GB2274719A - X-y workhead positioning device - Google Patents

X-y workhead positioning device Download PDF

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Publication number
GB2274719A
GB2274719A GB9323977A GB9323977A GB2274719A GB 2274719 A GB2274719 A GB 2274719A GB 9323977 A GB9323977 A GB 9323977A GB 9323977 A GB9323977 A GB 9323977A GB 2274719 A GB2274719 A GB 2274719A
Authority
GB
United Kingdom
Prior art keywords
workhead
pulleys
drive device
drive means
rollers
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
GB9323977A
Other versions
GB9323977D0 (en
Inventor
Quentin Rice
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of GB9323977D0 publication Critical patent/GB9323977D0/en
Publication of GB2274719A publication Critical patent/GB2274719A/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
    • B43L—ARTICLES FOR WRITING OR DRAWING UPON; WRITING OR DRAWING AIDS; ACCESSORIES FOR WRITING OR DRAWING
    • B43L13/00—Drawing instruments, or writing or drawing appliances or accessories not otherwise provided for
    • B43L13/02—Draughting machines or drawing devices for keeping parallelism
    • B43L13/04—Guides for rulers
    • B43L13/046—Guides for rulers with cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
    • B23Q1/621—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D15/00—Component parts of recorders for measuring arrangements not specially adapted for a specific variable
    • G01D15/24—Drives for recording elements and surfaces not covered by G01D5/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D9/00—Recording measured values
    • G01D9/40—Producing one or more recordings, each recording being produced by controlling either the recording element, e.g. stylus or the recording medium, e.g. paper roll, in accordance with two or more variables
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F16H2019/069—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member with means for generating two superposed movements, e.g. for driving a X-Y table

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transmission Devices (AREA)

Abstract

An X-Y drive device for positioning a workhead by planar movement in two dimensions comprising flexible drive means 12 on an arrangement of at least 8 pulleys forming a substantially H-shaped configuration and an beam 9 movable along the Y axis and forming the crossbar of the H on which is mounted workhead 10 which is clamped to drive means 12 and movable along the X axis, and further characterised in that two driven pulleys 1, 2 are disposed at the ends of two arms of the H. Drive means 12 may be a belt, chain or wire and the beam 9 may be mounted on a table or on rollers riding on tubular supports (Figs. 4, 8). The beam and workhead may ride on electrically conductive rollers. Possible applications are in X-Y plotters, flat bed drills or routers, surface applications, flat bed scanners (eg fax machines), moving beam machines, chemical autosamples and engraving tools. <IMAGE>

Description

X-Y DRIVE This invention is concerned with the provision of an actuatin2 mechanism, for positioning a workhead by planar movement in two dimensions, usually known in the art as an X-Y drive device. The workhead may, for example, be an engraving tool movable relative to a workpiece.
According to the present invention an X-Y drive device is provided for positioning a workhead by planar movement in two dimensions wherein the device comprises a movable beam on which the workhead can be mounted and flexible drive means to which the workhead can be connected characterised in that the flexible drive means is extended over an arrangement of pulleys including two fixed power-driven pulleys and at least six freely mounted pulleys four of which are on the movable beam, the disposition of the nllleys being such that the flexible drive means forms a substant ially H-shaped configuration with two of the projecting arms of the H extending in one direction and the other two projecting arms of the H extending in the other or opposite direction and the beam forming the crossbar of the H, and further characterised in that the two driven pulleys are disposed at the ends of the arms of the H extending in said one direction and two of the freely mounted pulleys are disposed at the ends of the two arms of the H extending in said opposite direction. The flexible drive means may be a belt, a chain, a wire or other suitable means and the H shaped configuration of the drive means has several advantages for example the power driven pulleys are preferably static and need not be mounted on movable parts of the mechanism and the number of precision made parts is reduced to a minimum. It is also an advantage to be able to use, for example, a single drive belt as the flexible drive means. The H shaped configuration of the drive means and the pulleys provides an X-Y drive device of mathematical simplicity, even in applications which require a high degree of precision.
Possible applications for the actuating mechanism described herein include workheads such as X-Y plotters, flat bed drills or routers, surface applicators (e.g. for glues or paints), flat bed scanners (e.g. fax machined), moving beam machines (e.g. small gantry cranes), chemical autosamplers, engraving tools, and so on.
In order that the invention may be more clearly understood reference is now directed to the accompanying drawings given by way of example, in which: Figure 1 is a diagrammatic illustration of a basic layout of a flexible drive means arranged in an H shaped configuration in accordance with this invention, Figure 2 is a diagrammatic view of part of an engineering example of an actuating mechanism according to the invention, for use with a flatbed plotter, Figure 3 is view similar to Figure 1, the driving means being operable to position a slidable workhead which rides on a movable beam and the drive means being clamped to the workhead, Figure 4 is a detail pictorial view with the beam supported on rollers, Figures 5, 6 and 7 illustrate by means of arrows the possible X and Y movements, Figure 8 is a pictorial view of a flat bed plotter operated in accordance with the invention, and Figure 9 is a view showing how beam support rollers may be placed on the outside of the supports.
Referring particularly to Figure 1, the flexible drive means is in the form of a long belt 12 formed ipto an H shaped configuration by passing over two fixed power driven, e.g. motorised, pulleys 1, 2 and six free pulleys 3, 4, 5, 6, 7. 8. A bam 9 is movable on the Y axis as shown by the Y arrow and a workhead 10 is movable along the beam 9 on the X axis as shown by the arrow X, the workhead 10 being clamped to the drive belt 12. In this example moturs indicated by arrows A and B are provided to drive the fixed driven pulleys 1 and 2.
The principle of operation is relatively simple in that the X movement is achieved by turning both pulleys 1, 2, in the same direction and the Y movement is achieved by turning the pulleys 1, 2, in the opposite directions.
The formula for the rotation of the A motor and thus of the pulley 1 is A = X-Y ard the formula for the rotation of the B motor and thus of the pulley 2 is B = X+Y.
In the above formulae, X and Y are axis movements and not the positions. This is similar to standard X and Y movements except that these are normally combined rather than applying to separate motor movements. Thus it is possible to use existing software with minor modifications in computer controlled operation.
In nperation the verticals of the H configuration defined by the belt 12 being extended over pulleys (1 and 7) and (2 and 8) must be substantially parallel but do not have to be the same length or even in the same vertical position and the belt can be tensioned by adjusting either pulley 7 or 8.
The beam should be rigid in order to withstand the pulley tensions which would tend to pull a cantalevered pulley to one side and pulleys 3, 4, 5, 6 should preferably be placed on a single lateral plane to minimise twisting which could lift or distort the beam. All the freerunning pulleys should have a minimal tension and wherever possible steps should to taken to reduce friction.The beam should preferably have a low mass to reduce inertia in order to enable the beam and workhead to be movable relatively quickly The beam 9 may be mounted on a supporting table in such a way as to withstand sideways movement, possibly caused by vibration and/or friction but rigid mounting of the beam is not normally necessary as the tensions within the H shaped configuration of the flexible drive means may be sufficient in most cases to effect allignment of the beam 9.
Alternatively the beam 9 may be mounted on supporting rails preferably closely coupled together to minimise crabbing.
The flexible drive means 12 must be able to withstand the tensioning required to effect the X Y movements with the minimum of stretch, howevPr the tension does not need to be high as errors caused by slack will be cancelled out.
Since the overall distances may be relatively large special timing belts or a steel or other strong wire may sometimes be needed.
The supporting table or base plate should be rigid between the vertical pulleys 1 and 7 and 2 and 8 but horizontal bracing is not normally needed because horizontal stresses are taken up by the beam. The actual work surface may be light but should not flex during operation.
The embodiment of the invention shown diagrammatically in Figure 2 is intended for use with a flat bed plotter.
The drive supports may be tubular as there will be no lateral tension but considerable horizontal strength is preferably provided as the tensions tend to pull the ends of the beam together. In this embodiment the beam and the workhead are supported by concave pulleys which may be conductive to allow a single power supply to be connected to the workhead without special wire connectors, the beam support tubes being insulated at one end to facilitate this arrangement.
As described above and as shown diagrammatically in Figure 3 the invention provides an X-Y positioning device which uses two power driven pulleys 1 and 2 and a single continuous drive belt or other flexible drive means 12 to position a slidable workhead 10 which rides on a movable beam 9. The belt 12 is fixed to the workhead 10 by a clamp 11 and the power driven pulleys 1, 2 and the free pulleys 7, 8 are nollnted on a supporting table 13, belt tension being adjusted by moving pulley 7 or 8 towards or away from pulleys 1 or 2. As described pulleys 1 and 2 provide movement for both axes, movement in the horizontal X axis being provided by turning the pulleys 1, 2 in the same direction and movement in the vertical Y axis being provided by turning the pulleys 1, 2 in the opposite directions.The vertical axes defined by pulleys 1, 3, 5, 7 and 2, 4, 6, 8 being as nearly parallel as possible. There is virtually no horizontal tension between pulleys 1, 2 or 7, 8, the only significant horizontal tension being on the beam 9 itself so virtually the only strength required is on the vertical planes between pulleys 1 and 7, 2 and 8.
To sum up at this stage it will be understood that the invention provides a positioning device which uses a single flexible drive band or other suitable drive means powered by e.g. two motors to provide movement on both axes simultaneously. The design requires that strength need only be applied on one axis, and that the angular position of the moving member is determined by the coupling to the tubular supports. This results in reduced cost and complexity and a reduced requirement for precise engineering.
Figure 4 is a detail pictorial view showing how the beam 9 can be supported on rollers 14 which ride on tubular supports 15.
Figures 5, 6 and 7 respectively give details of X and Y movements and combined movements. In Figure 5 the X movement is achieved by rotating the motors in the same direction, counter clockwise to move the workhead to the left and clockwise to move the workhead to the right. All parts of the belt 12 will be moving and the workhead will move but the beam 9 will be stationary because there is nothing to induce movement of the beam.
In Figure 6 the Y movement is achieved by rotating the motors in opposite directions so that the beam will be moved up or down on the Y axis. There will be substantially no movement of the belt between the beam pulleys, so to move the beam up to Figure 6 the left hand motor 1 is turned counterclockwise and the right hand motor 2 is turned clockwise and vice versa to move the beam down.
In Figure 7, in order to produce combined movements the left hand motor 1 is stationary and the right hand motor 2 is turned clockwise. The result will be that the workhead will be moved at 450 towards the top right as indicated by the large arrow. The left hand portion of the belt 12 will not move as the belt 12 will be taken up by and fed out from the beam.
Figure 8 is a pictorial view of a flatbed plotter, in accordance with the invention, in which the beam and workhead are supported on rollers which ride on tubular or other supports. The beam and workhead rollers may be electrically conductive so that power applied to the beam supports is conducted to the opposing workhead supports and then to the workhead itself. This arrangement allows a single power supply to be connected to the workhead without wire connectors, the beam supports being insulated to facilitate this arrangement.
Figure 9 shows how the beam support rollers may be placed on the outside of the supports.

Claims (9)

1. An X-Y drive device for positioning a workhead by planar movement in two dimensions wherein the device comprises a movable beam on which the workhead can be mounted and flexible drive means to which the workhead can can be connected characterised in that the flexible drive means is extended over an arrangement of pulleys including two fixed power-driven pulleys and at least six freely mounted pulleys four of which are on the movable beam, the disposition of the pulleys being such that the flexible drive means forms a substantially H-shaped configuration with two of the projecting arms of the H extending in one direction and the other two projecting arms of the H extending in the other or opposite direction and the beam forming the crossbar of the H, and further characterised in that the two driven pulleys are disposed at the ends of the two arms of the H extending in said opposite direction.
2. An X-Y drive device according to claims 1 wherein the flexible drive means comprises a belt, or a chain, or a wire.
3. An X-Y drive device according to claims 1 or 2 wherein the beam has a relatively low mass in order that the beam and workhead are movable relatively quickly.
4. An X-Y drive device according to any of the preceding claims wherein the beam is mounted on a supporting table in such a way as to withstand sideways movement.
5. An X-Y drive device according to any of the preceding claims wherein the beam is supported on rollers which ride on tubular or other supports.
6. An X-Y drive device according to claim 5 wherein the beam support rollers are disposed on the outside of the supports.
7. An X-Y drive device according to claim 5 or claim 6 connected to a workhead wherein both the beam and the workhead are supported on electrically conductive rollers.
8. An operating tool such as an engraver provided with an X-Y drive device according to any of the preceding claims.
9. An X-Y drive device substantially as hereinbefore described with reference to the accompanying drawings.
GB9323977A 1993-01-29 1993-11-22 X-y workhead positioning device Withdrawn GB2274719A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB9301787A GB9301787D0 (en) 1993-01-29 1993-01-29 X-y drive

Publications (2)

Publication Number Publication Date
GB9323977D0 GB9323977D0 (en) 1994-01-12
GB2274719A true GB2274719A (en) 1994-08-03

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GB9301787A Pending GB9301787D0 (en) 1993-01-29 1993-01-29 X-y drive
GB9323977A Withdrawn GB2274719A (en) 1993-01-29 1993-11-22 X-y workhead positioning device

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GB9301787A Pending GB9301787D0 (en) 1993-01-29 1993-01-29 X-y drive

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5539987A (en) * 1994-06-08 1996-07-30 Mitsuba Electric Mfg. Co., Ltd. X-Y carriage moving system
US5690567A (en) * 1995-11-03 1997-11-25 Brown & Sharpe Manufacturing Company Transmission for converting rotary motion into linear motion
GB2315553A (en) * 1996-07-25 1998-02-04 David Thomas Weller Co-ordinate pointing device for use in marking sheet material
EP0881820A2 (en) * 1997-05-30 1998-12-02 Investronica Sistemas S.A. Flat bed raster drawing machine
WO2000052359A1 (en) * 1999-02-26 2000-09-08 Siemens Dematic Ag Drive means for a positioning arm
EP1088617A1 (en) * 1999-09-28 2001-04-04 Ocean Machinery Co., Ltd. Object moving system and method of using the same
GB2391535A (en) * 2002-08-07 2004-02-11 John Michael Brennan H-shaped slider system
US20130078073A1 (en) * 2011-09-23 2013-03-28 Stratasys, Inc. Gantry assembly for use in additive manufacturing system
WO2014092645A1 (en) * 2012-12-10 2014-06-19 Nanyang Technological University An apparatus for upper body movement
WO2015003838A1 (en) * 2013-07-12 2015-01-15 Tetra Laval Holdings & Finance S.A. A divider arrangement for guiding packages between at least two conveyor belts, and method of controlling the same
CN104827467A (en) * 2015-05-08 2015-08-12 浙江工业大学 Plane two-freedom moving device
CN106122406A (en) * 2016-08-09 2016-11-16 杨晨晨 Mechanical driving structure and there is the device of this mechanical transmission structure
EP3248582A1 (en) * 2016-05-27 2017-11-29 NEOFECT Co., Ltd. Rehabilitation training apparatus
WO2020109508A1 (en) * 2018-11-29 2020-06-04 Laboratoire Francais Du Fractionnement Et Des Biotechnologies Sampling device for sampling from a surface of an industrial vessel without requiring a person to descend into an industrial vessel, using a swab
BE1030388B1 (en) * 2023-05-17 2024-05-15 Univ Shanghai A multifunctional upper limb rehabilitation robot and a corresponding rehabilitation method
US12025539B2 (en) 2018-11-29 2024-07-02 Laboratoire Français Du Fractionnement Et Des Biotechnologies Sampling device for sampling from a surface of an industrial vessel without requiring a person to descend into an industrial vessel, using a swab

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3529481A (en) * 1968-03-27 1970-09-22 Boleslaw L Budzyn Chain drive system for mobile loading platform or for two- or three-dimensional indexing
GB2002910A (en) * 1977-07-25 1979-02-28 Lectra Systemes Sa Positioning and position sensing apparatus
US4327596A (en) * 1979-07-27 1982-05-04 Beta Engineering & Development Ltd. Multi-axes positioning system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3529481A (en) * 1968-03-27 1970-09-22 Boleslaw L Budzyn Chain drive system for mobile loading platform or for two- or three-dimensional indexing
GB2002910A (en) * 1977-07-25 1979-02-28 Lectra Systemes Sa Positioning and position sensing apparatus
US4327596A (en) * 1979-07-27 1982-05-04 Beta Engineering & Development Ltd. Multi-axes positioning system

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5539987A (en) * 1994-06-08 1996-07-30 Mitsuba Electric Mfg. Co., Ltd. X-Y carriage moving system
US5690567A (en) * 1995-11-03 1997-11-25 Brown & Sharpe Manufacturing Company Transmission for converting rotary motion into linear motion
GB2315553A (en) * 1996-07-25 1998-02-04 David Thomas Weller Co-ordinate pointing device for use in marking sheet material
EP0881820A2 (en) * 1997-05-30 1998-12-02 Investronica Sistemas S.A. Flat bed raster drawing machine
EP0881820A3 (en) * 1997-05-30 2000-02-23 Investronica Sistemas S.A. Flat bed raster drawing machine
US6361134B1 (en) 1997-05-30 2002-03-26 Investronica Sistemas, S.A. Flat bed raster drawing machine
WO2000052359A1 (en) * 1999-02-26 2000-09-08 Siemens Dematic Ag Drive means for a positioning arm
EP1088617A1 (en) * 1999-09-28 2001-04-04 Ocean Machinery Co., Ltd. Object moving system and method of using the same
GB2391535A (en) * 2002-08-07 2004-02-11 John Michael Brennan H-shaped slider system
US9108360B2 (en) * 2011-09-23 2015-08-18 Stratasys, Inc. Gantry assembly for use in additive manufacturing system
US20130078073A1 (en) * 2011-09-23 2013-03-28 Stratasys, Inc. Gantry assembly for use in additive manufacturing system
US20150302777A1 (en) * 2012-12-10 2015-10-22 Nanyang Technological University An apparatus for upper body movement
US9847045B2 (en) * 2012-12-10 2017-12-19 Nanyang Technological University Apparatus for upper body movement
EP2928568A4 (en) * 2012-12-10 2016-08-31 Univ Nanyang Tech An apparatus for upper body movement
WO2014092645A1 (en) * 2012-12-10 2014-06-19 Nanyang Technological University An apparatus for upper body movement
WO2015003838A1 (en) * 2013-07-12 2015-01-15 Tetra Laval Holdings & Finance S.A. A divider arrangement for guiding packages between at least two conveyor belts, and method of controlling the same
JP2016523786A (en) * 2013-07-12 2016-08-12 テトラ・ラヴァル・ホールディングス・アンド・ファイナンス・ソシエテ・アノニムＴｅｔｒａ Ｌａｖａｌ Ｈｏｌｄｉｎｇｓ ＆ Ｆｉｎａｎｃｅ Ｓ．Ａ． Dispensing device for guiding containers between at least two conveyor belts and method for controlling the dispensing device
US9745144B2 (en) 2013-07-12 2017-08-29 Tetra Laval Holdings & Finance S.A. Divider arrangement for guiding packages between at least two conveyor belts, and method of controlling the same
CN104827467A (en) * 2015-05-08 2015-08-12 浙江工业大学 Plane two-freedom moving device
EP3300775A4 (en) * 2016-05-27 2019-04-03 NEOFECT Co., Ltd. Rehabilitation training apparatus
EP3248582A1 (en) * 2016-05-27 2017-11-29 NEOFECT Co., Ltd. Rehabilitation training apparatus
EP3583930A1 (en) * 2016-05-27 2019-12-25 NEOFECT Co., Ltd. Rehabilitation training apparatus
EP3733144A1 (en) * 2016-05-27 2020-11-04 NEOFECT Co., Ltd. Rehabilitation training apparatus
US11529538B2 (en) 2016-05-27 2022-12-20 Neofect Co., Ltd. Rehabilitation training apparatus
CN106122406A (en) * 2016-08-09 2016-11-16 杨晨晨 Mechanical driving structure and there is the device of this mechanical transmission structure
WO2020109508A1 (en) * 2018-11-29 2020-06-04 Laboratoire Francais Du Fractionnement Et Des Biotechnologies Sampling device for sampling from a surface of an industrial vessel without requiring a person to descend into an industrial vessel, using a swab
US12025539B2 (en) 2018-11-29 2024-07-02 Laboratoire Français Du Fractionnement Et Des Biotechnologies Sampling device for sampling from a surface of an industrial vessel without requiring a person to descend into an industrial vessel, using a swab
BE1030388B1 (en) * 2023-05-17 2024-05-15 Univ Shanghai A multifunctional upper limb rehabilitation robot and a corresponding rehabilitation method

Also Published As

Publication number Publication date
GB9323977D0 (en) 1994-01-12
GB9301787D0 (en) 1993-03-17

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