CN104290094B - H type parallel robot - Google Patents

H type parallel robot Download PDF

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Publication number
CN104290094B
CN104290094B CN201410495117.1A CN201410495117A CN104290094B CN 104290094 B CN104290094 B CN 104290094B CN 201410495117 A CN201410495117 A CN 201410495117A CN 104290094 B CN104290094 B CN 104290094B
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CN
China
Prior art keywords
assembly
slide block
cylinder
guide rail
block assembly
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CN201410495117.1A
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Chinese (zh)
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CN104290094A (en
Inventor
于今
杨继东
杨金华
杨昌林
王贵川
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重庆朗正科技有限公司
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Priority to CN201410495117.1A priority Critical patent/CN104290094B/en
Publication of CN104290094A publication Critical patent/CN104290094A/en
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Publication of CN104290094B publication Critical patent/CN104290094B/en

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Abstract

The invention discloses a kind of H type parallel robot, including frame, workbench, X to assembly, Y-direction assembly and Z-direction assembly;Two X are arranged symmetrically with the left and right sides of workbench to assembly, to assembly, each X includes that X direction guiding rail and X are to slide block assembly;Y-direction assembly includes Y-direction guide rail and Y-direction slide block assembly;Z-direction assembly includes execution unit, and cylinder or electricity cylinder;The front end of each X direction guiding rail is provided with a driving motor and an active synchronization belt wheel, and the rear end of each X direction guiding rail is provided with a driven synchronous pulley, both sides is each provided with an idle pulley at X before and after slide block assembly with Y-direction rail attachment point;Being set with the Timing Belt of H-shaped at X on the H-shaped framework that assembly and Y-direction assembly are constituted, drive motor to drive active synchronization belt wheel to rotate, active synchronization belt wheel drives driven synchronous pulley to rotate by Timing Belt, final drive execution unit X to and Y-direction move.Simple in construction, low cost of manufacture, the rigidity of structure is good, position precision is high, is a real green energy conservation robot.

Description

H type parallel robot
Technical field
The present invention relates to industrial robot technical field.
Background technology
Along with improving constantly of industrial automation level, robot be widely used in industrial respectively Individual field.Robot is roughly divided into parallel robot, articulated robot and serial manipulator three major types, its Execution unit X to be realized, to, Y-direction and Z-direction motion, needs to mate different power respectively and is driven. In motor process, the weight of the power of each axle or motor self will be added on moving loads, cause dynamic Power consumes.Further, the subject matter that existing industrial robot structurally exists is: overall structure rigidity Not, the position precision difficulty of executable portion controls, and structure is complicated, and manufacturing cost is high.
Summary of the invention
The present invention is directed to above-mentioned technical problem improve, intend providing a kind of simple in construction, low cost of manufacture, The rigidity of structure is good, position precision is high, the parallel robot of green energy conservation.
For solving above technical problem, the technical solution adopted in the present invention is: a kind of H type parallel manipulator People, including frame (1), is installed in the workbench (2) of described frame (1) top, it is critical only that: It is provided above two X to assembly (3), a Y-direction assembly (4) at described workbench (2) With a Z-direction assembly (5);Two X are arranged symmetrically in the left and right of workbench (2) to assembly (3) Both sides, to assembly (3), each X includes that X direction guiding rail (31) and X are to slide block assembly (32), institute Stating X direction guiding rail (31) to be installed on workbench (2), X is to slide block assembly (32) and X direction guiding rail (31) It is slidably connected;Described Y-direction assembly (4) includes Y-direction guide rail (41) and Y-direction slide block assembly (42), The two ends of described Y-direction guide rail (41) X with respective side respectively is vertically connected to slide block assembly (32), Described Y-direction slide block assembly (42) is slidably connected with Y-direction guide rail (41);Described Z-direction assembly (5) Including execution unit (51), and cylinder (52) or electricity cylinder, described cylinder (52) or electricity cylinder are installed On Y-direction slide block assembly (42), cylinder (52) or electricity cylinder drive execution unit (51) to transport in Z-direction Dynamic;
The front end of each X direction guiding rail (31) is provided with a driving motor (6) and an active synchronization band Wheel, the rear end of each X direction guiding rail (31) is provided with a driven synchronous pulley, at X to slide block assembly (32) with Y-direction guide rail (41) junction before and after both sides be each provided with an idle pulley;Described X to The Timing Belt (10) of H-shaped it is set with on the H-shaped framework that assembly (3) and Y-direction assembly (4) are constituted, On slide block assembly (32), the synchronous belt locking block (13) engaged with Timing Belt (10) it is installed with at described X, Described driving motor (6) drives active synchronization belt wheel to rotate, and active synchronization belt wheel passes through Timing Belt (10) Drive driven synchronous pulley to rotate, finally drive execution unit (51) X to and Y-direction motion.
Preferred as such scheme, described X to slide block assembly (32) by X to slide block (32a), X To slide carriage (32b) and two L-shaped keyset (32c) compositions, described X is to slide block (32a) and X Direction guiding rail (31) is slidably connected by dovetail groove, and X is installed in X to slide block (32a) to slide carriage (32b) Top, for being connected with Y-direction guide rail (41), two L-shaped keysets (32c) lay respectively at X to Both sides before and after slide block assembly (32) and Y-direction guide rail (41) junction, described idle pulley is arranged on correspondence L-shaped keyset (32c) inner side.By optimization X to slide block assembly, reduce manufacture difficulty, lazy Wheel and L-shaped keyset act on jointly, facilitate Timing Belt to slide at this angle position smooth and easy, and X is to slide block Assembly is slidably connected by dovetail groove with X direction guiding rail, it is ensured that the reliability of slip.
Meanwhile, described Y-direction slide block assembly (42) is by Y-direction slide block (42a) and Y-direction slide carriage (42b) Composition, described Y-direction slide block (42a) is slidably connected by dovetail groove with Y-direction guide rail (41), described Y-direction slide carriage (42b) is installed in front side or the rear side of Y-direction slide block (42a), and described cylinder (52) is pacified It is contained on Y-direction slide carriage (42b).By optimizing Y-direction slide block assembly, reduce manufacture difficulty, and protect Demonstrate,prove the reliability of Y-direction slide block and Y-direction slide.
Described execution unit (51) is vacuum cup, gas pawl or mechanical hand;Execution unit can be according to specifically Need to select different execution units to install, to meet the use needs of various occasion.
Further, the lower section of one of them X direction guiding rail (31) is provided with X to drag chain (71), Y-direction Guide rail (41) be arranged above Y-direction drag chain (72), X is to the front end upwards bending of drag chain (71) After 180 °, the wherein one end with Y-direction drag chain (72) connects, and the other end of Y-direction drag chain (72) is upwards rolled over After curved 180 ° corresponding with the position of cylinder (52), X is to drag chain (71) and Y-direction drag chain (72) altogether With constituting a pipeline wire casing (7).By arranging pipeline wire casing, in H type parallel robot Pipeline passes through, and designs ingenious, connection and reasonable arrangement, takes up room little, low cost of manufacture.
Work process and principle are as follows: the Timing Belt of H type parallel robot is H type, are just enclosed within two X On the H-shaped framework of direction guiding rail and a Y-direction guide rail composition, wherein Y-direction guide rail is as X to slide block group Part slides together, and Y-direction slide block assembly is connected with Y-direction slide.Two active synchronization belt wheels are respectively By driving motor to drive, active synchronization belt wheel drives driven synchronous pulley to rotate by Timing Belt, finally carries Dynamic execution unit X to and Y-direction motion.
When two driving motors (are clockwise or are counterclockwise) in the same direction and rotate, execution unit exists Move in Y-direction, when reversely (one is that one is counterclockwise clockwise) rotates two driving motors, Execution unit moves upward at X, i.e. by the control driving motor, it is possible to achieve execution unit is at X To and the high-speed motion of Y-direction, and movement locus is complicated and changeable;Execution unit moves by cylinder in Z-direction Or electricity cylinder realizes, Z-direction stroke is determined by the stroke of cylinder or electricity cylinder.
The present invention is mainly characterized in that: execution unit at X to being by a H-shaped with the motion in Y-direction Timing Belt, two driving motors, two active synchronization belt wheels, two driven synchronous pulleys realize, and Driving motor is fixed, and will not move to the motion with Y-direction along with X, decrease fortune in motor process Dynamic load quality, substantially increases movement velocity;Meanwhile, Timing Belt is enclosed within two X direction guiding rails and one On the H-shaped framework that Y-direction guide rail is constituted, increase the rigidity of structure, improve execution unit movement position Degree of accuracy;And simple in construction, design ingenious, low cost of manufacture.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the present invention.
Fig. 2 is the A direction view of Fig. 1.
Fig. 3 is that in Fig. 1, X to assembly, Y-direction assembly, Z-direction assembly and drives the installation of motor etc. to illustrate Figure.
Fig. 4 is the B portion enlarged drawing of Fig. 4.
Fig. 5 is the C portion enlarged drawing of Fig. 4.
Fig. 6 is the structural representation of H-shaped Timing Belt.
Fig. 7 a is two driving motors when all rotating clockwise, the slip schematic diagram of Timing Belt.
Fig. 7 b is two driving motors when all rotating counterclockwise, the slip schematic diagram of Timing Belt.
Fig. 8 a be left side drive motor clockwise, the driving motor on right side is when rotating counterclockwise, synchronize The slip schematic diagram of band.
Fig. 8 b is when driving that motor is inverse clockwise, the driving motor on right side rotates clockwise of left side, with The slip schematic diagram of step band.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings:
Shown in Fig. 1 Fig. 3, a kind of H type parallel robot, mainly by frame 1, workbench 2, Two X to assembly 3, Y-direction assembly 4,5, two driving motors 6 of Z-direction assembly, pipeline wire casing 7, with The step composition such as 10, two active synchronization belt wheels of band, two driven synchronous pulleys, four idle pulleys, except this it Outward, appliance wiring case 8, display screen 9 etc. are also included.
Workbench 2 is installed in the top of frame 1, and two X are to 3, Y-direction assembly 4 and of assembly Individual Z-direction assembly 5 is also disposed at the top of workbench 2.Two X have been arranged symmetrically with workbench to assembly 3 The left and right sides of 2.Each X is made up of to slide block assembly 32 X direction guiding rail 31 and X to assembly 3, X Direction guiding rail 31 is installed on workbench 2, and X is slidably connected with X direction guiding rail 31 to slide block assembly 32.Y Be made up of Y-direction guide rail 41 and Y-direction slide block assembly 42 to assembly 4, the two ends of Y-direction guide rail 41 respectively with The X of respective side is vertically connected to slide block assembly 32, and Y-direction slide block assembly 42 slides even with Y-direction guide rail 41 Connect.Z-direction assembly 5 is made up of execution unit 51 and cylinder 52, and cylinder 52 is arranged on Y-direction slide block assembly On 42, cylinder 52 drives execution unit 51 to move in Z-direction.Cylinder 52 can substitute by electricity consumption cylinder, performs Parts 51 are vacuum cup, it is also possible to be gas pawl or mechanical hand etc..
The front end of each X direction guiding rail 31 is provided with a driving motor 6 and an active synchronization belt wheel (figure Not shown in), the rear end of each X direction guiding rail 31 is provided with a driven synchronous pulley and (does not shows in figure Go out), be each provided with in X both sides before and after slide block assembly 32 with Y-direction guide rail 41 junction one lazy Wheel (not shown);On the H-shaped framework that assembly 3 and Y-direction assembly 4 are constituted, it is set with H at X The Timing Belt 10 (such as Fig. 6) of shape, Timing Belt 10 carries engaging tooth (not shown), X to The synchronous belt locking block 13 engaged with Timing Belt 10 it is installed with, to prevent Timing Belt on slide block assembly 32 10 skid, auxiliary member necessary when being Timing Belt application.Motor 6 is driven to drive active synchronization belt wheel to rotate, Active synchronization belt wheel drives driven synchronous pulley to rotate by Timing Belt 10, final drive execution unit 51 X to and Y-direction motion.Execution unit 51 is for the workpiece execution action to workbench 2, enforcement division Part 51 can X in, Y-direction and Z-direction the most mobile, therefore, to any position on workbench 2 Workpiece execution action.
Shown in Fig. 4, X to slide block assembly 32 preferably by X to slide block 32a, X to slide carriage 32b and Two L-shaped keyset 32c compositions.X is slided even by dovetail groove with X direction guiding rail 31 to slide block 32a Connecing, X is installed in X above slide block 32a to slide carriage 32b, X to slide carriage 32b Yu X to slide block 32a By screw lock together, X is used for being connected with Y-direction guide rail 41 to slide carriage 32b.Two L-shaped switchings Plate 32c lays respectively at X both sides before and after slide block assembly 32 with Y-direction guide rail 41 junction, and idle pulley is pacified It is contained in inside the L-shaped keyset 32c of correspondence.
Shown in Fig. 5, Y-direction slide block assembly 42 is preferably by Y-direction slide block 42a and Y-direction slide carriage 42b group Becoming, Y-direction slide block 42a is slidably connected by dovetail groove with Y-direction guide rail 41, and slide carriage 42b is fixed for Y-direction At front side or the rear side of Y-direction slide block 42a, Y-direction slide carriage 42b and Y-direction slide block 42a passes through screw lock Together.Cylinder 52 is arranged on Y-direction slide carriage 42b.
Shown in Fig. 1, Fig. 3 and Fig. 5, for arranging pipeline smoothly, workbench 2 is additionally provided with Pipeline wire casing 7.Pipeline wire casing 7 is mainly made up of to drag chain 71 and Y-direction drag chain 72 X, and X is to drag chain 71, the lower section of Y-direction drag chain 72 is preferably each provided with a drag chain wire casing 73.X is parallel to drag chain 71 The lower section of an X direction guiding rail 31 installed therein, Y-direction drag chain 72 is installed in parallel in Y-direction guide rail 41 Top, X connects with the termination of Y-direction drag chain 72 behind the front end of drag chain 71 upwards bending 180 °, Y After the other end of drag chain 72 upwards bending 180 ° corresponding with the position of cylinder 52, X is to drag chain 71 He Y-direction drag chain 72 collectively forms a pipeline wire casing 7.The cross section of drag chain wire casing 73 is U-shaped.
As it is shown in figure 1, be preferably provided with protective cover 11 above each X direction guiding rail 31, prevent ash Dirt or foreign body enter and cause Timing Belt 10 clamping stagnation, owing to being provided above drag chain at Y-direction guide rail 41 Wire casing 73 (as shown in Figure 3), can play the effect of protective cover, therefore, there is no need to additionally to arrange anti- Guard shield.
As shown in Figure 6, the Timing Belt 10 of H type parallel robot is in H type, shown in Fig. 3, just It is enclosed within the H-shaped framework of two X direction guiding rails 31 and Y-direction guide rail 41 composition, wherein Y-direction guide rail 41 are as what X slided together to slide block assembly 32, and Y-direction slide block assembly 42 is sliding with Y-direction guide rail 41 It is dynamically connected.Two active synchronization belt wheels are respectively by driving motor 6 to drive, and active synchronization belt wheel is by synchronizing The band 10 driven synchronous pulleys of drive rotate, final drive execution unit 51 X to and Y-direction motion.Hold Row parts 51 are driven by cylinder 51 in the motion of Z-direction.
Shown in Fig. 1, Fig. 3, Fig. 7 a, Fig. 7 b, when two driving motors 6 (are up time in the same direction Pin or be counterclockwise) when rotating, execution unit 51 moves in Y-direction.In conjunction with Fig. 1, Fig. 3, figure Shown in 8a, Fig. 8 b, when two driving motors 6 reversely (one is that one is counterclockwise clockwise) During rotation, execution unit 51 moves upward at X, i.e. by the control to driving motor 6, Ke Yishi Existing execution unit 51 X to and the high-speed motion of Y-direction, and movement locus is complicated and changeable;Execution unit 51 move in Z-direction is realized by cylinder 52, and Z-direction stroke is determined by the stroke of cylinder 52.

Claims (3)

1. a H type parallel robot, including frame (1), is installed in described frame (1) top Workbench (2), it is characterised in that: be provided above two X to group at described workbench (2) Part (3), a Y-direction assembly (4) and a Z-direction assembly (5);Two X are right to assembly (3) Claiming the left and right sides being disposed with workbench (2), each X includes X direction guiding rail (31) to assembly (3) Being installed on workbench (2) to slide block assembly (32), described X direction guiding rail (31) with X, X is to cunning Block assembly (32) is slidably connected with X direction guiding rail (31);Described Y-direction assembly (4) includes that Y-direction is led Rail (41) and Y-direction slide block assembly (42), the two ends of described Y-direction guide rail (41) respectively with respective side X be vertically connected to slide block assembly (32), described Y-direction slide block assembly (42) and Y-direction guide rail (41) It is slidably connected;Described Z-direction assembly (5) includes execution unit (51), and cylinder (52) or electricity Cylinder, described cylinder (52) or electricity cylinder are arranged on Y-direction slide block assembly (42), cylinder (52) or electricity Cylinder drives execution unit (51) to move in Z-direction;
The front end of each X direction guiding rail (31) is provided with a driving motor (6) and an active synchronization band Wheel, the rear end of each X direction guiding rail (31) is provided with a driven synchronous pulley, at X to slide block assembly (32) with Y-direction guide rail (41) junction before and after both sides be each provided with an idle pulley;Described X to The Timing Belt (10) of H-shaped it is set with on the H-shaped framework that assembly (3) and Y-direction assembly (4) are constituted, On slide block assembly (32), the synchronous belt locking block (13) engaged with Timing Belt (10) it is installed with at described X, Described driving motor (6) drives active synchronization belt wheel to rotate, and active synchronization belt wheel passes through Timing Belt (10) Drive driven synchronous pulley to rotate, finally drive execution unit (51) X to and Y-direction motion;
Described X to slide block assembly (32) by X to slide block (32a), X to slide carriage (32b) and two L Shape keyset (32c) forms, and described X passes through dovetail groove to slide block (32a) and X direction guiding rail (31) Be slidably connected, X to slide carriage (32b) be installed in X to slide block (32a) top, for and Y-direction guide rail (41) being connected, two L-shaped keysets (32c) lay respectively at X to slide block assembly (32) and Y-direction Both sides before and after guide rail (41) junction, described idle pulley is arranged on the L-shaped keyset (32c) of correspondence Inner side;
Described Y-direction slide block assembly (42) is made up of Y-direction slide block (42a) and Y-direction slide carriage (42b), Described Y-direction slide block (42a) is slidably connected by dovetail groove with Y-direction guide rail (41), and described Y-direction is slipped Plate (42b) is installed in front side or the rear side of Y-direction slide block (42a), and described cylinder (52) is arranged on Y On slide carriage (42b).
2. according to the H type parallel robot described in claim 1, it is characterised in that: described execution unit (51) it is vacuum cup, gas pawl or mechanical hand.
3. according to the H type parallel robot described in claim 1, it is characterised in that: one of them X The lower section of direction guiding rail (31) is provided with X to drag chain (71), being arranged above of Y-direction guide rail (41) Y-direction drag chain (72), X behind the front end of drag chain (71) upwards bending 180 ° with Y-direction drag chain (72) Wherein one end connect, with cylinder (52) after the upwards bending 180 ° of the other end of Y-direction drag chain (72) Position corresponding, X collectively forms a pipeline wire casing (7) to drag chain (71) and Y-direction drag chain (72).
CN201410495117.1A 2014-09-24 2014-09-24 H type parallel robot CN104290094B (en)

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CN105922283A (en) * 2016-06-28 2016-09-07 郑州金海威科技实业有限公司 Vacuum adsorption type mechanical arm
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CN106426160B (en) * 2016-07-29 2019-06-14 上海电机学院 A method of it is grabbed using manipulator
CN109048855A (en) * 2018-07-26 2018-12-21 芜湖市越泽机器人科技有限公司 A kind of robot arm linkage mechanism
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Publication number Priority date Publication date Assignee Title
DE4444523A1 (en) * 1994-11-30 1996-06-05 Uwe Dipl Ing Reinecke Industrial robot for assembly work
CN101045270A (en) * 2006-03-27 2007-10-03 赛股份有限公司 Apparatus for laser cutting and/or marking
EP2058559A1 (en) * 2007-11-12 2009-05-13 Pilz GmbH & CO. KG Multi-axis robot for high-speed applications
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