CN208557474U - Two axis parallel robots and cargo movement system - Google Patents
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- CN208557474U CN208557474U CN201721897499.6U CN201721897499U CN208557474U CN 208557474 U CN208557474 U CN 208557474U CN 201721897499 U CN201721897499 U CN 201721897499U CN 208557474 U CN208557474 U CN 208557474U
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- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical group C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 239000000835 fiber Substances 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
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- 230000000386 athletic effect Effects 0.000 description 3
- 229910052799 carbon Inorganic materials 0.000 description 3
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model provides two axis parallel robots of one kind and cargo movement system, is related to robotic technology field.The moving platform that two axis parallel robots, which include fixed platform, the transmission branch chain being rotatablely connected with the side of fixed platform and transmission branch chain, to be rotatablely connected far from one end of fixed platform and the balance branch being rotatablely connected respectively with fixed platform and moving platform；There are two transmission branch chain settings, and two transmission branch chains are set in same plane, also, two transmission branch chains are symmetrical arranged relative to the vertical centerline of fixed platform；Transmission branch chain includes the forearm being rotatablely connected with the large arm of fixed platform rotation connection and respectively with large arm and moving platform, the volume for solving traditional robot existing in the prior art is larger, higher cost, it cannot achieve the technical issues of heavy load high speed is carried, higher precision and rigidity can be obtained using two axis parallel robots, realize heavy load high speed transport operation, and structure is simple, small volume reduces costs.
Description
Technical field
The utility model relates to robotic technology fields, carry system more particularly, to a kind of two axis parallel robots and cargo
System.
Background technique
In the industries such as automation, light industry, food and medical treatment, it usually needs robot completes such as to carry, cases, inserts
The characteristics of operations such as dress, encapsulation and packaging, number of degrees of freedom, required for moving is few, these operations is: accurate resetting
High, movement velocity height, movement for reciprocating motion and do not change posture during the motion.These tasks are completed now mostly uses string
The robot that online structure is constituted, this kind of artificial open loop structure of machine, a movement arm concatenate a movement arm, each movement arm movement
Inertia is bigger, and specific stiffness is low, it is therefore desirable to and movement arm is made and guarantees its rigidity greatly very much, it in this way can be to the function of driving motor
More stringent requirements are proposed for rate and torque factor, is influenced by motor characteristic, and the speed of service is difficult to further increase, limitation
The raising of production efficiency, in order to further increase the performance of this kind of robot, some parallel robots based on parallel institution
Also it is put forward one after another.
Parallel robot mechanism is a kind of close loop mechanism, and the disconnected actuator of moving platform or end is independent by least two
Kinematic chain is connected with fixed platform.Compared with serial mechanism, parallel institution is high with rigidity, precision is high, dynamic performance is good, knot
The advantages that structure is compact, therefore at the end of the seventies to the beginning of the eighties, parallel institution is used as the mechanism of industrial robot.Currently, simultaneously
Online structure is increasingly paid attention in the industries such as lathe, inching operation platform, robot and torque sensor, flight simulator.
But existing parallel robot is mostly three axis, four Zhou Deng multi-parallel robot of three-plus-one axis, feature be tool there are three and with
Upper freedom degree, but disadvantage is also obvious, installation volume is big, and it is expensive, it cannot achieve the heavy load high speed of 50kg or more
It carries, and causes resource using traditional 3-dof parallel robot in the simple operating conditions of movements such as some vannings
Waste.
Utility model content
The purpose of this utility model is to provide a kind of two axis parallel robots and cargo movement systems, to solve existing skill
The volume of traditional robot present in art is larger, higher cost, cannot achieve the technical issues of heavy load high speed is carried.
Two axis parallel robot provided by the utility model includes fixed platform, is rotatablely connected with the side of the fixed platform
Transmission branch chain, with the transmission branch chain far from the fixed platform one end be rotatablely connected for clamp object moving platform and
Respectively be rotatablely connected with the fixed platform and the moving platform for making the moving platform, holding is horizontal during the motion
Balance branch；
There are two the transmission branch chain settings, and two transmission branch chains are set in same plane, also, two biographies
Dynamic branch is symmetrical arranged relative to the vertical centerline of the fixed platform；
The transmission branch chain include with the large arm of fixed platform rotation connection and respectively with the large arm and described dynamic
The forearm of platform rotation connection.
Further, there are two the balance branch settings, two balance branches are set to the one of the fixed platform
Side, and two balance branches the fixed platform vertical center of the projection relative to the fixed platform planar
Line is symmetrical arranged；
Two balance branches are respectively arranged in Different Plane, also, two balance branches be respectively arranged on it is described
The two sides of transmission branch chain.
Further, it is described balance branch include with the fixed platform rotation connection upper balancing pole and respectively with it is described
The lower balancing pole of upper balancing pole and moving platform rotation connection.
Further, the upper balancing pole and the lower balancing pole and the large arm and the forearm pass through fixed angles
Rotation connection；
The fixed platform, the large arm, the fixed angles and the upper balancing pole constitute parallelogram sturcutre, described solid
Determine angle, the forearm, the moving platform and the lower balancing pole and constitutes parallelogram sturcutre.
Further, the fixed angles are triangular structure, the upper balancing pole, the lower balancing pole and the large arm
It is rotatablely connected respectively with three vertex of the fixed angles with the junction of the forearm.
Further, the large arm is curved rod, is equipped with multiple through-holes along the extending direction of the large arm in the large arm.
Further, the material of the forearm is carbon fibre materials.
It further, further include being connected with the fixed platform and the large arm respectively for driving the large arm to rotate
Driving mechanism.
It further, further include the control opened and closed for controlling the driving mechanism being connected with the driving mechanism
Device processed.
Cargo movement system provided by the utility model, it is in parallel including two axis as described in any one of above-mentioned technical proposal
Robot.
Two axis parallel robot provided by the utility model includes fixed platform, transmission branch chain, moving platform and balance branch.
Fixed platform with external equipment for being connected, to facilitate the installation and removal of two axis parallel robots, to realize two axis parallel machines
The normal operation of device people.Different according to the job specification of two axis parallel robots, the motion conditions of fixed platform are also different, example
As fixed platform is fixedly connected or fixed platform does relative motion relative to external equipment with external equipment.Meanwhile fixed platform is to biography
Dynamic branch and balance branch play supporting role, are the skeletons of entire two axis parallel robot, have ensured two axis parallel manipulators
The normal operation of people.
Transmission branch chain is set to the side of fixed platform, and transmission branch chain and fixed platform are rotatablely connected, and transmission branch chain being capable of phase
Junction rotation for transmission branch chain and fixed platform, moving platform and transmission branch chain are rotatablely connected far from one end of fixed platform, are moved
Platform, so that the movement of transmission branch chain be made to be able to drive the movement of moving platform, completes moving platform corresponding for clamping object
Job task.
Specifically, two transmission branch chains are set in the same side of fixed platform, also, two there are two transmission branch chain settings
A transmission branch chain is set in same plane to guarantee that two axis parallel robots move in certain planar range, meanwhile, two biographies
Dynamic branch is symmetrical arranged relative to the vertical centerline of fixed platform, so that two transmission branch chains guarantee transmission branch in linkage
The rigidity of chain improves kinematic accuracy.Two transmission branch chains constitute independent kinematic chain with fixed platform and moving platform respectively, to constitute
Parallel system realizes the heavy load of two axis parallel robots so that two axis parallel robots be made to obtain higher precision and rigidity
High speed transport operation.
Each transmission branch chain includes large arm and forearm, and large arm and fixed platform are rotatablely connected, and the both ends of forearm are respectively and greatly
The free end of arm and moving platform rotation connection, to make the movement of the rotation drive forearm of large arm, the movement of forearm be can be realized
The translational motion of moving platform, structure is simple, connection and reasonable arrangement, and small volume, reduces costs.
Moving platform needs the athletic posture of held stationary in translation motion, to favorably accomplish the job tasks such as carrying,
The structure of two axis parallel robots further includes balance branch, and balance branch is rotatablely connected with fixed platform and moving platform respectively, utilizes
Balance branch can remain horizontal to guarantee moving platform during the motion, ensure that two axis parallel robots can continue
Stable operation.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is that structure when two axis parallel robot provided by the embodiment of the utility model is in the first working condition is shown
It is intended to；
Fig. 2 is that structure when two axis parallel robot provided by the embodiment of the utility model is in second of working condition is shown
It is intended to；
The left view of Fig. 3 Fig. 1；
Fig. 4 is the perspective view of two axis parallel robot provided by the embodiment of the utility model.
Icon: 100- fixed platform；200- transmission branch chain；300- moving platform；400- balances branch；500- fixed angles；600-
Through-hole；700- driving mechanism；210- large arm；220- forearm；The upper balancing pole of 410-；Balancing pole under 420-.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
In the description of the present invention, it should be noted that such as occur term " center ", "upper", "lower", " left side ",
" right side ", "vertical", "horizontal", "inner", "outside" etc., indicated by orientation or positional relationship be orientation based on the figure or
Positional relationship is merely for convenience of describing the present invention and simplifying the description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, such as there is term " first ", " second ", " third " are used for description purposes only, be not understood to indicate or imply opposite
Importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, such as there is term
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Embodiment 1 and embodiment 2 are described in detail with reference to the accompanying drawing:
Fig. 1 is that structure when two axis parallel robot provided by the embodiment of the utility model is in the first working condition is shown
It is intended to；Fig. 2 is structural representation when two axis parallel robot provided by the embodiment of the utility model is in second of working condition
Figure；The left view of Fig. 3 Fig. 1；Fig. 4 is the perspective view figure of two axis parallel robot provided by the embodiment of the utility model.
Embodiment 1
Please with reference to Fig. 1-4, present embodiments provide a kind of two axis parallel robots, including fixed platform 100, with allocate
The transmission branch chain 200 of the side rotation connection of platform 100, the use being rotatablely connected with transmission branch chain 200 far from one end of fixed platform 100
In clamping object moving platform 300 and respectively be rotatablely connected with fixed platform 100 and moving platform 300 for making moving platform 300
Horizontal balance branch 400 is kept during the motion, specifically:
There are two the settings of transmission branch chain 200, and two transmission branch chains 200 are set in same plane, also, two transmission branch chains
200 relative to fixed platform 100 vertical centerline be symmetrical arranged；
Transmission branch chain 200 include with fixed platform 100 be rotatablely connected large arm 210 and respectively with large arm 210 and moving platform
The forearm 220 of 300 rotation connections.
Two axis parallel robots include fixed platform 100, transmission branch chain 200, moving platform 300 and balance branch 400.It allocates
Platform 100 with external equipment for being connected, to facilitate the installation and removal of two axis parallel robots, to realize two axis parallel manipulators
The normal operation of people.Different according to the job specification of two axis parallel robots, the motion conditions of fixed platform 100 are also different,
Such as fixed platform 100 is fixedly connected with external equipment or fixed platform 100 does relative motion relative to external equipment.Meanwhile it is fixed
Platform 100 plays supporting role to transmission branch chain 200 and balance branch 400, is the skeleton of entire two axis parallel robot, protects
The normal operation of two axis parallel robots is hindered.
Transmission branch chain 200 is set to the side of fixed platform 100, and transmission branch chain 200 and fixed platform 100 are rotatablely connected, and are passed
Dynamic branch 200 can be rotated relative to the junction of transmission branch chain 200 and fixed platform 100, moving platform 300 and transmission branch chain 200
One end far from fixed platform 100 is rotatablely connected, and moving platform 300 is for clamping object, to enable the movement of transmission branch chain 200
The movement for driving moving platform 300, makes moving platform 300 complete corresponding job task.
Specifically, two transmission branch chains 200 are set to the same side of fixed platform 100 there are two the settings of transmission branch chain 200
It is interior, also, two transmission branch chains 200 are set in same plane to guarantee that two axis parallel robots are transported in certain planar range
It is dynamic, meanwhile, two transmission branch chains 200 are symmetrical arranged relative to the vertical centerline of fixed platform 100, so that two transmission branch chains
200 guarantee the rigidity of transmission branch chain 200 in linkage, improve kinematic accuracy.Two transmission branch chains 200 respectively with fixed platform
100 and moving platform 300 constitute independent kinematic chain, to constitute parallel system, thus make two axis parallel robots obtain it is higher
Precision and rigidity realize the heavy load high speed transport operation of two axis parallel robots.
Each transmission branch chain 200 includes large arm 210 and forearm 220, and large arm 210 and fixed platform 100 are rotatablely connected, forearm
220 both ends are rotatablely connected with the free end of large arm 210 and moving platform 300 respectively, so that the rotation of large arm 210 be made to drive forearm
220 movement, the movement of forearm 220 can be realized the translational motion of moving platform 300, and structure is simple, connection and reasonable arrangement, and volume compared with
It is small, it reduces costs.
Moving platform 300 needs the athletic posture of held stationary in translation motion, is appointed with favorably accomplishing the operations such as carrying
Business, as depicted in figs. 1 and 2, the structure of two axis parallel robots further include balance branch 400, balance branch 400 respectively with allocate
Platform 100 and moving platform 300 are rotatablely connected, and when two axis parallel robots are in different working conditions, utilize balance branch 400
It can guarantee that moving platform 300 remains horizontal during the motion, ensure that two axis parallel robots can be continual and steady
Operation.
In a kind of specific embodiment, there are two the balance settings of branch 400, and two balance branches 400 are set on allocating
The side of platform 100 is set to the same side of fixed platform 100 with transmission branch chain 200, and two balance branches 400 are in fixed platform
100 projection planar be symmetrical arranged relative to the vertical centerline of fixed platform 100, balance branch 400 and transmission branch chain
200 position is corresponding, the balance of common guarantee moving platform 300 during the motion.Two balance branches 400 are respectively arranged on not
In coplanar, also, two balance branches 400 are respectively arranged on the two sides of transmission branch chain 200, i.e., two balance branch 400 difference
In former and later two planes of 200 place plane of transmission branch chain, two transmission branch chains 200 and two balance branches 400 with
Moving platform 300 is connected, in the same plane due to two transmission branch chains 200, and transmission branch chain 200 and two balance branches 400
It is located in three planes, so that the end vertical of two transmission branch chains 200 and two balance branches 400 is arranged in a crossed manner in dynamic
The surrounding of platform 300, so that the stress of moving platform 300 is more reasonable, it is easier to guarantee that moving platform 300 is kept in translation motion
Stable athletic posture makes moving platform 300 remain horizontal during the motion.
Specifically, balance branch 400 includes upper balancing pole 410 and lower balancing pole 420, upper balancing pole 410 and fixed platform 100
Rotation connection, lower balancing pole 420 are rotatablely connected with upper balancing pole 410 and moving platform 300 respectively.Being set to for upper balancing pole 410 is big
The top of arm 210, lower balancing pole 420 are set to the inside of forearm 220, the movement of balancing pole 410 are made to be able to drive lower balancing pole
420 movement, while large arm 210 drives the movement of forearm 220, two forearms 220 and two lower balancing poles 420 are put down with dynamic respectively
Platform 300 is connected, and convenient for transmission branch chain 200 and balance 400 work compound of branch, guarantees the robust motion of moving platform 300.
For the robust motion for further increasing moving platform 300, upper balancing pole 410 and lower balancing pole 420 and large arm 210
It is rotatablely connected by fixed angles 500 with forearm 220, i.e., balance branch 400 and transmission branch chain 200 rotate in middle position connects
It connects, so that forming parallelogram sturcutre, forearm between large arm 210, upper balancing pole 410 and fixed platform 100 and fixed angles 500
220, form parallelogram sturcutre between lower balancing pole 420 and moving platform 300 and fixed angles 500, thus make fixed angles 500 with
The posture of fixed platform 100 is consistent, and moving platform 300 is consistent with the posture of fixed angles 500, to guarantee that moving platform 300 can only translate
Movement and posture does not change, by driving large arm 210 rotate, make large arm 210 drive fixed angles 500 move, fixed angles 500
Position change with respect to fixed platform 100, but posture remains unchanged, and passes through the geometrical constraint of mechanism itself, so that dynamic
The position of platform 300 also and then changes, and realizes the translational motion of two axis parallel robots, has ensured that two axis parallel robots move
Stationarity.
Specifically, fixed angles 500 are triangular structure, and triangle uses arc-shaped side on one side, reduces fixed angles 500
Volume, triangular structure also can be used frame structure, reduce the self weight of fixed angles 500, upper balancing pole 410, lower balancing pole 420 with
And the junction of large arm 210 and forearm 220 is rotatablely connected with three vertex of fixed angles 500 respectively, upper balancing pole 410 with it is lower flat
The bar 420 that weighs is hinged with fixed angles 500 respectively, and large arm 210 and forearm 220 are hinged, and junction is hinged with fixed angles 500 simultaneously, from
And transmission branch chain 200 is connected with balance branch 400, so that transmission branch chain 200 and the balance cooperation of branch 400 is realized two axis parallel machines
The stationarity of device people movement, ensures the normal operation of two axis parallel robots.
In the optinal plan of the present embodiment, large arm 210 is curved rod, and curved rod structure is beautiful, and stress is good, Neng Gouti
The rigidity of high two axis parallel robot is equipped with multiple through-holes 600 along the extending direction of large arm 210 in large arm 210, reduces large arm
210 weight reduces costs to keep dead load small, and through-hole 600 can be round hole, so that structure is beautiful, improves stress
Performance.
In the optinal plan of the present embodiment, the material of forearm 220 is carbon fibre materials, and carbon fiber is that a kind of phosphorus content exists
95% or more high intensity, the new fiber materials of high modulus fibre.It is by organic fibers such as flake graphites along fiber
Axial direction is piled up, through microcrystalline graphite material obtained from carbonization and graphitization processing.Carbon fiber " soft outside but hard inside ", quality
It is lighter than metallic aluminium, but intensity is higher than steel, and has corrosion-resistant, high-modulus characteristic, since carbon fibre material has gently
And strong, light and rigid, high temperature resistant, corrosion-resistant, endurance, structure size stability is good and design is good, can large area integral into
The features such as type, is used widely in the every field of aerospace, defence and military and civilian industry.
In a kind of specific embodiment, two axis parallel robots further include driving mechanism 700, and driving mechanism 700 is distinguished
It is connected with fixed platform 100 and large arm 210, and for driving large arm 210 to rotate.Driving mechanism 700 may include driving motor and with
The connected retarder of driving motor, the output end of retarder are connected with large arm 210, there are two driving mechanism 700 is also provided with, distinguish
It is connected with two large arm 210, drives transmission branch chain 200 to move by driving motor, so that it is flat to be able to carry out moving platform 300
Shifting movement is with the task of fulfiling assignment.
In another specific embodiment, two axis parallel robots further include control device, control device and driving machine
Structure 700 is connected, and opens and closes for controlling driving mechanism 700, controls two axis parallel manipulators using control device to realize
The movement of people improves kinematic accuracy, ensures that operation is stablized and carries out.
Embodiment 2
A kind of cargo movement system is present embodiments provided, including two axis parallel robots in embodiment 1.Cargo is carried
System may also include rack rail, and fixed platform 100 is set on rack rail, and can be slided on rack rail, to realize goods
The carrying of object.
Two transmission branch chains 200 of two axis parallel robots constitute independent fortune with fixed platform 100 and moving platform 300 respectively
Dynamic chain, so that two axis parallel robots be made to obtain higher precision and rigidity, realizes two axis parallel manipulators to constitute parallel system
The heavy load high speed transport operation of people, while each transmission branch chain 200 includes large arm 210 and forearm 220, large arm 210 and fixed
Platform 100 is rotatablely connected, and the both ends of forearm 220 are rotatablely connected with the free end of large arm 210 and moving platform 300 respectively, to make
The rotation of large arm 210 drives the movement of forearm 220, and the movement of forearm 220 can be realized the translational motion of moving platform 300, structure
Simply, connection and reasonable arrangement, and small volume, reduce costs, and guarantee moving platform 300 in motion process using balance branch 400
In can remain horizontal, ensure that the operation that two axis parallel robots can be continual and steady.More than finally, it should be noted that
Each embodiment is only to illustrate the technical solution of the utility model, rather than its limitations；Although referring to foregoing embodiments to this
Utility model is described in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified, or equivalent substitution of some or all of the technical features；And these
It modifies or replaces, the scope of the technical solutions of the embodiments of the utility model that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of two axis parallel robots, which is characterized in that the biography being rotatablely connected including fixed platform, with the side of the fixed platform
It moves the moving platform for being used to clamp object of one end rotation connection of branch and the transmission branch chain far from the fixed platform and divides
Be not rotatablely connected with the fixed platform and the moving platform for making the moving platform horizontal flat of holding during the motion
Weigh branch；
There are two the transmission branch chain settings, and two transmission branch chains are set in same plane, also, two transmission branch
Chain is symmetrical arranged relative to the vertical centerline of the fixed platform；
The transmission branch chain include with the fixed platform rotation connection large arm and respectively with the large arm and the moving platform
The forearm of rotation connection.
2. two axis parallel robot according to claim 1, which is characterized in that there are two the balance branch settings, and two
A balance branch is set to the side of the fixed platform, and two balance branches are in plane where the fixed platform
Interior projection is symmetrical arranged relative to the vertical centerline of the fixed platform；
Two balance branches are respectively arranged in Different Plane, also, two balance branches are respectively arranged on the transmission
The two sides of branch.
3. two axis parallel robot according to claim 2, which is characterized in that the balance branch includes allocating with described
The upper balancing pole of platform rotation connection and the lower balancing pole being rotatablely connected respectively with the upper balancing pole and the moving platform.
4. two axis parallel robot according to claim 3, which is characterized in that the upper balancing pole and the lower balancing pole
And the large arm and the forearm are rotatablely connected by fixed angles；
The fixed platform, the large arm, the fixed angles and the upper balancing pole constitute parallelogram sturcutre, the fixation
Angle, the forearm, the moving platform and the lower balancing pole constitute parallelogram sturcutre.
5. two axis parallel robot according to claim 4, which is characterized in that the fixed angles are triangular structure, institute
It is pushed up respectively with three of the fixed angles junction for stating balancing pole, the lower balancing pole and the large arm and the forearm
Point rotation connection.
6. two axis parallel robot according to claim 1, which is characterized in that the large arm is curved rod, the large arm
On along the large arm extending direction be equipped with multiple through-holes.
7. two axis parallel robot according to claim 1, which is characterized in that the material of the forearm is carbon fiber material
Matter.
8. two axis parallel robot described in any one of -7 according to claim 1, which is characterized in that further include respectively with it is described
The driving mechanism for driving the large arm to rotate that fixed platform is connected with the large arm.
9. two axis parallel robot according to claim 8, which is characterized in that further include being connected with the driving mechanism
The control device opened and closed for controlling the driving mechanism.
10. a kind of cargo movement system, which is characterized in that including two axis parallel machine as claimed in any one of claims 1-9 wherein
Device people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721897499.6U CN208557474U (en) | 2017-12-29 | 2017-12-29 | Two axis parallel robots and cargo movement system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721897499.6U CN208557474U (en) | 2017-12-29 | 2017-12-29 | Two axis parallel robots and cargo movement system |
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| CN208557474U true CN208557474U (en) | 2019-03-01 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962556A (en) * | 2017-12-29 | 2018-04-27 | 勃肯特（天津）机器人技术有限公司 | Two axis parallel robots and cargo movement system |
| CN113319811A (en) * | 2021-01-12 | 2021-08-31 | 山东理工大学 | Double-guide-rail type planar robot with revolute pairs |
-
2017
- 2017-12-29 CN CN201721897499.6U patent/CN208557474U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962556A (en) * | 2017-12-29 | 2018-04-27 | 勃肯特（天津）机器人技术有限公司 | Two axis parallel robots and cargo movement system |
| CN113319811A (en) * | 2021-01-12 | 2021-08-31 | 山东理工大学 | Double-guide-rail type planar robot with revolute pairs |
| CN113319811B (en) * | 2021-01-12 | 2022-03-29 | 山东理工大学 | Double-guide-rail type planar robot with revolute pairs |
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