CN207593777U - A kind of truss flexibility loading and unloading robot system - Google Patents
A kind of truss flexibility loading and unloading robot system Download PDFInfo
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- CN207593777U CN207593777U CN201721305347.2U CN201721305347U CN207593777U CN 207593777 U CN207593777 U CN 207593777U CN 201721305347 U CN201721305347 U CN 201721305347U CN 207593777 U CN207593777 U CN 207593777U
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- guide rail
- crossbeam
- robot
- industrial robot
- truss
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Abstract
The utility model discloses a kind of truss flexibility loading and unloading robot system, including industrial robot, transverse beam assembly electric machine assembly, columns assemblies, modular assembly and quick change component；The crossbeam supports to form linear crossbeam by columns assemblies；The guide rail is installed on crossbeam side；The laser emitter is installed on one end of guide rail, and the laser pickoff is installed on the other end of guide rail, and judges whether guide rail is horizontal by the laser position of laser pickoff；The guide rail of leveling is locked by adjusting guide rail adjustment bolt guide rail level, and by guide rail fixing bolt；The industrial robot is installed on the side of crossbeam, and end is provided with adapter flange；The quick change component includes fixture and quick-change frame；The fixture is installed on quick-change frame；The industrial robot is connected by adapter flange with fixture.The utility model ensures that guide rail is horizontal, realizes multi-functional more apply, and apparatus structure is compact.
Description
Technical field
This patent is related to a kind of truss robot system more particularly to a kind of truss flexibility loading and unloading robot system.
Background technology
As industry 4.0 constantly sweeps across factory, automatic production line is more and more universal, and more robots have come into
Most of factory.Truss robot is applied in mechanical manufacturing field than wide, possesses that precision is high, speed is fast and positions
The characteristics of quasi-；At present, truss robot system is stringenter to the weight demands for being mounted on the industrial robot on truss, for
Heavier industrial robot, how the truss guide rail of leveling industrial robot walking is into a problem.
Meanwhile truss robot, in mechanical manufacturing field, main function is：Production equipment or production line are assisted, it is real
The feeding of existing material or blanking.For different materials, need using different fixtures, some production lines only need one to two
Kind fixture, but the fixture that some production lines needs are used is then very much, and fixture how to be made to have certain flexibility while is accomplished not
Wasting space is into a problem.
Utility model content
In view of the foregoing drawbacks, it the purpose of this utility model is that proposing a kind of truss flexibility loading and unloading robot system, protects
It is horizontal to demonstrate,prove guide rail, realizes multi-functional more apply, and apparatus structure is compact.
For this purpose, the utility model uses following technical scheme：
A kind of truss flexibility loading and unloading robot system including industrial robot, provides industrial robot moving rail road
Transverse beam assembly, the electric machine assembly of driving industrial robot movement, the columns assemblies of support beam component, detection simultaneously control industrial machine
The modular assembly that device is manually made and the quick change component for replacing material clamp above and below industrial robot；
The transverse beam assembly includes crossbeam, guide rail, tooling and robot installing plate；The crossbeam is supported by columns assemblies
Form linear crossbeam；The guide rail is installed on crossbeam side, and is fixed by tooling；
The modular assembly includes laser emitter and laser pickoff；The laser emitter is installed on the one of guide rail
End, the laser pickoff is installed on the other end of guide rail, and whether judges guide rail by the laser position of laser pickoff
It is horizontal；The guide rail is provided with guide rail fixing bolt and guide rail adjustment bolt, by adjusting guide rail adjustment bolt guide rail water
It is flat, and locked the guide rail of leveling by guide rail fixing bolt；
The industrial robot is installed on the side of crossbeam by robot installing plate, and the industrial robot end is set
It is equipped with adapter flange；The quick change component includes fixture and quick-change frame；The fixture is installed on quick-change frame；The industrial machine
People is connected by adapter flange with fixture.
Preferably, the transverse beam assembly further includes sliding block and helical rack；The upper end of slide block passes through with robot installing plate
Screw is fixedly linked, and the sliding block is matched with guide rail；The robot installing plate is movably arranged in crossbeam by sliding block
Side；The helical rack be fixedly installed between guide rail with guide rail parallel, and the helical rack matches drive with electric machine assembly
Industrial robot is moved along guide rail.
Preferably, the modular assembly further includes line module and sensor assembly；The line module is dragged by multiple
Chain rail installing plate is installed on outside the another side of the crossbeam；The sensor assembly is fixedly installed in by screw on crossbeam；
The working condition of the industrial robot is detected and controlled by the line module and sensor assembly.
Preferably, the electric machine assembly includes：Driving motor, speed reducer, helical gear and motor mounting plate；The driving electricity
Machine is fixedly linked with speed reducer one end；Helical gear, and the other end of the speed reducer are provided on the output shaft of the speed reducer
It is fixedly linked with motor mounting plate；The motor mounting plate is connected with robot installing plate；The helical gear and helical rack are mutual
The mating band industry robot that starts building is moved along guide rail.
Preferably, the columns assemblies include left column, central post and right column；The left column, central post and the right side are stood
Column is from left to right set at equal intervals successively, and is cooperated and supported the crossbeam.
Preferably, the guide rail is straight line rail.
Preferably, the motor mounting plate is provided with the long stripes through hole of installation motor mounting plate adjustment bolt；The electricity
Machine installing plate adjustment bolt is installed in the long stripes through hole, and finely tunes motor mounting plate by motor mounting plate adjustment bolt
Installation site helical gear and helical rack are engaged.
Preferably, the bar shaped groove body of installation slider layering is provided on the robot installing plate；The slider layering peace
Loaded in the bar-shaped trough body, and it is close to the sliding block.
Preferably, the speed reducer is planet-gear speed reducer
Preferably, buffer unit is further included, the buffer unit includes yielding rubber and buffering adhesive pedestal；The robot
The both ends of installing plate are equipped with yielding rubber；Yielding rubber and buffering adhesive pedestal are both provided with outside the guide rail both ends, and is installed
In crossbeam side.
The technique effect of the utility model：Whether the system can detect guide rail horizontal, and itself guide rail can be adjusted to water
It is flat so that the larger industrial robot of weight possesses a horizontal mobile route on guide rail, it is ensured that the larger industry of weight
Robot keeps stable in process of production, improves accuracy；In addition the end of the industrial robot is provided with adapter flange,
The industrial robot is moved to according to the program set on the quick-change frame for being provided with fixture, and the industrial robot is by turning
Acting flange can have directly with the connection of fixture so as to fulfill quickly more slide, and the industrial robot can be by starting
It is uniting to realize fixture and act and fixture it is more sliding, on the other hand also can according to the appropriate addition of different production requirements or
Person reduces quick-change frame and corresponding fixture, and in the case where not needing to more equipment, realization is multi-functional to apply more, realizes fast
Speed replaces fixture, and easy to operate compact-sized.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model one embodiment；
Fig. 2 is the robot installing plate of the utility model one embodiment and the structure diagram of sliding block；
Fig. 3 is the structure diagram of the transverse beam assembly of the utility model one embodiment；
Fig. 4 is the whole front view of the utility model one embodiment；
Fig. 5 is the robot installing plate of the utility model one embodiment and the structure diagram of motor mounting plate；
Fig. 6 is the structure diagram of the motor mounting plate of the utility model one embodiment；
Fig. 7 is the structure diagram of the electric machine assembly of the utility model one embodiment；
Fig. 8 is the partial enlarged view at Fig. 4 A, for display buffer device；
Fig. 9 is the partial enlarged view at Fig. 4 B, for showing guide rail and working plate；
Figure 10 is the partial enlarged view at Fig. 9 c, for showing guide rail fixing bolt and guide rail adjustment bolt；
Figure 11 is the structure diagram of the quick change component of the utility model one embodiment；
Figure 12 is the structure diagram of the fixture of the utility model one embodiment；
Figure 13 is the structure diagram of the line module of the utility model one embodiment；
Figure 14 is the structure diagram of the helical rack of the utility model one embodiment；
Figure 15 is the structure diagram of the sensor assembly of the utility model one embodiment；
Figure 16 is the guide rail of the utility model one embodiment and the structure diagram of sliding block；
Figure 17 is the structure diagram of the laser emitter of the utility model one embodiment；
Figure 18 is the structure diagram of the laser emitter of the utility model one embodiment.
Wherein：Industrial robot 1, electric machine assembly 3, columns assemblies 4, modular assembly 5, quick change component 6, delays transverse beam assembly 2
Flushing device 7, adapter flange 10, crossbeam 20, guide rail 21, tooling 22, robot installing plate 23, sliding block 24, helical rack 25, sliding block pressure
Item 26, speed reducer 31, helical gear 32, motor mounting plate 33, left column 40, central post 41, right column 42, swashs at driving motor 30
Optical transmitting set 50, line module 52, sensor assembly 53, quick-change frame 60, fixture 61, yielding rubber 70, delays laser pickoff 51
Rush glue pedestal 71, guide rail fixing bolt 210, guide rail adjustment bolt 211, bar shaped groove body 230, long stripes through hole 330, motor installation
Plate adjustment bolt 331.
Specific embodiment
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
A kind of truss flexibility loading and unloading robot system including industrial robot 1, provides 1 moving track of industrial robot
20 component 2 of crossbeam, driving industrial robot 1 move electric machine assembly 3,20 component 2 of support beam columns assemblies 4, detection
And control the modular assembly 5 of the work of industrial robot 1 and the quick change component 6 for replacing industrial robot material clamp 61 about 1；
20 component 2 of crossbeam includes crossbeam 20, guide rail 21, tooling 22 and robot installing plate 23；The crossbeam 20 is logical
It crosses the support of columns assemblies 4 and forms linear crossbeam；The guide rail 21 is installed on 20 side of crossbeam, and is fixed by tooling 22；
The modular assembly 5 includes laser emitter 50 and laser pickoff 51；The laser emitter 50, which is installed on, leads
One end of rail 21, the laser pickoff 51 is installed on the other end of guide rail 21, and passes through the laser position of laser pickoff 51
To judge whether guide rail 21 is horizontal；The guide rail 21 is provided with guide rail fixing bolt 210 and guide rail adjustment bolt 211, passes through tune
Guide rail adjustment bolt 211 is saved so that guide rail 21 is horizontal, and the guide rail 21 of leveling is locked by guide rail fixing bolt 210；
The industrial robot 1 is installed on the side of crossbeam 20, and the industrial robot 1 by robot installing plate 23
End is provided with adapter flange 10；The quick change component 6 includes fixture 61 and quick-change frame 60；The fixture 61 is installed on quick-change frame
On 60；The industrial robot 1 is connected by adapter flange 10 with fixture 61.
The crossbeam 20 is supported by columns assemblies 4 and is mounted to linear crossbeam, and guide rail 21 is installed on 20 side of crossbeam
On face and pass through tooling 22 and fix；Laser emitter 50 is installed on to one end of the guide rail 21, laser pickoff 51 is installed
In the other end of guide rail 21, after laser emitter 50 sends out laser, and laser is received by laser pickoff 51, according to received
Position judgment guide rail 21 of the laser on laser pickoff 51 it is whether horizontal, if horizontal, then guide rail 21 is fixed by guide rail
Bolt 210 is fixedly installed in 20 side of crossbeam, if not it is horizontal, then the position of guide rail 21 is finely tuned by guide rail adjustment bolt 211,
Until after guide rail 21 is adjusted to level, i.e., locks and fix by guide rail fixing bolt 210；The system can detect guide rail 21
No level, and itself guide rail 21 can be adjusted to level so that the larger industrial robot 1 of weight possesses one on guide rail 21
Horizontal mobile route, it is ensured that the larger industrial robot 1 of weight keeps stablizing in process of production, improves accuracy；
In addition the end of the industrial robot 1 is provided with adapter flange 10, and the industrial robot 1 is according to having set
Program is moved on the quick-change frame 60 for being provided with fixture 61, the industrial robot 1 by adapter flange 10 can directly with folder
The connection of tool 61, so as to fulfill quickly more slide tool 61, the industrial robot 1 can realize fixture 61 by activation system
And act and fixture 61 it is more sliding, on the other hand also can add or reduce according to the appropriate volume of different production requirements and is fast
Change frame 60 and corresponding fixture 61, then in the case of not needing to more equipment, realize it is multi-functional applies more, realize it is quick more
Fixture 61 is changed, and easy to operate compact-sized.
Further description, 20 component 2 of crossbeam further include sliding block 24 and helical rack 25；24 upper end of sliding block with
Robot installing plate 23 is fixedly linked by screw, and the sliding block 24 is matched with guide rail 21；The robot installing plate 23
20 side of crossbeam is movably arranged in by sliding block 24；The helical rack 25 is fixedly installed in flat with guide rail 21 between guide rail 21
Row, and the helical rack 25 matches with electric machine assembly 3 and industrial robot 1 is driven to be moved along guide rail 21.
20 component 2 of crossbeam further includes sliding block 24 and helical rack 25, because sliding block 24 is worked in coordination with guide rail 21,
And sliding block 24 is relatively fixed with robot installing plate 23, i.e., robot installing plate 23 can be with 24 synchronizing moving of sliding block, and helical teeth
When item 25 and electric machine assembly 3 cooperate, electric machine assembly 3 is with mobile robot installing plate 23 as sliding block 24 is moved up in guide rail 21
It is dynamic, and because industrial robot 1 is installed on robot installing plate 23, i.e., when helical rack 25 is matched with electric machine assembly 3, drive
Industrial robot 1 is moved and is worked along 21 direction of guide rail；On the one hand the industrial robot 1 is pacified by robot installing plate 23
Side loaded on crossbeam 20 and setting is emptied, the area being not take up on ground, and be integrated with the installation of crossbeam 20 so that structure
It is more compact；On the other hand, the guide rail 21 also plays a part of guiding to industrial robot 1, ensures the work of industrial robot 1
The phenomenon that being stable as direction, industrial robot 1 is avoided to deviate, and cause work that can not be normally carried out.
Further description, the modular assembly 5 further include line module 52 and sensor assembly 53；The circuit mould
Block 52 is installed on by multiple drag chain rail installing plates outside the another side of the crossbeam 20；The sensor assembly 53 passes through screw
It is fixedly installed on crossbeam 20；The industrial robot 1 is detected and controlled by the line module 52 and sensor assembly 53
Working condition.
Working condition of the industrial robot 1 on crossbeam 20 is sensed, and the signal is sent out by the sensor assembly 53
It send to line module 52, line module 52 controls the further work of the industrial robot 1 according to the signal received；It is real
Automatic detection and automation processing are showed, have saved a large amount of labour, improve work efficiency.
Further description, the electric machine assembly 3 include：Driving motor 30, speed reducer 31, helical gear 32 and motor peace
Loading board 33；The driving motor 30 is fixedly linked with 31 one end of speed reducer；Helical teeth is provided on the output shaft of the speed reducer 31
Wheel 32, and the other end of the speed reducer 31 is fixedly linked with motor mounting plate 33；The motor mounting plate 33 is pacified with robot
Loading board 23 is connected；The helical gear 32 cooperates with helical rack 25 drives industrial robot 1 to be moved along guide rail 21.
The driving motor 30 drives 32 turns of helical gear after reducing output speed, increase output torque by speed reducer 31
Dynamic, the motor mounting plate 33 is fixedly linked with robot installing plate 23, i.e., when helical gear 32 rotates, the helical gear
32 engage with helical rack 25, and are moved along the direction of the helical rack 25, and helical gear 32 drives entire electric machine assembly 3 at this time
It is moved along the direction of helical rack 25, because motor mounting plate 33 is relatively fixed, and helical rack 25 with robot installing plate 23
Parallel with guide rail 21, i.e., helical gear 32 drives industrial robot 1 to be moved along the direction of guide rail 21, by setting the helical rack
25 engage with helical gear 32 so that the movement of industrial robot 1 is more stable.
Further description, the columns assemblies 4 include left column 40, central post 41 and right column 42；It is described left vertical
Column 40, central post 41 and right column 42 are from left to right set at equal intervals successively, and are cooperated and supported the crossbeam 20.
The left column 40, central post 41 and right column 42 are set at equal intervals, and cooperate to install and support institute
Crossbeam 20 is stated, crossbeam 20 is supported from three end of left, center, right, multiple supporting surfaces are applied to crossbeam 20, are further ensured that the horizontal stroke
The stability of beam 20 avoids crossbeam 20 from occurring the phenomenon that falling down due to stress is excessive at work.
Further description, the guide rail 21 are straight line rail.
Guide rail 21 is designed to the guide rail 21 of linear working method in alignment rather than rail mounted, realizes work
The two ways that the automation processing of industry robot 1 is processed with worker can be converted mutually, and the process of production is made no longer to arrest
Beam improves the flexibility of production process in that can only be worker's processing either processing of robots.
Further description, the motor mounting plate 33 are provided with the strip of installation motor mounting plate adjustment bolt 331
Shape through-hole 330；The motor mounting plate adjustment bolt 331 is installed in the long stripes through hole 330, and passes through motor mounting plate
The installation site that adjustment bolt 331 finely tunes motor mounting plate 33 causes helical gear 32 and helical rack 25 to engage.
The long stripes through hole 330 of installation motor mounting plate adjustment bolt 331 is provided on the motor mounting plate 33, it is described
Motor mounting plate adjustment bolt 331 is arranged in long stripes through hole 330, and its lower end is contacted with robot installing plate 23, initially
It is not fixed between motor mounting plate 33 and robot installing plate 23 during installation, is made by motor mounting plate adjustment bolt 331
Motor mounting plate 33, there are one finely tuning, fastens on robot installing plate 23 when motor mounting plate 33 is adjusted to suitable position
The connection of motor mounting plate 33 and robot installing plate 23, realization helical gear 32 is engaged with helical rack 25, easy to adjust, and is made
The movement for obtaining industrial robot 1 is more stable.
Further description is provided with the bar shaped groove body 230 of installation slider layering 26 on the robot installing plate 23；
The slider layering 26 is installed in the bar shaped groove body 230, and is close to the sliding block 24.
The slider layering 26 is installed in bar shaped groove body 230 and is close to the sliding block 24, plays support slipper 24
Effect so that helical rack 25 and the process of 32 gear motion of helical gear are more steady, reduce helical rack 25 and helical gear 32
Abrasion.
Further description, the speed reducer 31 are planet-gear speed reducer
Planet-gear speed reducer has that structure size is small, and output torque is big, and speed is more reliable than big, efficient, performance safety, weight
Gently, the features such as small, gear range is big, smooth running, low adaptable noise.
Further description, further includes buffer unit 7, and the buffer unit 7 includes yielding rubber 70 and buffering adhesive bottom
Seat 71；The both ends of the robot installing plate 23 are equipped with yielding rubber 70；Buffering rubber is both provided with outside 21 both ends of guide rail
Glue 70 and buffering adhesive pedestal 71, and it is installed on 20 side of crossbeam.
By setting yielding rubber 70 at the both ends of the robot installing plate 23 and being installed at the both ends of guide rail 21
By yielding rubber 70 and buffering adhesive pedestal 71, on the one hand playing the role of limiting prevents in 1 moving process of industrial robot
Crossbeam 20 is detached from, on the other hand plays a part of buffering.
The technical principle of the utility model is described above in association with specific embodiment.These descriptions are intended merely to explain this reality
With novel principle, and it cannot be construed to the limitation to scope of protection of the utility model in any way.Based on explanation herein,
Those skilled in the art would not require any inventive effort the other specific embodiments that can associate the utility model,
These modes are fallen within the scope of protection of the utility model.
Claims (10)
1. a kind of truss flexibility loading and unloading robot system, it is characterised in that：Including industrial robot, provide industrial robot to transport
The transverse beam assembly in dynamic rail road, the electric machine assembly of driving industrial robot movement, the columns assemblies of support beam component, detection are simultaneously controlled
The modular assembly of industrial robot work processed and the quick change component for replacing material clamp above and below industrial robot；
The transverse beam assembly includes crossbeam, guide rail, tooling and robot installing plate；The crossbeam supports to be formed by columns assemblies
Linear crossbeam；The guide rail is installed on crossbeam side, and is fixed by tooling；
The modular assembly includes laser emitter and laser pickoff；The laser emitter is installed on one end of guide rail, institute
The other end that laser pickoff is installed on guide rail is stated, and judges whether guide rail is horizontal by the laser position of laser pickoff；
The guide rail is provided with guide rail fixing bolt and guide rail adjustment bolt, by adjusting guide rail adjustment bolt guide rail level, and
The guide rail of leveling is locked by guide rail fixing bolt；
The industrial robot is installed on the side of crossbeam by robot installing plate, and the industrial robot end is provided with
Adapter flange；The quick change component includes fixture and quick-change frame；The fixture is installed on quick-change frame；The industrial robot leads to
Adapter flange is crossed with fixture to be connected.
2. a kind of truss flexibility loading and unloading robot system according to claim 1, it is characterised in that：The transverse beam assembly
Further include sliding block and helical rack；The upper end of slide block is fixedly linked, and the sliding block is with leading with robot installing plate by screw
Rail matches；The robot installing plate is movably arranged in crossbeam side by sliding block；The helical rack, which is fixedly installed in, leads
Between rail with guide rail parallel, and the helical rack matched with electric machine assembly drive industrial robot moved along guide rail.
3. a kind of truss flexibility loading and unloading robot system according to claim 1, it is characterised in that：The modular assembly
Further include line module and sensor assembly；The line module is installed on the another of the crossbeam by multiple drag chain rail installing plates
Outside one side；The sensor assembly is fixedly installed in by screw on crossbeam；Pass through the line module and sensor assembly
Detect and control the working condition of the industrial robot.
4. a kind of truss flexibility loading and unloading robot system according to claim 2, it is characterised in that：The electric machine assembly
Including：Driving motor, speed reducer, helical gear and motor mounting plate；The driving motor is fixedly linked with speed reducer one end；It is described
Helical gear is provided on the output shaft of speed reducer, and the other end of the speed reducer is fixedly linked with motor mounting plate；The electricity
Machine installing plate is connected with robot installing plate；The helical gear cooperates with helical rack drives industrial robot to be moved along guide rail
It is dynamic.
5. a kind of truss flexibility loading and unloading robot system according to claim 1, it is characterised in that：The columns assemblies
Including left column, central post and right column；The left column, central post and right column are from left to right set at equal intervals successively, and
It cooperates and supports the crossbeam.
6. a kind of truss flexibility loading and unloading robot system according to claim 1, it is characterised in that：The guide rail is straight
Wire type guide rail.
7. a kind of truss flexibility loading and unloading robot system according to claim 1, it is characterised in that：The motor installation
Plate is provided with the long stripes through hole of installation motor mounting plate adjustment bolt；The motor mounting plate adjustment bolt is installed on the length
In strip through-hole, and pass through the installation site helical gear and helical rack of motor mounting plate adjustment bolt fine tuning motor mounting plate
Engagement.
8. a kind of truss flexibility loading and unloading robot system according to claim 3, it is characterised in that：The robot peace
The bar shaped groove body of installation slider layering is provided in loading board；The slider layering is installed in the bar-shaped trough body, and is close to
The sliding block.
9. a kind of truss flexibility loading and unloading robot system according to claim 4, it is characterised in that：The speed reducer is
Planet-gear speed reducer.
10. a kind of truss flexibility loading and unloading robot system according to claim 1, it is characterised in that：Further include buffering
Device, the buffer unit include yielding rubber and buffering adhesive pedestal；The both ends of the robot installing plate are equipped with buffering rubber
Glue；Yielding rubber and buffering adhesive pedestal are both provided with outside the guide rail both ends, and is installed on crossbeam side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721305347.2U CN207593777U (en) | 2017-10-11 | 2017-10-11 | A kind of truss flexibility loading and unloading robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721305347.2U CN207593777U (en) | 2017-10-11 | 2017-10-11 | A kind of truss flexibility loading and unloading robot system |
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| CN207593777U true CN207593777U (en) | 2018-07-10 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627289A (en) * | 2017-10-11 | 2018-01-26 | 佛山市新鹏机器人技术有限公司 | A kind of truss flexibility loading and unloading robot system |
| CN109048961A (en) * | 2018-09-19 | 2018-12-21 | 哈尔滨工业大学 | It can swing and grasp the climbing truss robot and its control method of remote truss rod |
| CN110509313A (en) * | 2019-08-29 | 2019-11-29 | 珠海格力智能装备有限公司 | Robot hangs upside down equipment |
-
2017
- 2017-10-11 CN CN201721305347.2U patent/CN207593777U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627289A (en) * | 2017-10-11 | 2018-01-26 | 佛山市新鹏机器人技术有限公司 | A kind of truss flexibility loading and unloading robot system |
| CN109048961A (en) * | 2018-09-19 | 2018-12-21 | 哈尔滨工业大学 | It can swing and grasp the climbing truss robot and its control method of remote truss rod |
| CN109048961B (en) * | 2018-09-19 | 2021-10-01 | 哈尔滨工业大学 | Truss climbing robot capable of swinging and grabbing remote truss rod and control method thereof |
| CN110509313A (en) * | 2019-08-29 | 2019-11-29 | 珠海格力智能装备有限公司 | Robot hangs upside down equipment |
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Address after: 528225 A1 Factory Building, No. 40 Boai Middle Road, Shishan Town, Nanhai District, Foshan City, Guangdong Province (Residence Declaration) Patentee after: Guangdong Huibo Robot Technology Co., Ltd. Address before: 528225 Room A208 and A209, Research Building A, Nefo High-tech Think Tank Center, Nanhai Software Science Park, Shishan Town, Foshan City, Guangdong Province Patentee before: Xin Peng Robotics Technology Co., Ltd. of Foshan City |