rotation of wrist 6 i.e. the 4th rotary joint from end of tape joint: the 4th servomotor 18 output realizes orthogonal transmission to the 4th harmonic speed reducer 27 by the second bevel gear 26 and the first bevel gear 25, and after the 4th harmonic speed reducer 27 slows down, drive end output shaft 20 to rotate around himself axis i.e. four axistyle 24; The range of movement of described end output shaft 20 is ± 180 °.
In the present embodiment, the second described bevel gear 26 center line overlaps with the 3rd axis 23, and the first described bevel gear 25 center line overlaps with four axistyle 24.
In the present embodiment, described end output shaft 20 can install different end-of-arm toolings additional as required.
As a preferred embodiment, described linking arm length is 280mm, and it is relative is ± 90 ° with the range of movement of described large arm; Described forearm lengths 330mm, its range of movement relative to described linking arm is ± 90 °; The range of movement of described wrist end output shaft is ± 180 °.
As a preferred embodiment, described linear module is with retractable guard; Described mechanical arm local and overall all with sealing device, for effectively dust-proof, anti-steam and oil smoke.
For welding process, described end output shaft 20 installs welding gun additional, welding gun deformation trace by above-mentioned front four joint controls, arc welding gun head attitude by above-mentioned from end of tape joint control, specific as follows:
Control linear module 2, by driving the large arm 3 be arranged on slide block to move up and down along the linear guides vertically placed, thus realizes the motion of set frame mechanical arm at vertical direction; Control the first servomotor 7 to drive linking arm 4 to rotate around first axle 21 relative to large arm 3, control the second servomotor 14 and drive forearm 5 to rotate around the second axis 22 relative to linking arm 4, control the 3rd servomotor 16 and drive wrist 6 to rotate around the 3rd axis 23 simultaneously, so can realize the consecutive variations of welding torch position in effective working space; Controlling the 4th servomotor 18 drives end output shaft 20 to rotate around four axistyle 24, and the attitude of adjustment welding gun, to adapt to the change of surface of the work shape, also can be avoided occurring that on some position, narrow space causes the unapproachable situation of welding gun.
The present invention improves based on SCARA robot modeling, and when being moving linearly, integral elevating is together made in all joints; Add one degree of freedom at end, make total free degree reach 5, dexterity is higher, can make adjustment to the attitude of end-of-arm tooling; Use the scheme of motor postposition, in order to avoid end joint transmission chain is long, reduce the difference in height of end section and adjacent one arm, make latter two articulation structure compacter, and joint will be moved up and down be placed on cardinal extremity.Make this robot mechanism not only have the advantage of similar SCARA robot like this, and due to the increase of the free degree, dexterity is higher, and function is more various.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. a novel robot with five degrees of freedom mechanism, it is characterized in that, comprise pedestal, linear module and mechanical arm, wherein: mechanical arm comprises the large arm, linking arm, forearm and the wrist that connect successively, the slide block that linear module includes linear guides and slides up and down along this linear guides, linear guides and pedestal are connected the connection realizing linear module and pedestal, and large arm is arranged on connection slide block realizing mechanical arm and linear module;
Described robot mechanism comprises five joints, be respectively the linear joint along vertical axis direction formed between the large arm in linear module and mechanical arm, and mechanical arm intraware and large arm, linking arm, forearm, the rotary joint around horizontal axis that three rotary joints around vertical axis formed between wrist and wrist carry, wherein: three rotary joints around vertical axis are respectively the first rotary joint formed between large arm and linking arm, the second rotary joint formed between linking arm and forearm, the 3rd rotary joint formed between forearm and wrist, a rotary joint around horizontal axis is the 4th rotary joint that wrist end carries, first rotary joint, the second rotary joint, the 3rd rotary joint, the 4th rotary joint all can do single axial movement, the rotation of the first rotary joint, the second rotary joint, the 3rd rotary joint is the plumb line be parallel to each other, and the rotation of the 4th rotary joint is the horizontal line vertical with the rotation of the first rotary joint, the second rotary joint, the 3rd rotary joint.
2. the novel robot with five degrees of freedom mechanism of one according to claim 1, it is characterized in that, the ball-screw that described linear module also comprises motor and is attached thereto, convert rotational motion is that slide block makes the rectilinear motion of vertical direction along linear guides by motor driven ball screws; Large arm in mechanical arm is removably connected on the slide block in described linear module, thus realizes the up and down rectilinear movement of mechanical arm along linear module vertical axis direction, namely realizes the movement of described linear joint.
3. the novel robot with five degrees of freedom mechanism of one according to claim 1, it is characterized in that, described large arm comprises the first servomotor, the first synchronous pulley, the second synchronous pulley, first harmonic decelerator, wherein: the output shaft of the first servomotor connects the first synchronous pulley, one end that the power shaft of first harmonic decelerator connects the second synchronous pulley, output shaft and linking arm is connected, and is connected between the first synchronous pulley with the second synchronous pulley by Timing Belt; First servomotor transmits power to first harmonic decelerator by first, second synchronous pulley, after first harmonic decelerator slows down, drive linking arm to rotate relative to large arm by the output shaft of first harmonic decelerator, namely realize the rotation of described first rotary joint.
4. the novel robot with five degrees of freedom mechanism of one according to claim 3, it is characterized in that, the second described synchronous pulley is coaxial with first harmonic decelerator, and described linking arm rotates around the axis of the second synchronous pulley and first harmonic decelerator and first axle.
5. the novel robot with five degrees of freedom mechanism of one according to claim 1, it is characterized in that, described forearm comprises second harmonic decelerator, the 3rd synchronous pulley, the 4th synchronous pulley, the second servomotor, wherein: the output shaft of the second servomotor connects the 4th synchronous pulley, the other end that power shaft connects the 3rd synchronous pulley, output shaft connects linking arm of second harmonic decelerator, is connected by Timing Belt between the 3rd synchronous pulley with the 4th synchronous pulley; Second servomotor transmits power to second harmonic decelerator by the 4th, the 3rd synchronous pulley, after second harmonic decelerator slows down, drive forearm to rotate relative to linking arm by the output of second harmonic decelerator, namely realize the rotation of described second rotary joint.
6. the novel robot with five degrees of freedom mechanism of one according to claim 5, it is characterized in that, described second harmonic decelerator is coaxial with the 3rd synchronous pulley, and described linking arm rotates around axis i.e. second axis of second harmonic decelerator and the 3rd synchronous pulley.
7. the novel robot with five degrees of freedom mechanism of one according to claim 1, it is characterized in that, described forearm also comprises third harmonic decelerator, the 3rd servomotor, the first gear, the 4th servomotor, the second gear, wherein: the output shaft of the 3rd servomotor connects the power shaft of third harmonic decelerator, the output shaft of third harmonic decelerator connects the first gear, first, second gears meshing coordinates, and the second gear connects wrist; 3rd servomotor slows down through third harmonic decelerator, and transmits power to wrist by first, second gear, thus drives wrist to rotate relative to forearm, namely realizes the rotation of described 3rd rotary joint.
8. the novel robot with five degrees of freedom mechanism of one according to claim 7, is characterized in that, axis i.e. the 3rd axis of the 4th described servomotor overlaps with the second gear centre, and described wrist rotates around the 3rd axis; The 4th described servomotor rotates and is independent of each other with the second gear; The 3rd described servomotor and third harmonic decelerator, the first gear are coaxial; The 3rd described servomotor and the 4th servomotor are arranged side by side.
9. the novel robot with five degrees of freedom mechanism of the one according to any one of claim 1-7, it is characterized in that, described wrist comprises the first bevel gear, the second bevel gear, the 4th harmonic speed reducer, end output shaft, wherein: end output shaft is installed on the end of the 4th harmonic speed reducer, second bevel gear is fixed on the output of the 4th servomotor, the first bevel gear, the second bevel gear engagement fit; The output of the 4th servomotor realizes orthogonal transmission to the 4th harmonic speed reducer by the first bevel gear and the second bevel gear, after the 4th harmonic speed reducer slows down, drive end output shaft to rotate around himself axis i.e. four axistyle, namely realize the rotation of described 4th rotary joint.
10. the novel robot with five degrees of freedom mechanism of one according to claim 9, is characterized in that, the first described bevel gear center overlaps with four axistyle, the second described bevel gear center and the 3rd dead in line.
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| CN201510070429.2A CN104742116B (en) | 2015-02-10 | 2015-02-10 | A kind of novel robot with five degrees of freedom mechanism |
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| CN201510070429.2A CN104742116B (en) | 2015-02-10 | 2015-02-10 | A kind of novel robot with five degrees of freedom mechanism |
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| CN109128623A (en) * | 2018-09-18 | 2019-01-04 | 河北微宏惠工机器人科技有限公司 | A kind of six axis welding robots |
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| CN112265588A (en) * | 2020-10-22 | 2021-01-26 | 山东科技大学 | Prospecting formula robot under ore deposit |
| CN112976047A (en) * | 2021-02-08 | 2021-06-18 | 佛山市华道超精科技有限公司 | Double-feedback flexible rotary joint mechanism and robot |
| CN114454186A (en) * | 2022-01-15 | 2022-05-10 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
| CN114454186B (en) * | 2022-01-15 | 2024-03-15 | 西安电子科技大学 | High-load multi-joint robot and control method thereof |
| CN114770591A (en) * | 2022-05-13 | 2022-07-22 | 深圳精智机器有限公司 | Multi-degree-of-freedom light mechanical joint and transmission method thereof |
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