對兩個貨架面對面放置的立體庫其搬運機器人是典型的二維XZ機器人，而超過兩個貨架就要采用圖1中左圖所示的三維機器人。本文僅介紹雙貨架的立體庫所配的二維機器人。其二維XZ機器人與圖2中左圖所采用的機器人結(jié)構(gòu)形式幾乎完成一樣。但要根據(jù)搬運物體重量，立體庫的大小，工作節(jié)拍來選擇對應(yīng)的直角坐標(biāo)機器人。比如搬運100~120公斤負載（框+零件最大重量）的機器人其上下兩根X軸就要采用RSL170型直線運動單元，兩根并列Z軸采用 RSL90D直線運動單元。比如搬運30~80公斤負載（框+零件最大重量）的機器人其上下兩根X軸就要采用RSL90D型直線運動單元，兩根并列Z軸采用RSL90直線運動單元。
圖3中左圖是帶轉(zhuǎn)動功能的手爪和Z軸照片，右圖是手爪和Z軸照片。
圖4: XZ直角坐標(biāo)機器人，Z軸滑塊帶動3個上藥料道，藥架里每個格的寬度和高度可以不同。
也許你從未嘗試過給我們一個機會，還自己一個大大的驚喜。
也許你在乎的不僅僅是優(yōu)惠的價格，更是質(zhì)量的保障。
也許你不曾知道，我們的價格低廉，質(zhì)量卻這般優(yōu)質(zhì)。
你敢不敢丟下所有的質(zhì)疑，相信自己的選擇？
我們的服務(wù)，我們的價格，我們的質(zhì)量，我們的信用。
就是無處不在的驚喜！
【聯(lián)系人】：【謝】【先生】
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OKUMA E4809-045-084-G VAC-BOARD
Okuma E7191-090-007 E4809-045-216
OKUMA E4809-045-113 E4809045113 1911-1599-4435
OKUMA E4809-045-109-C
OKUMA E4809-045-048C
OKUMA E4809-045-106-F
OKUMA BMP-N01 E4809-045-042-D
OKUMA E4809-045-091-E
Okuma E4809-045-106F
OKuma E4809-045-148-C
OKUMA E4809-045-110-C
OKUMA E4809-045-109-D
Okuma E4809-045-088-E
Okuma Drive, MPS30, MPS20, MPS10
Okuma Drive, MPR5, MPR10
Okuma Drive, MIV0204-1-B1
Okuma Drive, MIV22-3-v1
Okuma Drive, MIV04-1-B1
Okuma Drive, MIV04-1-B1
FUB-DRII, I/O Station
ER-TC-1D, Okuma part
Okuma ENCODER, ER-JG-7200D
Okuma ENCODER, ER-J-7200D
Okuma ENCODER, ER-HC-7200D
Okuma ABSOLUTE ENCODER, ER-FC-2048D
Okuma OPUS7000, E4809-770-120A, FC PCB
A911-2832
E4809-770-086-D
OPUS 7000 MPL
E4809-770-069-B
OKUMA SVCII TYPE A
E4809-770-033
OKUMA PCB
E4809-770-032
OKUMA RELAY BOARD
E4809-770-032-2
OKUMA RELAY BOARD
E4809-770-011
OKUMA PCB
E4809-436-071-A
OPUS 7000 MPIO CARD
E4809-436-033-A
OKUMA OPUS5000 MAIN CARD13 RS232C
E4809-436-016
OKUMA OPUS5000 II SVP BOARD II. TPB
E4809-045-201
OKUMA PCB
E4809-045-174
OKUMA OPUS7000 FUB-P4M4 CARD, we can repair and test
E4809-045-158-C
OKUMA OPUS7000 BOARD
E4809-045-148-C
OKUMA OPUS7000 MAIN BOARD
E4809-045-106
OKUMA PCB OPUS5000II
E4809-045-091-E
E4809-045-057-E
OPUS 5000 SVP CARD
Memory PCB OKUMA
E4809-045-010-B
OSP 3000 PC-1660 E/C I/O ISOLATION
E4809-032-498-A
SVC BOARD FOR BDU
E4809-032-496-C
OPUS 5000 SERVO PROCESSER
E4809-032-452-C
OPUS 5000
E4809-032-396
OKUMA PCB
E4800-510-002
OKUMA PCB
E3900-596-002
OKUMA CR CARD2
E0451-521-094
OKUMA POWER SUPPLY for CPU
E0451-521-051
OKUMA POWER SUPPLY for CPU
E0241-653-096
OPUS 5000 PANEX CARD 3A
E0241-653-095
OPUS 5000 PANEX CARD 2A
E0241-653-078C
OKUMA PCB
E0241-437-012
OPUS 7000 TMP BOARD
OPUS 5000 BUBBLE MEMORY CARD, 4MBIT X 1
OKUMA Drive BL-D
OKUMA Drive BL-IID 1-axis
OKUMA Drive BL-IID 2-axis
OKUMA Optical fiber
Okuma resolver Encoder
OKUMA Optical fiber
DC POWER SUPLY 2 AXES
DC-S1A
Power Supply CPU rack OPUS5000 RHP
P/No. E0451-521-051 (used)
EC Poard OPUS5000
P/No. E4809-032-452-* (new)
SVPIID OPUS5000II Board
P/No. E4809-045-109-* (new)
Main Board MIIB-0 OPUS5000
Bubble Memory Card 4Mbitx1
P/No. E4809-045-091-* (new)
DO-A Board Data Board2 OPUS5000II
P/No. E4809-045-073-D (new)
OSP ABSOLUTE ENCODER (new part)
TYPE : FC
pic CCP Board OPUS7000 (A911-2221)
P/No. E4809-436-072-*
ABSOLUTE ENCODER (new part)
NEW TYPE
OSP ABSOLUTE ENCODER (new part)
VCII 2 axis (new part)
P/No. 1006-0601
pic SVPIIC Board
P/No. E4809-770-031-*
SVCII 1axis (new part)
P/No. 1006-0600
pic SVPII Board Type A 1Axis (new part)
P/No. E4809-770-069-*
pic SVC-A No.2 Board (new part)
P/No. E4809-770-021-*
pic SVC-A For Axis (new part)
P/No. E4809-770-015-
pic VAC Spindle PCB
P/Name : 1107
P/Name : 1104
P/Name : 1102
OKUMA E4809-045-010-B
Okuma E4809-045-106-G
OKUMA E4809-045-205-A
OKUMA E4809-045-106-G
OKUMA E4809-045-091-E
OKUMA E4809-045-112-C
OKUMA E4809-045-113
OKUMA E4809-045-174
OKUMA E4809-045-013-E
OKUMA E4809-045-010-A
OKUMA E4809-045-019C P
OKUMA E4809-045-113 E4809045113
OKUMA E4809-045-113 _E4809045113
Okuma E4809-045-062-F E4809-045-062F
OKUMA OE4809-045-013-F
OKUMA E4809-045-012-D
Okuma E4809-045-217-C
Okuma E4809-045-223-A
OKUMA E4809-045-175
Okuma OPUS 5000 Main E4809-045-045-G _1911-1140-27-7
Okuma OPUS 5000 Main E4809-045-044 _ 1911-1105-31-152
Okuma OPUS 5000 FDC E4809-045-062-F _ 1911-1132-52.13
Okuma OPUS 5000 E4809-045-039 E _1911-1110-35-40 _E4809
Okuma OPUS 5000 E4809-045-038-C _1911-1103-64-41 Main 3
Okuma OPUS 5000 Axis Card 1 PR3 DA3 E4809-045-040-A PCB
Okuma OPUS 5000 ECP 1 E4809-045-047C _ 1911-1140-27-7
OKUMA E4809-045-038-C E4809045038C
OKUMA E4809-045-061-D E4809045061D
OKUMA E4809-045-077-A E4809045077A
OKUMA SVPIID-DA E4809-045-109-D
OKUMA E4809-045-086-A E4809045086A
E4809045091E
OKUMA E4809-045-106-D E4809045106D
OKUMA E4809-045-109-C E4809045109C
OKUMA E4809-045-110-C E4809045110C
OKUMA E4809-045-112-C E4809045112C
OKUMA E4809-045-113 E4809045113
OKUMA E4809-045-133-A E4809045133A
OKUMA E4809-045-133-B E4809045133B
Okuma S E4809-045-061-D
Okuma E4809-045-077-A
OKUMA E4809-045-106-F
OKUMA SPINDLE DRIVE TOP BOARD E4809-045-084-G
Okuma Opus7000 Compact Rack E7191-090-007 E4809-045-216
OKUMA E4809-045-113 _ E4809045113 1911-1599-4435
OKUMA E4809-045-109-C OPUS 5000 II SVP BOARD
OKUMA OPUS 3000.2000 MEMORY BOARD E4809-045-048C
OKUMA BMP-N01 E4809-045-042-D
OKUMA E4809-045-106-F OPUS 5000 II CRP II-C
OKUMA OPUS 5000 2 DATA BOARD 2 E4809-045-073-D
OKUMA E4809-045-091-E OPUS 5000 II MAIN BOARD W/ BUBBLE
OKuma MB1 board 1911-2100 E4809-045-148-C Main PCboard
Okuma OSP 500 E4809-045-088-E CRP-9 A911-1580R Board
OKUMA SPC1 board, SPCI, E4809-045-110-C, 1911-1534
OKUMA SVPIID board, SVP2D, E4809-045-109-D, 1911-1531
Okuma Opus 7000 PS60 Opus7000 Board E4809-045-217-C
Okuma Opus 7000 FCP Opus7000 Board E4809-045-223-A
OKUMA Opus7000 FUB-P4R2 card Board Module E4809-045-175
Okuma OPUS 5000 Main E4809-045-045-G _1911-1140-27-7
Okuma OPUS 5000 Main E4809-045-044 _ 1911-1105-31-15?2
Okuma OPUS 5000 FDC E4809-045-062-F _ 1911-1132-52.13
Okuma OPUS 5000 E4809-045-039 E _1911-1110-35-40 _E4809
Okuma OPUS 5000 E4809-045-038-C _1911-1103-64-41 Main 3
Okuma OPUS 5000 Axis Card 1 PR3 DA3 E4809-045-040-A PCB
Okuma OPUS 5000 ECP 1 E4809-045-047C _ 1911-1140-27-7
OKUMA OSP3000 Isolation Circuit Board #E4809-045-010-?B
Okuma Circuit Board Opus 5000II #E4809-045-106-?G CRPIIC
OKUMA CRP II-C E4809-045-106-G 1911-1692-107-2?04 BOARD
OKUMA E4809-045-091-E 1911-1520-99-75 MAIN BOARD
OKUMA E4809-045-112-C 1911-1598-30.97 E4809045112C
OKUMA Opus7000 FUB-P4M4 card Board Module E4809-045-174
OKUMA OSP3000 FILE Circuit Board #E4809-045-013-E
OKUMA OSP3000 Isolation Circuit Board #E4809-045-010-?A
OKUMA SDU 600W E4809 045 019C PRINTED CIRCUIT BOARD PCB
OKUMA E4809 045 113 _ E4809045113 TCC-B CIRCUIT BOARD
OKUMA E4809-045-113 _ E4809045113 TCC-B CIRCUIT BOARD
Okuma FDC Circuit Board E4809-045-062-F E4809-045-062F
OKUMA OSP3000 Isolation Circuit Board #E4809-045-010-?C
OKUMA OSP3000 FILE Circuit Board #E4809-045-013-F
OKUMA OSP3000 Mother Circuit Board #E4809-045-012-D
OKUMA E4809-045-038-C USPP E4809045038C
OKUMA E4809-045-061-D USPP E4809045061D
OKUMA E4809-045-077-A USPP E4809045077A
OKUMA SVPIID-DA E4809-045-109-D
OKUMA E4809-045-086-A USPP E4809045086A
OKUMA E4809-045-091-E USPP E4809045091E
OKUMA E4809-045-106-D USPP E4809045106D
OKUMA E4809-045-109-C USPP E4809045109C
OKUMA E4809-045-110-C USPP E4809045110C
OKUMA E4809-045-112-C USPP E4809045112C
OKUMA E4809-045-113 USPP E4809045113
OKUMA E4809-045-133-A USPP E4809045133A
OKUMA E4809-045-133-B USPP E4809045133B
Okuma Servo Unit for BL-80E-20 Motor, E4809-045-061-D
Okuma PC Board # E4809-045-077-A
OKUMA CRPIIC OPUS 5000II CRPII-C E4809-045-106-F
Okuma Opus 5000 CMOS Memory Card, E4809-045-167-C
Okuma Opus 5000 Main Card3, E4809-045-038-B?
Okuma Opus 5000 Main Card 5, E4809-045-044
Okuma Opus 5000 Main Board, E4809-045-035-C
OKUMA OPUS 5000 2 DATA BOARD 2 E4809-045-073-D
OKUMA 0PUS7000 OSP 7000 PANEL IF CARD E4809-045-205-A
OKUMA E4809-045-113 TCC-B
OKUMA OPUS 5000 MAIN BOARD 2 B E4809-045-091-C
OKUMA OPUS 5000 MAIN BOARD E4809-045-086-A
OKUMA SPINDLE DRIVE TOP BOARD E4809-045-084-G VAC-BOARD
OKUMA SPC1 board, SPCI, E4809-045-110-C?, 1911-1534
OKUMA SVPIID board, SVP2D, E4809-045-109-D?, 1911-1531
Okuma Opus7000 Compact Rack E7191-090-007 E4809-045-216
OKUMA E4809-045-133-A USPP E4809045133A
OKUMA E4809-045-091-E 1911-1520-99-75
OKUMA OSP3000 Isolation Circuit Board #E4809-045-010-?B
Okuma Circuit Board Opus 5000II #E4809-045-106-?G
OKUMA E4809-045-133-B USPP E4809045133B
OKUMA CRP II-C E4809-045-106-G 1911-1692-107-2?04 BOARD
OKUMA E4809-045-112-C 1911-1598-30.97 E4809045112C
OKUMA E4809-045-109-C OPUS 5000 II
OKUMA E4809-045-113 TCC-B BOARD
OKUMA Opus7000 FUB-P4M4 card Board Module E4809-045-174
OKUMA OSP3000 FILE Circuit Board #E4809-045-013-?E
OKUMA E4809-045-106-D USPP E4809045106D
OKUMA OSP3000 #E4809-045-010-?A
OKUMA SDU 600W E4809 045 019C
Okuma Opus 7000 PS60 Opus7000 Board E4809-045-217-C
OKUMA E4809 045 113 _ E4809045113 TCC-B
OKUMA E4809-045-113 _ E4809045113 TCC-B
OKUMA E4809-045-106-F OPUS 5000 II CRP II-C
Okuma FDC Circuit Board E4809-045-062-F E4809-045-062F
OKUMA OSP3000 Isolation Circuit Board #E4809-045-010-?C
OKUMA OSP3000 FILE Circuit Board #E4809-045-013-?F
OKUMA E4809-045-110-C USPP E4809045110C
OKUMA OSP3000 Mother Circuit Board #E4809-045-012-?D
Okuma OPUS 5000 Main E4809-045-045-G _1911-1140-27-7
Okuma OPUS 5000 Main E4809-045-044 _ 1911-1105-31-15?2
OKUMA E4809-045-061-D USPP E4809045061D
Okuma OPUS 5000 FDC E4809-045-062-F _ 1911-1132-52.13
OKUMA E4809-045-091-E OPUS 5000 II MAIN BOARD W/ BUBBLE
Okuma OPUS 5000 E4809-045-039 E _1911-1110-35-4?0 _E4809
Okuma OPUS 5000 E4809-045-038-C _1911-1103-64-4?1 Main 3
Okuma OPUS 5000 Axis Card 1 PR3 DA3 E4809-045-040-A PCB
Okuma OPUS 5000 ECP 1 E4809-045-047C _ 1911-1140-27-7
OKUMA E4809-045-112-C USPP E4809045112C
OKUMA SVPIID-DA E4809-045-109-D
OKUMA OPUS 3000.2000 MEMORY BOARD E4809-045-048C
OKUMA BMP-N01 E4809-045-042-D
Okuma Opus 5000 Main Card3, E4809-045-038-B?
Okuma CRP II-C Board Opus 5000 II E4809-045-106F
OKUMA OPUS 5000 2 DATA BOARD 2 E4809-045-073-D
OKuma MB1 board 1911-2100 E4809-045-148-C Main PCboard
Okuma Opus 5000 CMOS Memory Card, E4809-045-167-C
Okuma Opus 5000 Main Card 5, E4809-045-044
Okuma Opus 5000 Main Board, E4809-045-035-C
OKUMA 0PUS7000 OSP 7000 PANEL IF CARD E4809-045-205-A
OKUMA SPC1 board, SPCI, E4809-045-110-C?, 1911-1534
OKUMA SVPIID board, SVP2D, E4809-045-109-D?, 1911-1531
Okuma E4809-045-167-C
Okuma E4809-045-038-B, WARRANTY
Okuma E4809-045-044
Okuma E4809-045-035-C
