CN102601783A - Intelligent manipulator device capable of automatically placing glass fiber strand barrel - Google Patents
Intelligent manipulator device capable of automatically placing glass fiber strand barrel Download PDFInfo
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- CN102601783A CN102601783A CN2012100860988A CN201210086098A CN102601783A CN 102601783 A CN102601783 A CN 102601783A CN 2012100860988 A CN2012100860988 A CN 2012100860988A CN 201210086098 A CN201210086098 A CN 201210086098A CN 102601783 A CN102601783 A CN 102601783A
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Abstract
The invention relates to an intelligent manipulator device capable of automatically placing a glass fiber strand barrel, which is characterized by comprising a manipulator traveling crossbeam, a manipulator traveling support, traveling wheels, a lifting lead screw motor, a traveling motor, a traveling driving gear, a traveling rack, a manipulator lifting support, a lifting linear guide track, a lifting arm, a lifting lead screw, a retractable grab, a rotary power mechanism, a rotary rack, a rotary shaft and a retractable cylinder. The traveling wheels are mounted on the manipulator traveling support and contact with the manipulator traveling crossbeam, the traveling motor is fixed onto the manipulator traveling support, a motor shaft of the traveling motor is connected with the traveling driving gear, and the traveling rack is fixed onto the manipulator traveling crossbeam and matches with the traveling driving gear. Compared with the prior art, the intelligent manipulator device has the advantages of high carrying efficiency, safety and reliability in use, convenience in installation and low maintenance cost.
Description
Technical field
The present invention relates to a kind of robot device, particularly relate to a kind of glass fiber precursor tube that is used for and put the intelligent machine arm device automatically, belong to the glass fibre manufacture field.
Background technology
Publication number is 102225546 Chinese patent, discloses a kind of mechanical arm, and this mechanical arm comprises base, is fixed with on the base and reverses pedestal, describedly reverses on the pedestal rotating being equipped with and reverses platform; Said platform one side of reversing is fixed with the overarm arm, and described overarm arm is provided with the guide rail that supplies slide block to slide, and described slide block is provided with the gripper frame fixed head; Described overarm arm is equipped with cylinder frame with reversing on the platform, second cylinder is installed on the cylinder frame; One side of described gripper frame fixed head is fixed with fixed mount, is fixed with the 3rd cylinder on the described fixed mount; The piston rod of described the 3rd cylinder is connected with the handgrip fixed head, and handgrip fixed head lower end is connected with handgrip; The described platform that reverses is rotatably connected through the pushing block that reverses the platform fixed block and the first cylinder piston club head; Described first cylinder is fixed on the base plate of base.This mechanical arm can reverse through reversing platform 360 degree, but this mechanical arm can not move at above-below direction, nor can move at left and right directions, has limited use.
Publication number is 201376280 Chinese patent, discloses a kind of mechanical arm, and this mechanical arm comprises a pedestal, has a base plate; A linking arm, connecting portion of tool, this coupled arm is connected with the base plate of this pedestal is universal with this connecting portion, and this linking arm inside is hollow; And master arm; One end inserts in this linking arm; The other end is driven and at a virtual plane top offset, makes that this master arm is that swing at the center with the connecting portion of this linking arm, and this linking arm also receives the connection of this master arm and is that swing at the center with this connecting portion.Though this mechanical arm can have very high freedom of movement owing to universal connection; But this mechanical arm can easily not carried cake; The head of this mechanical arm can not level put in the cake; Use inconvenience, and the mechanical arm driving mechanism of universal connection is complicated, not easy care.
Summary of the invention
The objective of the invention is to overcome the above-mentioned deficiency that exists in the prior art; And a kind of reasonable in design is provided, simple in structure, easy to use; Rotate flexibly, can fast carry the glass fiber precursor tube that is used for of cake exactly and put the intelligent machine arm device automatically.
The present invention addresses the above problem the technical scheme that is adopted: this is used for the glass fiber precursor tube and puts the intelligent machine arm device automatically, and its design feature is: comprise mechanical arm walking crossbeam, mechanical arm mobile roof support, road wheel, elevating screw motor, movable motor, walking driven wheel, walking rack, mechanical arm lifting support, up-down line slideway, lifting arm, elevating screw, flexiblely hold in hand, revolving power mechanism, rotation tooth bar, rotating shaft and telescopic cylinder; Said road wheel is installed on the mechanical arm mobile roof support; This road wheel contacts with mechanical arm walking crossbeam; Said movable motor is fixed on the mechanical arm mobile roof support; The motor shaft of this movable motor is connected with the walking driven wheel, and said walking rack is fixed on the mechanical arm walking crossbeam, and this walking rack is complementary with the walking driven wheel; Said mechanical arm lifting support is fixed on the mechanical arm mobile roof support; Said up-down line slideway is installed on the mechanical arm lifting support; The motor shaft of said elevating screw motor is connected with elevating screw, and this lifting arm and elevating screw match, and this lifting arm is movably arranged on the up-down line slideway; Said revolving power mechanism is fixed on the lifting arm; This revolving power mechanism links to each other with the rotation tooth bar, and said rotation tooth bar and rotating shaft match, and said rotating shaft is movably arranged on the lifting arm; One end of this rotating shaft links to each other with telescopic cylinder, and said telescopic cylinder links to each other with flexible holding in hand.Movable motor is fixed on the mechanical arm mobile roof support; The motor shaft of movable motor is connected with the walking driven wheel, and walking rack is fixed on the mechanical arm walking crossbeam, and walking rack is complementary with the walking driven wheel; Starting movable motor just can make the walking driven wheel on walking rack, rotate; Thereby drive the motion of mechanical arm mobile roof support, realize mechanical arm mobile roof support move left and right on mechanical arm walking crossbeam, convenient and swift.Movable motor is installed in the mechanical arm mobile roof support rather than is installed on the mechanical arm walking crossbeam; Can make movable motor easier for installation, conserve space, and can make movable motor directly be connected with walking rack; Reduce drive disk assembly, make structure simpler.The mechanical arm lifting support is fixed on the mechanical arm mobile roof support; The up-down line slideway is installed on the mechanical arm lifting support; The motor shaft of elevating screw motor is connected with elevating screw, and lifting arm and elevating screw match, and this lifting arm is movably arranged on the up-down line slideway.The mechanical arm lifting support can be along with mechanical arm mobile roof support move left and right together; Lifting arm can slide on the up-down line slideway; The elevating screw motor is installed on the mechanical arm mobile roof support, can conserve space, and lifting arm can be regulated height through the rotation of elevating screw; The convenient flexible adjusting of holding height in hand can make flexible holding in hand in the cake that puts in differing heights.Revolving power mechanism is fixed on the lifting arm, and revolving power mechanism links to each other with the rotation tooth bar, and rotation tooth bar and rotating shaft match, and an end of rotating shaft links to each other with telescopic cylinder, and telescopic cylinder links to each other with flexible holding in hand.The revolving power mechanism rotation tooth bar that can stretch, the rotation tooth bar can rotate by the driven rotary axle, and rotating shaft rotates to drive flexiblely holds rotation in hand, holds rotation in hand thereby control is flexible easily.Use the transmission of rotation tooth bar, simple in structure, easy to maintenance.
The present invention also comprises directional wheel, and this directional wheel is installed on the mechanical arm mobile roof support, and said directional wheel and mechanical arm walking crossbeam match.Directional wheel blocks mechanical arm walking crossbeam, makes the mechanical arm mobile roof support can not tumble or skid off mechanical arm walking crossbeam, guarantees safe in utilizationly, and does not hinder the mechanical arm mobile roof support on mechanical arm is walked crossbeam, to roll.
Lifting arm according to the invention is provided with screwed hole, and this screwed hole and elevating screw are complementary.Lifting arm is connected with elevating screw through screw thread, makes the elevating screw rotation can drive lifting arm and move up and down that in the elevating screw stop motion, lifting arm can not fall down yet, and is safe and reliable, simple in structure, and transmission efficiency is high, and degree of regulation is also high.
The present invention also comprises protective plate, and this protective plate is installed on the mechanical arm lifting support.Protective plate can protect the elevating screw in the mechanical arm lifting support, improves the service life of elevating screw.
It is inner that elevating screw according to the invention is installed in the mechanical arm lifting support.Conserve space, and make elevating screw effectively protected.
Mechanical arm lifting support according to the invention is a rectangular structure.The rectangular structure manufacturing is simple, and is easy to maintenance, and space availability ratio is high, is convenient to install elevating screw and up-down line slideway.
The present invention also comprises the rotating shaft gear, and this rotating shaft gear set is on rotating shaft, and said rotating shaft gear is complementary with the rotation tooth bar.Simple in structure, directly transmission, control accuracy is high.
Revolving power mechanism according to the invention is rotary cylinder or electric rotating machine.Rotary cylinder has simple in structure, characteristics such as reliability height, and electric rotating machine has the source of the gas of need not, and controls advantage easily, and the user can select different revolving power mechanisms for use according to different environments for use.
The present invention also comprises PLC, and said PLC and movable motor are electrically connected, and this PLC and elevating screw motor are electrically connected, and this PLC and electric rotating machine are electrically connected.Can accomplish accurate control through PLC, and improve control accuracy, reduce error rate, improve operating efficiency, the user controls convenient, can also root change program at any time adapt to process modification., be used for the glass fiber precursor tube and put the intelligent machine arm device automatically and accept to automatically perform and accomplish after the instruction and pick and place cake and move by making the yarn button send operating instruction through PLC control.Be used for the glass fiber precursor tube and put the intelligent machine arm device automatically and can do the horizontal linear direction through the control of PLC, vertical direction horizontally rotates, the action of flexible 8 directions of level.
The present invention also comprises input module, output module, counting module, appliance controling element, flat cable, cable-pulling chain, frequency converter, inductive switch and other appliance controling element.Greatly improve automaticity, also made things convenient for use.
The present invention also comprises support post, and said support post is connected with mechanical arm walking crossbeam.Improve stability and heavy burden ability, increased security.
The present invention compared with prior art has the following advantages and effect: handling efficiency is high, and safe and reliable, easy for installation, maintenance cost is low, can the free adjustment height, and simple in structure, long service life, the carrying cake is accurately quick, and control is convenient.
Description of drawings
Fig. 1 is used for the main TV structure sketch map that the glass fiber precursor tube is put the intelligent machine arm device automatically in the embodiment of the invention.
Fig. 2 is the plan structure sketch map of Fig. 1.
Fig. 3 is used for the user mode figure that the glass fiber precursor tube is put the intelligent machine arm device automatically in the embodiment of the invention.
Fig. 4 is the enlarged diagram at A place among Fig. 1.
Fig. 5 is the perspective view of the embodiment of the invention.
Fig. 6 is a flexible structural representation of parts such as holding in hand in the embodiment of the invention.
Fig. 7 is the flexible view of holding in hand when parallel with mechanical arm walking crossbeam in the embodiment of the invention.
Fig. 8 is flexible holding in hand and mechanical arm walking beam vertical in the embodiment of the invention, and the flexible direction view left of holding in hand.
Fig. 9 is flexible holding in hand and mechanical arm walking beam vertical in the embodiment of the invention, and the flexible direction view to the right of holding in hand.
Figure 10 be in the embodiment of the invention flexible hold in hand with mechanical arm walking crossbeam angle be 70 degree, and the flexible view of holding the oblique left side of direction in hand.
Figure 11 be in the embodiment of the invention flexible hold in hand with mechanical arm walking crossbeam angle be 70 degree, and the flexible view of holding the oblique right side of direction in hand.
Figure 12 is used for the user mode figure that the glass fiber precursor tube is put the intelligent machine arm device automatically in the embodiment of the invention.
The specific embodiment
Below in conjunction with accompanying drawing and through embodiment the present invention is done further detailed description, following examples are to explanation of the present invention and the present invention is not limited to following examples.
Embodiment.
Like Fig. 1-shown in Figure 12, in the present embodiment be used for that the glass fiber precursor tube puts automatically that the intelligent machine arm device comprises mechanical arm walking crossbeam 1, mechanical arm mobile roof support 2, road wheel 3, elevating screw motor 4, movable motor 5, walking driven wheel 6, walking rack 7, mechanical arm lifting support 8, up-down line slideway 9, lifting arm 10, elevating screw 11, flexiblely holds 12 in hand, revolving power mechanism 13, rotation tooth bar 14, rotating shaft 15, telescopic cylinder 16, directional wheel 17, rotating shaft gear 18 and support post 22.Mechanical arm mobile roof support 2 is formed the mechanical arm main body with mechanical arm lifting support 8.
Road wheel 3 is installed on the mechanical arm mobile roof support 2; Road wheel 3 contacts with mechanical arm walking crossbeam 1; Road wheel 3 can roll on mechanical arm is walked crossbeam 1, and the mechanical arm mobile roof support 2 in the present embodiment is equipped with eight road wheels 3, has guaranteed the stable operation of mechanical arm mobile roof support 2.Mechanical arm walking crossbeam 1 has support post 22 to support, and mechanical arm walking crossbeam 1 comprises the crossbeam bar composition of two strip structures, all has two road wheels 3 to roll on every crossbeam bar.
Movable motor 5 is fixed on the mechanical arm mobile roof support, and movable motor 5 can be variable-frequency motor, also can be other motors such as servomotor.The motor shaft of movable motor 5 is connected with walking driven wheel 6; Walking rack 7 is fixed on the mechanical arm walking crossbeam 1; Walking rack 7 and the 1 parallel installation of mechanical arm walking crossbeam, walking driven wheel 6 is complementary with walking rack 7, and movable motor 5 rotates drive walking driven wheel 6 and rotates; Because tooth on the walking driven wheel 6 and the tooth on the walking rack 7 are meshed, the moving mechanical arm mobile roof support 2 of walking driven wheel 6 rotating bands moves.Just can control the translational speed of mechanical arm mobile roof support 2 through the velocity of rotation of control movable motor 5; Just can control the shift position of mechanical arm mobile roof support 2 through the rotational angle of control movable motor 5; Control is convenient, and simple in structure, installation and maintenance is all very convenient.
Mechanical arm lifting support 8 is fixed on the mechanical arm mobile roof support 2; The upper end of mechanical arm lifting support 8 and mechanical arm mobile roof support 2 are fixing; Mechanical arm lifting support 8 is a rectangular structure, helps effectively utilizing the space, and mechanical arm lifting support 8 is the hollow frame structure; Help the inner miscellaneous part of installing, simple in structure.
Up-down line slideway 9 is fixed in the mechanical arm lifting support 8; Lifting arm 10 is movably arranged on the up-down line slideway 9; Lifting arm 10 can slide on up-down line slideway 9; Up-down line slideway 9 can prevent lifting arm 10 sideslips, thereby makes elevating screw 11 receive radial load and damage, and up-down line slideway 9 has the effect of safeguard protection.
The motor shaft of elevating screw motor 4 is connected with elevating screw 11, and lifting arm 10 matches with elevating screw 11, and lifting arm 10 is provided with screwed hole; Has internal thread in this screwed hole; Have external screw thread on the elevating screw 11, this internal thread and external screw thread are complementary, and elevating screw 11 rotates lifting arm 10 is moved up and down; The anglec of rotation of control elevating screw motor 4 can rest on needed height with lifting arm 10, convenient control.Elevating screw 11 and elevating screw motor 4 help improving control accuracy on same straight line, also help improving the service life of elevating screw 11.
Revolving power mechanism 13 is fixed on the lifting arm 10, and revolving power mechanism 13 links to each other with rotation tooth bar 14, and the revolving power mechanism 13 flexible rotation tooth bars 14 that can make are also flexible.Rotation tooth bar 14 matches with rotating shaft 15; Rotating shaft 15 is provided with rotating shaft gear 18; Rotating shaft gear 18 and 14 engagements of rotation tooth bar; Rotation tooth bar 14 flexible can rotations by driven rotary shaft gear 18 can be controlled the anglec of rotation of rotating shaft 15 through control revolving power mechanism 13 strokes.The lower end of rotating shaft 15 links to each other with telescopic cylinder 16, and telescopic cylinder 16 is held 12 in hand and linked to each other with flexible, and rotating shaft 15 is movably arranged on the lifting arm 10, and rotating shaft 15 can rotate on lifting arm 10.Revolving power mechanism 13 can be electric rotating machine or rotary cylinder, and wherein the motor shaft of electric rotating machine is a hollow shaft, and electric rotating machine and rotating shaft 15 can rotate synchronously.
Directional wheel 17 has four; Be installed in respectively on four angles of mechanical arm mobile roof support 2; Directional wheel 17 contacts with mechanical arm walking crossbeam 1; Directional wheel 17 can roll on mechanical arm is walked crossbeam 1 lateral surface, and the lateral surface of mechanical arm walking crossbeam 1 is meant the side that mechanical arm walking crossbeam 1 perhaps makes progress among Fig. 3 downwards.Directional wheel 17 can prevent that mechanical arm mobile roof support 2 rollover on mechanical arm walking crossbeam 1 from perhaps de-orbiting, and guarantees the safe operation of mechanical arm mobile roof support 2.Directional wheel 17 also has the mechanical arm of preventing mobile roof support 2 operation hour offsets, improves the function of positioning accuracy.
Use PLC control to be used for the glass fiber precursor tube in the present embodiment and put the intelligent machine arm device automatically, can do the horizontal linear direction through the control of PLC, vertical direction horizontally rotates, and level is stretched and waited action.By making yarn button 23 send operating instruction, be used for automatically performing and accomplish the action that picks and places cake 19 after the glass fiber precursor tube is put intelligent machine arm device acceptance instruction automatically.Being used for the glass fiber precursor tube, to put the intelligent machine arm device automatically be to produce the specific link of doff and the puma manipulator that more is applicable to glass fibre doff production line that region limits is researched and developed according to glass fibre.Make yarn button 23 be installed in the below of each cake 19 placement location on the doff creel; To should cake 19 placement locations; Only need press and be yarn button 23; Be used for the glass fiber precursor tube and put the intelligent machine arm device automatically and will be automatically cake 19 be put into this and cry yarn button 23 corresponding cake 19 placement locations, realize Based Intelligent Control.Make yarn button 23 and PLC be electrically connected, in the time of work, press and make yarn button 23, PLC receive this to cry the yarn button 23 pairing positional informations, move then.
The glass fiber precursor tube that is used in the present embodiment is put the intelligent machine arm device automatically and is also comprised input module, output module, counting module, appliance controling element, flat cable, cable-pulling chain, frequency converter, inductive switch and other appliance controling element.
When using, precursor dolly 20 is shifted onto on the certain location, startup is used for the glass fiber precursor tube and puts the intelligent machine arm device automatically.Movable motor 5 work, drive mechanical arm mobile roof support 2 move left and right are to suitable position and stop 4 work of elevating screw motor; Through elevating screw 11 lifting arm 10 is elevated to rational position, revolving power mechanism 13 work make telescopic cylinder 16 can rotate to the direction towards cake 19; Telescopic cylinder 16 elongations, flexible holding in hand in the 12 entering cakes, elevating screw motor 4 moves; Cake 19 is improved, and telescopic cylinder 16 shrinks, and makes cake 19 leave precursor dolly 20.
Revolving power mechanism 13 actions turn over an angle of 90 degrees, make cake 19 parallel with mechanical arm walking crossbeam 1.Movable motor 5 and 4 work of elevating screw motor are transported to the position that needs with cake 19, and revolving power mechanism 13 actions turn over 70 degree angles, and telescopic cylinder 16 elongations, and 4 work of elevating screw motor are put into doff creel 21 with cake 19.
Repeat above-mentioned steps, up to cake 19 carryings are finished.
Automatically put intelligent machine arm device handling process being used for the glass fiber precursor tube; Be according to the carrying of the order of first in first out, being used for the glass fiber precursor tube, to put the intelligent machine arm device automatically be to advance precursor dolly 20 same orders according to cake 19 carryings to carry out from the order that precursor dolly 20 advances doff creel 21 with cake 19 carryings.Make and can the cake 19 of different size be mixed carrying, be difficult for mixing up.
A slice or multi-disc protective plate can be installed on the mechanical arm lifting support 8 among the present invention, and protective plate has the effect of protection lifting arm 10 and elevating screw 11 parts such as grade.
Also can replace revolving power mechanism 13 among the present invention by motor.
The present invention's driven wheel 6 of walking also can have many.
The road wheel 3 among the present invention and the function of directional wheel 17 can substitute with line slideway.
Above content described in this specification only is illustrating that the present invention is done.Person of ordinary skill in the field of the present invention can make various modifications or replenishes or adopt similar mode to substitute described specific embodiment; Only otherwise depart from the content of specification of the present invention or surmount the defined scope of these claims, all should belong to protection scope of the present invention.
Claims (10)
1. one kind is used for the glass fiber precursor tube and puts the intelligent machine arm device automatically, it is characterized in that: comprise mechanical arm walking crossbeam, mechanical arm mobile roof support, road wheel, elevating screw motor, movable motor, walking driven wheel, walking rack, mechanical arm lifting support, up-down line slideway, lifting arm, elevating screw, flexiblely hold in hand, revolving power mechanism, rotation tooth bar, rotating shaft and telescopic cylinder; Said road wheel is installed on the mechanical arm mobile roof support; This road wheel contacts with mechanical arm walking crossbeam; Said movable motor is fixed on the mechanical arm mobile roof support; The motor shaft of this movable motor is connected with the walking driven wheel, and said walking rack is fixed on the mechanical arm walking crossbeam, and this walking rack is complementary with the walking driven wheel; Said mechanical arm lifting support is fixed on the mechanical arm mobile roof support; Said up-down line slideway is installed on the mechanical arm lifting support; The motor shaft of said elevating screw motor is connected with elevating screw, and this lifting arm and elevating screw match, and this lifting arm is movably arranged on the up-down line slideway; Said revolving power mechanism is fixed on the lifting arm; This revolving power mechanism links to each other with the rotation tooth bar, and said rotation tooth bar and rotating shaft match, and said rotating shaft is movably arranged on the lifting arm; One end of this rotating shaft links to each other with telescopic cylinder, and said telescopic cylinder links to each other with flexible holding in hand.
2. the glass fiber precursor tube that is used for according to claim 1 is put the intelligent machine arm device automatically, it is characterized in that: also comprise directional wheel, this directional wheel is installed on the mechanical arm mobile roof support, and said directional wheel and mechanical arm walking crossbeam match.
3. the glass fiber precursor tube that is used for according to claim 1 and 2 is put the intelligent machine arm device automatically, and it is characterized in that: said lifting arm is provided with screwed hole, and this screwed hole and elevating screw are complementary.
4. the glass fiber precursor tube that is used for according to claim 1 and 2 is put the intelligent machine arm device automatically, it is characterized in that: also comprise protective plate, this protective plate is installed on the mechanical arm lifting support.
5. the glass fiber precursor tube that is used for according to claim 1 and 2 is put the intelligent machine arm device automatically, it is characterized in that: it is inner that said elevating screw is installed in the mechanical arm lifting support.
6. the glass fiber precursor tube that is used for according to claim 1 and 2 is put the intelligent machine arm device automatically, it is characterized in that: said mechanical arm lifting support is a rectangular structure.
7. the glass fiber precursor tube that is used for according to claim 1 and 2 is put the intelligent machine arm device automatically, it is characterized in that: also comprise the rotating shaft gear, this rotating shaft gear set is on rotating shaft, and said rotating shaft gear is complementary with the rotation tooth bar.
8. the glass fiber precursor tube that is used for according to claim 1 and 2 is put the intelligent machine arm device automatically, it is characterized in that: said revolving power mechanism is rotary cylinder or electric rotating machine.
9. the glass fiber precursor tube that is used for according to claim 8 is put the intelligent machine arm device automatically, it is characterized in that: also comprise PLC, said PLC and movable motor are electrically connected, and this PLC and elevating screw motor are electrically connected, and this PLC and electric rotating machine are electrically connected.
10. the glass fiber precursor tube that is used for according to claim 1 and 2 is put the intelligent machine arm device automatically, it is characterized in that: also comprise support post, said support post is connected with mechanical arm walking crossbeam.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210086098.8A CN102601783B (en) | 2012-03-28 | 2012-03-28 | Intelligent manipulator device capable of automatically placing glass fiber strand barrel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210086098.8A CN102601783B (en) | 2012-03-28 | 2012-03-28 | Intelligent manipulator device capable of automatically placing glass fiber strand barrel |
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| CN102601783A true CN102601783A (en) | 2012-07-25 |
| CN102601783B CN102601783B (en) | 2015-04-22 |
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| CN103640026B (en) * | 2013-12-20 | 2016-08-17 | 辽宁石油化工大学 | A kind of spindle assembly manipulator |
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| CN107703211A (en) * | 2017-10-30 | 2018-02-16 | 上海凯历迪新材料科技股份有限公司 | A kind of fiber-wall-element model degree measuring instrument |
| CN107727743A (en) * | 2017-10-30 | 2018-02-23 | 上海凯历迪新材料科技股份有限公司 | A kind of dynamic fiber degree of orientation measuring instrument and the method for measuring the dynamic fiber degree of orientation |
| CN108082920A (en) * | 2018-02-02 | 2018-05-29 | 珠海汉迪自动化设备有限公司 | Lift rocking equipment and its control method |
| CN108318585A (en) * | 2018-04-11 | 2018-07-24 | 上海凯历迪新材料科技股份有限公司 | A kind of intelligent automation fiber-wall-element model degree measuring instrument |
| CN110329773A (en) * | 2019-07-31 | 2019-10-15 | 东北大学 | A kind of lifting device of single power source |
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| CN114005551A (en) * | 2021-10-28 | 2022-02-01 | 中国科学院合肥物质科学研究院 | Rocker guide rail device for neutral beam injection heating system of nuclear fusion device |
| CN114988217A (en) * | 2022-07-19 | 2022-09-02 | 山东深蓝机器股份有限公司 | Automatic feeding system for glass fiber yarn rolls |
| CN114988217B (en) * | 2022-07-19 | 2022-11-11 | 山东深蓝机器股份有限公司 | Automatic feeding system for glass fiber yarn rolls |
| WO2024120510A1 (en) * | 2022-12-09 | 2024-06-13 | 中船重工(重庆)西南装备研究院有限公司 | Paper tube and thread extraction device |
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