JPH0224036A - Moving device - Google Patents
Moving deviceInfo
- Publication number
- JPH0224036A JPH0224036A JP16938888A JP16938888A JPH0224036A JP H0224036 A JPH0224036 A JP H0224036A JP 16938888 A JP16938888 A JP 16938888A JP 16938888 A JP16938888 A JP 16938888A JP H0224036 A JPH0224036 A JP H0224036A
- Authority
- JP
- Japan
- Prior art keywords
- pressure
- driving roller
- pressure welding
- roller
- spring
- 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.)
- Pending
Links
- 230000005856 abnormality Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 238000003466 welding Methods 0.000 abstract 11
- 230000002950 deficient Effects 0.000 abstract 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は移動機構に関し、詳しくは、工業用ロボットや
ＮＣ工作機械等に使用され、精密な直線運動か要求され
る移動機構に関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a moving mechanism, and more particularly to a moving mechanism that is used in industrial robots, NC machine tools, etc. and requires precise linear motion.
［従来の技術］
従来、この種の機械に使用される移動機構としては、例
えば複数の摩擦ローラの組合せで棹部材を挾持し、棹部
材を移動させるようにした特開昭６１−１１７０４３号
公報に開示されている類のものや、ボールねしを使用し
、ねじに螺合させたナツト部材を移動体側に取付けて、
ねじを回転駆動させることにより移動体をボールねしに
沿って移動させるようにしたものか知られている。[Prior Art] Conventionally, as a moving mechanism used in this type of machine, for example, Japanese Patent Application Laid-Open No. 117043/1989 discloses a mechanism in which a rod member is held by a combination of a plurality of friction rollers and the rod member is moved. Using the type disclosed in , or a ball screw, attach a nut member screwed onto a screw to the moving body side,
It is known that a moving body is moved along a ball screw by rotationally driving a screw.
工作機械の送り装置として移動体をガイドバーに沿って
摩擦ローラによる摩擦駆動する装置として特公昭５Ｂ−
５４９４８号公報及び特開昭６１−２３０８３５号公報
か知られている。又本出願人の先願に係る考案として実
願昭６２−１１３８６７号かある。Special Publication Showa 5B as a device for frictionally driving a moving body along a guide bar using a friction roller as a feeding device for machine tools.
No. 54948 and Japanese Unexamined Patent Publication No. 61-230835 are known. There is also Utility Model Application No. 113867/1983 as a device related to the applicant's earlier application.
［実施例の説明］ 第１図乃至第 図は本発明の第１の実施例を示す。[Explanation of Examples] 1 to 1 show a first embodiment of the present invention.
図において、１６は固定ベース、１８Ａ。In the figure, 16 is a fixed base and 18A.
１８Ｂは固定ベース１６上に固定し移動台２０の移動方
向に伸びて設けた第１及び第２のガイトレールを示す。Reference numeral 18B indicates first and second guide rails fixed on the fixed base 16 and extending in the moving direction of the movable table 20.
２２はガイドバーを示し、該ガイドバー２２はガイドバ
ー保持部材２４Ａ、２４Ｂ （不図示）によって両端を
支持されて固定ベース１６の上面より浮上して張設され
ている。Reference numeral 22 indicates a guide bar, and the guide bar 22 is suspended from the upper surface of the fixed base 16 with both ends supported by guide bar holding members 24A and 24B (not shown).
移動台２０は２枚の板、上板２０Ａと下板２０Ｂと、上
板と下板のスペーサー２０Ｃ。The moving table 20 has two plates, an upper plate 20A and a lower plate 20B, and a spacer 20C between the upper plate and the lower plate.
２０Ｃと及び、下板２０Ｂの下面に取り付けてガイトレ
ール１８Ａ、１８Ｂと嵌合する摺動部材２０Ｄ、２０Ｄ
・・・と後述する摩擦機構を保持するハウジング２０Ｅ
等から構成する。前記ハウジング２０Ｅは第３図に示す
ように円筒中空形状と成し、その側面に開口部を設ける
。前記ハウジング２０Ｅは中空円筒本体２０Ｅ、の筒部
側面に開口を設け、筒部上部には移動台の上板２０Ａと
係合する鍔部２０Ｅ２を設ける。20C, and sliding members 20D and 20D that are attached to the lower surface of the lower plate 20B and fit with the guide rails 18A and 18B.
... and a housing 20E that holds a friction mechanism to be described later.
Consists of etc. The housing 20E has a hollow cylindrical shape as shown in FIG. 3, and has an opening on its side surface. The housing 20E has an opening on the side surface of the cylindrical portion of the hollow cylindrical body 20E, and a flange portion 20E2 that engages with the upper plate 20A of the moving table on the upper portion of the cylindrical portion.
該ハウジング２０Ｅは第１図に示すように上板２０Ａと
下板２０Ｂに穿けた開口に嵌め込みネジにて固定する。As shown in FIG. 1, the housing 20E is fitted into openings formed in the upper plate 20A and lower plate 20B and fixed with screws.
２４は前記ハウジング２０Ｅの鍔部、２０Ｅ２に嵌合す
るように上板２０Ａの上面に固定した円筒状のモータ支
持台てあり、該支持台２４の上にサーボモータ２６を取
り付ける。Reference numeral 24 denotes a cylindrical motor support stand fixed to the upper surface of the upper plate 20A so as to fit into the flange portion 20E2 of the housing 20E, and a servo motor 26 is mounted on the support stand 24.
２６Ａはモータ２６の出力軸であり、該出力軸２６Ａは
支持台２４の中空の内側に位置し、後述するフレキシブ
ルカップリング部材２８によって駆動軸３０と結合する
。前記駆動軸３０は前記ハウジング２０Ｅの内側に嵌挿
された軸受３２Ａ、３２Ｂによってハウジング２０Ｅに
軸支される。前記駆動軸３０の略中央部３０Ａは前記ガ
イドバー２２と圧接する駆動ローラ３０Ａを形成してい
る。26A is an output shaft of the motor 26, and the output shaft 26A is located inside the hollow of the support base 24, and is coupled to the drive shaft 30 by a flexible coupling member 28, which will be described later. The drive shaft 30 is pivotally supported by the housing 20E by bearings 32A and 32B fitted inside the housing 20E. A substantially central portion 30A of the drive shaft 30 forms a drive roller 30A that comes into pressure contact with the guide bar 22.
３４は圧接ローラ３６Ａ、３６Ｂをガイドバー２２に圧
接する圧接手段を示す。圧接ローラ３６ Ａ 、 −３
６Ｂは鉄、鋼等の金属材料で作り、該ローラ３６Ａ、３
６Ｂはそれぞれのローラの軸３６ａ、３６ｂをローラ保
持用の枠部材３８Ａ、３８Ｂ、３８Ｂによって軸支する
。部材３８Ａはブロック部３８ａの上部及び下部からロ
ーラ軸を軸支する板部３８ｂ、３８ｂ。Reference numeral 34 denotes pressure contact means for pressing the pressure rollers 36A, 36B against the guide bar 22. Pressure roller 36A, -3
6B is made of metal material such as iron or steel, and the rollers 36A, 3
6B, the shafts 36a and 36b of the respective rollers are supported by frame members 38A, 38B and 38B for holding the rollers. The member 38A includes plate portions 38b and 38b that pivotally support the roller shaft from the upper and lower portions of the block portion 38a.
３８Ｃ，３８Ｃか伸びている。圧接ローラ３６Ａ、３６
Ｂを保持したローラ保持枠３８は第１図に示すように移
動台２０の上板２０Ａと下板２０Ｂの間に嵌め込まれる
。枠３８のブロック部３８には第１図に示すようにロー
ラ圧接用ハネ４０を収納する収納用凹部を設け、該凹部
の開口側は蓋部材４２によって閉じられる。38C, 38C is growing. Pressure rollers 36A, 36
The roller holding frame 38 holding B is fitted between the upper plate 20A and the lower plate 20B of the moving table 20, as shown in FIG. As shown in FIG. 1, the block portion 38 of the frame 38 is provided with a housing recess for housing the roller pressure spring 40, and the opening side of the recess is closed by a lid member 42.
前記蓋部材４２は前記上板２０Ａ又は下板２０Ｂに固定
される。The lid member 42 is fixed to the upper plate 20A or the lower plate 20B.
第１図に示すようにガイドバー２２の一方の走行面はサ
ーボモータ２６の出力軸と連結した駆動ローラ３０Ａが
接し、バー２２の他方の走行面は２個の圧接ローラ３６
Ａ、３６Ｂが接する。圧接ローラ３６Ａ、３６Ｂはバネ
４０のバネ力をローラ保持枠３８を介して受けてガイド
バーを圧接する。従って駆動ローラ３０Ａには圧接ロー
ラ３６Ａ、３６Ｂの圧接力がガイドバーの走行面に作用
する。符号Ｐは油圧ポンプを示し、該ポンプＰは管Ｐ、
を経て上板２０Ａの孔部に接続する。As shown in FIG. 1, one running surface of the guide bar 22 is in contact with a drive roller 30A connected to the output shaft of a servo motor 26, and the other running surface of the bar 22 is in contact with two pressure rollers 36.
A and 36B touch. The pressure rollers 36A and 36B receive the spring force of the spring 40 via the roller holding frame 38 to press the guide bar. Therefore, the pressing force of the pressing rollers 36A and 36B acts on the running surface of the guide bar on the driving roller 30A. The symbol P indicates a hydraulic pump, and the pump P is connected to a pipe P,
It is connected to the hole in the upper plate 20A through the .
前述のバネ収納枠３８の開口部には鍔部３８ａ、が設け
られており、該鍔部３８ａ、はバネ収納蓋部材４２の内
面に嵌装し、枠３８と蓋部材４２とによって気密室Ｐａ
を形成し、油圧ポンプＰからの油圧力はこの気密室Ｐａ
に導かれている。油圧ポンプＰの作動により気密室Ｐａ
内の油圧はバネ４０のバネ力を解除する方向にバネ収納
枠３８を動かすように作動する。A flange portion 38a is provided at the opening of the spring storage frame 38 described above, and the flange portion 38a is fitted into the inner surface of the spring storage lid member 42, and the airtight chamber Pa is closed by the frame 38 and the lid member 42.
The hydraulic pressure from the hydraulic pump P is applied to this airtight chamber Pa.
guided by. The airtight chamber Pa is opened by the operation of the hydraulic pump P.
The hydraulic pressure inside operates to move the spring storage frame 38 in a direction that releases the spring force of the spring 40.
第２図において４４は固定ベース１６に取り付けたガイ
ドバー２２と平行なうツクギヤを示す。該ラックギヤ４
４はピニオンギヤ４６と噛２合し、該ギヤ４６は軸を介
して移動台の上板２０Ａに取り付けた第１のロータリー
エンコーダ４８に連結する。In FIG. 2, reference numeral 44 indicates a sliding gear parallel to the guide bar 22 attached to the fixed base 16. The rack gear 4
4 meshes with a pinion gear 46, and the gear 46 is connected via a shaft to a first rotary encoder 48 attached to the top plate 20A of the moving table.
第２図示５０は移動台２０上に取り付けたロボットのア
ームを示し該アーム５０には不図示のロボットハンド等
を取付アーム上を図示ｙ軸方向に移動する。The second figure 50 indicates a robot arm mounted on the moving table 20, and a robot hand or the like (not shown) is attached to the arm 50 and moves on the arm in the y-axis direction in the figure.
第３図は第２図示の第１のロータリーエンコータ４８を
取り付けた部分の要部断面図を示す。エンコーダ４８は
中空円筒部材５０に取り付け、該部材５０は軸受はケー
ス５２を介して移動台の上板２０Ａに固定する。ケース
５２は上板に設けた開口に嵌合して固定する円筒部材５
０の内側には第１エンコータ４８の出力軸４８Ａとピニ
オンギヤ軸５４を連結するカップリング５６を収納する
。FIG. 3 shows a sectional view of a main part of a portion where the first rotary encoder 48 shown in FIG. 2 is attached. The encoder 48 is attached to a hollow cylindrical member 50, and the bearing of the member 50 is fixed to the upper plate 20A of the movable table via a case 52. The case 52 includes a cylindrical member 5 that fits into an opening provided in the upper plate and is fixed.
A coupling 56 that connects the output shaft 48A of the first encoder 48 and the pinion gear shaft 54 is housed inside the shaft 0.
ピニオンギヤ軸５４はケース５２に保持した軸受５８Ａ
、５８Ｂに軸支される。ギヤ軸５４の下端（細径部）に
は２枚のピニオンギヤ４６Ａ、４６Ｂか取り付けられて
いる。上側のピニオンギヤ４６Ａはギヤ軸５４の細径部
に固定する。下側のピニオンギヤ４６Ｂは上側のピニオ
ンギヤ４６Ａと重ね合わされており、その状態を第７図
を参照して詳述する。上部ピニオンギヤ４６Ａにはピン
４６ａ、、４６ａ、と穴４６ａｚ、４６ａ４を設ける。The pinion gear shaft 54 has a bearing 58A held in the case 52.
, 58B. Two pinion gears 46A and 46B are attached to the lower end (small diameter portion) of the gear shaft 54. The upper pinion gear 46A is fixed to the narrow diameter portion of the gear shaft 54. The lower pinion gear 46B is overlapped with the upper pinion gear 46A, and this state will be described in detail with reference to FIG. 7. The upper pinion gear 46A is provided with pins 46a, 46a and holes 46az and 46a4.
下部ピニオンギヤ４６Ｂには前記穴４６ａ、、４６ａ、
を貫通して伸びたピン４６ｂ、、４６ｂ２を植設する。The lower pinion gear 46B has the holes 46a, 46a,
Pins 46b, , 46b2 extending through are implanted.
６０Ａ、６０Ｂはピン４６ａ１と４６ｂ１及びピン４６
ａ２と４６ｂ２に゛張設したハネ部材である。第７図示
構成のピニオンギヤの構成はラックとピニオンギヤの噛
合のバックラッシュを解消し、ロータリーエンコータの
検出精度を高めることかできる。60A and 60B are pins 46a1 and 46b1 and pin 46
This is a spring member stretched between a2 and 46b2. The configuration of the pinion gear as shown in FIG. 7 eliminates backlash in the meshing of the rack and pinion gear, and can improve the detection accuracy of the rotary encoder.
第４図は本発明のブロック図を示し、８２はロボットの
作動プログラムでロボットの作業の種類に応じてロボッ
トの各部１例えばロボットアーム、フィンガーの動作制
御を命令するプログラムを含む。FIG. 4 shows a block diagram of the present invention. Reference numeral 82 denotes a robot operation program, which includes a program for instructing the operation control of each part 1 of the robot, such as a robot arm and fingers, according to the type of robot work.
該プログラム８２には移動台の移動を制御するプログラ
ムも含む。作動プロクラム８２は第１のエンコーダ４８
と接続しており、作動プロクラム８２の動作命令により
移動台か移動するに際し移動台の移動位置を第１のエン
コータ４８で検出し、検出信号を作動制御手段８２に送
る。The program 82 also includes a program for controlling the movement of the moving platform. The operating program 82 is the first encoder 48
The first encoder 48 detects the movement position of the movable base when the movable base moves according to the operation command of the operation program 82, and sends a detection signal to the operation control means 82.
第２のエンコータ８０は駆動ローラ軸３ｏを駆動するサ
ーボモータ２６に接続し、モータ２６の回転量を検出す
る。The second encoder 80 is connected to the servo motor 26 that drives the drive roller shaft 3o, and detects the amount of rotation of the motor 26.
８４は比較手段を示し、第１と第２のエンコータの信号
を入力して比較情報を出力し、この情報を判別手段８６
にて設定情報８８に基いて判別操作を行なう。Reference numeral 84 denotes a comparing means, which inputs the signals of the first and second encoders, outputs comparison information, and uses this information as a discriminating means 86.
A determination operation is performed based on the setting information 88.
９０は異常検知手段、９２は油圧調整手段である。第１
３図の構成はサーボモータ２６に第２のエンコーダ８０
か接続した構成以外は前述第２．第３図の構成と同じで
あるのて説明を省く。90 is an abnormality detection means, and 92 is a hydraulic pressure adjustment means. 1st
The configuration in Figure 3 includes a servo motor 26 and a second encoder 80.
The configuration other than the one connected is the same as described in Section 2 above. Since the configuration is the same as that shown in FIG. 3, the explanation will be omitted.
次に実施例の動作について説明する。Next, the operation of the embodiment will be explained.
ロボット作動制御手段８２のプロクラムに従って移動台
２０か移動するのであるか、第２図に示した圧接力発生
手段のバネ４ｏのハネ力が弱いと駆動ローラ３０Ａとガ
イドバー２２の圧接状態か不良となり駆動ローラ３０Ａ
かスリップを起こす。If the movable table 20 moves according to the program of the robot operation control means 82, or if the spring force of the spring 4o of the pressure contact force generating means shown in FIG. Drive roller 30A
or cause a slip.
移動台２０の移動すべき移動量は制御手段８２内からの
情報によって制御され、一方移動台２０の移動位置は第
１のエンコータ４８によって検出される。第２のエンコ
ータ８０はサーボモータの回転量を検出ル駆動ローラの
スリップか発生しないと第１．第２のエンコータの出力
の差は生じない。駆動ローラのスリットかある場合、駆
動ローラのスリップをともなった圧接状態ての摩擦駆動
において移動台を所定の移動すべき位置に駆動するため
にサーボモータ２６はスリップの分たけ余分に回転した
ことになり、第２のエンコータ８０には計算上の回転量
とスリップ分の回転量の加算された信号か出力する。The amount of movement of the moving carriage 20 is controlled by information from within the control means 82, while the position of movement of the moving carriage 20 is detected by the first encoder 48. The second encoder 80 detects the amount of rotation of the servo motor and detects whether the drive roller slips or not. There is no difference in the output of the second encoder. If there is a slit in the drive roller, the servo motor 26 will rotate extra to compensate for the slip in order to drive the movable table to a predetermined position during friction drive in a press-contact state with slip of the drive roller. The second encoder 80 outputs a signal that is the sum of the calculated amount of rotation and the amount of rotation corresponding to the slip.
第１．第２のエンコータの出力を比較手段８４で比較す
ると上述の駆動ローラのスリップ量が検出できる。1st. By comparing the output of the second encoder with the comparison means 84, the amount of slip of the drive roller described above can be detected.
比較手段８４からのスリップ量の情報は判別手段８６に
て設定情報入力手段８８からの信号と比較してスリップ
量の適否の判別か行なわれる。The slip amount information from the comparing means 84 is compared with the signal from the setting information inputting means 88 in the determining means 86 to determine whether the slip amount is appropriate.
即ち、駆動ローラ３０Ａのガイドバーとの圧接時におけ
るスリップは成る値以上のスリップ量になると前述した
様な好ましくない状態となるか、スリップ量が成る値以
下の場合にはスリップの影響を無視してさしつかえない
ものである。従って判別手段８６てはスリップ量の適否
の判別を行なう。In other words, if the amount of slip when the drive roller 30A is in pressure contact with the guide bar exceeds the value, the above-mentioned unfavorable state will occur, or if the amount of slip is less than the value, the influence of the slip will be ignored. It is something that cannot be avoided. Therefore, the determining means 86 determines whether the slip amount is appropriate or not.
判別手段８６からは前述のスリップ量が適正量をオーバ
ーしている場合には判別手段からの信号か異常検知手段
９０に入力し、これによって異常状態を検知し、ロボッ
トの制御手段８２に入力し制御手段では移動台の停止動
作を行なう。If the above-mentioned slip amount exceeds the appropriate amount, the determination means 86 inputs a signal from the determination means to the abnormality detection means 90, which detects an abnormal state, and inputs the signal to the robot control means 82. The control means performs a stopping operation of the moving table.
スリップ量が微少量である場合には判別手段からの信号
は油圧調整手段９２に入力し、油圧調整手段９２は第２
図の油圧発生手段Ｐの油圧を調整し、これによってハネ
４０の調整が行なわれて駆動ローラのスリップ量の調整
か行なわれる。If the amount of slip is very small, the signal from the determining means is input to the oil pressure adjusting means 92, and the oil pressure adjusting means 92
The hydraulic pressure of the hydraulic pressure generating means P shown in the figure is adjusted, thereby adjusting the spring 40 and the amount of slip of the drive roller.
［効果］
以上のように本発明に依れば駆動ローラのスリップ量を
検出しスリップ量が適正か否かを判別し、この判別に基
いて移動装置の異常を検知する。又、一方油圧調整手段
によって圧接力の調整を行なう様にしたものである。[Effects] As described above, according to the present invention, the slip amount of the drive roller is detected, it is determined whether the slip amount is appropriate or not, and an abnormality in the moving device is detected based on this determination. Further, the pressure contact force is adjusted by means of a hydraulic pressure adjustment means.
本発明を移動装置に適用することにより駆動ローラの摩
耗を防ぐこと、ローラの片当りを防げること及びスリッ
プが生じた場合自動的に圧接力を調整することができる
。By applying the present invention to a moving device, it is possible to prevent wear of the drive roller, prevent uneven contact of the roller, and automatically adjust the pressure contact force when slip occurs.
第１図乃至第４図は本発明の実施例を示し、第１図は本
発明を適用した移動装置の要部断面図、
第２図は移動装置の部分的斜視図、
第３図は第２図のＡ−Ａ方向断面図。
第４図は制御用ブロック図。
２６・・・ローラ駆動用モータ
４８・・・第１エンコーダ
８０・・・第２エンコーダ
８４・・・比較手段
８６・・・判別手段
９０・・・異常検知手段
９２・・・油圧調整手段1 to 4 show embodiments of the present invention, FIG. 1 is a sectional view of essential parts of a moving device to which the present invention is applied, FIG. 2 is a partial perspective view of the moving device, and FIG. 3 is a partial perspective view of the moving device. FIG. 2 is a cross-sectional view taken along line A-A in FIG. 2; FIG. 4 is a control block diagram. 26...Roller drive motor 48...First encoder 80...Second encoder 84...Comparison means 86...Discrimination means 90...Abnormality detection means 92...Hydraulic pressure adjustment means
Claims (2)
によって走行路に圧接して移動体 を移動する装置において、 前記駆動ローラのスリップ量を検出してス リップ量に応じて前記圧接手段の圧接力を 調整するようにしたことを特徴とする移動 装置。(1) In a device that moves a movable body by pressing a driving roller connected to an output shaft of a motor against a travel path using a pressing means, the amount of slip of the driving roller is detected and the pressing means is pressed according to the amount of slip. A moving device characterized by adjusting force.
検知状態を知らせることを特徴と する特許請求の範囲第（１）項記載の移動 装置。(2) The moving device according to claim (1), wherein an abnormality detection state is notified when the slip amount exceeds a proper amount.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16938888A JPH0224036A (en) | 1988-07-06 | 1988-07-06 | Moving device |
| US07/222,539 US4934278A (en) | 1987-07-27 | 1988-07-21 | Moving apparatus with track recessed portion to dissipate drive roller contact pressure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16938888A JPH0224036A (en) | 1988-07-06 | 1988-07-06 | Moving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0224036A true JPH0224036A (en) | 1990-01-26 |
Family
ID=15885671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16938888A Pending JPH0224036A (en) | 1987-07-27 | 1988-07-06 | Moving device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0224036A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03287389A (en) * | 1990-04-05 | 1991-12-18 | Fanuc Ltd | Adjusting device for backlash of straight line moving type industrial robot |
| JP2008103663A (en) * | 2006-09-22 | 2008-05-01 | Ihi Corp | Friction drive transport device |
-
1988
- 1988-07-06 JP JP16938888A patent/JPH0224036A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03287389A (en) * | 1990-04-05 | 1991-12-18 | Fanuc Ltd | Adjusting device for backlash of straight line moving type industrial robot |
| JP2008103663A (en) * | 2006-09-22 | 2008-05-01 | Ihi Corp | Friction drive transport device |
| JP4735576B2 (en) * | 2006-09-22 | 2011-07-27 | 株式会社Ｉｈｉ | Friction drive transfer device |
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