CN112476402B - Moving mechanism of industrial robot - Google Patents
Moving mechanism of industrial robot Download PDFInfo
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- CN112476402B CN112476402B CN202011323915.8A CN202011323915A CN112476402B CN 112476402 B CN112476402 B CN 112476402B CN 202011323915 A CN202011323915 A CN 202011323915A CN 112476402 B CN112476402 B CN 112476402B
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- track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Mechanical Engineering (AREA)
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Abstract
The invention belongs to the technical field of industrial robot equipment, and discloses a moving mechanism of an industrial robot. It mainly comprises: mounting a bracket; the moving track assembly is arranged on the mounting bracket and comprises at least two moving tracks and at least one robot transfer mechanism; the transfer mechanism is arranged between two ends of the two motion tracks and used for transferring the industrial robot of one motion track to the other motion track. According to the embodiment of the invention, the transfer mechanism is arranged to transfer one moving track of the industrial robot to the other moving track, so that the moving track switching of the industrial robot can be realized, the requirement of multi-station position change can be met, a plurality of robots are not required to be arranged between stations close to or in a short distance, the station switching can be effectively carried out, and the station arrangement is not influenced.
Description
Technical Field
The invention belongs to the technical field of industrial robot equipment, and particularly relates to a moving mechanism of an industrial robot.
Background
In order to reduce the labor intensity of operators, improve the working efficiency and the like, enterprises use more and more industrial robots to replace people to complete work with single labor content and high labor intensity in the processes of production, transportation and the like; for the convenience of movement, an industrial robot is generally movably disposed through a fixed rail. However, in general, the prior art can only use a long straight rail, and since industrial robots basically use wheels to move, the rail which is not straight is easy to generate large friction with the wheels, and most of the industrial robots in the prior art can only move on a single rail, and cannot meet the requirement of multi-station position movement operation.
Therefore, the moving mechanism of the industrial robot in the prior art is too limited and cannot meet the requirement of multi-station position change.
Disclosure of Invention
The embodiment of the invention aims to provide a moving mechanism of an industrial robot, and aims to solve the problem that the moving mechanism in the prior art is too limited and cannot meet the requirement of multi-station position change.
An embodiment of the present invention is a moving mechanism of an industrial robot, which is implemented in such a manner, and includes:
mounting a bracket;
the moving track assembly is arranged on the mounting bracket and comprises at least two moving tracks and at least one transfer mechanism; the transfer mechanism is arranged between two ends of the two motion tracks and used for transferring the industrial robot of one motion track to the other motion track.
In the scheme of the embodiment of the invention, an included angle is formed between two adjacent motion tracks, and the transfer mechanism comprises:
the transfer table is provided with a transfer track in butt joint with the motion track;
the butt joint piece is arranged between the moving track and the transferring track and is used for butting the moving track and the transferring track so as to enable the moving track and the transferring track to smoothly transit.
In the scheme of the embodiment of the invention, the transfer table is a rotary circular table, and the contact surface between the transfer track and the butt joint part is an arc surface, so that the transfer table and the butt joint part can rotate relatively to switch the transfer track to be in butt joint with another motion track.
In the solution of the embodiment of the present invention, the docking member is movably disposed between the moving track and the transferring track in a manner of translation or rotation.
In the solution of the embodiment of the present invention, the docking piece is rotatably disposed at an end of the moving track, and a rotation driving mechanism is disposed on the moving track, and is configured to drive the docking piece to rotate relative to the moving track so as to dock or separate the moving track and the transfer track.
In the scheme of the embodiment of the invention, the butt joint piece is movably arranged between the motion track and the transfer track, and the mounting bracket is provided with a movement driving mechanism which is used for driving the butt joint piece to move into or out of the butt joint position of the motion track and the transfer track so as to butt joint or separate the motion track and the transfer track.
In the scheme of the embodiment of the invention, driving guide rails are respectively arranged on the moving track, the butt joint piece and the transfer track, the driving guide rails are respectively a first driving guide rail, a second driving guide rail and a third driving guide rail, gear teeth are arranged on the first driving guide rail, the second driving guide rail and the third driving guide rail, and when the first driving guide rail, the second driving guide rail and the third driving guide rail are in butt joint, the gear teeth at the respective connecting positions are in smooth butt joint transition.
In the scheme of the embodiment of the invention, the mounting bracket is provided with a positioning and locking mechanism which is used for locking the position of the transfer platform so as to ensure that the transfer track of the transfer platform is stably butted with the moving track.
In the scheme of the embodiment of the invention, a blocking mechanism is arranged on the transfer platform, and the blocking mechanism can be aligned to the motion track under the rotation of the transfer platform and is used for limiting the motion range of the industrial robot on the motion track.
In the scheme of the embodiment of the invention, the mounting bracket is provided with a cable mounting device, the cable mounting device is used for mounting a circuit cable for placing the industrial robot, and the cable mounting device can rotate to enable the circuit cable arranged on the cable mounting device to change the cable orientation along with the change of the moving track of the industrial robot.
The moving mechanism of the industrial robot provided by the embodiment of the invention has the following advantages:
1. one moving track of the industrial robot is transferred to the other moving track by arranging the transfer mechanism, so that the moving track switching of the industrial robot can be realized, the requirement of multi-station position change can be met, a plurality of robots are not required to be arranged between stations close to or in a short distance, the station conversion can be effectively carried out, and the setting of the stations is not influenced;
2. the butt joint between the motion track and the transfer track can be smoothly transited by arranging the butt joint piece, in the prior art, the movement of an industrial robot cannot be changed into a track generally, and the problem can be well solved by arranging the butt joint piece mainly because the connection switching between the tracks cannot meet the requirement of the robot on continuous walking;
3. the transfer table is designed into the rotary circular table, and the contact surface between the transfer track and the butt joint part is designed into the arc surface, so that after the industrial robot moves from the motion track to the transfer track, the transfer table does not need to perform excessive actions, and the industrial robot can be rotated to the direction of butt joint with another motion track to be butted only by rotating the transfer table, so that the whole action flow is simple and flexible, and excessive unnecessary actions are avoided;
4. the butt joint piece can be movably arranged between the moving track and the transferring track, so that the butt joint state of the butt joint piece can be flexibly switched, and effective butt joint between the moving track and the transferring track is guaranteed.
5. The driving guide rails are arranged on the moving track, the transferring track and the butt joint piece, the driving guide rails are provided with gear teeth, and the gear teeth at the respective connecting positions are in smooth transition, so that when the moving track, the transferring track and the butt joint piece are in butt joint, the driving guide rails on the respective driving guide rails can form a complete guide rail, the driving of the industrial robot can be matched and moved on the complete guide rail, and the industrial robot can be guaranteed to move to the transferring platform and enter and exit the moving track;
6. by arranging the positioning locking mechanism, the transfer table can be effectively fixed after being in place, the transfer table is ensured not to move, and the moving track, the transfer track and the butt joint piece are further integrated, so that the industrial robot can stably move;
7. by arranging the blocking mechanism, the limit that the industrial robot passes or does not pass can be effectively formed, the motion range of the industrial robot is effectively limited, and the motion of the industrial robot is prevented from exceeding the limit;
8. through setting up rotatable cable installation device, can be so that industrial robot removes when switching motion orbit, industrial robot's circuit cable can follow the rotation, is convenient for guarantee that the circuit cable is in the best state of making things convenient for industrial robot motion and work.
Drawings
Fig. 1 is a perspective view of a moving mechanism of an industrial robot according to an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1 according to an embodiment of the present invention;
FIG. 3 is another state view of the portion A of FIG. 1 according to an embodiment of the present invention;
fig. 4 is another angle view of the portion a of fig. 1 according to an embodiment of the present invention.
In the drawings: 1. mounting a bracket; 2. a motion track; 3. a transfer mechanism; 31. a transfer table; 32. a transfer track; 33. a docking member; 34. a contact surface; 4. a rotation driving mechanism; 5. a first drive rail; 6. a second drive rail; 7. a third drive rail; 8. a positioning and locking mechanism; 9. positioning holes; 10. rotating the drive motor; 11. a blocking mechanism; 12. provided is a cable installation device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
Fig. 1 is a block diagram of a moving mechanism of an industrial robot according to an embodiment of the present invention. The embodiment of the invention is realized in such a way that the moving mechanism of the industrial robot comprises:
mounting a bracket 1;
the moving track assembly is arranged on the mounting bracket 1 and comprises at least two moving tracks 2 and at least one transfer mechanism 3; the transfer mechanism 3 is arranged between two ends of the two moving tracks 2 and is used for transferring the industrial robot of one of the moving tracks 2 into the other moving track 2.
As shown in fig. 1, in the embodiment of the present invention, four stations are taken as an example for illustration, and the four stations are respectively disposed around the moving mechanism, and correspondingly, in the embodiment of the present invention, the moving track assembly includes four moving tracks 2, and the four moving tracks 2 form a quadrilateral arrangement; further, in order to meet the requirements of the workstation and the design of the moving track 2, in the embodiment of the present invention, a schematic structural diagram of the mounting bracket 1 is shown in fig. 1, the mounting bracket 1 is a conventional design component in the art, and a person skilled in the art can design according to actual needs or situations of moving the track assembly, which is only illustrated here. In addition, in the embodiment of the present invention, the number of the moving tracks 2 in the moving track assembly can be flexibly configured and used according to actual needs, and only four moving tracks 2 are taken as an example for illustration and description in the embodiment of the present invention.
It should be further noted that, in the technical field of the present invention, the movement of the industrial robot on the moving track 2 is already a mature technology, and generally, a driving motor is disposed on a base of the industrial robot, a guide mechanism or a wheel mechanism cooperating with the moving track 2 is disposed on the base of the industrial robot, and a driving gear of the driving motor is in meshing transmission with a driving guide rail gear on the moving track 2, so that the movement of the industrial robot can be realized.
In the embodiment of the present invention, only the transfer mechanism 3 shown in fig. 1 is taken as an example for description, in the embodiment of the present invention, the transfer mechanism 3 may also be a track extending for transfer, and besides the rotary circular table in the preferred embodiment of the present invention as a transfer table, a three-coordinate moving mechanism may also be used as the transfer mechanism 3, and accordingly, simple adjustment and arrangement are performed in combination with other structural components in the embodiment of the present invention.
In the solution of the embodiment of the present invention, as shown in fig. 1 and fig. 2, where fig. 2 is an enlarged schematic view of a part a of fig. 1 in the embodiment of the present invention, an included angle is formed between two adjacent motion tracks 2, and the transfer mechanism 3 includes:
a transfer table 31, wherein the transfer table 31 is provided with a transfer rail 32 butted with the moving rail 2;
an abutment member 33, the abutment member 33 being disposed between the moving track 2 and the transfer track 32, the abutment member 33 being used for abutting the moving track 2 and the transfer track 32 to make a smooth transition between the moving track 2 and the transfer track 32.
It can be understood that the two motion rails 2 are arranged at an included angle, which means that the motion directions of the two motion rails are arranged at an included angle, so that the industrial robot can move along the motion rails 2 in different directions to meet the requirement of station work, as shown in fig. 1, two adjacent motion rails 2 can be arranged vertically, that is, designed at an included angle of ninety degrees, which is only explained herein, and a person skilled in the art can make simple adjustments according to actual needs, without further listing more situations.
As shown in fig. 2 to 3, fig. 3 is another schematic structural diagram of a partial state shown in fig. 2 in the embodiment of the present invention, it should be noted that, in the embodiment of the present invention, only one of the movement tracks 2 shown in fig. 2 and 3 is provided with an abutting piece 33, and actually, the abutting pieces 33 are provided at both ends of each movement track 2, which can be understood by those skilled in the art in combination.
Specifically, in the embodiment of the present invention, as shown in fig. 1 to 3, the transfer table 31 is a rotary circular table, and the contact surface 34 between the transfer rail 32 and the butt piece 33 is an arc surface, so that the transfer rail 32 can be switched to butt against another moving rail 2 by the relative rotation between the transfer table 31 and the butt piece 33.
In fact, in the field, when the motion track 2 of the industrial robot is switched, if the industrial robot is withdrawn in a linear motion mode and then switched with the motion track 2, the switching efficiency is not high, and the requirement of industrial rhythm is difficult to meet.
In the solution of the embodiment of the present invention, the docking member 33 is movably disposed between the moving track 2 and the transferring track 32 in a translational or rotational manner.
Specifically, in the embodiment of the present invention, the preferred embodiment is configured in a manner that the abutting piece 33 can be movably switched, and in other embodiments of the present invention, the abutting piece 33 can also be integrally disposed on the end portion of the moving track 2, and in the preferred embodiment of fig. 1 to 3 of the present invention, the state of the abutting piece 33 can be flexibly switched by movably disposing the abutting piece 33, so that the abutting requirement can be met, and at the same time, the abutting piece can also be switched to the separated state so as to add other components for coordination, and the following will take the example of disposing the blocking mechanism 11 as an example, and the description will not be expanded herein first.
In the solution of the embodiment of the present invention, the abutting piece 33 is rotatably disposed at an end portion of the moving track 2, and a rotation driving mechanism 4 is disposed on the moving track 2, and the rotation driving mechanism 4 is configured to drive the abutting piece 33 to rotate relative to the moving track 2 to abut on or separate the moving track 2 and the transfer track 32.
As shown in fig. 2 to 3, the docking member 33 in the embodiment of the present invention is rotatably disposed at one side of the end portion of the moving track 2, and then is driven by the rotation driving mechanism 4, wherein the rotation driving mechanism 4 is illustrated as a telescopic mechanism in the embodiment of the present invention, and the telescopic mechanism may be an electric telescopic mechanism, a pneumatic telescopic mechanism or a hydraulic telescopic mechanism, which will not be described in further detail herein, and can be designed and selected by those skilled in the art according to actual needs.
In addition, as shown in fig. 2 to 3, in the embodiment of the present invention, one side of the abutting piece 33 is rotatably disposed, and the side of the abutting piece, which is in contact with the end of the moving track 2, can be abutted against the end surface of the moving track 2 to form a same linear track, and at this time, the abutting piece 33 is firmly abutted against the moving track 2 by the action of the abutting surface thereof and the pressing force of the rotation driving mechanism 4. Meanwhile, the surface of the abutting piece 33 abutting against the moving track 2 in the embodiment of the present invention is preferably an inclined surface, and the inclined surface is arranged at an acute angle with the foreground direction of the track, so that the rotating driving mechanism 4 can effectively press the abutting piece 33 to contact and attach to the moving track 2.
In the scheme of the embodiment of the present invention, the abutting element 33 is movably disposed between the moving track 2 and the transferring track 32, and the mounting bracket 1 is provided with a moving driving mechanism for driving the abutting element 33 to move into or out of the abutting position of the moving track 2 and the transferring track 32, so as to abut against or separate the moving track 2 and the transferring track 32.
Specifically, as for the case that the docking member 33 is movably disposed, not further illustrated in the embodiment of the present invention, the docking member 33 may be movably disposed between the moving track 2 and the transferring track 32, the moving direction of the docking member 33 is perpendicular to the moving track 2 and the transferring track 32, and the movement of the docking member 33 may be pushed by a telescopic mechanism, which is as described above and is not further repeated here. When necessary, a sliding groove or a guide rail can be further arranged, so that the butt joint piece 33 can move stably, and meanwhile, the butt joint piece 33 can be positioned in a limiting block or limiting groove mode, so that the butt joint piece 33 can be accurately and stably butted when moving between the moving track 2 and the transferring track 32.
In the scheme of the embodiment of the present invention, driving guide rails are respectively disposed on the moving rail 2, the abutting piece 33, and the transferring rail 32, and are respectively a first driving guide rail 5, a second driving guide rail 6, and a third driving guide rail 7, gear teeth (equivalent to racks) are disposed on the first driving guide rail 5, the second driving guide rail 6, and the third driving guide rail 7, and when the first driving guide rail 5, the second driving guide rail 6, and the third driving guide rail 7 are abutted, the gear teeth at respective connection positions are in smooth abutting transition.
In order to realize that the industrial robot can move into the transfer table 31 when entering the transfer table, the embodiment of the invention adopts a smooth butt joint transition design of gear teeth, namely when the butt joint part 33 is in butt joint with the transfer track 32 and the moving track 2, the drive guide rails on the respective parts can form a complete rack after being in butt joint so as to facilitate the meshing of the drive gears of the industrial robot, and more details can be simply adjusted by a person skilled in the art by combining with actual conditions, which is not further described.
In the scheme of the embodiment of the present invention, a positioning locking mechanism 8 is arranged on the mounting bracket 1, and the positioning locking mechanism 8 is used for locking the position of the transfer platform 31, so that the transfer rail 32 of the transfer platform 31 is stably butted with the moving rail 2.
Specifically, as shown in fig. 2 to 4, fig. 4 is another view from bottom to top of fig. 2 in the embodiment of the present invention, a positioning hole 9 is formed in a transfer table 31, the transfer table 31 is disposed on an installation support 1, a positioning telescopic cylinder and a rotation driving motor 10 of the transfer table 31 are disposed below the installation support 1, in the embodiment of the present invention, the positioning telescopic cylinder is used as a locking positioning mechanism, when the transfer table 31 is rotated in place under the driving of the rotation driving motor 10, the positioning hole 9 is just below the positioning telescopic cylinder, the positioning telescopic cylinder extends out of a cylinder shaft and is inserted into the positioning hole 9 to realize positioning, and a plurality of positioning telescopic cylinders are provided, so that the stability of the transfer table 31 can be well ensured, and an industrial robot is prevented from shaking when entering the transfer table 31. In addition, a person skilled in the art can also carry out simple design modifications according to the above description, and the description is not further extended here.
In the solution of the embodiment of the present invention, a blocking mechanism 11 is disposed on the transfer platform 31, and the blocking mechanism 11 can be aligned with the motion track 2 under the rotation of the transfer platform 31, so as to limit the range of motion of the industrial robot on the motion track 2.
As shown in fig. 2 to 3, in the embodiment of the present invention, a blocking mechanism 11 is provided at one end of a transfer track 32 on a transfer table 31, so that one end of the transfer track 32 is used for entering and exiting an industrial robot, and the other end is used for limiting protection; meanwhile, when the industrial robot moves on the moving track 2, the transfer table 31 can be rotated to enable one section provided with the blocking mechanism 11 to be in butt joint with the moving track 2, a limiting mechanism of the moving track 2 is formed, the moving range of the industrial robot is limited, and the safety of track switching is improved.
In the solution of the embodiment of the present invention, the mounting bracket 1 is provided with a cable mounting device 12, which is used for mounting and placing the circuit cable of the industrial robot, and the cable mounting device can rotate to make the circuit cable arranged on the cable mounting device change the cable orientation along with the change of the moving track 2 operated by the industrial robot.
Specifically, the cable installation device 12 is a common component, and the embodiment of the present invention focuses on the general scheme of switching the design of the moving track 2 in the embodiment of the present invention, and a person skilled in the art can select the corresponding cable installation device 12 according to the industrial robot used, and the rotation setting of the cable installation device may be implemented by means of a bearing or a rotatable mounting seat, which will not be further described herein.
In addition, in the embodiment of the present invention, a plurality of in-place detection sensors may be further disposed on the mounting bracket 1, the moving track 2, the transfer table 31, and the transfer track 32, and control is performed in combination with the functions of the sensors, and in-place detection and control are conventional means and will not be further described herein.
The moving mechanism of the industrial robot provided by the embodiment of the invention has the following advantages:
1. one moving track of the industrial robot is transferred to the other moving track by arranging the transfer mechanism 3, so that the moving track switching of the industrial robot can be realized, the requirement of multi-station position change can be met, a plurality of robots are not required to be arranged between stations close to or in a short distance, the station conversion can be effectively carried out, and the arrangement of the stations is not influenced;
2. the butt joint piece 33 is arranged, so that butt joint between the motion track and the transfer track 32 can be smoothly transited, in the prior art, the movement of an industrial robot cannot be changed normally, and mainly because the connection switching between the tracks cannot meet the requirement of continuous walking of the robot, the problem can be well solved by arranging the butt joint piece 33;
3. by designing the transfer table 31 as a rotary circular table and designing the contact surface 34 between the transfer track 32 and the butt joint part 33 as an arc surface, after the industrial robot moves from the motion track to the transfer track 32, the transfer table 31 does not need to perform excessive actions, and the industrial robot can be rotated to the direction of butt joint with another motion track to perform butt joint only by rotating the transfer table 31, so that the whole action process is simple and flexible, and excessive unnecessary actions are avoided;
4. by movably arranging the docking member 33 between the moving track and the transferring track 32, the docking state of the docking member 33 can be flexibly switched, and effective docking between the moving track and the transferring track 32 is ensured.
5. The driving guide rails are arranged on the moving track, the transferring track 32 and the butt joint piece 33, the driving guide rails are provided with gear teeth, and the gear teeth at the respective joints are in smooth transition, so that when the moving track, the transferring track 32 and the butt joint piece 33 are in butt joint, the driving guide rails on the respective parts can form a complete guide rail, the driving of the industrial robot can be matched and moved on the complete guide rail, and the industrial robot can be guaranteed to move to the transferring platform 31 and enter and exit the moving track;
6. by arranging the positioning locking mechanism 8, the transfer table 31 can be effectively fixed after being in place, the transfer table 31 is ensured not to move, and the moving track, the transfer track 32 and the butt joint piece 33 are further integrated, so that the industrial robot can stably move;
7. by arranging the blocking mechanism 11, the limit that the industrial robot passes or does not pass can be effectively formed, the motion range of the industrial robot is effectively limited, and the motion of the industrial robot is prevented from exceeding the limit;
8. through setting up rotatable cable installation device 12, can be so that industrial robot removes when switching motion orbit, industrial robot's circuit cable can follow the rotation, is convenient for guarantee that the circuit cable is in the best state of making things convenient for industrial robot motion and work.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011323915.8A CN112476402B (en) | 2020-11-23 | 2020-11-23 | Moving mechanism of industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011323915.8A CN112476402B (en) | 2020-11-23 | 2020-11-23 | Moving mechanism of industrial robot |
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| CN112476402A CN112476402A (en) | 2021-03-12 |
| CN112476402B true CN112476402B (en) | 2022-03-22 |
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| CN202011323915.8A Active CN112476402B (en) | 2020-11-23 | 2020-11-23 | Moving mechanism of industrial robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115024929A (en) * | 2022-05-17 | 2022-09-09 | 宁波睿达医疗器械有限公司 | Sickbed robot |
| CN115969638B (en) * | 2022-12-26 | 2025-02-07 | 北京盈以康机器人科技有限公司 | A transfer device between an automatic bed and a wheelchair |
| CN116038651B (en) * | 2022-12-30 | 2024-11-26 | 中石化四机石油机械有限公司 | Drilling table manipulator moving track device |
| CN119304896B (en) * | 2024-09-29 | 2025-10-14 | 北京航空航天大学 | Aircraft skin large-area wall-climbing hole-making system and hole-making method with replaceable track |
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| US6273000B1 (en) * | 1999-05-20 | 2001-08-14 | Aerobus International, Inc. | Rail switching system |
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| CN106743473A (en) * | 2016-12-28 | 2017-05-31 | 安徽瑞祥工业有限公司 | Cross track docking switching device |
| CN110409229A (en) * | 2019-08-27 | 2019-11-05 | 中铁第一勘察设计院集团有限公司 | Rotary disc-type rack rails station track transformational structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08296201A (en) * | 1995-04-26 | 1996-11-12 | Tadashi Nishitani | Turnout for two-wheel double-flange wheel |
| US6273000B1 (en) * | 1999-05-20 | 2001-08-14 | Aerobus International, Inc. | Rail switching system |
| CN101475091A (en) * | 2008-12-01 | 2009-07-08 | 王树生 | Floor plate chain conveying system |
| CN106743473A (en) * | 2016-12-28 | 2017-05-31 | 安徽瑞祥工业有限公司 | Cross track docking switching device |
| CN110409229A (en) * | 2019-08-27 | 2019-11-05 | 中铁第一勘察设计院集团有限公司 | Rotary disc-type rack rails station track transformational structure |
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| CN112476402A (en) | 2021-03-12 |
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