CN111360783B - Closed travelling mechanism for robot - Google Patents
Closed travelling mechanism for robot Download PDFInfo
- Publication number
- CN111360783B CN111360783B CN202010309863.2A CN202010309863A CN111360783B CN 111360783 B CN111360783 B CN 111360783B CN 202010309863 A CN202010309863 A CN 202010309863A CN 111360783 B CN111360783 B CN 111360783B
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- driving
- robot
- sliding table
- unit
- slipway
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 28
- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 3
- 239000000428 dust Substances 0.000 abstract description 4
- 239000012535 impurity Substances 0.000 abstract description 4
- 239000000126 substance Substances 0.000 abstract description 2
- 230000001939 inductive effect Effects 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000007774 longterm Effects 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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
The closed travelling mechanism for the robot is characterized in that a driving part of the travelling mechanism is arranged on a driving sliding table unit, and the driving sliding table unit is arranged on a travelling mechanism base; the driving sliding table unit is connected with the robot sliding table unit; the closed unit is buckled between the driving slipway unit and the robot slipway unit; the drag chain unit is arranged on the outer side of the whole closed unit; the robot is installed on the robot slipway unit, through the synchronous motion of robot slipway unit and drive slipway unit. The running mechanism seals the driving part and the guiding part of the robot, effectively isolates water, oil molecules or 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 the equipment.
Description
Technical Field
The invention relates to the field of application of industrial robots, which comprises the fields of robot welding, robot polishing, robot spraying, robot carrying and the like with complex environments, in particular to a closed travelling mechanism for the movement of the industrial robots.
Background
At present, domestic industrial robots are gradually popularized, and robots gradually replace manpower in various industries, so that not only is the cost saved, but also the yield and the efficiency can be improved. In order to expand the moving range of the robot and fully utilize the robot operation, some peripheral equipment is often needed to be added in a factory to assist the robot, such as a travelling mechanism, a shifting mechanism and the like, the production environment in the factory is complex and diversified, especially the field pollution in special industries such as welding, polishing, spraying, carrying and the like is serious, in the traditional robot travelling mechanism, a driving part (a motor, a speed reducer, a rack and pinion or a lead screw) and a guiding part (a linear guide rail or an optical axis) of the traditional robot travelling mechanism are often semi-exposed or fully exposed in the working environment, water or oil molecules, dust impurities and the like dispersed in the air in the factory are adhered on the driving part and the guiding part are necessarily rusted or worn in the long-term use process, so that the precision of the driving part and the guiding part is reduced, the production efficiency is influenced, the service life of the equipment is greatly shortened, and the product quality is influenced.
Disclosure of Invention
The invention provides a closed double-layer shield-protected robot running mechanism, which aims at solving the problems that the service life and the production efficiency are easily influenced by pollution caused by long-term exposure of the driving and guiding parts of the existing robot in the background art.
The technical scheme adopted by the invention is as follows: a closed travelling mechanism for a robot comprises a driving slipway unit, a robot slipway 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 so as to realize the sliding of the driving part; the driving slipway unit is connected with the robot slipway unit through a synchronous driving unit, and the driving slipway unit and the robot slipway unit slide synchronously; the closed unit is buckled between the driving slipway unit and the robot slipway unit to realize the sealing of the driving slipway unit; the drag chain unit is arranged at the outer side of the whole closed unit, and the inner line of the drag chain unit is led out and then is arranged in the drag chain unit;
The robot is installed on the robot slipway unit, and the walking of the robot is realized through the synchronous motion of the robot slipway unit and the driving slipway unit.
Compared with the prior art, the walking mechanism disclosed by the invention seals the driving part and the guiding part of the robot, effectively isolates water, oil molecules or dust impurities and the like in the working environment, reduces the invasion of harmful substances to the water, oil molecules or dust impurities, prolongs the service life of the driving and guiding parts, and improves the working efficiency and the product quality of equipment.
The driving sliding table unit comprises a driving sliding table and driving sliding table linear guide rails, the two driving sliding table linear guide rails are respectively fixedly arranged on two sides of the upper surface of the travelling mechanism base, and the driving sliding table is arranged on the two driving sliding table linear guide rails in a sliding fit manner.
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 travelling mechanism base, the sliding block connecting seat 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 slipway, a robot slipway connecting seat is respectively arranged at four corners of the lower surface of the robot slipway; and four machine sliding table sliding blocks and sliding block connecting seats matched with the robot sliding table connecting seats 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 structure plate body and is arranged between the robot sliding table unit and the driving sliding table unit; the side shields are respectively arranged at two sides of the robot slipway through connecting pieces and are vertically fixed with the lower surface of the robot slipway; the end shields are arranged at the front end and the rear end of the robot travelling mechanism through connecting pieces.
Two side edges of the driving sliding table shield are inserted into grooves between the sliding block connecting seat and the robot sliding table connecting seat.
A shield mounting frame is arranged below the drive sliding table shield, and the lower end of the shield mounting frame is fixedly arranged above the travelling 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 a strip-shaped groove is formed in the middle of the driving rod fixing seat; 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 into the U-shaped groove on the sliding block connecting seat outside the driving sliding table.
The slide block connecting seats arranged on two sides of the travelling mechanism base comprise a long slide block connecting seat and a short slide block connecting seat; the long slide block connecting seat is provided with a U-shaped groove matched with the synchronous driving rod.
The driving adjusting unit is arranged on the driving sliding table and comprises a driving installation frame, an adjusting bolt fixing frame, an adjusting bolt, a gasket and a bottom bracket; the driving sliding table is provided with a window, the driving installation frame passes through the window and is installed in a groove on the lower surface of the driving sliding table, and the driving part is installed on the driving installation frame through a connecting piece; two sides of the driving installation frame are arranged on the bottom support; a gasket is arranged between the lower surface of the driving installation frame and the upper surface of the bottom bracket; an adjusting bolt fixing frame is fixedly arranged on the driving sliding table outside the driving installation 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 and movably connected with the side face of the driving installation frame.
A base surface of a walking track of the robot is paved with a walking mechanism base, and a guide rail between the robot slipways is matched with the length of the walking mechanism base; a plurality of driving sliding table shields are installed on the traveling mechanism base in parallel through shield installation racks to form a closed traveling channel.
The robot slipway connecting seat supports the robot slipway to stride above the closed walking channel, and two sides below the robot slipway are connected with the side shields 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 a schematic view of the external structure of the present invention.
Fig. 3 is a schematic view of a partial structure 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 adjustment unit 6, a closing 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 installation frame 6-1, an adjusting bolt fixing frame 6-2, an adjusting bolt 6-3, a gasket 6-4 and a bottom bracket 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 described below with reference to the drawings and examples.
Referring to fig. 1-4, the walking mechanism disclosed by the invention aims to provide a set of stable and reliable closed walking mechanism for a robot, enlarge the moving range of the robot and prolong the service life of equipment.
The closed travelling 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 adjustment unit 6, a closing unit 7, a travelling mechanism base 8, a driving assembly 9 and a drag chain unit 10. The driving sliding table unit is arranged on the travelling mechanism base and is in sliding fit with the travelling mechanism base, so that the driving part can slide; the driving slipway unit is connected with the robot slipway unit through a synchronous driving unit, and the driving slipway unit and the robot slipway unit slide synchronously; the closed unit is buckled between the driving slipway unit and the robot slipway unit to realize the sealing of the driving slipway unit; the drag chain unit is arranged at the outer side of the whole closed unit, and the inner line of the drag chain unit is led out and then is arranged in the drag chain unit.
The driving assembly comprises a motor, a speed reducer, a transmission gear and a rack, the rack is fixedly arranged on the upper surface of the base of the travelling mechanism, the motor and the speed reducer are arranged on the driving sliding table, and the transmission gear sleeved at the output end of the speed reducer is in meshed transmission with the rack to realize the movement of the driving sliding table.
A base surface of a walking track of the robot is paved with a walking mechanism base, and a guide rail between the robot slipways is matched with the length of the walking mechanism base; a plurality of driving sliding table shields are installed on the traveling mechanism base in parallel through shield installation racks to form a closed traveling channel. The robot slipway connecting seat supports the robot slipway to stride on the closed walking channel, and two sides below the robot slipway are connected with the side shields to form a frame body which freely moves on the closed walking channel. The running mechanism further comprises an oiling unit and a drag chain unit, wherein the oiling unit is arranged on the robot sliding table and comprises two oil injection ports and six oil injection ports, and the oiling is performed for the guide rail sliding block in the closed running 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 totally-closed drag chain, and a cable and an oil injection pipeline of the walking mechanism are connected with an internal use part and an external source part through the totally-closed drag chain, so that an effective protection effect is achieved. The robot is installed on the robot slipway unit, and the walking of the robot is realized through the synchronous motion of the robot slipway unit and the driving slipway unit.
The driving sliding table unit comprises a driving sliding table 1-1 and a driving sliding table linear guide rail 1-2. The two driving sliding table linear guide rails are respectively fixedly arranged on two sides above the walking mechanism base, and the driving sliding tables are arranged 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 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 travelling mechanism base, the sliding block connecting seat 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 slipway, a robot slipway connecting seat is respectively arranged at four corners of the lower surface of the robot slipway; and four machine sliding table sliding blocks and sliding block connecting seats matched with the robot sliding table connecting seats are oppositely arranged on the robot sliding table guide rail. The sliding block connecting seats arranged on the two sides of the walking mechanism base comprise a long sliding block connecting seat 2-6 and a short sliding block connecting seat 2-2, and a U-shaped groove is formed in the top of the long sliding block connecting seat.
The closing unit includes a driving slide table shroud 7-1, a shroud mount 7-2, a side shroud 7-3, and an end shroud 7-4. The drive slip table guard shield is U type structure plate body, the spiral-lock is between robot slip table unit and drive slip table unit, and the both sides limit cartridge of drive slip table guard shield is in the recess between slider connecting seat and robot slip table connecting seat, is provided with the guard shield mounting bracket below the drive slip table guard shield, and the passport mounting bracket includes the stand and the middle crossbeam of both sides, and the guard shield passes through the connecting piece and installs above the crossbeam. The lower extreme fixed mounting of guard shield mounting bracket is on running gear base. The side shields are respectively arranged on two sides of the robot slipway through connecting pieces such as bolts and are vertically fixed with the lower surface of the robot slipway; 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 protecting cover and the side protecting cover form an inner protecting cover and an outer protecting cover, the driving sliding table unit and the robot sliding table unit are effectively isolated, and the driving assembly and the guiding assembly are 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 adjustment 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 a strip-shaped groove is formed in the middle of the driving rod fixing seat; one end of the synchronous driving rod is fixed in the strip-shaped groove through a 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 into the 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 so as to ensure 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 installation frame 6-1, an adjusting bolt fixing frame 6-2, an adjusting bolt 6-3, a gasket 6-4 and a bottom bracket 6-5. The driving sliding table is provided with a window, the driving installation frame penetrates through the window and is installed in a groove on the lower surface of the driving sliding table, and the driving part is fixedly installed on the driving installation frame through a connecting piece such as a bolt and is arranged below the driving sliding table. Two sides of the driving installation frame are arranged on the bottom support of the driving installation frame, and the driving installation frame and the bottom support are in sliding fit; a gasket is arranged between the lower surface of the driving installation frame and the upper surface of the bottom bracket, and the meshing gap of the gear rack can be adjusted. An adjusting bolt fixing frame is fixedly arranged on the driving sliding table at the outer side of the driving installation frame through a connecting piece such as a bolt, a plurality of adjusting bolts are horizontally arranged on the adjusting bolt fixing frame, and the free ends of the adjusting bolts are respectively and movably connected with the side face of the driving installation frame. The horizontal position of the drive mounting 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 this running gear, there are also provided a sensor switch assembly 5 and a stopper 4. The inductive switch assembly is arranged in front of the driving sliding table and used for determining the origin position of the robot travelling mechanism. Limiting blocks are arranged at the front end and the rear end of the walking mechanism base, the moving range of the driving sliding table is limited, a wire passing hole is formed in the robot sliding table, and a cable of an electric component can be passed through an external drag chain unit.
Claims (9)
1. The closed travelling mechanism for the 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 so as to realize the sliding of the driving part; the driving slipway unit is connected with the robot slipway unit through a synchronous driving unit, and the driving slipway unit and the robot slipway unit slide synchronously; the closed unit is buckled between the driving slipway unit and the robot slipway unit to realize the sealing of the driving slipway unit; the drag chain unit is arranged at the outer side of the whole closed unit, and the inner line of the drag chain unit is led out and then is arranged in the drag chain unit;
the robot is arranged on the robot sliding table unit, and walking of the robot is realized through synchronous movement of the robot sliding table unit and the driving sliding table unit;
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 travelling mechanism base respectively, and the driving sliding tables are arranged on the two driving sliding table linear guide rails and are in sliding fit with the two 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 travelling mechanism base, the sliding block connecting seat 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;
The driving adjusting unit is arranged on the driving sliding table and comprises a driving installation frame, an adjusting bolt fixing frame, an adjusting bolt, a gasket and a bottom bracket; the driving sliding table is provided with a window, the driving installation frame passes through the window and is installed in a groove on the lower surface of the driving sliding table, and the driving part is installed on the driving installation frame through a connecting piece; two sides of the driving installation frame are arranged on the bottom support; a gasket is arranged between the lower surface of the driving installation frame and the upper surface of the bottom bracket, and the meshing gap of the gear rack can be adjusted; an adjusting bolt fixing frame is fixedly arranged on the driving sliding table outside the driving installation frame through a connecting piece, a plurality of adjusting bolts are horizontally arranged on the adjusting bolt fixing frame, the free ends of the adjusting bolts are respectively and movably connected with the side face of the driving installation frame, and the water of the adjusting bolts is changed
The horizontal position realizes the adjustment of the horizontal position of the driving installation frame, namely the meshing surface of the transmission gear and the rack is adjusted;
The driving assembly comprises a motor, a speed reducer, a transmission gear and a rack, the rack is fixedly arranged on the upper surface of the base of the travelling mechanism, the motor and the speed reducer are arranged on the driving sliding table, and the transmission gear sleeved at the output end of the speed reducer is in meshed transmission with the rack to realize the movement of the driving sliding table.
2. The closed traveling mechanism for a robot according to claim 1, wherein a robot slide table connecting seat is provided at four corners of the lower surface thereof according to the specification of the robot slide table; and four machine sliding table sliding blocks and sliding block connecting seats matched with the robot sliding table connecting seats are oppositely arranged on the robot sliding table guide rail.
3. The closed traveling mechanism for a robot according to claim 1, wherein the closed unit includes a driving slide table cover, a side cover, and an end cover;
the driving sliding table shield is a U-shaped structure plate body and is arranged between the robot sliding table unit and the driving sliding table unit; the side shields are respectively arranged at two sides of the robot slipway through connecting pieces and are vertically fixed with the lower surface of the robot slipway; the end shields are arranged at the front end and the rear end of the robot travelling mechanism through connecting pieces.
4. A closed travelling mechanism for a robot according to claim 3, wherein both side edges of the driving slipway shield are inserted into a groove between the slider connection seat and the robot slipway connection seat.
5. A closed travelling mechanism for a robot according to claim 3, wherein a shield mounting rack is provided below the shield of the drive slide table, and a lower end of the shield mounting rack is fixedly mounted on the travelling mechanism base.
6. The closed traveling mechanism for a 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 a strip-shaped groove is formed in the middle of the driving rod fixing seat; 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 into the U-shaped groove on the sliding block connecting seat outside the driving sliding table.
7. The closed type traveling mechanism for a robot according to claim 6, wherein the slider connecting seats disposed at both sides of the traveling mechanism base include a long slider connecting seat and a short slider connecting seat; the long slide block connecting seat is provided with a U-shaped groove matched with the synchronous driving rod.
8. The closed traveling mechanism for the robot according to claim 1, wherein a traveling mechanism base is laid on a base surface of a traveling track of the robot, and a robot sliding table guide rail is matched with the traveling mechanism base in length; a plurality of driving sliding table shields are installed on the traveling mechanism base in parallel through shield installation racks to form a closed traveling channel.
9. The closed traveling mechanism for a robot according to claim 8, wherein the robot slipway connecting seat supports the robot slipway straddling the closed traveling passage, and both sides below the robot slipway are connected with the side shields to form a frame body freely moving above the closed 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 CN111360783A (en) | 2020-07-03 |
| CN111360783B true 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 |
|---|---|
| CN (1) | CN111360783B (en) |
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|---|---|---|---|---|
| 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 |
|---|---|
| CN111360783A (en) | 2020-07-03 |
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