CN106002935A - Robot suspending and moving system - Google Patents
Robot suspending and moving system Download PDFInfo
- Publication number
- CN106002935A CN106002935A CN201610345981.2A CN201610345981A CN106002935A CN 106002935 A CN106002935 A CN 106002935A CN 201610345981 A CN201610345981 A CN 201610345981A CN 106002935 A CN106002935 A CN 106002935A
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- CN
- China
- Prior art keywords
- robot
- mobile
- slide
- support
- supporting leg
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot suspending and moving system and belongs to the technical field of machining. The robot suspending and moving system comprises a support, a moving device and a robot with a clamp. The moving device is arranged on the support. The robot is arranged at the bottom of the moving device. The moving device drives the robot to move. According to the technical scheme, the robot is suspended on a working platform through the robot suspending and moving system; on one hand, space can be saved to the maximum extent; on the other hand, the moving range of the robot can be enlarged, and the working positions which the robot can reach are increased; and accordingly, the requirements for multiple working positions can be met, and the performance of the robot is given full play to.
Description
Technical field
The present invention relates to processing technique field, hang mobile in particular to a kind of robot
System.
Background technology
There is the shortcoming in terms of following two in existing robot: 1, captures shift position inadequate
Accurately；2, the range of activity of robot is limited, it is impossible to meet complexity in actual production processing many
The station demand of sample.
Summary of the invention
It is an object of the invention to provide a kind of robot and hang mobile system, above-mentioned to improve
Problem.
The present invention is achieved in that
The robot that the present invention provides hangs mobile system and includes support, mobile device and with folder
The robot of tool, mobile device is arranged at support, and robot is arranged at the bottom of mobile device,
Mobile device driven machine people move.
With the robot of fixture, fixture does not constitute the restriction to robot scope, actual production
Time can be according to the different robot of actually used Demand Design, therefore, the present invention is applicable to respectively
The carrying of kind of robot, assemble, sort, weld, the field such as spraying.Mobile device can be adopted
With screw component, chain assemblies or tether assemblies etc., can driven machine people exist as long as meeting
On support, the condition of movement is i.e. in the protection domain of the application.Time actually used, support is general
Being installed on work platforms, work platforms can also be arranged at frame bottom, can be according to reality
Demand Design.
Robot hangs on support by mobile device, and mobile device driven machine people is flat in work
Move above platform, compared to existing technology in robot, the activity of robot that the application provides
Wider, it is possible to arrive different positions, meet complicated and diversified work in actual processing
Position demand, and then fully played in the effectiveness of actual processing Zhong Shi robot.
Further, mobile device includes drive mechanism, slide and two slide rails being arranged side by side,
Two slide rails are horizontally set at support and slide respectively and be embedded with slide block, the both sides of slide respectively with
Slide block connects, and robot is arranged at the bottom of slide, and drive mechanism drives slide to slide along slide rail.
Slide is arranged between two slide rails, is slided by slide block between two ends and the slide rail of slide
Connecting, drive mechanism drives slide to move along slide rail, and slide moves band mobile robot and moves together
Dynamic.Slide rail arranges at least two groups, and two groups of slide rails are respectively arranged at the both sides of slide, often organize slide rail
Including at least one slide rail.Scheme provided herein is that often group slide rail includes a slide rail
Implementation.
Further, drive mechanism includes servomotor and screw mandrel, and screw mandrel is laterally movable to be arranged at
Between two slide rails, screw mandrel through slide and is threadeded with slide, driven by servomotor screw mandrel
Rotate.
Servomotor can make control speed, and positional precision is very accurate, can be turned by voltage signal
Turn to torque and rotating speed to drive control object.Servo motor rotor rotating speed is by input signal control
System, and energy fast reaction, in automatic control system, as executive component, and have electromechanics
The characteristics such as time constant is little, the linearity is high, pickup voltage, can be the signal of telecommunication conversion received
Become the angular displacement on motor reel or angular velocity output.
Therefore, use servomotor to combine with screw mandrel, during practical operation, can be by input machine
The actual shift position of device people and then control servomotor, turning by Serve Motor Control screw mandrel
Speed, thus realize being accurately positioned of robot shift position.
Such as, after determining that robot needs the object that the position arrived and needs are dodged, machine is carried out
The emulation detection of device people.According to the robot rotatable angle in each joint, dummy robot
The position that can arrive, and whether can avoiding obstacles.Machine People's Bank of China is optimized according to simulation result
Walk the stroke etc. of mechanism.
Further, support is provided with the displacement transducer of the position for sniffing robot.
Displacement transducer is used for calibration machine people position, by displacement transducer sniffing robot
Position, then feed back to the servomotor position with adjustment robot by information, so that machine
People rests on accurate position, convenient construction.
Further, the terminal of screw mandrel is provided with buffer limit.
Buffer limit is robot protection device when breaking down.Arranging buffer limit can be
Robot or mobile device stop operation in the case of breaking down immediately, improve safe handling
Performance.
Further, support includes top frame and is arranged at many of bottom of top frame
Lower limb, mobile device is arranged at top frame, and robot is positioned at the lower section of top frame.
Robot can be hung on above work platforms by this framework, saves sky to greatest extent
Between, increasing the range of activity of robot, this frame structure is simple simultaneously, easy installation and removal.
Further, the top of support is horizontally arranged with installation frame, and mobile device is arranged at peace
Frame up frame, is vertically provided with multiple telescopic adjustment supporting leg between installation frame and support.
Telescopic adjustment supporting leg can regulate the vertical spacing between installation frame and support, and then adjusts
Vertical spacing between joint robot and work platforms, robot can not only be in transverse plane
Mobile, and can move in a vertical direction, increase the range of activity of robot further,
Meet more station demand, more practicality.
Further, each telescopic adjustment supporting leg includes support leg and mobile supporting leg, supports and props up
Lower limb and mobile supporting leg are hollow cylinder, and support leg is fixed on the top of support, mobile supporting leg
Being fixed on the bottom of installation frame, be provided with hydraulic cylinder in support leg, mobile supporting leg is placed on and props up
Support the outside of supporting leg and be connected with the piston rod of hydraulic cylinder.
Spacing between support leg and mobile supporting leg is regulated by hydraulic cylinder, and hydraulic cylinder is by driving
Move and move down on dynamic mobile supporting leg and realize telescopic adjustment and prop up the change of leg length, and then realize machine
The regulation of the vertical height of people.Mobile supporting leg is placed on the outside of support leg, and mobile supporting leg also may be used
To be sheathed on the inner side of support leg, mobile supporting leg moves up and down along support leg, supports and props up
Lower limb plays the effect of guiding.
Further, frame bottom is provided with work platforms and Hydraulic Station, hydraulic cylinder and Hydraulic Station
Connect.
The flow direction, pressure and the stream that Hydraulic Station can require according to driving means (oil cylinder or motor)
Amount fuel feeding, it is adaptable to driving means separate with Hydraulic Station various mechanically, by Hydraulic Station with drive
Dynamic device oil pipe is connected, and hydraulic system can realize the action of various regulation.Therefore liquid is set
Pressure station, it is possible to control the fuel feeding of hydraulic cylinder according to the information of input, and then control mobile supporting leg
The distance moved up and down, thus according to the length of input instruction regulation telescopic adjustment supporting leg.
Further, support is provided with Mobile mounting rack, and support has been arranged side by side two slideways,
The bottom of Mobile mounting rack is provided with slip supporting leg, and slip supporting leg slides and is embedded in slideway；Move
Dynamic device is arranged at Mobile mounting rack, slide rail and screw mandrel and is all obliquely installed, the mobile route of slide
Intersect with the projection in same transverse plane of the mobile route of Mobile mounting rack or project
Extended line intersects.
" the mobile route of slide " refers to the circuit that slide is formed along the track that slide rail moves,
" the mobile route of Mobile mounting rack " refers to that the track that Mobile mounting rack moves along slideway is formed
Circuit.The mobile route of two intersects, and makes robot can not only move along slide rail, and
And can move along slideway, further increase the range of activity of robot.
Slide rail and screw mandrel are obliquely installed, and can regulate again the vertical height of robot in vertical direction,
Again increase the range of activity of robot, meet the station demand of more complexity, improve processing raw
The work efficiency produced.
Beneficial effects of the present invention: the robot that the technical program provides hangs mobile system by machine
Device people hangs on work platforms, on the one hand can save space, the opposing party to greatest extent
Face can increase the range of activity of robot, increases its accessibility operating position such that it is able to
Adapt to the demand of multiple station, and then give full play to the performance of robot.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be in embodiment
The required accompanying drawing used is briefly described, it will be appreciated that the following drawings illustrate only this
Some embodiment of invention, is therefore not construed as the restriction to scope, general for this area
From the point of view of logical technical staff, on the premise of not paying creative work, it is also possible to attached according to these
Figure obtains the accompanying drawing that other are relevant.
The overall structure that Fig. 1 hangs mobile system for the robot that the embodiment of the present invention provides is shown
It is intended to；
Fig. 2 is the front view that the robot shown in Fig. 1 hangs mobile system；
Fig. 3 is the side view that the robot shown in Fig. 1 hangs mobile system；
Fig. 4 is the top view that the robot shown in Fig. 1 hangs mobile system；
Fig. 5 hangs the second structure of mobile system for the robot that the embodiment of the present invention provides
Front view；
Fig. 6 hangs the third structure of mobile system for the robot that the embodiment of the present invention provides
Front view；
Fig. 7 hangs the 4th kind of structure of mobile system for the robot that the embodiment of the present invention provides
Front view；
Fig. 8 is the top view that the robot shown in Fig. 7 hangs mobile system.
In figure:
Support 101；Robot 103；Slide 105；Slide rail 106；Slide block 107；Servo electricity
Machine 108；Screw mandrel 109；Displacement transducer 200；Buffer limit 201；Top frame 202；
Supporting leg 203；Installation frame 204；Telescopic adjustment supporting leg 205；Support leg 206；Mobile
Lower limb 207；Hydraulic Station 209；Mobile mounting rack 300；Slideway 301；Slip supporting leg 302；Folder
Tool 303.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below will knot
Close the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear,
Be fully described by, it is clear that described embodiment be a part of embodiment of the present invention rather than
Whole embodiments.Generally herein described in accompanying drawing and the assembly of the embodiment of the present invention that illustrates
Can arrange with various different configurations and design.
Therefore, detailed description not purport to the embodiments of the invention provided in the accompanying drawings below
Limit the scope of claimed invention, but be merely representative of the selected enforcement of the present invention
Example.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creativeness
The every other embodiment obtained under work premise, broadly falls into the scope of protection of the invention.
It should also be noted that similar label and letter expression similar terms in following accompanying drawing, therefore,
The most a certain Xiang Yi accompanying drawing is defined, then need not it is carried out in accompanying drawing subsequently
Definition and explanation further.
In describing the invention, it should be noted that term " laterally ", " vertically " etc. refer to
The orientation shown or position relationship are based on orientation shown in the drawings or position relationship, or this
The orientation usually put during the use of bright product or position relationship, be for only for ease of the description present invention
Describe rather than indicate or imply that the device of indication or element must have specific side with simplifying
Position, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
In describing the invention, in addition it is also necessary to explanation, unless otherwise clear and definite regulation and limit
Fixed, term " is arranged ", " connection " should be interpreted broadly, and connects for example, it may be fixing,
Can also be to removably connect, or be integrally connected；Can be to be mechanically connected, it is also possible to be electricity
Connect；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two
The connection of element internal.For the ordinary skill in the art, can manage with concrete condition
Solve above-mentioned term concrete meaning in the present invention.
Embodiment 1, referring to figs. 1 through Fig. 4.
As it is shown in figure 1, the robot 103 that the present embodiment provides hangs mobile system and includes support
101, mobile device and the robot 103 with fixture 303, mobile device is arranged at support
101, robot 103 is arranged at the bottom of mobile device, mobile device driven machine people 103
Mobile.
With the robot 103 of fixture 303, fixture 303 is not constituted robot 103 scope
Restriction, during actual production can according to the different robot 103 of actually used Demand Design,
Therefore, the present invention is applicable to the carrying of various robot 103, assembles, sorts, welds, sprays
The fields such as painting.Mobile device can use screw mandrel 109 assembly, chain assemblies or tether assemblies
Deng, if meet can driven machine people 103 on support 101 condition of movement i.e. in this Shen
In protection domain please.Time actually used, support 101 is generally mounted on work platforms, work
Make platform and can also be arranged at bottom support 101, can design according to the actual requirements.
Robot 103 hangs on support 101, mobile device driven machine people by mobile device
103 move above work platforms, compared to existing technology in robot 103, the application carries
The range of activity of the robot 103 of confession is wider, it is possible to arrive different positions, meets actual adding
Work produce in complicated and diversified station demand, and then in actual processing Zhong Shi robot 103
Effectiveness fully played.
Wherein, as the preferred implementation of the present embodiment, as shown in Figure 4, mobile device bag
Including drive mechanism, slide 105 and two slide rails 106 being arranged side by side, two slide rails 106 are horizontal
To being arranged at support 101 and sliding respectively and be embedded with slide block 107, the both sides of slide 105 are respectively
Being connected with slide block 107, robot 103 is arranged at the bottom of slide 105, and drive mechanism drives
Slide 105 slides along slide rail 106.
Slide 105 is arranged between two slide rails 106, the two ends of slide 105 and slide rail 106
Between be slidably connected by slide block 107, drive mechanism drives slide 105 along slide rail 106
Mobile, slide 105 moves band mobile robot 103 and moves together.Slide rail 106 arranges at least two
Group, two groups of slide rails 106 are respectively arranged at the both sides of slide 105, often group slide rail 106 include to
A few slide rail 106.Scheme provided herein includes a slide rail for often group slide rail 106
The implementation of 106.
Wherein, the implementation that drive mechanism in the application is the most following, as shown in Figure 4,
Drive mechanism includes servomotor 108 and screw mandrel 109, and screw mandrel 109 is laterally movable is arranged at two
Between individual slide rail 106, screw mandrel 109 through slide 105 and is threadeded with slide 105, watches
Taking motor 108 drives screw mandrel 109 to rotate.
Servomotor 108 can make control speed, and positional precision is very accurate, can be believed by voltage
Number it is converted into torque and rotating speed to drive control object.Servomotor 108 rotor speed is inputted
Signal controls, and energy fast reaction, in automatic control system, as executive component, and tool
The characteristics such as Organic Electricity time constant is little, the linearity is high, pickup voltage, can be the telecommunications received
Number angular displacement being converted on motor reel or angular velocity output.
Therefore, use servomotor 108 to combine with screw mandrel 109, during practical operation, Ke Yitong
Cross the actual shift position of input robot 103 and then control servomotor 108, passing through servo
Motor 108 controls the rotating speed of screw mandrel 109, thus realizes the accurate of robot 103 shift position
Location.
Such as, after determining that robot 103 needs the object that the position arrived and needs are dodged, enter
The emulation detection of row robot 103.According to the robot 103 rotatable angle in each joint,
The position that dummy robot 103 can arrive, and whether can avoiding obstacles.According to emulation knot
Fruit optimizes the stroke etc. of robot 103 walking mechanism.
Support 101 is provided with the displacement transducer 200 for the position of sniffing robot 103.
Displacement transducer 200, for calibration machine people 103 position, is detected by displacement transducer 200
The position of robot 103, then feed back to servomotor 108 to adjust robot by information
The position of 103, so that robot 103 rests on accurate position, convenient construction.
The terminal of screw mandrel 109 is provided with buffer limit 201.Buffer limit 201 is robot 103
Protection device when breaking down.Arranging buffer limit 201 can be in robot 103 or shifting
Dynamic device stops operation in the case of breaking down immediately, improves safe application performance.
As shown in Figures 2 and 3, support 101 includes top frame 202 and is arranged at top frame
Many supporting legs 203 of the bottom of frame 202, mobile device is arranged at top frame 202, machine
People 103 is positioned at the lower section of top frame 202.Robot 103 can be hung on work by this framework
Make above platform, save space to greatest extent, increase the range of activity of robot 103, with
Time this frame structure simple, easy installation and removal.
Embodiment 2, with reference to Fig. 5 and Fig. 6.
The top that the robot 103 that the present embodiment provides hangs the support 101 in mobile system is horizontal
To being provided with installation frame 204, mobile device is arranged at installation frame 204, installation frame 204
And it is vertically provided with multiple telescopic adjustment supporting leg 205 between support 101.
It is vertical that telescopic adjustment supporting leg 205 can regulate between installation frame 204 and support 101
Vertical spacing between spacing, and then regulation robot 103 and work platforms, robot 103
Can not only move in transverse plane, and can move in a vertical direction, increase further
The range of activity of big robot 103, meets more station demand, more practicality.
As it is shown in figure 5, each telescopic adjustment supporting leg 205 includes that support leg 206 is propped up with mobile
Lower limb 207, support leg 206 and mobile supporting leg 207 are hollow cylinder, support leg 206
Being fixed on the top of support 101, mobile supporting leg 207 is fixed on the bottom of installation frame 204,
Being provided with hydraulic cylinder in support leg 206, mobile supporting leg 207 is placed on outside support leg 206
Side and being connected with the piston rod of hydraulic cylinder.
Spacing between support leg 206 and mobile supporting leg 207 is regulated by hydraulic cylinder, hydraulic pressure
Cylinder realizes the change of telescopic adjustment supporting leg 205 length by moving and move down on the mobile supporting leg 207 of driving
Change, and then realize the regulation of the vertical height of robot 103.Mobile supporting leg 207 is placed on support
The outside of supporting leg 206, mobile supporting leg 207 can also be sheathed on the inner side of support leg 206,
Mobile supporting leg 207 moves up and down along support leg 206, and support leg 206 plays guiding
Effect.
In order to realize Based Intelligent Control, as shown in Figure 6, it is provided with work platforms bottom support 101
With Hydraulic Station 209, hydraulic cylinder is connected with Hydraulic Station 209.Hydraulic Station 209 can be according to driving
The flow direction, pressure and the flow fuel feeding that dynamic device (oil cylinder or motor) requires, it is adaptable to drive dress
Put separate with Hydraulic Station 209 various mechanically, by Hydraulic Station 209 and driving means oil pipe
Being connected, hydraulic system can realize the action of various regulation.Therefore Hydraulic Station 209, energy are set
The enough information according to input controls the fuel feeding of hydraulic cylinder, and then controls the upper and lower of mobile supporting leg 207
The distance of movement, thus according to the length of input instruction regulation telescopic adjustment supporting leg 205.
Embodiment 3, with reference to Fig. 7 to Fig. 8.
As shown in Figure 7 and Figure 8, the robot 103 that the present embodiment provides hangs in mobile system
Support 101 be provided with Mobile mounting rack 300, support 101 has been arranged side by side two slideways
301, the bottom of Mobile mounting rack 300 is provided with slip supporting leg 302, and slip supporting leg 302 is sliding
Move and be embedded in slideway 301；Mobile device is arranged at Mobile mounting rack 300, slide rail 106 He
Screw mandrel 109 is all obliquely installed, the mobile route of slide 105 and the movement of Mobile mounting rack 300
Route projection in same transverse plane is intersected or the extended line of projection intersects.
" the mobile route of slide 105 " refers to the track that slide 105 moves along slide rail 106
The circuit formed, " the mobile route of Mobile mounting rack 300 " refers to Mobile mounting rack 300 edge
The circuit of the track formation that slideway 301 moves.The mobile route of two intersects, and makes robot
103 can not only move along slide rail 106, and can move along slideway 301, enter one
Step increases the range of activity of robot 103.
Slide rail 106 and screw mandrel 109 are obliquely installed, and can regulate robot 103 in vertical direction again
Vertical height, again increase robot 103 range of activity, meet the station of more complexity
Demand, improves the work efficiency of processing.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention,
For a person skilled in the art, the present invention can have various modifications and variations.All at this
Within the spirit of invention and principle, any modification, equivalent substitution and improvement etc. made, all should
Within being included in protection scope of the present invention.
Claims (10)
1. a robot hangs mobile system, it is characterised in that include support, mobile dress
Put and with the robot of fixture, described mobile device is arranged at described support, described robot
Being arranged at the bottom of described mobile device, described mobile device drives described robot to move.
Robot the most according to claim 1 hangs mobile system, it is characterised in that
Described mobile device includes drive mechanism, slide and two slide rails being arranged side by side, described in two
Slide rail be horizontally set at described support and respectively slide be embedded with slide block, the both sides of described slide are divided
Not being connected with described slide block, described robot is arranged at the bottom of described slide, described driving machine
Structure drives described slide to slide along described slide rail.
Robot the most according to claim 2 hangs mobile system, it is characterised in that
Described drive mechanism includes servomotor and screw mandrel, and described screw mandrel is laterally movable is arranged at two institutes
State between slide rail, described screw mandrel through described slide and threadeding with described slide, described in watch
Taking motor drives described screw mandrel to rotate.
Robot the most according to claim 1 hangs mobile system, it is characterised in that
Described support is provided with the displacement transducer of the position for detecting described robot.
Robot the most according to claim 3 hangs mobile system, it is characterised in that
The terminal of described screw mandrel is provided with buffer limit.
Robot the most according to claim 1 hangs mobile system, it is characterised in that
Described support includes top frame and many supporting legs of the bottom being arranged at described top frame, institute
Stating mobile device and be arranged at described top frame, described robot is positioned under described top frame
Side.
Robot the most according to claim 1 hangs mobile system, it is characterised in that
The top of described support is horizontally arranged with installation frame, and described mobile device is arranged at described installation
Framework, is vertically provided with multiple telescopic adjustment supporting leg between described installation frame and described support.
Robot the most according to claim 7 hangs mobile system, it is characterised in that
Each described telescopic adjustment supporting leg includes support leg and mobile supporting leg, described support leg and institute
Stating mobile supporting leg and be hollow cylinder, described support leg is fixed on the top of described support, institute
State mobile supporting leg and be fixed on the bottom of described installation frame, in described support leg, be provided with hydraulic pressure
Cylinder, described mobile supporting leg be placed on described support leg outside and with the piston rod of described hydraulic cylinder
Connect.
Robot the most according to claim 8 hangs mobile system, it is characterised in that
Described frame bottom is provided with work platforms and Hydraulic Station, and described hydraulic cylinder is with described Hydraulic Station even
Connect.
Robot the most according to claim 3 hangs mobile system, it is characterised in that
Described support is provided with Mobile mounting rack, and described support has been arranged side by side two slideways, described shifting
The bottom of dynamic installing rack is provided with slip supporting leg, and described slip supporting leg slides and is embedded at described slideway
In；Described mobile device is arranged at described Mobile mounting rack, described slide rail and described screw mandrel and all inclines
Tiltedly arranging, the mobile route of described slide and the mobile route of described Mobile mounting rack are at same horizontal stroke
Projection in plane is intersected or the extended line of projection intersects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610345981.2A CN106002935A (en) | 2016-05-23 | 2016-05-23 | Robot suspending and moving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610345981.2A CN106002935A (en) | 2016-05-23 | 2016-05-23 | Robot suspending and moving system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106002935A true CN106002935A (en) | 2016-10-12 |
Family
ID=57097032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610345981.2A Pending CN106002935A (en) | 2016-05-23 | 2016-05-23 | Robot suspending and moving system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106002935A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346633A (en) * | 2016-11-09 | 2017-01-25 | 天津京万科技有限公司 | Mixing film single- or multi-station automatic gripping system |
| CN108066903A (en) * | 2017-12-28 | 2018-05-25 | 宋世鹏 | A kind of suspension type radiotherapy system |
| CN108637555A (en) * | 2018-06-28 | 2018-10-12 | 若元（天津）自动化设备科技有限公司 | A kind of mobile condenser discharge welder suspension arrangement |
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| CN201872276U (en) * | 2010-11-15 | 2011-06-22 | 乐山市亚轮模具有限公司 | Capsule type segmented mold vulcanizing machine |
| CN204819563U (en) * | 2015-07-28 | 2015-12-02 | 深圳市创盈时代科技有限公司 | Multidirectional arm |
| CN204868318U (en) * | 2015-08-18 | 2015-12-16 | 大连云腾机械制造有限公司 | Manipulator guide rail running gear |
| US20160101527A1 (en) * | 2014-03-31 | 2016-04-14 | Sony Corporation | Industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201120611Y (en) * | 2007-10-30 | 2008-09-24 | 安长龙 | Rivet delivering mechanical arm |
| CN201872276U (en) * | 2010-11-15 | 2011-06-22 | 乐山市亚轮模具有限公司 | Capsule type segmented mold vulcanizing machine |
| US20160101527A1 (en) * | 2014-03-31 | 2016-04-14 | Sony Corporation | Industrial robot |
| CN204819563U (en) * | 2015-07-28 | 2015-12-02 | 深圳市创盈时代科技有限公司 | Multidirectional arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346633A (en) * | 2016-11-09 | 2017-01-25 | 天津京万科技有限公司 | Mixing film single- or multi-station automatic gripping system |
| CN106346633B (en) * | 2016-11-09 | 2019-12-10 | 天津万向新元科技有限公司 | automatic grasping system for single or multiple stations of rubber compound sheet |
| CN108066903A (en) * | 2017-12-28 | 2018-05-25 | 宋世鹏 | A kind of suspension type radiotherapy system |
| CN108637555A (en) * | 2018-06-28 | 2018-10-12 | 若元（天津）自动化设备科技有限公司 | A kind of mobile condenser discharge welder suspension arrangement |
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Application publication date: 20161012 |