CA2497250A1 - Rail and saddle for a gantry robot and a gantry robot including the same - Google Patents

Rail and saddle for a gantry robot and a gantry robot including the same Download PDF

Info

Publication number
CA2497250A1
CA2497250A1 CA 2497250 CA2497250A CA2497250A1 CA 2497250 A1 CA2497250 A1 CA 2497250A1 CA 2497250 CA2497250 CA 2497250 CA 2497250 A CA2497250 A CA 2497250A CA 2497250 A1 CA2497250 A1 CA 2497250A1
Authority
CA
Canada
Prior art keywords
saddle
rail
engaging portion
axis
portions
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.)
Abandoned
Application number
CA 2497250
Other languages
French (fr)
Inventor
Paul K Brandt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CA 2497250 priority Critical patent/CA2497250A1/en
Publication of CA2497250A1 publication Critical patent/CA2497250A1/en
Abandoned legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • B25J9/026Gantry-type
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16CSHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C29/00Bearings for parts moving only linearly
    • F16C29/04Ball or roller bearings

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Disclosed is a gantry robot comprising a rail, standards, a saddle and a robot. The rail has a first axis and includes a first elongate saddle-engaging portion and a second elongate saddle-engaging portion arranged parallel to the first axis and spaced-from one another in a direction transverse thereto, said direction defining a second axis. The standards support the rail such that the first axis is orientated horizontally and the first and second saddle-engaging portions are spaced from one another both horizontally and vertically. The saddle includes a first rail-engaging portion and a second rail-engaging portion mounted, respectively, to the first saddle-engaging portion and the second saddle-engaging portion to permit movement of the saddle along the rail, parallel to the first axis, and to constrain movement of the saddle otherwise. The robot is mounted to the saddle for movement therewith along the rail.

Description

RAIL AND SADDLE FOR A GANTRY ROBOT AND A GANTRY ROBOT INCLUDING
THE SAME
FIELD OF THE INVENTION
The present invention relates to the field of automation, and more particularly, to rail and saddle assemblies for use with robots in gantry robots.
BACKGROUND OF THE INVENTION
Gantry robots are well-known. Such robots include a rail raised on standards, a saddle mounted to the rail for movement therealong, and a robot mounted to the saddle for movement therewith. In this arrangement, it is known to use a robot of the type generally known as a "6-axis robot", although in practise, one or more of the axes of motion may not be available.
Many combinations of rail and saddle are known in the prior art, and those in the field of automation systems integration select therefrom a combination suitable for the particular task to be carried out by the robot. Some rail/saddle combinations, for example, are only suitable for supporting underslung robots, whereas others are suitable for use with side-mounted robots, and yet others are suitable for use only with top-mounted robots. This need, to pick and choose a raillsaddle combination, depending upon the robot position, adds complexity and cost to automation systems integration, and the lack of standardization adds to procurement and maintenance costs.

SUMMARY OF THE INVENTION
A rail for use in a gantry robot forms one aspect of the invention. The rail comprises a main body member having four plate-like portions connected to one another to form a square tube having four longitudinal edges defined by the intersections of the connected plate-like portions. The rail preferably further comprises a pair of elongate linear guide members disposed on opposite sides of a respective one of the plate-like portions, each guide member being connected to one of the plate-like portions contiguous with said respective one of the plate-like portions.
A saddle for use with the rail forms another aspect of the invention. The saddle comprises a first rail-engaging portion and a second rail-engaging portion.
The first and second rail-engaging portions are mounted, in use, each to a respective guide member, to permit movement of the saddle along the rail and to constrain movement of the saddle otherwise.
A rail and saddle assembly forms another aspect of the invention. The rail and saddle assembly is for use with a robot in a gantry robot and comprises a rail and a saddle.
The rail has a first axis and includes a first elongate saddle-engaging portion and a second elongate saddle-engaging portion, the first saddle-engaging portion and the second saddle-engaging portion being arranged parallel to the first axis and spaced-from one another in a direction transverse to the first axis, said direction defining a second axis. The rail is positioned, in use, such that the first axis is orientated substantially horizontally and the first saddle-engaging portion and the second saddle-engaging portion are spaced from one another both horizontally and vertically.
The saddle is for receiving said robot in use, and includes a first rail-engaging portion and a second rail-engaging portion. The first rail-engaging portion and the second rail-engaging portion are mounted, respectively, to the first saddle-engaging portion and the second saddle-engaging portion to, in use, permit movement of the saddle and said robot along the rail, parallel to the first axis, and to constrain movement of the saddle otherwise.
A gantry robot forms another aspect of the invention. The gantry robot comprises a rail, standards, a saddle and a robot. The rail has a first axis and includes a first elongate saddle-engaging portion and a second elongate saddle-engaging portion, the first saddle-engaging portion and the second saddle-engaging portion being arranged parallel to the first axis and spaced-from one another in a direction transverse to the first axis, said direction defining a second axis. The standards support the rail such that the first axis is orientated substantially horizontally and the first saddle-engaging portion and the second saddle-engaging portion are spaced from one another both horizontally and vertically. The saddle includes a first rail-engaging portion and a second rail-engaging portion, the first rail-engaging portion and the second rail-engaging portion being mounted, respectively, to the first saddle-engaging portion and the second saddle-engaging portion to permit movement of the saddle along the rail, parallel to the first axis, and to constrain movement of the saddle otherwise. The robot is mounted to the saddle for movement therewith along the rail.
Advantages, features and characteristics of the present invention, as well as methods of operation and functions of the related elements of the structure, and the combination of parts and economies of manufacture, will become more apparent upon consideration of the following detailed description and the appended claims with reference to the accompanying drawings, the tatter of which is briefly described hereinbelow.
BRIEF DESCRIPTION OF THE DRAWINGS
FIGURE 1 is a perspective view of a gantry robot, showing a preferred embodiment of a rail and saddle assembly according to the invention in a first mode of use.
FIGURE 2 is an end elevational view of the structure of FIGURE 1.
FIGURE 3 is a perspective view of a duplex gantry robot, showing a second mode of use of a rail and saddle assembly constructed according to the preferred embodiment of the invention.
FIGURE 4 is an end elevational view of the structure of FIGURE 3, with one of the pair of robots not visible, for clarity.
FIGURE 5 is a view similar to FIGURE 4, with the other of the pair of robots not visible, for clarity.
FIGURE 6 is a perspective view of a main body portion of a saddle of the rail and saddle assembly of FIGURE 1.
FIGURE 7 is a side elevational view of the structure of FIGURE 6.
FIGURE 8 is a top plan view of the structure of FIGURE 6.
FIGURE 9 is a front elevational view of the structure of FIGURE 6.
FIGURE 10 is a cross-sectional view of the structure of FIGURE 6, along line 10-10 of FIGURE 9.
FIGURE 11 is a perspective view of the rail of FIGURE 3 in isolation, with interior components shown in phantom outline.
FIGURE 12 is an enlarged view of the interior components shown in encircled area 12 in FIGURE 11.
FIGURE 13 is a view of the structure of FIGURE 13, from a vantage opposite to that of FIGURE 12.
_ q. _ DETAILED DESCRIPTION
With general reference to FIGURES 1-5, a rail and saddle assembly 20,22 constructed according to a preferred embodiment of the invention is illustrated in use.
The rail and saddle assembly 20,22 includes a rail 20 and a saddle 22, as identified in FIGURE 1.
The rail 20 has a first axis A-A and includes a main body 24 and first 26 and second 28 elongate saddle-engaging portions or guide members. The main body 24 has four plate-like portions 30,32,34,36 connected to one another to form a square tube. The tube 30,32,34,36 defines the first axis A-A, and has four longitudinal edges 38,40,42,44 defined by the intersections of the connected plate-like portions 30,32,34,36.
The first 26 and second 28 saddle-engaging portions are arranged parallel to the first axis A-A
and are connected to the tube 30,32,34,36 on opposite sides of a respective one 30 of the plate-like portions, each saddle-engaging portion 26,28 being connected to one of the two 32,34 plate-like portions contiguous with said respective one 30 of the plate-like portions. The first 26 and second 28 saddle-engaging portions are thereby spaced-from one another in a direction transverse to the first axis, said direction defining a second axis B-B, shown in FIGURE 2. Each saddle-engaging portion 26,28 is disposed adjacent the longitudinal edge 38,40 defined by the intersection of the plate-like portion to which it is connected 32,34 and the respective one 30 of the plate-like portions.
The saddle 22 has a main body 45 which defines a number of mounting surfaces 46, for receiving a robot, and includes a first rail-engaging portion 48 and a second rail-engaging portion 50,50, respectively bolted to the main body 45. The first rail-engaging portion 48, in combination with the first saddle-engaging portion 26, forms a linear slide bearing, with the first rail-engaging portion 48 defining a slideway of said bearing and the first saddle-engaging portion 26 defining a slide of said bearing. Thus, the first rail-engaging portion 48 is mounted to the first saddle-engaging portion 26 in a manner which constrains movement of the first rail-engaging portion 48 relative to the first saddle-engaging portion 26 in the direction of the second axis B-B, more specifically, which constrains movement of the first rail-engaging portion 48 relative to the first saddle-engaging portion 26 otherwise than along the rail 20, parallel to the first axis A-A. The second rail engaging portion 50,50 is mounted to the second saddle-engaging portion 28 in a manner which constrains movement of the second rail-engaging portion 50,50 relative to the second saddle-engaging portion 28 in a direction substantially normal to the first axis A-A and to the second axis B-B, said direction defining a third axis C-C, shown in FIGURE 2. In the preferred embodiment illustrated, the second rail-engaging portion 50,50 in combination with the second saddle-engaging portion 28, forms a roller guideway to provide such functionality, with the second saddle-engaging portion 28 defining a raceway of said roller guideway and the second rail-engaging portion 50,50 comprising two pairs of cam-followers or rollers 50. The pairs of cam-followers are spaced apart from one another along the raceway 28, and the cam-followers 50 of each pair are rotatably mounted to the saddle main body 45, spaced-apart from one another on opposed sides of the raceway 28 and adapted for rolling movement therealong. The coaction of the linear bearing 48,26 and the roller guideway 50,50,28 permits movement of the saddle 22 along the rail 20, parallel to the first axis A-A, and constrains movement of the saddle 22 otherwise.
In the Figures, the rail and saddle assembly 20,22 is shown in two distinct modes of use in gantry cranes 52,54. As neither the robots 58,60,62 nor the mechanisms by which the saddles 22 are driven form part of the present invention, and as the method of construction of such elements is readily understood by persons of ordinary skill in the art, a detailed description thereof is omitted herein.
In the gantry crane 52 of Figures 1-2, the rail 20 is supported by a pair of standards 56 such the first axis A-A is orientated substantially horizontally and the respective one 30 of the plate-like portions is disposed at an angle of 45° to horizontal, thereby to space the first saddle-engaging portion 26 and the second saddle-engaging portion 28 from one another both horizontally and vertically, with the longitudinal edge 40 to which the second saddle-engaging portion 28 is adjacent disposed at the top of the rail 20.

In the gantry crane 54 of Figures 3-5, the first axis A-A is again oriented horizontally, and the respective 30 one of the plate-like portions is again disposed at an angle of 45°
to horizontal, to space the first saddle-engaging portion 26 and the second saddle-engaging portion 28 from one another both horizontally and vertically, but in this use, the rail 20 is supported by the standards 56 such that the longitudinal edge 38 to which the first saddle-engaging portion 26 is adjacent is disposed at the bottom of the rail 20.
The importance of such distinct orientations is as follows: the orientation of Figures 1, 2 permits a robot to be top-mounted to the saddle 22, as evidenced by the position of robot 58 in Figures 1,2, whereas the orientation of Figures 3-5 permit a robot to be side-mounted or underslung to the saddle, as evidenced by robots 60,62 in Figures 3-5.
Thus, the present invention permits the use of a common rail and saddle 20,22 combination to provide for gantry cranes bearing top-mounted, side-mounted and underslung robots, with attendant advantage in terms of decreased costs for design, procurement and maintenance, as discussed above.
While but a single embodiment of the present invention has been herein shown and described, in two modes of use, it will be understood that various changes can be made without departing from the spirit or scope of the invention. For example, whereas the second rail-engaging portion of the preferred embodiment comprises two pairs of cam-followers, other arrangements, such as an arrangement using three pairs of cam followers, could be employed. Similarly, five cam-followers could be ernployed, with three disposed on one side of the guideway, and two disposed on the other. Yet further arrangements of cam followers could also be employed. As well, a linear bearing could be substituted for the roller guideway. Variations could, for example, also be made to the rail. Whereas a square tube is shown, a tube having a cross-section in the shape of a rhombus could conceivably be utilized. In view of these potential variations, it should be understood that the invention is to be limited only by the claims appended hereto, purposively construed.

Claims (20)

1. A rail and saddle assembly for use with a robot in a gantry robot, said rail and saddle assembly comprising:
a rail having a first axis and including a first elongate saddle-engaging portion and a second elongate saddle-engaging portion, the first saddle-engaging portion and the second saddle-engaging portion being arranged parallel to the first axis and spaced-from one another in a direction transverse to the first axis, said direction defining a second axis, the rail being positioned, in use, such that the first axis is orientated substantially horizontally and the first saddle-engaging portion and the second saddle-engaging portion are spaced from one another both horizontally and vertically; and a saddle for receiving said robot in use, said saddle including a first rail-engaging portion and a second rail-engaging portion, the first rail-engaging portion and the second rail-engaging portion being mounted, respectively, to the first saddle-engaging portion and the second saddle-engaging portion to, in use, permit movement of the saddle and said robot along the rail, parallel to the first axis, and to constrain movement of the saddle otherwise.
2. A rail and saddle assembly according to claim 1, wherein the first rail-engaging portion is mounted to the first saddle-engaging portion in a manner which constrains movement of the first rail-engaging portion relative to the first saddle-engaging portion in the direction of the second axis.
3. A rail and saddle assembly according to claim 2, wherein the second rail engaging portion is mounted to the second saddle-engaging portion in a manner which constrains movement of the second rail-engaging portion relative to the second saddle-engaging portion in a direction substantially normal to the first axis and to the second axis, said direction defining a third axis.
4. A rail and saddle assembly according to claim 3, wherein the first rail-engaging portion is mounted to the first saddle-engaging portion in a manner which constrains movement of the first rail-engaging portion relative to the first saddle-engaging portion otherwise than along the rail, parallel to the first axis.
5. A rail and saddle assembly according to claim 4, wherein the first rail-engaging portion, together with the first saddle-engaging portion, forms a linear slide bearing, the first rail-engaging portion defining a slideway of said bearing and the first saddle-engaging portion defining a slide of said bearing.
6. A rail and saddle assembly according to claim 5, wherein the second rail-engaging portion, in combination with the second saddle-engaging portion, forms a roller guideway, the second saddle-engaging portion defining a raceway of said roller guideway and the second rail-engaging portion comprising a pair of rollers, spaced-apart from one another on opposed sides of t. m raceway and adapted for rolling movement therealong.
7. A rail and saddle assembly according to claim 6, wherein the rail has a main body to which each of the first saddle-engaging portion and the second saddle-engaging portion are connected, the main body having four plate-like portions connected to one another to form a tube which defines the first axis and has four longitudinal edges defined by the intersections of the connected plate-like portions.
8. A rail and saddle assembly according to claim 7, wherein the tube is a square tube.
9. A rail and saddle assembly according to claim 8, wherein the first saddle-engaging portion and the second saddle-engaging portion are connected to the tube on opposite sides of a respective one of the plate-like portions, each saddle-engaging portion being connected to one of the plate-like portions contiguous with said respective one of the plate-like portions.
10. A rail and saddle assembly according to claim 9, wherein each saddle-engaging portion is disposed adjacent the longitudinal edge defined by the intersection of the plate-like portion to which it is connected and the respective one of the plate-like portions, and wherein in use the respective one of the plate-like portions is disposed at an angle of 45° to horizontal, thereby to space the first saddle-engaging portion and the second saddle-engaging portion from one another both horizontally and vertically.
11. A rail and saddle assembly according to claim 10, wherein, in use, the rail is disposed such that the longitudinal edge to which the second saddle-engaging portion is adjacent is disposed at the top of the rail.
12. A rail and saddle assembly according to claim 11, wherein, in use, the robot is top-mounted to the saddle.
13. A rail and saddle assembly according to claim 10, wherein, in use, the rail is disposed such that the longitudinal edge to which the first saddle-engaging portion is adjacent is disposed at the bottom of the rail.
14. A rail and saddle assembly according to claim 13, wherein, in use, the robot is mounted in an underslung fashion to the saddle.
15. A rail and saddle assembly according to claim 14, wherein, in use, the robot is side-mounted to the saddle.
16. A rail for use in a gantry robot, said rail comprising a main body member having four plate-like portions connected to one another to form a square tube having four longitudinal edges defined by the intersections of the connected portions.
17. A rail according to claim 16, further comprising a pair of elongate linear guide members to the tube on opposite sides of a respective one of the plate-like portions, each guide member being connected to one of the plate-like portions contiguous with said respective one of the plate-like portions.
18. A rail according to claim 17, wherein each linear guide member is disposed adjacent the longitudinal edge defined by the intersection of the plate-like portion to which it is connected and the respective one of the plate-like portions.
19. A saddle for use with the rail of claim 18, the saddle comprising a first rail-engaging portion and a second rail-engaging portion the first and second rail-engaging portions being mounted, in use, each to a respective guide member, to permit movement of the saddle along the rail and to constrain movement of the saddle otherwise.
20. A gantry robot comprising:
a rail having a first axis and including a first elongate saddle-engaging portion and a second elongate saddle-engaging portion, the first saddle-engaging portion and the second saddle-engaging portion being arranged parallel to the first axis and spaced-from one another in a direction transverse to the first axis, said direction defining a second axis standards supporting the rail such that the first axis is orientated substantially horizontally and the first saddle-engaging portion and the second saddle-engaging portion are spaced from one another both horizontally and vertically;
a saddle including a first rail-engaging portion and a second rail-engaging portion, the first rail-engaging portion and the second rail-engaging portion being mounted, respectively, to the first saddle-engaging portion and the second saddle-engaging portion to permit movement of the saddle along the rail, parallel to the first axis, and to constrain movement of the saddle otherwise; and a robot mounted to the saddle for movement therewith along the rail.
CA 2497250 2005-02-14 2005-02-14 Rail and saddle for a gantry robot and a gantry robot including the same Abandoned CA2497250A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA 2497250 CA2497250A1 (en) 2005-02-14 2005-02-14 Rail and saddle for a gantry robot and a gantry robot including the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CA 2497250 CA2497250A1 (en) 2005-02-14 2005-02-14 Rail and saddle for a gantry robot and a gantry robot including the same

Publications (1)

Publication Number Publication Date
CA2497250A1 true CA2497250A1 (en) 2006-08-14

Family

ID=36889342

Family Applications (1)

Application Number Title Priority Date Filing Date
CA 2497250 Abandoned CA2497250A1 (en) 2005-02-14 2005-02-14 Rail and saddle for a gantry robot and a gantry robot including the same

Country Status (1)

Country Link
CA (1) CA2497250A1 (en)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101850903A (en) * 2010-04-27 2010-10-06 深圳市亚世工业设备有限公司 Two-way expanding, taking and placing device
CN102039240A (en) * 2010-12-31 2011-05-04 广西大学 Spraying robot mechanism
CN103394957A (en) * 2013-08-16 2013-11-20 孟秋华 Manipulator structure
DE102012011534A1 (en) 2012-06-11 2013-12-12 Liebherr-Verzahntechnik Gmbh Distribution system for workpieces or tools for large-volume production in manufacturing plant, comprises two transfer stations flexibly arranged with line portals, and distribution tracks with carrier adapted to approach transfer stations
CN103862464A (en) * 2012-12-13 2014-06-18 库卡罗伯特有限公司 Robot arm
CN104589338A (en) * 2015-01-12 2015-05-06 宁波市帝益机械科技有限公司 Four-axle-joint robot
CN104607992A (en) * 2015-01-23 2015-05-13 深圳市京田精密五金有限公司 Automatic mechanical arm
CN104816293A (en) * 2015-05-14 2015-08-05 安徽中家智锐科技有限公司 Movable mechanism arm having eight free degrees
EP2868433A3 (en) * 2013-10-30 2015-08-12 Barload Machine Co.,Ltd. Bilateral door-type automatic material-taking device
CN105364443A (en) * 2015-12-02 2016-03-02 苏州索力旺新能源科技有限公司 Feeding device for conducting plate
WO2016093097A1 (en) * 2014-12-09 2016-06-16 川崎重工業株式会社 Automatic production system
CN110030370A (en) * 2018-01-03 2019-07-19 斯凯孚公司 Bearing assembly
CN112809654A (en) * 2021-01-28 2021-05-18 褚曼 Six-dimensional mechanical arm
CN112975899A (en) * 2021-02-25 2021-06-18 中井兴机器人(常州)有限公司 Single-rail adjustable clamping jaw production line
CN113146570A (en) * 2021-04-06 2021-07-23 中国科学院国家天文台 Target maintenance robot and maintenance method
US11772258B2 (en) 2020-08-28 2023-10-03 Lee Machine, Inc. Systems and methods for automated building construction

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101850903A (en) * 2010-04-27 2010-10-06 深圳市亚世工业设备有限公司 Two-way expanding, taking and placing device
CN102039240A (en) * 2010-12-31 2011-05-04 广西大学 Spraying robot mechanism
CN102039240B (en) * 2010-12-31 2012-09-26 广西大学 Spraying robot mechanism
DE102012011534A1 (en) 2012-06-11 2013-12-12 Liebherr-Verzahntechnik Gmbh Distribution system for workpieces or tools for large-volume production in manufacturing plant, comprises two transfer stations flexibly arranged with line portals, and distribution tracks with carrier adapted to approach transfer stations
CN103862464A (en) * 2012-12-13 2014-06-18 库卡罗伯特有限公司 Robot arm
EP2743039A1 (en) * 2012-12-13 2014-06-18 KUKA Roboter GmbH Robot arm
CN103862464B (en) * 2012-12-13 2018-11-09 库卡罗伯特有限公司 Robots arm
US9120229B2 (en) 2012-12-13 2015-09-01 Kuka Roboter Gmbh Robot arm
CN103394957A (en) * 2013-08-16 2013-11-20 孟秋华 Manipulator structure
CN103394957B (en) * 2013-08-16 2015-10-28 孟秋华 A kind of robot manipulator structure
EP2868433A3 (en) * 2013-10-30 2015-08-12 Barload Machine Co.,Ltd. Bilateral door-type automatic material-taking device
WO2016093097A1 (en) * 2014-12-09 2016-06-16 川崎重工業株式会社 Automatic production system
JP2016107380A (en) * 2014-12-09 2016-06-20 川崎重工業株式会社 Automatic production system
US10092923B2 (en) 2014-12-09 2018-10-09 Kawasaki Jukogyo Kabushiki Kaisha Automatic production system
CN104589338A (en) * 2015-01-12 2015-05-06 宁波市帝益机械科技有限公司 Four-axle-joint robot
CN104607992A (en) * 2015-01-23 2015-05-13 深圳市京田精密五金有限公司 Automatic mechanical arm
CN104816293A (en) * 2015-05-14 2015-08-05 安徽中家智锐科技有限公司 Movable mechanism arm having eight free degrees
CN105364443A (en) * 2015-12-02 2016-03-02 苏州索力旺新能源科技有限公司 Feeding device for conducting plate
CN110030370A (en) * 2018-01-03 2019-07-19 斯凯孚公司 Bearing assembly
US11772258B2 (en) 2020-08-28 2023-10-03 Lee Machine, Inc. Systems and methods for automated building construction
CN112809654A (en) * 2021-01-28 2021-05-18 褚曼 Six-dimensional mechanical arm
CN112975899A (en) * 2021-02-25 2021-06-18 中井兴机器人(常州)有限公司 Single-rail adjustable clamping jaw production line
CN113146570A (en) * 2021-04-06 2021-07-23 中国科学院国家天文台 Target maintenance robot and maintenance method

Similar Documents

Publication Publication Date Title
CA2497250A1 (en) Rail and saddle for a gantry robot and a gantry robot including the same
CA2497249A1 (en) Saddle for a gantry robot and a gantry robot including the same
JP4890596B2 (en) Telescopic cover
CN205201513U (en) Five degree of freedom series -parallel connection robots based on 2R1T parallel mechanism
WO1990010159A1 (en) Bearing for straight slide and method of setting thereof
EP1797568A1 (en) Nanomanipulator used for analyzing or machining objects
CN105364913A (en) Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism
ES2090540T3 (en) INSTALLATION FOR THE CIRCULATION OF MOTORIZED PALLET PARTS.
CN104827212B (en) A kind of fixture storage switched system
JP2541519Y2 (en) Linear motion rolling guide unit
US4991456A (en) Industrial robot
CN105983850A (en) Dual-arm assistance device for part assembly in human cooperation
JP2000230548A (en) Three dimensional guide device using curved rail
CN2476392Y (en) Vertical three-translation freedom shun machine
US8721253B1 (en) Transfer apparatus
CN105665192A (en) Overturning mechanism used for spraying and loading of outer panel of automobile door
CN106223626B (en) A kind of positioning device for Steel Structure Installation
JPS60139912A (en) Roller type bearing for linear motion
CN211682114U (en) Modularization lightweight arm motion platform
CA2323554C (en) Press transfer bar-finger support
CN208773497U (en) A kind of large-sized structural parts tooling platform
CN202729165U (en) Main beam of chain conveyer
EP0827439B1 (en) Method and facility for manufacturing prefabricated elements
CN215968869U (en) Robot snatchs article box four corners location centering device
CN205521360U (en) A track stop gear for industrial robot

Legal Events

Date Code Title Description
FZDE Dead