CN107962559A - A kind of manipulator work tool structure-improved - Google Patents
A kind of manipulator work tool structure-improved Download PDFInfo
- Publication number
- CN107962559A CN107962559A CN201711176378.7A CN201711176378A CN107962559A CN 107962559 A CN107962559 A CN 107962559A CN 201711176378 A CN201711176378 A CN 201711176378A CN 107962559 A CN107962559 A CN 107962559A
- Authority
- CN
- China
- Prior art keywords
- gear
- shaft
- guide rod
- base
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B03—SEPARATION OF SOLID MATERIALS USING LIQUIDS OR USING PNEUMATIC TABLES OR JIGS; MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
- B03C—MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
- B03C3/00—Separating dispersed particles from gases or vapour, e.g. air, by electrostatic effect
- B03C3/02—Plant or installations having external electricity supply
- B03C3/04—Plant or installations having external electricity supply dry type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
Abstract
The invention discloses a kind of manipulator work tool structure-improved, including base, the base is equipped with robot device, the robot device includes the shaft mounting base being fixed on base, rotated successively from outside to inside in the shaft mounting base and be socketed with first rotating shaft, second shaft, 3rd shaft, the front end of the first rotating shaft is equipped with runing rest, the both ends of the runing rest are rotatably connected to first gear and second gear respectively, the first gear is parallel with second gear and is oppositely arranged, the front end of second shaft is fixedly connected with the 3rd gear, 3rd gear and the perpendicular setting of first gear and engaged transmission, the first gear is identical with the 3rd gear shape.The robot device movement variation of the present invention, can meet several work demand；Workpiece clamping device realizes secondary clamping effect by a gripper cylinder, simple in structure, and piece-holder stability is high, has practicality.
Description
Technical field
The present invention relates to field of mechanical technique, particularly relates to a kind of manipulator work tool structure-improved.
Background technology
The work tool flexibility of the prior art is inadequate, it is difficult to the job task of adaptation diversity；In addition Workpiece clamping fills
It is not firm enough to put clamping, complicated, stability is poor.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of manipulator work tool structure-improved, to solve existing skill
Work tool flexibility is inadequate in art, it is difficult to the job task of adaptation diversity；In addition Workpiece clamping device clamping is not firm enough,
It is complicated, the technical problem of stability difference.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of manipulator work tool structure-improved, including
Base, the base are equipped with robot device, and the robot device includes the shaft mounting base being fixed on base, described
Rotated successively from outside to inside in shaft mounting base and be socketed with first rotating shaft, the second shaft, the 3rd shaft, before the first rotating shaft
End is equipped with runing rest, and the both ends of the runing rest are rotatably connected to first gear and second gear, first tooth respectively
Wheel is parallel with second gear and is oppositely arranged, and the front end of second shaft is fixedly connected with the 3rd gear, the 3rd gear
Setting perpendicular with first gear and engaged transmission, the first gear is identical with the 3rd gear shape, the 3rd shaft
Front end is fixedly connected with the 4th gear, the 4th gear and the perpendicular setting of second gear and engaged transmission, first tooth
The bottom of wheel is connected with manipulator rotary shaft rack, is rotatably connected to the 4th shaft on the manipulator rotary shaft rack, and the described 4th
The medial extremity of shaft is equipped with the 5th gear, and outboard end is equipped with manipulator, the 5th gear setting perpendicular with second gear and
Engaged transmission, the second gear, the 4th gear, the 5th gear shape are identical, the first rotating shaft, the second shaft, the 3rd turn
The rear end of axis is respectively equipped with a travelling gear, and each travelling gear engages a driving rack, each driving rack by
One cylinder is driven so that the driving rack moves along a straight line back and forth；
Workpiece clamping device is additionally provided with the base, the Workpiece clamping device includes the operation post being arranged on base,
Be additionally provided with the first hinged seat and the second hinged seat on the base, second hinged seat be located at the first hinged seat and operation post it
Between, gripper cylinder is rotatablely connected on first hinged seat, is rotatablely connected the first guide rod on second hinged seat, described first
Sliding sleeve is equipped with sliding sleeve on guide rod, and the first spring, the sliding sleeve side wall are also arranged with above sliding sleeve on first guide rod
Sliding sleeve shaft is equipped with, the output terminal of the gripper cylinder is rotationally connected with sliding sleeve shaft, and the upper end of first guide rod turns
The dynamic medium position for being connected to the second guide rod, second guide rod are rotatably connected to the 3rd close to one end of the first hinged seat and lead
Bar, the other end of the 3rd guide rod are rotationally connected with sliding sleeve shaft, the one of remote first hinged seat above the operation post
Side is equipped with stopper section, and the stopper section is used to abut against the workpiece being positioned on operation post, is located on first guide rod under sliding sleeve
Side is installed with side surface of workpiece mandril, and the side surface of workpiece mandril is used to support on the workpiece close to the one side of the first guide rod,
The other end of second guide rod is used for the top surface for supporting the workpiece, first guide rod, the second guide rod, the 3rd guide rod, work
Part side mandril is respectively positioned on same plane；
Electrostatic precipitator is additionally provided with the base, the electrostatic precipitator includes dust cleaning case and dust settling tank,
The dust settling tank is installed on the dust mouth of the dust cleaning case, and the dust cleaning case is provided with air inlet pipe and air outlet pipe, it is described into
Tracheal strips are provided with filter screen, and the outer layer of the dust cleaning case is provided with insulating layer, and the dust cleaning case is additionally provided with for connecing power supply
The dust rod of cathode and the discharging rod for connecing power cathode, the tank wall of the dust rod and the dust cleaning case are connected by screw thread
Connect, the discharging rod is installed on the dust cleaning case by the body that insulate, and the lower part of the discharging rod is placed in the dust cleaning case.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, robot device of the invention movement variation, can meet several work demand；Workpiece clamping fills
Put realizes secondary clamping effect by a gripper cylinder, simple in structure, and piece-holder stability is high, has practicality.
Brief description of the drawings
Fig. 1 is the layout of the present invention.
Fig. 2 is the structure chart of the robot device of the present invention.
Fig. 3 is the Structure explosion diagram of the robot device of the present invention.
Fig. 4 is the structure chart of the Workpiece clamping device of the present invention.
Fig. 5 is the Structure explosion diagram of the Workpiece clamping device of the present invention.
Fig. 6 is the structure chart of the electrostatic precipitator of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
For convenience of description, before left side is in Fig. 1, after right side is.
As shown in Figure 1 to Figure 3, the embodiment of the present invention provides a kind of manipulator work tool structure-improved, including base
100, the base 105 is equipped with robot device 10, and the robot device 10 includes the shaft peace being fixed on base 100
Seat 11 is filled, is rotated successively from outside to inside in the shaft mounting base 11 and is socketed with first rotating shaft 12, the second shaft 13, the 3rd shaft
14, i.e. first rotating shaft 12, the second shaft 13, the 3rd shaft 14 is coaxially disposed, and the 3rd shaft 14 is rotatably dispose in the second shaft 13
Interior, the second shaft 13 is rotatably dispose in first rotating shaft 12, and first rotating shaft 12 is rotatably dispose in shaft mounting base 11, the 3rd turn
Between 14 and second shaft 13 of axis, between the second shaft 13 and first rotating shaft 12, between first rotating shaft 12 and shaft mounting base 11
It can be rotatedly connected by bearing (not shown), so that first rotating shaft 12, the rotation of the second shaft 13, the 3rd shaft 14 are not done mutually
Relating to, the length of the 3rd shaft 14 is more than the length of the second shaft 13, and the length of the second shaft 13 is more than the length of first rotating shaft 12,
The front end of the first rotating shaft 12 is equipped with runing rest 15, and the both ends of the runing rest 15 are rotatably connected to first gear respectively
16 and second gear 17, the first gear 16 is parallel with second gear 17 and is oppositely arranged, the front end of second shaft 13
The 3rd gear 18 is fixedly connected with, i.e. the second shaft 13 and the 3rd gear 18 rotates synchronously, the 3rd gear 18 and the first tooth
16 perpendicular settings and engaged transmission are taken turns, the first gear 16 is identical with 18 shape of the 3rd gear, the 3rd shaft 14
Front end is fixedly connected with the 4th gear 19, i.e. the 3rd shaft 14 and the 4th gear 19 rotates synchronously, the 4th gear 19 and
Two gears, 17 perpendicular setting and engaged transmission, the bottom of the first gear 16 is connected with manipulator rotary shaft rack 20, machinery
Hand rotary shaft rack 20 and first gear 16 rotate synchronously, and the 4th shaft 21 is rotatably connected on the manipulator rotary shaft rack 20,
4th shaft 21 is coaxially disposed with the 3rd shaft 14, and the medial extremity of the 4th shaft 21 is equipped with the 5th gear 22, and outboard end is set
There are manipulator 23, the 5th gear 22 and 17 perpendicular setting of second gear and engaged transmission, the second gear the 17, the 4th
Gear 19,22 shape of the 5th gear are identical, and the first rotating shaft 12, the second shaft 13, the rear end of the 3rd shaft 14 are respectively equipped with
One travelling gear 24, each travelling gear 24 engage a driving rack 25, each driving rack 25 by a cylinder (not
Diagram) drive so that the driving rack 25 moves along a straight line back and forth.Motion principle is as follows：When the rotation of the 3rd shaft is operated alone,
By the transmission of the 4th gear, second gear, the 5th next round, make the 4th shaft rotation, its rotation direction turns with the 3rd shaft
Dynamic direction is opposite；When the second shaft be operated alone rotating, by the transmission of the 3rd gear, first gear, and second gear, the
The engagement of five gears, makes the 4th shaft be moved on horizontal plane direction and makes the 4th shaft rotation；First rotating shaft is operated alone to turn
When dynamic, runing rest rotates, and drives second gear movement, by second gear, the transmission of the 5th gear, makes the 4th shaft
Move obliquely upward, be concurrently born from and turn；When driving the 3rd shaft and the second shaft at the same time, the 4th shaft can be made in horizontal plane direction
Upper movement, and rotation does not occur；Therefore robot device movement variation, can meet several work demand.Manipulator can have
There are cleaning means, soldering appliance etc. multiple types of tools, this is not restricted, and manipulator in itself can also be by stretching structure come real
The now processing operation to workpiece surface.
As shown in Figure 1, Figure 4 and Figure 5, Workpiece clamping device 30, the Workpiece clamping device are additionally provided with the base 100
For clamping workpiece 31, the Workpiece clamping device includes the operation post 32 being arranged on base 100, is also set on the base 100
Have the first hinged seat 33 and the second hinged seat 34, second hinged seat 34 between the first hinged seat 33 and operation post 32,
Gripper cylinder 35 is rotatablely connected on first hinged seat 33, the first guide rod 36, institute are rotatablely connected on second hinged seat 34
State sliding sleeve on the first guide rod 36 and be equipped with sliding sleeve 37, the first spring is also arranged with above sliding sleeve 37 on first guide rod 36
38,37 side wall of sliding sleeve is equipped with sliding sleeve shaft 39, and the output terminal 40 of the gripper cylinder 35 is rotationally connected with sliding sleeve shaft
On 39, the upper end of first guide rod 36 is rotationally connected with the medium position of the second guide rod 41, and second guide rod 41 is close to
One end of one hinged seat 33 is rotatably connected to the 3rd guide rod 42, and the other end of the 3rd guide rod 42 is rotationally connected with sliding sleeve shaft
On 39, side of the top of operation post 32 away from the first hinged seat 33 is equipped with stopper section 43, and the stopper section 43 is used to abut against
The workpiece 31 being positioned on operation post 32, is installed with side surface of workpiece mandril 44 on first guide rod 36 positioned at the lower section of sliding sleeve 37,
The side surface of workpiece mandril 44 is used to support on the workpiece 31 close to the one side of the first guide rod 36, second guide rod 41
The other end is used for the top surface for supporting the workpiece 31, first guide rod 36, the second guide rod 41, the 3rd guide rod 42, side surface of workpiece
Mandril 44 is respectively positioned on same plane.
During work, workpiece is positioned on workbench, starts gripper cylinder, output terminal drives the first guide rod by sliding sleeve
Rotate, side surface of workpiece mandril is abutted against close to the one side of the first guide rod on workpiece first, and the first guide rod is not rotated further by, with defeated
Outlet continues to extend, and sliding sleeve is compressed along the first guide rod upward sliding, spring, and compressed spring provides support force to workpiece side
Face mandril, makes side surface of workpiece mandril abut against workpiece, while the sliding sleeve risen drives the one of the second guide rod by the 3rd guide rod
End is resisted against the top surface of workpiece, forms secondary clamping effect；After gripper cylinder resets, whole clamping device can answer therewith
Position.
As shown in fig. 6, being additionally provided with electrostatic precipitator on the base 100, the electrostatic precipitator includes dust cleaning case
70 and the dust settling tank 76 on base, the dust settling tank 76 be installed on the dust mouth of dust cleaning case 70, the dedusting
Case 70 is provided with air inlet pipe 73 and air outlet pipe 78, and filter screen 74, the outer layer of the dust cleaning case 70 are provided with the air inlet pipe 73
It is provided with insulating layer 72, the dust cleaning case 70 is additionally provided with dust rod 71 for connecing positive pole and for connecing power cathode
Discharging rod 79, the tank wall of the dust rod 71 and dust cleaning case 70 are connected through a screw thread, and the discharging rod 79 passes through the body 77 that insulate
Be installed on dust cleaning case 70, the lower part of the discharging rod 79 is placed in dust cleaning case 70, and top is emerging in outside insulating layer 72, for
Power cathode connects.The air outlet pipe 78 of the electrostatic precipitator is arranged at the distance between the top of air inlet pipe 73, and they
Should be remote enough, to form certain difference in height so that removing the dust after electrostatic can fall into dust settling tank 76, will not
Discharged due to inertia from air outlet pipe 78, the dust settling tank 76 is installed on the dust mouth of dust cleaning case 70 by latch, is easy to
Dismantle, latch is not drawn into figure, and gasket 75 is provided between dust settling tank 76 and dust cleaning case 70, so as to eliminate gap, is prevented
Only dust is always overflowed from gap.The electrostatic precipitator, using the upper dust rod 71 of the tank wall of dust cleaning case 70 connection as dust collecting electrode,
Discharging rod 79 is set to be used as discharge electrode in dust cleaning case 70, long enough is answered in the part that discharging rod 79 is placed in dust cleaning case 70, can be smaller
Height in dust cleaning case 70, so as to the electrostatic for forming enough electric field regions to remove on dust, dust cleaning case 70 is internally formed
Electric field, part dust is filtered off from the gas that air inlet pipe 73 enters by filter screen 74, into dust cleaning case 70 after by dust from gas
Electrostatic to removing, this part dust falls into dust settling tank 76, does not also just have dust from the gas of air outlet pipe discharge, reaches
The purpose of dedusting is arrived, dust-removing process is few, and effect is good, simple in structure, convenient disassembly, has higher practical value.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of manipulator work tool structure-improved, including base, it is characterised in that the base is filled equipped with manipulator
Put, the robot device includes the shaft mounting base being fixed on base, turns successively from outside to inside in the shaft mounting base
Dynamic to be socketed with first rotating shaft, the second shaft, the 3rd shaft, the front end of the first rotating shaft is equipped with runing rest, the rotation branch
The both ends of frame are rotatably connected to first gear and second gear respectively, and the first gear is parallel with second gear and sets relatively
Put, the front end of second shaft is fixedly connected with the 3rd gear, the 3rd gear setting perpendicular with first gear and nibbles
Transmission is closed, the first gear is identical with the 3rd gear shape, and the front end of the 3rd shaft is fixedly connected with the 4th gear, institute
The 4th gear and the perpendicular setting of second gear and engaged transmission are stated, the bottom of the first gear is connected with manipulator shaft branch
Frame, is rotatably connected to the 4th shaft on the manipulator rotary shaft rack, the medial extremity of the 4th shaft is equipped with the 5th gear, outside
Side is equipped with manipulator, the 5th gear and the perpendicular setting of second gear and engaged transmission, the second gear, the 4th tooth
Wheel, the 5th gear shape are identical, and the first rotating shaft, the second shaft, the rear end of the 3rd shaft are respectively equipped with a travelling gear, often
One travelling gear engages a driving rack, each driving rack driven by a cylinder so that the driving rack back and forth
Linear motion；
Workpiece clamping device is additionally provided with the base, the Workpiece clamping device includes the operation post being arranged on base, described
The first hinged seat and the second hinged seat are additionally provided with base, second hinged seat between the first hinged seat and operation post,
Gripper cylinder is rotatablely connected on first hinged seat, the first guide rod is rotatablely connected on second hinged seat, described first leads
Sliding sleeve is equipped with sliding sleeve on bar, is located on first guide rod above sliding sleeve and is also arranged with the first spring, on the sliding sleeve side wall
Equipped with sliding sleeve shaft, the output terminal of the gripper cylinder is rotationally connected with sliding sleeve shaft, and the upper end of first guide rod rotates
The medium position of the second guide rod is connected to, second guide rod is rotatably connected to the 3rd guide rod close to one end of the first hinged seat,
The other end of 3rd guide rod is rotationally connected with sliding sleeve shaft, and the side away from the first hinged seat is set above the operation post
There is stopper section, the stopper section is used to abut against the workpiece being positioned on operation post, is located on first guide rod solid below sliding sleeve
Equipped with side surface of workpiece mandril, the side surface of workpiece mandril is used to support close to the one side of the first guide rod on the workpiece, described
The other end of second guide rod is used for the top surface for supporting the workpiece, first guide rod, the second guide rod, the 3rd guide rod, workpiece side
Face mandril is respectively positioned on same plane；
Electrostatic precipitator is additionally provided with the base, the electrostatic precipitator includes dust cleaning case and dust settling tank, described
Dust settling tank is installed on the dust mouth of the dust cleaning case, and the dust cleaning case is provided with air inlet pipe and air outlet pipe, the air inlet pipe
Filter screen is inside provided with, the outer layer of the dust cleaning case is provided with insulating layer, and the dust cleaning case is additionally provided with for connecing positive pole
Dust rod and discharging rod for connecing power cathode, the tank wall of the dust rod and the dust cleaning case be connected through a screw thread, institute
State discharging rod to be installed on the dust cleaning case by the body that insulate, the lower part of the discharging rod is placed in the dust cleaning case.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711176378.7A CN107962559A (en) | 2017-11-22 | 2017-11-22 | A kind of manipulator work tool structure-improved |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711176378.7A CN107962559A (en) | 2017-11-22 | 2017-11-22 | A kind of manipulator work tool structure-improved |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107962559A true CN107962559A (en) | 2018-04-27 |
Family
ID=61999725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711176378.7A Withdrawn CN107962559A (en) | 2017-11-22 | 2017-11-22 | A kind of manipulator work tool structure-improved |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107962559A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605358A (en) * | 2019-01-16 | 2019-04-12 | 哈工大机器人（岳阳）军民融合研究院 | A kind of mechanical arm grabbing device and robot arm |
| CN110076746A (en) * | 2019-04-17 | 2019-08-02 | 上海电机学院 | A kind of space full angle steering driving joint device |
| CN114536250A (en) * | 2022-03-25 | 2022-05-27 | 歌尔股份有限公司 | Fixing device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211332A (en) * | 2011-05-09 | 2011-10-12 | 南京工业大学 | Industrial robot |
| CN202162811U (en) * | 2011-07-12 | 2012-03-14 | 浙江万丰摩轮有限公司 | Multi-shaft bidirectional output type robot arm |
| CN203831396U (en) * | 2014-05-12 | 2014-09-17 | 台州学院 | Mechanical arm device |
| CN203916897U (en) * | 2014-06-13 | 2014-11-05 | 俞宏发 | Electrostatic precipitator |
| CN105058087A (en) * | 2015-08-03 | 2015-11-18 | 重庆速腾机械制造有限公司 | Dual-rocker-arm bolt clamping device |
| CN107297698A (en) * | 2017-07-14 | 2017-10-27 | 扬州天开机电有限公司 | A kind of automatic positioning compacting device |
-
2017
- 2017-11-22 CN CN201711176378.7A patent/CN107962559A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211332A (en) * | 2011-05-09 | 2011-10-12 | 南京工业大学 | Industrial robot |
| CN202162811U (en) * | 2011-07-12 | 2012-03-14 | 浙江万丰摩轮有限公司 | Multi-shaft bidirectional output type robot arm |
| CN203831396U (en) * | 2014-05-12 | 2014-09-17 | 台州学院 | Mechanical arm device |
| CN203916897U (en) * | 2014-06-13 | 2014-11-05 | 俞宏发 | Electrostatic precipitator |
| CN105058087A (en) * | 2015-08-03 | 2015-11-18 | 重庆速腾机械制造有限公司 | Dual-rocker-arm bolt clamping device |
| CN107297698A (en) * | 2017-07-14 | 2017-10-27 | 扬州天开机电有限公司 | A kind of automatic positioning compacting device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605358A (en) * | 2019-01-16 | 2019-04-12 | 哈工大机器人（岳阳）军民融合研究院 | A kind of mechanical arm grabbing device and robot arm |
| CN110076746A (en) * | 2019-04-17 | 2019-08-02 | 上海电机学院 | A kind of space full angle steering driving joint device |
| CN114536250A (en) * | 2022-03-25 | 2022-05-27 | 歌尔股份有限公司 | Fixing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107962559A (en) | A kind of manipulator work tool structure-improved | |
| CN108500006B (en) | Medicine bottle brushing medical instrument for pharmacy | |
| CN111014110B (en) | Motor dust and oil dirt cleaning equipment | |
| CN112975243A (en) | Steel structure welding equipment and method | |
| CN108311502A (en) | A kind of chemical industry Raw material pail internal washing equipment | |
| CN105798032B (en) | A kind of cleaning machine | |
| CN105597446A (en) | Auxiliary dust-scraping device for pulse dust-cleaning bag type dust collector | |
| CN212397901U (en) | Automatic change manipulator punch press device | |
| CN107695919A (en) | A kind of manipulator work tool of improvement | |
| CN116604934A (en) | Surface cleaning device for tinplate printing and cleaning method thereof | |
| CN107901051A (en) | A kind of multifunction manipulator work tool | |
| CN111806644A (en) | Lifting device of cleaning robot | |
| CN218017482U (en) | Easily to tubular part internal surface equipment of polishing | |
| CN106383276B (en) | Test of lightning arrester vehicle with conveying and cleaning function | |
| CN108127657A (en) | A kind of manipulator work tool structure | |
| CN113102310B (en) | High-efficient dust collecting equipment of PCB circuit board for electronic technology development | |
| CN106425223B (en) | A kind of robot welding workstation | |
| CN107791195A (en) | A kind of semiconductor element assembly equipment | |
| CN201287131Y (en) | Steel-barrel inner-cavity renewing treatment system | |
| CN210150248U (en) | A discharge apparatus for sack cleaner be convenient for clean | |
| CN211163104U (en) | A dust collecting equipment for hardware processing | |
| CN205461474U (en) | Grey device is scraped to clear dust bag formula dust remover of pulse supplementary | |
| CN207863405U (en) | A kind of fall automatic plastering machine | |
| CN206981269U (en) | Extruder copper bar cleaning device | |
| CN206794223U (en) | fire extinguisher cleaning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180427 |
|
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Liu Di Document name: Notification of Approving Refund |