CN102626915A - Matching structure of manipulator sliding table and guide beam - Google Patents
Matching structure of manipulator sliding table and guide beam Download PDFInfo
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- CN102626915A CN102626915A CN2012100988337A CN201210098833A CN102626915A CN 102626915 A CN102626915 A CN 102626915A CN 2012100988337 A CN2012100988337 A CN 2012100988337A CN 201210098833 A CN201210098833 A CN 201210098833A CN 102626915 A CN102626915 A CN 102626915A
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Abstract
The invention provides a matching structure of a manipulator sliding table and a guide beam, which belongs to the technical field of manipulators. The matching structure comprises the guide beam and the sliding table, wherein the guide beam is provided with first and second guide rails; the matching structure is characterized in that the guide beam comprises first and second side walls as well as a bottom wall; the first guide rail is fixed on one side of the length direction; the second guide rail is fixed on the other side of the length direction; at least one pair of first rollers is arranged on one side of the sliding table facing the bottom wall; at least one pair of second rollers is arranged on the other side of the sliding table; the sliding table extends out of the first side wall to one side of the first side wall and is fixed with a first side plate; the sliding table extends out of the second side wall to one side of the second side wall and is fixed with a second side plate; a first adjusting device is arranged at the first side plate bottom wall of the first side plate; and a second adjusting device is arranged at the second side plate bottom wall of the first side plate. The matching structure of the manipulator sliding table and the guide beam, provided by the invention, has the following advantages that: the stable motion effect of the sliding table can be enhanced, the friction force is reduced, the energy is saved, the maintenance strength and utilization cost can be reduced, the stopping rate of the manipulator is reduced, the noise is reduced and the environment on the working site is improved.
Description
Technical field
The invention belongs to the manipulator technical field, be specifically related to the fit structure of a kind of manipulator slide unit and nose girder
Background technology
The notion of
manipulator is that people are known; Has the function that apish hand of ability and arm are accomplished some action; Be the automatic pilot that grasps, carries object or operation tool in order to by fixed routine, it can replace people's mechanization and the automation of heavy work to realize producing.Particularly: owing to can under harmful operating environment, can protect personal safety, thereby be widely used in fields such as machine-building, metallurgy, electronics, light industry and even atomic energy.
manipulator mainly is made up of hand (the industry custom is claimed paw) and motion.Hand is in order to grasp the parts of workpiece (or instrument), according to the shape that is grasped object, size, weight, material and action request various versions to be arranged, like clamp-type, holding type and absorbent-type or the like.Motion is to ensure that hand completion exercises are as rotating, swing and/or moving and use position and the posture that change is grasped object.The kind of manipulator can be divided into fluid pressure type, pneumatic type, electrodynamic type and mechanical type by type of drive, or the like.
Extremely people's the favor of the manipulator of
motorized motions (servo-drive) mode, thereby the field of being given an example above being widely used in being not limited to because structure is terse relatively and cheap.Such as industry the reason of knowledge; Manipulator is installed on the slide unit usually by means of robot gantry; And slide unit and crossbeam (also claiming nose girder) are slidingly matched, and under the traction of the synchronous band that is driven by actuating unit, slide unit are moved back and forth on crossbeam; Manipulator is moved between two stations, and under the automatic control of its controlling organization, accomplish extracting and releasing action object.
shown in Figure 4 to be manipulator slide unit and the fit structure of nose girder in the prior art; Comprise that shape of cross section is rectangle or a foursquare nose girder 1 and a slide unit 2; Be fixed with one first guide rail 11 and one second guide rail 12 at nose girder 1 towards a side of slide unit 2 and along the length direction of nose girder 1; First, second guide rail 11,12 is parallel; And slide unit 2 dyes a side surface of 1 and is installed with first, second guide rail slide block 21,22 in the position corresponding to first, second guide rail 11,12 in the face of leading; By the first guide rail slide block 21 and first guide rail 11 cooperate and the second guide rail slide block 22 constitutes guideway with cooperating of second guide rail 12; The robot gantry 2 that is used to carry manipulator is fixed on slide unit 2, and to drive slide unit 2 through band synchronously left and right mobile carrying under the driving of the driving mechanism on the slide unit 24.
Shortcoming below
said structure exists: one of which; Slide unit 2 is difficult to ensure lasting easy motion effect, because in slide unit 2 reciprocating processes, and first, second guide rail slide block 21,22 and 11,12 frictions of first, second guide rail; Thereby after using a period of time; Because of first, second guide rail slide block 21,22 and/or 11, the 12 appearance frictions of first, second guide rail, the robust motion of slide unit 2 is affected, and finally causes the accuracy of action of manipulator to be affected; They are two years old; The resistance of motion is unfavorable for energy-conservation greatly; Because first, second guide rail slide block 21,22 and first, second guide rail 11, the contact-making surface between 12 are big; Thereby the kinetic energy that consumes just increases, and is unfavorable for practicing thrift the electric energy of driving mechanism 4, and is incompatible with the energy-saving economic spirit of economizing type that the present whole society advocates; They are three years old; Influence the operating efficiency of mechanism's hand; Because after first, second guide rail slide block 21,22 and/or 11,12 wearing and tearing of first, second guide rail, need in time to change; Otherwise can influence aforesaid action (motion) stationarity of slide unit 2; And change first, second guide rail slide block 21,22 and first, second guide rail 11,12 need carry out under stopped status, and the meeting of first, second guide rail slide block 21,22 of frequent change and first, second guide rail 11,12 increases the use cost of equipment and increases working strength of workers; Its four, produce noise pollution because first, second guide rail slide block 21,22 is prone to produce ear-piercing noise when on first, second guide rail 11,12, moving, the working site environment is impacted.
Shortcoming in view of in the above-mentioned prior art is necessary to improve, and the applicant has done positive and useful design for this reason, and the technical scheme that will introduce below produces under this background
Summary of the invention
task of the present invention is to provide a kind of easy motion effect that helps to ensure enduringly slide unit; Help significantly reducing the friction of motion resistance of slide unit and use the electric energy of practicing thrift driving mechanism; Be of value to nose girder is regulated and used and avoid influencing the operate as normal of manipulator and avoiding the use of the increase of cost and avoid increasing the workman work difficulty of managing and protecting of equipment is convenient to avoid producing noise pollution and is used the manipulator slide unit of the on-the-spot quiet environment of safeguard work and the fit structure of nose girder with having because of changing guide rail.
task of the present invention is accomplished like this, and the fit structure of a kind of manipulator slide unit and nose girder comprises the nose girder with first guide rail and second guide rail; A slide unit that matches with first guide rail and second guide rail; Be characterised in that: described nose girder constitutes the shape that cross section is H shape jointly by first, second sidewall and the diapire that is connected between first, second sidewall; Described first guide rail is fixed on the side of said diapire towards the length direction on the surface of said slide unit; And said second guide rail is fixed on the opposite side of diapire towards the length direction on the surface of slide unit; Be provided with at least one pair of first roller at slide unit towards a side pivot of said diapire, and slide unit is provided with at least one pair of second roller towards the opposite side pivot of diapire, first roller and first guide rail constitute rolling pair; And second roller and second guide rail constitute rolling pair; Wherein: slide unit leans out the first side wall and is fixed with one first side plate towards a side of said the first side wall, and slide unit probes into second sidewall and is fixed with one second side plate towards a side of said second sidewall, and first, second side plate corresponds to each other; The first side plate diapire of first side plate is provided with and is used for first adjusting device that the height of said nose girder is adjusted; This first adjusting device matches with said diapire, and the second side plate diapire of first side plate is provided with and is used for second adjusting device that the height of said nose girder is adjusted equally, and this second adjusting device matches with said diapire.
in a concrete embodiment of the present invention, the structure of described second adjusting device is identical with the structure of described first adjusting device.
in another concrete embodiment of the present invention, the shape of cross section of described first side plate and described second side plate all is ［ shape.
offer the swivel nut hole that quantity equates with the quantity of described first adjusting device on the described first side plate diapire in another concrete embodiment of the present invention, described first adjusting device comprises swivel nut, push rod, spring, pulley, pulley spindle and swing arm; Swivel nut interts in described swivel nut hole; And by first setscrew nut and second setscrew nut location, push rod is set in the swivel nut centre bore of swivel nut, and is fixed with a spring seat board at push rod towards an end of swing arm; Spring is nested with on push rod; One end bearing of this spring is in described swivel nut centre bore, and the other end is bearing on the spring seat board, and pulley is fixed on the pulley spindle; And contact with described the first side wall; Pulley spindle is fixed on an end of swing arm, and the other end pivot of swing arm is arranged on the arm shaft, and arm shaft is arranged on described first side plate.
in another concrete embodiment of the present invention, described pulley spindle is provided with cushion cover.
also have among the concrete embodiment of the present invention, and described pulley constitutes a sidewall mating groove, and this sidewall mating groove matches with described the first side wall.
more of the present invention and among concrete embodiment, be provided with the jump ring groove at described pulley the tip of the axis, on this jump ring groove, be provided with one be used for described pulley spacing and use and stop pulley to be escaped in the jump ring of pulley spindle.
are in of the present invention and then concrete embodiment; The quantity of described first adjusting device is one or two; And when the quantity of first adjusting device was two, then swing arm had two, and two swing arms that direction is set is opposite each other.
are of the present invention again more and among concrete embodiment; Described first roller has a pair of; Each first roller pivot is arranged on first roller shaft; And first roller shaft is fixed on the first roller axle bed, and the first roller axle bed is fixed on the side of said slide unit towards said diapire, and corresponding with described first guide rail; Described second roller has a pair of, and each second roller pivot is arranged on second roller shaft, and second roller shaft is fixed on the second roller axle bed, and the second roller axle bed is fixed on the side of slide unit towards said diapire, and corresponding with described second guide rail.
are equipped with one first shrouding at an end of described first side plate and second side plate, and are equipped with one second shrouding at the other end of first side plate and second side plate in again of the present invention and then concrete embodiment.
technical scheme provided by the invention is owing to adopt first, second roller to constitute rolling pair with first, second guide rail respectively, thereby can improve the easy motion effect of slide unit; Because first, second roller is tangent with first, second guide rail respectively, thereby can significantly reduce friction, and helps energy-conservation; Owing to can do adjustment up and down to nose girder through first, second adjusting device; To compensate the wear extent between first, second roller and first, second guide rail; With respect to prior art; Because of need not first, second roller of frequent change and/or first, second guide rail, therefore can alleviate and safeguard intensity and use cost, and can reduce the shutdown probability of manipulator; Owing to adopted cooperating of roller and guide rail, thereby can reduce noise, improved the environment of working site ultimate attainmently.
Description of drawings
Fig. 1 is the embodiments of the invention structure chart.
Fig. 2 is the application examples sketch map of Fig. 1.
Fig. 3 is the side view of Fig. 2.
Fig. 4 is manipulator slide unit and the matching chart of nose girder in the prior art.
The specific embodiment
can be expressly understood technical spirit of the present invention and beneficial effect more for the auditor that the makes Patent Office especially public; The applicant general elaborates with the mode of embodiment below; But the description to embodiment all is not the restriction to the present invention program, any according to the present invention design done only for pro forma but not substantial equivalent transformation all should be regarded as technical scheme category of the present invention.
Embodiment:
please be referring to Fig. 1; Provided a nose girder 1; This nose girder 1 constitutes the shape that shape of cross section is H shape by first, second sidewall 13,14 with at first, second sidewall 13, diapire 15 between 14, and just nose girder 1 adopts H shaped steel.Nose girder 1 under user mode towards on a side; More particularly diapire 15 is fixed with one first guide rail 11 towards a side on the surface of the following slide unit of soon describing 2 with first screw 111; And opposite side is fixed with one second guide rail 12 with second screw 121, and first, second guide rail 11,12 is parallel.
one piece both can for cuboid also can for square and match with aforesaid nose girder 2 for flat slide unit 2; Specifically: be provided with a pair of first roller 23 towards a side of nose girder 1 and in position with interval state pivot at slide unit 2 corresponding to first guide rail 11, and opposite side and be provided with a pair of second roller 24 with interval state pivot equally in the position corresponding to second guide rail 12.Shown in figure, each first roller 23 is arranged on first roller shaft 231 rotationally, and first roller shaft 231 is fixed on the first roller axle bed 2311, and the first roller axle bed, 2311 usefulness the 3rd screw 23111 is fixed on the slide unit 2.Equally, each second roller 24 is arranged on second roller shaft 241 rotationally, and second roller shaft 241 is fixed on the second roller axle bed 2411, and the second roller axle bed 2411 is fixed on the slide unit 2 through the 4th screw 24111.First roller 23 and first guide rail 11 form tangent matching relationship, and second roller 24 and second guide rail 12 form tangent matching relationship.In this Fig. 1, also show and be fixed on being used on the slide unit 2 and carry the robot gantry 3 of manipulator.
Fig. 1 please be continued to see in
; Aforesaid slide unit 2 leans out the first side wall 13 and is fixed with one first side plate 5 with one group of the 5th screw 52 towards a side of the first side wall 13; And slide unit 2 leans out second sidewall 14 and is fixed with one second side plate 6 with one group of the 6th screw 62 towards a side of second sidewall 14; First, second side plate 5,6 corresponds to each other, and shape of cross section all is ［ shape.More particularly, the shape of cross section of first side plate 5 is " ［ " shape, and the shape of cross section of second side plate 6 is " ］ " shape.
offer the swivel nut hole 511 that quantity equates with the quantity of following first adjusting device 7 that also will detail on the first side plate diapire 51 of first side plate 5; Equally, on the second side plate diapire 61 of second side plate 6, also offer the swivel nut hole (not marking Reference numeral among the figure) that supplies to be provided with first adjusting device 8.
are because the structure of aforesaid second adjusting device 8 and operating principle etc. are identical with first adjusting device 7, so the applicant only does detailed explanation to first adjusting device 7 below.And in the present embodiment, the quantity of first adjusting device 7 has two promptly to have a pair ofly, and second adjusting device 8 is merely one.
preferably but not first adjusting device 7 that definitely is limited to comprises swivel nut 71, push rod 72, spring 73, pulley 74, pulley spindle 75 and swing arm 76; Swivel nut 71 is set in the aforesaid swivel nut hole 511, and by first setscrew nut 711 and second setscrew nut 712 swivel nut 71 is positioned on the swivel nut hole 511 reliably.Push rod 72 is set in the swivel nut centre bore 713 of swivel nut 71; This push rod 72 towards on an end promptly be fixed with a spring seat board 721 towards an end of swing arm 76; Spring 73 is nested with on push rod 72; And an end (lower end) of this spring 73 is bearing in the swivel nut centre bore 713, and the other end (upper end) is bearing on the spring seat board 721.Through one being formed in the clockwise or counterclockwise adjusting of the swivel nut nut 714 (also can claim the swivel nut adjusting nut) on the swivel nut 71; Can make swivel nut 71 rise or descend; Drive push rod 72 and rise or descend, because the end, upper end of push rod 72 contacts with swing arm, so push rod 72 more upwards; Then swing arm 76 is raised, vice versa.Pulley 74 is fixed on the pulley spindle 75, and this pulley 74 constitutes a sidewall mating groove 741, and the thickness of the width of this sidewall mating groove 741 and aforesaid first side plate 13 adapts.Pulley spindle 75 is fixed on an end (this end is the free end of swing arm 76) of swing arm 76, and on pulley spindle 75, also is provided with a cushion cover 751, ensures pulleys 74 match with the first side wall 13 rightly (contacting) by this cushion cover 751; Again; End at pulley spindle 75 offers a jump ring groove 752, after pulley 74 is placed on the pulley spindle 75, jump ring 7521 is inserted in the jump ring groove 752; Thereby limited on 7521 pairs of pulleys 74 of jump ring, in order to avoid pulley 74 is escaped from pulley spindle 75.In addition,, and use jump ring 7521 instead split pin, should be regarded as equivalence so and substitute and still belong to technology contents category of the present invention if change jump ring groove 752 into cotter-pin hold.The other end of aforesaid swing arm 76 is rounded end or claims that supported end is arranged on the arm shaft 761 rotationally, and arm shaft 761 is fixed on first side plate 5, and is limited on arm shaft nut 7611.
as aforementioned, because that first adjusting device 7 in the present embodiment has is a pair of, therefore corresponding parts respectively have a pair of, so, preferably the swing arm 76 of a pair of first adjusting device 7 is reciprocal mode and is provided with.
are that the left end of location status shown in Figure 1 is screwed one first shrouding 9a at an end of aforesaid first side plate 5 and second side plate 6 preferably, and are that right-hand member is screwed one second shrouding 9b equally at the other end.
Application examples:
please and still combine Fig. 1 referring to Fig. 2 and Fig. 3; By shown in Figure 2; One driving mechanism 4 by the driven by servomotor with rotating function has been arranged on (prior art then is arranged on the slide unit 2) on the nose girder 1; Moving back and forth about on the nose girder 1 through the 10 band slide units 2 of being with synchronously that are connected with slide unit 2 under the work of driving mechanism 4, and nose girder 1 is fixed on the nose girder holder 16, nose girder holder 16 is fixed on the pedestal.
are after using a period of time, in case when the wearing and tearing situations appear in first, second roller 23,24 and/or first, second guide rail 11,12, so; Said in the above like the applicant, push rod nut 722 is regulated, push rod 72 is risen; Swing arm 76 is raised; Drive pulley 74 by swing arm 76 and raise, the first side wall 13 is raised, the wearing clearance between first guide rail 11 and first roller 23 is eliminated by pulley 74.Simultaneously second adjusting device 8 is done identical adjustment, second sidewall 14 is raised, eliminate the wearing clearance between second guide rail 12 and second roller 24 with compensation or title.
In sum, technical scheme provided by the invention has solved the technical problem in the prior art ideally, has accomplished the invention task, has embodied all the technique effect that the applicant is concluded in the technique effect hurdle faithfully
Claims (10)
1. the fit structure of
a kind of manipulator slide unit and nose girder comprises the nose girder (1) with first guide rail (11) and second guide rail (12); A slide unit (2) that matches with first guide rail (11) and second guide rail (12); It is characterized in that: described nose girder (1) constitutes the shape that cross section is H shape jointly by first, second sidewall (13,14) and the diapire (15) that is connected between first, second sidewall (13,14); Described first guide rail (11) is fixed on the side of said diapire (15) towards the length direction on the surface of said slide unit (2); And said second guide rail (12) is fixed on the opposite side of diapire (15) towards the length direction on the surface of slide unit (2); Be provided with at least one pair of first roller (23) at slide unit (2) towards a side pivot of said diapire (15); And slide unit (2) is provided with at least one pair of second roller (24) towards the opposite side pivot of diapire (15); First roller (23) constitutes rolling pair with first guide rail (11); And second roller (24) constitutes rolling pair with second guide rail (12); Wherein: slide unit (2) leans out the first side wall (13) and is fixed with one first side plate (5) towards a side of said the first side wall (13), and slide unit (2) probes into second sidewall (14) and is fixed with one second side plate (6) towards a side of said second sidewall (14), and first, second side plate (5,6) corresponds to each other; The first side plate diapire (51) of first side plate (5) is provided with and is used for first adjusting device (7) that the height of said nose girder (1) is adjusted; This first adjusting device (7) matches with said diapire (15), and the second side plate diapire (61) of first side plate (6) is provided with and is used for second adjusting device (8) that the height of said nose girder (1) is adjusted equally, and this second adjusting device (8) matches with said diapire (15).
2. the fit structure of
manipulator slide unit according to claim 1 and nose girder, the structure that it is characterized in that described second adjusting device (8) is identical with the structure of described first adjusting device (7).
3. the fit structure of
manipulator slide unit according to claim 1 and nose girder is characterized in that the shape of cross section of described first side plate (5) and described second side plate (6) all is ［ shape.
4. the fit structure of
manipulator slide unit according to claim 1 and nose girder; It is characterized in that on the described first side plate diapire (51), offering the swivel nut hole (511) that quantity equates with the quantity of described first adjusting device (7); Described first adjusting device (7) comprises swivel nut (71), push rod (72), spring (73), pulley (74), pulley spindle (75) and swing arm (76), and swivel nut (71) interts in described swivel nut hole (511), and by first setscrew nut (711) and second setscrew nut (712) location; Push rod (72) is set in the swivel nut centre bore (713) of swivel nut (71); And be fixed with a spring seat board (721) at push rod (72) towards an end of swing arm (76), spring (73) is nested with on push rod (72), and an end bearing of this spring (73) is in described swivel nut centre bore (713); And the other end is bearing on the spring seat board (721); Pulley (74) is fixed on the pulley spindle (75), and contacts with described the first side wall (13), and pulley spindle (75) is fixed on an end of swing arm (76); And the other end pivot of swing arm (76) is arranged on the arm shaft (761), and arm shaft (761) is arranged on described first side plate (5).
5. the fit structure of
manipulator slide unit according to claim 4 and nose girder is characterized in that described pulley spindle (75) is provided with cushion cover (751).
6. the fit structure of
manipulator slide unit according to claim 4 and nose girder is characterized in that described pulley (74) constitutes a sidewall mating groove (741), and this sidewall mating groove (741) matches with described the first side wall (13).
7. the fit structure of
manipulator slide unit according to claim 4 and nose girder; It is characterized in that being provided with jump ring groove (752) at the end of described pulley spindle (75), on this jump ring groove (752), be provided with one be used for described pulley (74) spacing and use and stop pulley (74) to be escaped in the jump ring (7521) of pulley spindle (75).
8. the fit structure of
manipulator slide unit according to claim 4 and nose girder; The quantity that it is characterized in that described first adjusting device (7) is one or two; And when the quantity of first adjusting device (7) is two; Then swing arm (76) has two, and two swing arms (76) that direction is set is opposite each other.
9. the fit structure of
manipulator slide unit according to claim 1 and nose girder; It is characterized in that described first roller (23) has a pair of; Each first roller (23) pivot is arranged on first roller shaft (231); And first roller shaft (231) is fixed on the first roller axle bed (2311), and the first roller axle bed (2311) is fixed on the side of said slide unit (2) towards said diapire (15), and corresponding with described first guide rail (11); Described second roller (24) has a pair of; Each second roller (24) pivot is arranged on second roller shaft (241); And second roller shaft (241) is fixed on the second roller axle bed (2411); The second roller axle bed (2411) is fixed on the side of slide unit (2) towards said diapire (15), and corresponding with described second guide rail (12).
10.
The fit structure of manipulator slide unit according to claim 1 and nose girder; It is characterized in that being equipped with one first shrouding (9a), and be equipped with one second shrouding (9b) at the other end of first side plate (5) and second side plate (6) at an end of described first side plate (5) and second side plate (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210098833.7A CN102626915B (en) | 2012-04-06 | 2012-04-06 | Matching structure of manipulator sliding table and guide beam |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210098833.7A CN102626915B (en) | 2012-04-06 | 2012-04-06 | Matching structure of manipulator sliding table and guide beam |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102626915A true CN102626915A (en) | 2012-08-08 |
| CN102626915B CN102626915B (en) | 2014-05-07 |
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ID=46585402
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210098833.7A Active CN102626915B (en) | 2012-04-06 | 2012-04-06 | Matching structure of manipulator sliding table and guide beam |
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| Country | Link |
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| CN (1) | CN102626915B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563455A (en) * | 2016-03-10 | 2016-05-11 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical walking rail |
| CN105598731A (en) * | 2016-03-10 | 2016-05-25 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical travel mechanism |
| CN111216106A (en) * | 2020-02-15 | 2020-06-02 | 合肥市春华起重机械有限公司 | Lining-changing manipulator bridge structure and working method |
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| EP0715928A1 (en) * | 1994-12-07 | 1996-06-12 | W. STROTHMANN GmbH & Co. KG | Linear drive |
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| JP2005224864A (en) * | 2001-08-18 | 2005-08-25 | Trumpf Werkzeugmaschinen Gmbh & Co Kg | Machine tool for processing workpiece by using laser beam |
| CN101723169A (en) * | 2009-11-12 | 2010-06-09 | 浙江大学城市学院 | Pull-type replenish truck system of cargo allocation line of distribution center |
| CN201645166U (en) * | 2010-05-14 | 2010-11-24 | 上海优易嘉机械设备有限公司 | Roller sliding table bench |
| CN202517471U (en) * | 2012-04-06 | 2012-11-07 | 常熟市惠一机电有限公司 | Mechanical hand sliding table and guide beam matching structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0715928A1 (en) * | 1994-12-07 | 1996-06-12 | W. STROTHMANN GmbH & Co. KG | Linear drive |
| JP2005224864A (en) * | 2001-08-18 | 2005-08-25 | Trumpf Werkzeugmaschinen Gmbh & Co Kg | Machine tool for processing workpiece by using laser beam |
| CN1593860A (en) * | 2004-06-18 | 2005-03-16 | 哈尔滨工业大学 | Transmission means of manipulator |
| CN101723169A (en) * | 2009-11-12 | 2010-06-09 | 浙江大学城市学院 | Pull-type replenish truck system of cargo allocation line of distribution center |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563455A (en) * | 2016-03-10 | 2016-05-11 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical walking rail |
| CN105598731A (en) * | 2016-03-10 | 2016-05-25 | 佛山市三水区诺尔贝机器人研究院有限公司 | Vertical travel mechanism |
| CN105563455B (en) * | 2016-03-10 | 2018-01-02 | 佛山市三水区诺尔贝机器人研究院有限公司 | A kind of vertical walking track |
| CN111216106A (en) * | 2020-02-15 | 2020-06-02 | 合肥市春华起重机械有限公司 | Lining-changing manipulator bridge structure and working method |
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| Publication number | Publication date |
|---|---|
| CN102626915B (en) | 2014-05-07 |
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