CN111360783A - Closed walking mechanism for robot - Google Patents
Closed walking mechanism for robot Download PDFInfo
- Publication number
- CN111360783A CN111360783A CN202010309863.2A CN202010309863A CN111360783A CN 111360783 A CN111360783 A CN 111360783A CN 202010309863 A CN202010309863 A CN 202010309863A CN 111360783 A CN111360783 A CN 111360783A
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- robot
- sliding table
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- 230000001360 synchronised effect Effects 0.000 claims description 31
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 5
- 239000000428 dust Substances 0.000 abstract description 3
- 239000012535 impurity Substances 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 3
- 239000000126 substance Substances 0.000 abstract description 2
- 238000002347 injection Methods 0.000 description 5
- 239000007924 injection Substances 0.000 description 5
- 230000001681 protective effect Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000001939 inductive effect Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A closed running gear for robot, the drive unit of the running gear is installed on driving the unit of the sliding table, drive the unit of the sliding table to set up on the chassis of the running gear; the driving sliding table unit is connected with the robot sliding table unit; the closed unit is buckled between the driving sliding table unit and the robot sliding table unit; the drag chain unit is arranged at the outer side of the whole closed unit; the robot is installed on the robot sliding table unit and moves synchronously with the driving sliding table unit through the robot sliding table unit. The walking mechanism seals the driving part and the guiding part of the robot, effectively isolates water, oil molecules, dust, impurities and the like in the working environment, reduces the damage of harmful substances to the driving part and the guiding part, prolongs the service life of the driving part and the guiding part, and improves the working efficiency and the product quality of equipment.
Description
Technical Field
The invention relates to the field of industrial robot application, which comprises the fields of robot welding, robot polishing, robot spraying, robot carrying and the like with complex environments, in particular to a closed type walking mechanism for the movement of an industrial robot.
Background
At present, domestic industrial robots are gradually popularized in application, and the robots gradually replace manpower in various industries, so that the cost is saved, and the yield and the efficiency can be improved. In order to expand the range of motion of the robot and fully utilize the operation of the robot, peripheral devices such as a traveling mechanism, a position changing mechanism and the like are often added in a factory to assist the robot, the production environment in the factory is complicated and diversified, especially, the field pollution of special industries such as welding, grinding, spraying, carrying and the like is serious, in the conventional robot traveling mechanism, the driving part (motor, speed reducer, gear rack or lead screw) and the guiding part (linear guide rail or optical axis) are often half exposed or all exposed in the working environment, water or oil molecules, dust impurities and the like dispersed in the air in the factory building can be attached to the air, in the long-term use, drive and guide part must rust or wearing and tearing, lead to its precision to descend, not only can influence production efficiency, can shorten the life of equipment moreover greatly, influence product quality.
Disclosure of Invention
The invention provides a robot walking mechanism protected by a closed double-layer shield, aiming at the problems that the driving and guiding parts of the existing robot are easy to pollute when exposed outside for a long time and influence the service life and the production efficiency and the like in the background technology.
The technical scheme adopted by the invention is as follows: a closed walking mechanism for a robot comprises a driving sliding table unit, a robot sliding table unit, a closed unit, a synchronous driving unit and a drag chain unit;
the driving part of the travelling mechanism is arranged on the driving sliding table unit, and the driving sliding table unit is arranged on the travelling mechanism base and is in sliding fit with the travelling mechanism base to realize the sliding of the driving part; the driving sliding table unit is connected with the robot sliding table unit through a synchronous driving unit, and the driving sliding table unit and the robot sliding table unit slide synchronously; the sealing unit is buckled between the driving sliding table unit and the robot sliding table unit to seal the driving sliding table unit; the drag chain unit is arranged on the outer side of the whole closed unit, and the circuit on the inner side of the drag chain unit is led out and then is arranged in the drag chain unit;
the robot is installed on the robot sliding table unit, and the robot walks through the synchronous motion of the robot sliding table unit and the driving sliding table unit.
Compared with the prior art, the walking mechanism disclosed by the invention has the advantages that the driving part and the guide part of the robot are sealed, water, oil molecules, dust impurities and the like in the working environment are effectively isolated, the damage of harmful substances to the driving part and the guide part is reduced, the service life of the driving part and the guide part is prolonged, and the working efficiency and the product quality of equipment are improved.
The driving sliding table unit comprises driving sliding tables and driving sliding table linear guide rails, the two driving sliding table linear guide rails are fixedly arranged on two sides of the upper surface of the traveling mechanism base respectively, and the driving sliding tables are erected on the two driving sliding table linear guide rails and are in sliding fit with the driving sliding table linear guide rails.
The robot sliding table unit comprises a robot sliding table, a robot sliding table connecting seat, a robot sliding table guide rail, a robot sliding table sliding block and a sliding block connecting seat; the two robot sliding table guide rails are respectively and fixedly arranged on two side surfaces of the traveling mechanism base, the sliding block connecting base is fixedly connected with the outer side of the robot sliding table sliding block, and the robot sliding table sliding block is in sliding fit with the robot sliding table guide rails; the sliding block connecting seat is fixedly connected with a robot sliding table connecting seat, and the robot sliding table is a rectangular plate body and is erected on the robot sliding table connecting seat.
According to the specification of the robot sliding table, four corners of the lower surface of the robot sliding table are respectively provided with a robot sliding table connecting seat; and four machine sliding table sliding blocks and four sliding block connecting seats matched with the robot sliding table connecting seat are oppositely arranged on the robot sliding table guide rail.
The closed unit comprises a driving sliding table shield, a side shield and an end shield; the driving sliding table shield is a U-shaped structural plate body and is arranged between the robot sliding table unit and the driving sliding table unit; the side shields are respectively arranged on two sides of the robot sliding table through connecting pieces and are vertically fixed with the lower surface of the robot sliding table; the end shields are arranged at the front end and the rear end of the robot walking mechanism through connecting pieces.
Two side edges of the driving sliding table protective cover are inserted in a groove between the sliding block connecting seat and the robot sliding table connecting seat.
A shield mounting frame is arranged below the driving sliding table shield, and the lower end of the shield mounting frame is fixedly mounted on the traveling mechanism base.
The synchronous driving unit is fixedly arranged on the driving sliding table and comprises a synchronous driving rod, a driving rod fastening bolt and a driving rod fixing seat; the driving rod fixing seat is fixedly arranged on one side of the driving sliding table through a connecting piece, and the middle part of the driving rod fixing seat is provided with a strip-shaped groove; one end of the synchronous driving rod is fixed in the strip-shaped groove through a driving rod fastening bolt, and the other end of the synchronous driving rod is movably inserted in a U-shaped groove in the upper portion of the sliding block connecting seat outside the driving sliding table.
The sliding block connecting seats arranged on the two sides of the traveling mechanism base comprise a long sliding block connecting seat and a short sliding block connecting seat; and a U-shaped groove matched with the synchronous driving rod is arranged on the long slide block connecting seat.
The driving adjusting unit is arranged on the driving sliding table and comprises a driving mounting frame, an adjusting bolt fixing frame, an adjusting bolt, a gasket and a bottom support; the driving sliding table is provided with a window, the driving mounting frame penetrates through the window and is mounted in a groove in the lower surface of the driving sliding table, and the driving part is mounted on the driving mounting frame through a connecting piece; two sides of the driving mounting rack are arranged on the bottom support; a gasket is arranged between the lower surface of the driving mounting frame and the upper surface of the bottom support; an adjusting bolt fixing frame is fixedly arranged on the driving sliding table outside the driving mounting frame through a connecting piece, a plurality of adjusting bolts are horizontally arranged on the adjusting bolt fixing frame, and the free ends of the adjusting bolts are respectively movably connected with the side face of the driving mounting frame.
A traveling mechanism base is laid on the base surface of the robot traveling track, and the length of a guide rail between the robot sliding tables is matched with that of the traveling mechanism base; a plurality of driving sliding table shields are arranged on the base of the travelling mechanism in parallel through a shield mounting rack to form a closed travelling channel.
The robot sliding table connecting seat supports the robot sliding table to straddle above the closed walking channel, and two sides below the robot sliding table are connected with the side shield to form a frame body which freely moves above the closed walking channel.
Drawings
Fig. 1 is a schematic view of the internal structure of the present invention.
Fig. 2 is an external structural view of the present invention.
Fig. 3 is a partial structural schematic diagram of the present invention.
Fig. 4 is a schematic view of the overall structure of the present invention (excluding the drag chain unit).
In the figure: the robot sliding table comprises a driving sliding table unit 1, a robot sliding table unit 2, a synchronous driving unit 3, a limiting block 4, an inductive switch assembly 5, a driving adjusting unit 6, a sealing unit 7, a traveling mechanism base 8, a driving assembly 9 and a drag chain unit 10.
The driving sliding table unit comprises a driving sliding table 1-1 and a driving sliding table linear guide rail 1-2;
the robot sliding table unit comprises a robot sliding table 2-1, a short sliding block connecting seat 2-2, a robot sliding table guide rail 2-3, a robot sliding table connecting seat 2-4, a robot sliding table sliding block 2-5 and a long sliding block connecting seat 2-6;
the synchronous driving unit comprises a synchronous driving rod 3-1, a driving rod fastening bolt 3-2 and a driving rod fixing seat 3-3;
the driving adjusting unit comprises a driving mounting frame 6-1, an adjusting bolt fixing frame 6-2, an adjusting bolt 6-3, a gasket 6-4 and a bottom support 6-5;
the closed unit comprises a driving sliding table shield 7-1, a shield mounting frame 7-2, a side shield 7-3 and an end shield 7-4.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
Referring to the attached drawings 1-4, the walking mechanism disclosed by the invention aims to provide a set of stable and reliable closed walking mechanism for a robot, so that the moving range of the robot is enlarged, and the service life of equipment is prolonged.
The closed type walking mechanism for the robot comprises a driving sliding table unit 1, a robot sliding table unit 2, a synchronous driving unit 3, a limiting block 4, an inductive switch assembly 5, a driving adjusting unit 6, a sealing unit 7, a walking mechanism base 8, a driving assembly 9 and a drag chain unit 10. The driving sliding table unit is arranged on the traveling mechanism base and is in sliding fit with the traveling mechanism base to realize the sliding of the driving part; the driving sliding table unit is connected with the robot sliding table unit through a synchronous driving unit, and the driving sliding table unit and the robot sliding table unit slide synchronously; the sealing unit is buckled between the driving sliding table unit and the robot sliding table unit to seal the driving sliding table unit; the drag chain unit is arranged on the outer side of the whole closed unit, and the line on the inner side of the drag chain unit is led out and then placed in the drag chain unit.
The driving assembly comprises a motor, a speed reducer, a transmission gear and a rack, the rack is fixedly installed on the upper surface of the traveling mechanism base, the motor and the speed reducer are installed on the driving sliding table, and the transmission gear sleeved at the output end of the speed reducer is in meshing transmission with the rack to realize the movement of the driving sliding table.
A traveling mechanism base is laid on the base surface of the robot traveling track, and the length of a guide rail between the robot sliding tables is matched with that of the traveling mechanism base; a plurality of driving sliding table shields are arranged on the base of the travelling mechanism in parallel through a shield mounting rack to form a closed travelling channel. The robot sliding table connecting seat supports the robot sliding table to straddle the closed walking channel, and two sides of the lower surface of the robot sliding table are connected with the side shield to form a frame body which can freely move on the closed walking channel. The walking mechanism further comprises an oil injection unit and a drag chain unit, wherein the oil injection unit is installed on the robot sliding table and comprises two-nozzle oil injection ports and six-nozzle oil injection ports, and oil is injected into a guide rail sliding block inside a closed walking channel through an oil pipe and a joint. The drag chain unit is arranged on the outer side of the whole closed walking channel and comprises a drag chain groove and a fully-closed drag chain, and a cable and an oil injection pipeline of the walking mechanism are connected with internal use components and external source components through the fully-closed drag chain, so that an effective protection effect is achieved. The robot is installed on the robot sliding table unit, and the robot walks through the synchronous motion of the robot sliding table unit and the driving sliding table unit.
The driving sliding table unit comprises a driving sliding table 1-1 and a driving sliding table linear guide rail 1-2. Two drive slipway linear guides are respectively and fixedly arranged on two sides of the upper surface of the traveling mechanism base, and the drive slipway is erected on the two drive slipway linear guides and is in sliding fit with the two drive slipway linear guides.
The robot sliding table unit comprises a robot sliding table 2-1, a short sliding block connecting seat 2-2, a robot sliding table guide rail 2-3, a robot sliding table connecting seat 2-4, a robot sliding table sliding block 2-5 and a long sliding block connecting seat 2-6. The two robot sliding table guide rails are respectively and fixedly arranged on two side surfaces of the traveling mechanism base, the sliding block connecting base is fixedly connected with the outer side of the robot sliding table sliding block, and the robot sliding table sliding block is in sliding fit with the robot sliding table guide rails; the sliding block connecting seat is fixedly connected with a robot sliding table connecting seat, and the robot sliding table is a rectangular plate body and is erected on the robot sliding table connecting seat. According to the specification of the robot sliding table, four corners of the lower surface of the robot sliding table are respectively provided with a robot sliding table connecting seat; and four machine sliding table sliding blocks and four sliding block connecting seats matched with the robot sliding table connecting seat are oppositely arranged on the robot sliding table guide rail. The slide block connecting seats arranged at the two sides of the traveling mechanism base comprise long slide block connecting seats 2-6 and short slide block connecting seats 2-2, and the tops of the long slide block connecting seats are provided with U-shaped grooves.
The enclosure unit comprises a drive slide shroud 7-1, a shroud mounting bracket 7-2, a side shroud 7-3 and an end shroud 7-4. The driving sliding table shield is a U-shaped structural plate body and is buckled between the robot sliding table unit and the driving sliding table unit, two side edges of the driving sliding table shield are inserted into a groove between the sliding block connecting seat and the robot sliding table connecting seat, a shield mounting frame is arranged below the driving sliding table shield and comprises upright columns on two sides and a middle cross beam, and the shield is mounted on the cross beam through a connecting piece. The lower end of the shield mounting frame is fixedly mounted on the traveling mechanism base. The side surface protective covers are respectively arranged on two sides of the robot sliding table through connecting pieces such as bolts and the like and are vertically fixed with the lower surface of the robot sliding table; the end shields are arranged at the front end and the rear end of the closed walking channel through connecting pieces. The driving sliding table protective cover and the side protective cover form an inner-outer double-layer protective cover, so that the driving sliding table unit and the robot sliding table unit are effectively isolated, and the driving assembly and the guide assembly are ensured to be in a closed state.
In order to ensure the synchronous movement of the driving slide block unit and the robot slide block unit, the mechanism is also provided with a synchronous driving unit and a driving adjusting unit.
The synchronous driving unit is fixedly arranged on the driving sliding table and comprises a synchronous driving rod 3-1, a driving rod fastening bolt 3-2 and a driving rod fixing seat 3-3. The driving rod fixing seat is fixedly arranged on one side of the driving sliding table through a bolt, and the middle part of the driving rod fixing seat is provided with a strip-shaped groove; one end of the synchronous driving rod is fixed in the strip-shaped groove through the driving rod fastening bolt, and the strip-shaped groove plays a role in limiting and guiding the synchronous driving rod. The other end of the synchronous driving rod is movably inserted in a U-shaped groove on the long slide block connecting seat. As shown in fig. 3, two ends of one side of the driving sliding table are respectively provided with a synchronous driving unit to ensure the synchronous movement of the driving sliding table unit and the robot sliding table unit.
The driving adjusting unit is arranged on the driving sliding table and comprises a driving mounting frame 6-1, an adjusting bolt fixing frame 6-2, an adjusting bolt 6-3, a gasket 6-4 and a bottom support 6-5. The driving sliding table is provided with a window, the driving mounting frame penetrates through the window to be mounted in a groove in the lower surface of the driving sliding table, and the driving part is fixedly mounted on the driving mounting frame through connecting pieces such as bolts and arranged below the driving sliding table. Two sides of the driving mounting frame are arranged on the bottom support of the driving mounting frame and are in sliding fit with each other; a gasket is arranged between the lower surface of the driving mounting frame and the upper surface of the bottom support, and the meshing gap of the gear and the rack can be adjusted. An adjusting bolt fixing frame is fixedly arranged on the driving sliding table outside the driving mounting frame through connecting pieces such as bolts, a plurality of adjusting bolts are horizontally arranged on the adjusting bolt fixing frame, and the free ends of the adjusting bolts are respectively movably connected with the side face of the driving mounting frame. The horizontal position of the driving installation frame is adjusted by changing the horizontal position of the adjusting bolt, namely, the meshing surface of the transmission gear and the rack is adjusted.
In the running mechanism, an inductive switch component 5 and a limiting block 4 are also arranged. The inductive switch assembly is arranged in front of the driving sliding table to determine the original position of the robot walking mechanism. The limiting blocks are arranged at the front end and the rear end of the traveling mechanism base to limit the moving range of the driving sliding table, and the robot sliding table is provided with wire passing holes through which cables of electric parts can pass into an external drag chain unit.
Claims (12)
1. A closed walking mechanism for a robot is characterized by comprising a driving sliding table unit, a robot sliding table unit, a closed unit, a synchronous driving unit and a drag chain unit;
the driving part of the travelling mechanism is arranged on the driving sliding table unit, and the driving sliding table unit is arranged on the travelling mechanism base and is in sliding fit with the travelling mechanism base to realize the sliding of the driving part; the driving sliding table unit is connected with the robot sliding table unit through a synchronous driving unit, and the driving sliding table unit and the robot sliding table unit slide synchronously; the sealing unit is buckled between the driving sliding table unit and the robot sliding table unit to seal the driving sliding table unit; the drag chain unit is arranged on the outer side of the whole closed unit, and the circuit on the inner side of the drag chain unit is led out and then is arranged in the drag chain unit;
the robot is installed on the robot sliding table unit, and the robot walks through the synchronous motion of the robot sliding table unit and the driving sliding table unit.
2. The closed type traveling mechanism for the robot as claimed in claim 1, wherein the drive slide unit comprises two drive slide linear guides fixedly mounted on both sides of the upper surface of the traveling mechanism base, respectively, and two drive slide linear guides mounted on the two drive slide linear guides in a sliding fit therewith.
3. The closed traveling mechanism for the robot according to claim 1, wherein the robot slide unit includes a robot slide, a robot slide connecting seat, a robot slide guide rail, a robot slide, and a slide connecting seat; the two robot sliding table guide rails are respectively and fixedly arranged on two side surfaces of the traveling mechanism base, the sliding block connecting base is fixedly connected with the outer side of the robot sliding table sliding block, and the robot sliding table sliding block is in sliding fit with the robot sliding table guide rails; the sliding block connecting seat is fixedly connected with a robot sliding table connecting seat, and the robot sliding table is a rectangular plate body and is erected on the robot sliding table connecting seat.
4. The closed traveling mechanism for the robot as claimed in claim 3, wherein one robot slide table connecting seat is provided at each of four corners of the lower surface thereof in accordance with the specification of the robot slide table; and four machine sliding table sliding blocks and four sliding block connecting seats matched with the robot sliding table connecting seat are oppositely arranged on the robot sliding table guide rail.
5. The closed running mechanism for a robot according to claim 1, wherein the closing unit includes a drive slide table shield, a side shield, and an end shield;
the driving sliding table shield is a U-shaped structural plate body and is arranged between the robot sliding table unit and the driving sliding table unit; the side shields are respectively arranged on two sides of the robot sliding table through connecting pieces and are vertically fixed with the lower surface of the robot sliding table; the end shields are arranged at the front end and the rear end of the robot walking mechanism through connecting pieces.
6. The closed traveling mechanism for the robot as claimed in claim 5, wherein both side edges of the driving slide table cover are inserted into a groove between the slider connecting seat and the robot slide table connecting seat.
7. The closed traveling mechanism for the robot as claimed in claim 5, wherein a shield mounting bracket is provided under the drive slide shield, and a lower end of the shield mounting bracket is fixedly mounted on the traveling mechanism base.
8. The closed type traveling mechanism for the robot according to claim 1, wherein the synchronous driving unit is fixedly installed on the driving sliding table and comprises a synchronous driving rod, a driving rod fastening bolt and a driving rod fixing seat; the driving rod fixing seat is fixedly arranged on one side of the driving sliding table through a connecting piece, and the middle part of the driving rod fixing seat is provided with a strip-shaped groove; one end of the synchronous driving rod is fixed in the strip-shaped groove through a driving rod fastening bolt, and the other end of the synchronous driving rod is movably inserted in a U-shaped groove in the upper portion of the sliding block connecting seat outside the driving sliding table.
9. The closed type traveling mechanism for a robot according to claim 9, wherein the slider attaching seats disposed at both sides of the traveling mechanism base include a long slider attaching seat and a short slider attaching seat; and a U-shaped groove matched with the synchronous driving rod is arranged on the long slide block connecting seat.
10. The closed type walking mechanism for the robot as claimed in claim 1, wherein the driving adjustment unit is mounted on the driving sliding table and comprises a driving mounting frame, an adjustment bolt fixing frame, an adjustment bolt, a gasket and a bottom support; the driving sliding table is provided with a window, the driving mounting frame penetrates through the window and is mounted in a groove in the lower surface of the driving sliding table, and the driving part is mounted on the driving mounting frame through a connecting piece; two sides of the driving mounting rack are arranged on the bottom support; a gasket is arranged between the lower surface of the driving mounting frame and the upper surface of the bottom support; an adjusting bolt fixing frame is fixedly arranged on the driving sliding table outside the driving mounting frame through a connecting piece, a plurality of adjusting bolts are horizontally arranged on the adjusting bolt fixing frame, and the free ends of the adjusting bolts are respectively movably connected with the side face of the driving mounting frame.
11. The closed type traveling mechanism for the robot as claimed in claim 1, wherein a traveling mechanism base is laid on a base surface of a traveling track of the robot, and a guide rail between the sliding tables of the robot is matched with the traveling mechanism base in length; a plurality of driving sliding table shields are arranged on the base of the travelling mechanism in parallel through a shield mounting rack to form a closed travelling channel.
12. The closed type traveling mechanism for the robot as claimed in claim 11, wherein the robot sliding table connecting base supports the robot sliding table to straddle the closed type traveling passage, and both sides of the lower surface of the robot sliding table are connected to the side shields to form a frame body which freely moves on the closed type traveling passage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010309863.2A CN111360783B (en) | 2020-04-20 | 2020-04-20 | Closed travelling mechanism for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010309863.2A CN111360783B (en) | 2020-04-20 | 2020-04-20 | Closed travelling mechanism for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111360783A true CN111360783A (en) | 2020-07-03 |
| CN111360783B CN111360783B (en) | 2024-05-17 |
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ID=71201619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010309863.2A Active CN111360783B (en) | 2020-04-20 | 2020-04-20 | Closed travelling mechanism for robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN111360783B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100805375B1 (en) * | 2006-12-28 | 2008-02-20 | 한월숙 | Hermetic type linear transfer robot |
| CN108907754A (en) * | 2018-07-31 | 2018-11-30 | 四川省青城机械有限公司 | A kind of sevenfive axis processing unit (plant) |
| CN208788639U (en) * | 2018-07-25 | 2019-04-26 | 江苏精拓机器人科技有限公司 | A kind of the 7th axis of heavy robot's ground running |
| CN208854621U (en) * | 2018-09-14 | 2019-05-14 | 山东镭鸣数控激光装备有限公司 | A kind of the 7th axis running gear of robot |
| CN209364611U (en) * | 2018-12-28 | 2019-09-10 | 苏州特思克汽车工艺技术有限公司 | A kind of seven axis operating mechanism, robot for automobile assembling |
| CN209504100U (en) * | 2018-11-16 | 2019-10-18 | 上海君屹工业自动化股份有限公司 | Totally-enclosed seven axis rail of roller type |
| CN212471479U (en) * | 2020-04-20 | 2021-02-05 | 唐山贺祥智能科技股份有限公司 | Closed walking mechanism for robot |
| CN215701657U (en) * | 2021-06-05 | 2022-02-01 | 唐山贺祥智能科技股份有限公司 | Closed walking mechanism for robot |
-
2020
- 2020-04-20 CN CN202010309863.2A patent/CN111360783B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100805375B1 (en) * | 2006-12-28 | 2008-02-20 | 한월숙 | Hermetic type linear transfer robot |
| CN208788639U (en) * | 2018-07-25 | 2019-04-26 | 江苏精拓机器人科技有限公司 | A kind of the 7th axis of heavy robot's ground running |
| CN108907754A (en) * | 2018-07-31 | 2018-11-30 | 四川省青城机械有限公司 | A kind of sevenfive axis processing unit (plant) |
| CN208854621U (en) * | 2018-09-14 | 2019-05-14 | 山东镭鸣数控激光装备有限公司 | A kind of the 7th axis running gear of robot |
| CN209504100U (en) * | 2018-11-16 | 2019-10-18 | 上海君屹工业自动化股份有限公司 | Totally-enclosed seven axis rail of roller type |
| CN209364611U (en) * | 2018-12-28 | 2019-09-10 | 苏州特思克汽车工艺技术有限公司 | A kind of seven axis operating mechanism, robot for automobile assembling |
| CN212471479U (en) * | 2020-04-20 | 2021-02-05 | 唐山贺祥智能科技股份有限公司 | Closed walking mechanism for robot |
| CN215701657U (en) * | 2021-06-05 | 2022-02-01 | 唐山贺祥智能科技股份有限公司 | Closed walking mechanism for robot |
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| Publication number | Publication date |
|---|---|
| CN111360783B (en) | 2024-05-17 |
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