CN108071910A - A kind of pose adjusting apparatus - Google Patents
A kind of pose adjusting apparatus Download PDFInfo
- Publication number
- CN108071910A CN108071910A CN201711294263.8A CN201711294263A CN108071910A CN 108071910 A CN108071910 A CN 108071910A CN 201711294263 A CN201711294263 A CN 201711294263A CN 108071910 A CN108071910 A CN 108071910A
- Authority
- CN
- China
- Prior art keywords
- traversing
- rolling
- support
- adjustment portion
- screw
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 230000001141 propulsive effect Effects 0.000 claims abstract description 19
- 238000005096 rolling process Methods 0.000 claims description 103
- 239000003638 chemical reducing agent Substances 0.000 claims description 31
- 230000008878 coupling Effects 0.000 claims description 24
- 238000010168 coupling process Methods 0.000 claims description 24
- 238000005859 coupling reaction Methods 0.000 claims description 24
- 230000000694 effects Effects 0.000 claims description 11
- 230000010355 oscillation Effects 0.000 claims description 11
- 230000001737 promoting effect Effects 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 238000006073 displacement reaction Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000003032 molecular docking Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000005906 menstruation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/045—Allowing translations adapted to left-right translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/048—Allowing translations adapted to forward-backward translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bridges Or Land Bridges (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention discloses a kind of pose adjusting apparatus.The pose adjusting apparatus includes carrying platform, support underframe, propulsive mechanism, preceding attitude-adjusting system and rear attitude-adjusting system, support underframe is movably arranged on by propulsive mechanism on carrying platform, preceding attitude-adjusting system and rear attitude-adjusting system are arranged on the rear and front end of support underframe, preceding attitude-adjusting system, carrying platform and rear attitude-adjusting system cooperate, around realizing object to be adjusted, up and down, the adjusting of pitch angle, yaw angle and roll angle.Pose adjusting apparatus according to the present invention can realize object to be adjusted body pose adjustment, regulate the speed fast, regulated efficiency is high.
Description
Technical field
The present invention relates to pose adjusting device technical field, in particular to a kind of pose adjusting apparatus.
Background technology
In modern industry, national defence and aeronautical and space technology, space articulation technology obtains increasingly wider application, such as adds
Cutter and workpiece dock in work center, and manipulator is docked with object, the docking between docking, spacecraft between aircraft components
Deng.All applications require that docking mechanism has pose adjustment ability.
The pose adjustment mechanism applied at present is varied, including multivariant plane mechanism, the sky of different degree of freedom
Between mechanism, a variety of arrangement structures, lower-mobility structure and super multiple degrees of freedom serial parallel mechanism.Small-sized parallel institution is most
Underloading, input is mostly realized using modes such as " servomotors+ball-screw+guide rail ", and the movement of large-scale heavy duty parallel institution is defeated
Enter then mainly using electro-hydraulic servo cylinder drive, Hydraulic servo drive mainly have benefited from its is small, power is big, precision is high,
The features such as speed is fast.
Existing pose adjustment mechanism during pose adjustment, is regulated the speed slow, regulated efficiency is low, still has larger
Room for improvement.
The content of the invention
The purpose of the present invention is to propose to a kind of pose adjusting apparatus, and pose adjustment, adjustment can be realized to object to be adjusted body
Speed is fast, and regulated efficiency is high.
According to an aspect of the invention, there is provided a kind of pose adjusting apparatus, including carrying platform, support underframe, pushes away
Carrying platform is movably arranged on by propulsive mechanism into mechanism, preceding attitude-adjusting system and rear attitude-adjusting system, support underframe
On, preceding attitude-adjusting system and rear attitude-adjusting system are arranged on the rear and front end of support underframe, preceding attitude-adjusting system, carrying
Platform and rear attitude-adjusting system cooperate, around realizing object to be adjusted, up and down, pitch angle, yaw angle and rolling
The adjusting of corner.
Preferably, propulsive mechanism includes propulsion electric machine, promotes speed reducer, propulsion lead screw and promote screw, and propulsive mechanism is solid
Surely it is arranged on carrying platform, screw is promoted to be fixed on support underframe, and be spirally connected with propulsion lead screw, in propulsion lead screw
Driving effect under drive support underframe move forward and backward.
Preferably, screw is promoted to be connected to the one side of support underframe, the second side opposite with the first side of support underframe is led to
Propulsion line slide rail is crossed to be slidably arranged on carrying platform.
Preferably, preceding attitude-adjusting system includes the noseplate being arranged on support underframe, is provided on noseplate advancing slip
Dynamic adjustment portion, preceding lift adjustment portion and front support, front support are arranged in lift adjustment portion, and preceding lift adjustment portion is arranged on
In front slide adjustment portion.
Preferably, front slide adjustment portion include preceding rebound, preceding traversing screw, preceding traversing leading screw, preceding traversing speed reducer and
Preceding traversing motor, preceding rebound are drivingly connected by preceding traversing screw and preceding traversing leading screw, and preceding traversing leading screw is traversing before being connected to
The output terminal of speed reducer, the output terminal of traversing motor before preceding traversing speed reducer is connected to.
Preferably, preceding intermediate support beam is additionally provided on preceding rebound, preceding intermediate support beam can by pivoting support bearing
Before being rotatably arranged on rebound, before preceding lift adjustment portion is arranged on intermediate support beam.
Preferably, preceding lift adjustment portion is arranged on including preceding elevator, preceding guiding mechanism and preceding lifting motor, front support
On preceding elevator, preceding guiding mechanism is oriented to the up and down motion of front support, and preceding lifting motor connects with the driving of preceding elevator
It connects, elevator drives front support to move up and down before driving.
Preferably, preceding lift adjustment portion further includes the preceding lifting shaft coupling being drivingly connected with the input terminal of preceding lifting motor,
The other end of preceding lifting shaft coupling is connected with preceding lifting handwheel.
Preferably, case, preceding rolling gag lever post, front rack and front support disk roller are dragged before front support includes, it is preceding that case is dragged to set
Lift side in preceding lift adjustment portion, front rack are dragged before being swingably arranged in case, and preceding drag is provided with limiting slot on case, preceding rolling
Turn gag lever post one end to be fixedly connected on front rack, the other end is slidably arranged in limiting slot, and front support disk roller is supported on forestock
Frame bottom.
Preferably, rear attitude-adjusting system includes rear lift adjustment portion, rear slidable adjustment portion, rear oscillation adjustment portion and rear branch
Support part, rear lift adjustment portion are arranged on support underframe, and rear slidable adjustment portion is slidably disposed in rear lift adjustment portion, after
The subsequent slidable adjustment portion in oscillation adjustment portion and rear support portion is slided together, and oscillation adjustment portion and the swinging end driving in rear support portion connect
It connects, driving swinging end is swung.
Preferably, rear lift adjustment portion include rear elevator, rear bottom bracket, afterwards lift shaft coupling, rear lifting motor and after
Lifting guide mechanism, rear support portion are arranged on rear bottom bracket, and rear lifting motor is driven by rear lifting shaft coupling with rear elevator
Dynamic connection, rear lifting guide mechanism include guide cylinder and lead, and lead is fixed on rear bottom bracket, and guide cylinder is fixed
It is arranged on support underframe, rear bottom bracket is arranged on the lift side of rear elevator.
Preferably, rear slidable adjustment portion includes rear traversing support disk roller, rear traversing stent, rear traversing guiding mechanism, rear horizontal stroke
Pulling plate, rear traversing leading screw, rear traversing screw, rear traversing speed reducer and rear traversing motor are moved, after rear traversing support disk roller is arranged on
On bottom bracket, rear traversing stent is arranged on rear traversing support disk roller, rear traversing motor, rear traversing speed reducer and rear traversing leading screw
It is fixed on rear bottom bracket, rear traversing screw is connected by rear traversing pulling plate with rear traversing guiding mechanism, rear traversing guiding mechanism
It being fixed on rear bottom bracket, rear support portion is arranged on rear traversing stent, and rear traversing stent is fixedly connected with rear traversing screw, and
In the driving lower slider of rear traversing leading screw.
Preferably, rear oscillation adjustment portion includes rolling guiding mechanism, rolling leading screw, rolling bracket, support base, rolling deceleration
Machine, rolling motor, rolling screw and rolling driving pull rod, rolling bracket are fixedly connected on rear traversing stent, rolling motor, rolling
Turn speed reducer and rolling leading screw is fixed at by support base on rolling bracket, rolling driving pull rod is connected to rolling Guiding machine
On structure and rolling screw, rolling driving pull rod drives the swinging end in rear support portion to swing under the driving effect of rolling screw.
Preferably, rear support portion includes tail-bracket, rear rolling support disk roller and rear rolling gag lever post, and tail-bracket is swingably
It is arranged on rear traversing stent, rear rolling support disk roller is supported on tail-bracket bottom, and rolling driving pull rod connects with tail-bracket driving
It connects, driving tail-bracket is swung, the swing position of rear rolling gag lever post limitation tail-bracket.
The present invention pose adjusting apparatus, including carrying platform, support underframe, propulsive mechanism, preceding attitude-adjusting system and
Attitude-adjusting system afterwards, support underframe are movably arranged on by propulsive mechanism on carrying platform, preceding attitude-adjusting system and rear appearance
State adjustment mechanism is arranged on the rear and front end of support underframe, preceding attitude-adjusting system, carrying platform and rear attitude-adjusting system phase
Mutually cooperation, around realizing object to be adjusted, up and down, the adjusting of pitch angle, yaw angle and roll angle.The position adjusts
Device can by multiple components cooperate realize object to be adjusted around, up and down, pitch angle, yaw angle and
The adjusting of roll angle can realize the multiple degrees of freedom adjustment to object to be adjusted body, can be conveniently by the mutual of multiple components
Object to be adjusted is adjusted in place by cooperation, is regulated the speed fast, regulated efficiency is high.
Description of the drawings
Attached drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description does not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the three-dimensional structure diagram of the pose adjusting apparatus of the embodiment of the present invention；
Fig. 2 is the three-dimensional structure diagram of the preceding attitude-adjusting system of the pose adjusting apparatus of the embodiment of the present invention；
Fig. 3 is the three-dimensional structure diagram of the rear attitude-adjusting system of the pose adjusting apparatus of the embodiment of the present invention；
Fig. 4 is the three-dimensional structure diagram of the propulsive mechanism of the pose adjusting apparatus of the embodiment of the present invention；
Fig. 5 is the usage state diagram of the pose adjusting apparatus of the embodiment of the present invention.
Reference sign：1st, preceding attitude-adjusting system；2nd, rear attitude-adjusting system；3rd, support underframe；4th, propulsive mechanism；
5th, displacement slide；6th, line slide rail is promoted；7th, carrying platform；8th, retaining mechanism；9th, noseplate；10th, preceding traversing line slide rail；
11st, preceding rebound；12nd, preceding intermediate support beam；13rd, slewing bearing；14th, preceding traversing screw；15th, preceding lifting shaft coupling；16、
Preceding traversing leading screw；17th, preceding traversing speed reducer；18th, preceding traversing motor；19th, preceding lifting motor；20th, preceding elevator；21st, it is leading to
Mechanism；22nd, it is preceding to drag case；23rd, preceding rolling gag lever post；24th, front rack；25th, front support disk roller；26th, preceding lifting handwheel；27th, preceding horizontal stroke
Move handwheel；28th, rear elevator；29th, support base；30th, shaft coupling is lifted afterwards；31st, rear lifting motor；32nd, rolling guiding mechanism；
33rd, rolling leading screw；34th, rolling bracket；35th, rear lifting guide mechanism；36th, rear traversing support disk roller；37th, rear traversing Guiding machine
Structure；38th, rear traversing pulling plate；39th, rear traversing leading screw；40th, rear lifting handwheel；41st, rear traversing speed reducer；42nd, rear traversing motor；
43rd, rear traversing handwheel；44th, rolling speed reducer；45th, rolling motor；46th, rolling handwheel；47th, rear bottom bracket；48th, rear rolling /V
Bar；49th, rolling screw；50th, rolling driving pull rod；51st, tail-bracket；52nd, rear rolling support disk roller；53rd, rear traversing stent；54、
Traversing screw afterwards；55th, rear traversing pin；56th, propulsion electric machine；57th, speed reducer is promoted；58th, shaft coupling is promoted；59th, propulsion lead screw；
60th, screw is promoted；61st, bottom plate is promoted；62nd, handwheel is promoted；63rd, object to be adjusted.
Specific embodiment
In the following detailed description, a large amount of specific details are proposed, in order to provide a thorough understanding of the present invention.But
It will be understood by those within the art that it can also implement the present invention even if without these specific details.In other cases, without detailed
Well-known method, process, component and circuit are carefully described, in order to avoid influence the understanding of the present invention.
With reference to shown in referring to Fig. 1 to Fig. 5, according to an embodiment of the invention, pose adjusting apparatus includes carrying platform 7, branch
Chassis 3, propulsive mechanism 4, preceding attitude-adjusting system 1 and rear attitude-adjusting system 2 are supportted, support underframe 3 passes through 4 activity of propulsive mechanism
It being arranged on carrying platform 7, preceding attitude-adjusting system 1 and rear attitude-adjusting system 2 are arranged on the rear and front end of support underframe 3,
Preceding attitude-adjusting system 1, carrying platform 7 and rear attitude-adjusting system 2 cooperate, and realize the front and rear, left of object 63 to be adjusted
The adjusting of right, upper and lower, pitch angle, yaw angle and roll angle.
Preferably, propulsive mechanism 4 includes propulsion electric machine 56, promotes speed reducer 57, propulsion lead screw 59 and promotes screw 60, pushes away
Be fixed at into mechanism 4 on carrying platform 7, promote screw 60 be fixed on support underframe 3, and with 59 spiral shell of propulsion lead screw
It connects, under the driving effect of propulsion lead screw 59 support underframe 3 to be driven to move forward and backward.
Propulsive mechanism 4, which further includes, promotes bottom plate 61, and wherein propulsion electric machine 56, propulsion speed reducer 57, propulsion lead screw 59 are all provided with
It puts on bottom plate 61 is promoted, bottom plate 61 is promoted to be arranged on carrying platform 7, under the action of propulsion electric machine 56, propulsion lead screw 59
The rotary motion of itself is converted to the linear motion for promoting screw 60, driving promotes screw 60 sliding along the axial direction of propulsion lead screw 59
It is dynamic, and then by promoting screw 60 that support underframe 3 is driven to move forward and backward, realize to preceding attitude-adjusting system 1 and rear pose adjustment
The adjustment of the whole front and back position of mechanism 2.
It is also connected in the input terminal of propulsion electric machine 56 by shaft coupling and promotes handwheel 62, which can basis
It needs to realize the manual operation to propulsive mechanism 4 so that the forward operation of propulsive mechanism 4 can be cut between manually and automatically
It changes, operation is more flexible.
Preferably, screw 60 is promoted to be connected to the one side of support underframe 3, second opposite with the first side of support underframe 3
Side is by promoting line slide rail 6 to be slidably arranged on carrying platform 7.Promote line slide rail 6 can be to the position tune of support underframe 3
Section plays guiding role, prevents propulsion lead screw 59 and screw 60 is promoted to shift in engagement process stuck phenomenon, improve branch
Support chassis 3 moves forward and backward the reliability of adjustment.Certainly, propulsion line slide rail 6 herein can also pass through other guiding mechanisms
To substitute.
Preferably, preceding attitude-adjusting system 1 includes the noseplate 9 being arranged on support underframe 3, is provided on noseplate 9
Front slide adjustment portion, preceding lift adjustment portion and front support, front support are arranged in lift adjustment portion, and preceding lift adjustment portion is set
It puts in front slide adjustment portion.
Displacement slide 5 and retaining mechanism 8, preceding attitude-adjusting system 1 and support underframe 3 are additionally provided on support underframe 3
It is directly connected to or is connected by displacement slide 5, rear attitude-adjusting system 2 is directly connected to support underframe 3.Use displacement slide 5
The spacing of preceding attitude-adjusting system 1 and rear attitude-adjusting system 2 can be adjusted with retaining mechanism 8.Preceding attitude-adjusting system 1 can be
It is slided on displacement slide 5, after position of the current pose adjustment mechanism 1 on displacement slide 5 is adjusted in place, it is possible to operation locking
The position of attitude-adjusting system 1 before mechanism 8 locks so that preceding attitude-adjusting system 1 is maintained at current position, posture before satisfaction
The position adjustment of adjustment mechanism 1 needs.Retaining mechanism 8 is, for example, to be arranged on latch segment on displacement slide, which can be with
It is held out against by screw on displacement slide, completes the locking of the sliding position to preceding attitude-adjusting system 1.
Preferably, front slide adjustment portion includes preceding rebound 11, preceding traversing screw 14, preceding traversing leading screw 16, preceding traversing subtracts
Fast machine 17 and preceding traversing motor 18, preceding rebound 11 is drivingly connected by preceding traversing screw 14 and preceding traversing leading screw 16, preceding traversing
The output terminal of traversing speed reducer 17 before leading screw 16 is connected to, the output terminal of traversing motor 18 before preceding traversing speed reducer 17 is connected to.
The traversing handwheel 27 before the input terminal of preceding traversing motor 18 can also set one by shaft coupling, so as to fulfill preceding mistake
The manually and automatically switching of the position adjustment of cab apron 11.
Preferably, intermediate support beam 12 before being additionally provided on preceding rebound 11, preceding intermediate support beam 12 pass through revolving support
Before bearing 13 is rotatably arranged on rebound 11, before preceding lift adjustment portion is arranged on intermediate support beam 12.Pass through adjusting
The rotary position of front support can be adjusted in the turned position of preceding intermediate support beam 12, so that preceding pose adjustment
Mechanism 1 and the relative position of rear attitude-adjusting system 2 can be more accurate, to the adjustment effect of object 63 to be adjusted more preferably.
Preferably, preceding lift adjustment portion includes preceding elevator 20, preceding guiding mechanism 21 and preceding lifting motor 19, front support
Before being arranged on elevator 20, preceding guiding mechanism 21 is oriented to the up and down motion of front support, and preceding lifting motor 19 is with before
Elevator 20 is drivingly connected, and elevator 20 drives front support to move up and down before driving.
Preferably, preceding lift adjustment portion further includes the preceding lifting shaft coupling being drivingly connected with the input terminal of preceding lifting motor 19
15, the other end of preceding lifting shaft coupling 15 is connected with preceding lifting handwheel 26.Pass through preceding lifting handwheel 26 and preceding lifting shaft coupling 15
Mutual cooperation, can realize move up and down to the front support manual operation adjusted and the switching between being automatically brought into operation, adjust
It is more flexible and convenient.
Preferably, case 22, preceding rolling gag lever post 23, front rack 24 and front support disk roller 25 are dragged before front support includes, it is preceding
Case 22 is dragged to be arranged on the lift side in preceding lift adjustment portion, front rack 24 is dragged before being swingably arranged in case 22, preceding to drag on case 22
Limiting slot is provided with, preceding 23 one end of rolling gag lever post is fixedly connected on front rack 24, and the other end is slidably arranged in limiting slot,
Front support disk roller 25 is supported on 24 bottom of front rack.Before drag the limiting slot set on case 22 that can limit the rotation position of front rack 24
It puts, so as to which front rack 24 be avoided to rotate excessively so that front rack 24 is kept in place.The bottom of front rack 24 is circular arc
Shape, can be formed between front support disk roller 25 it is good support cooperation, ensure front rack 24 turned position adjustment it is reliable
Property.Preferably, the supporting surface of front rack 24 can be plane, or cambered surface, it can be according to the to be adjusted of required placement
The structure of object 63 is adjusted.Preferably, front rack 24 is dragged before being removably arranged in case 22.
Preferably, rear attitude-adjusting system 2 include rear lift adjustment portion, rear slidable adjustment portion, rear oscillation adjustment portion and after
Support portion, rear lift adjustment portion are arranged on support underframe 3, and rear slidable adjustment portion is slidably disposed on rear lift adjustment portion
On, the subsequent slidable adjustment portion in rear oscillation adjustment portion and rear support portion is slided together, the swinging end in oscillation adjustment portion and rear support portion
It is drivingly connected, driving swinging end is swung.
Preferably, rear lift adjustment portion includes rear elevator 28, rear bottom bracket 47, rear lifting shaft coupling 30, rear lifting electricity
Machine 31 and rear lifting guide mechanism 35, rear support portion are arranged on rear bottom bracket 47, and rear lifting motor 31 passes through rear lifting shaft coupling
Device 30 is drivingly connected with rear elevator 28, and rear lifting guide mechanism 35 includes guide cylinder and lead, and lead is fixed at
Afterwards on bottom bracket 47, guide cylinder is fixed on support underframe 3, and rear bottom bracket 47 is arranged on the lift side of rear elevator 28.
In the present embodiment, rear elevator 28 is two, respectively positioned at the both ends of rear lifting motor 31, so as to rear bottom bracket 47
Form the support of more stable equilibrium.Lead is slidably arranged in guide cylinder, can be to the up and down motion shape of rear bottom bracket 47
It is oriented into auxiliary, the reliability and stability that bottom bracket 47 moves up and down after guarantee.
Preferably, rear lift adjustment portion further includes the rear lifting handwheel being drivingly connected by shaft coupling and rear elevator 28
40, it can select manually to be driven rear elevator 28 as needed, adjust more flexible and convenient.
Preferably, rear slidable adjustment portion includes rear traversing support disk roller 36, rear traversing stent 53, rear traversing guiding mechanism
37th, rear traversing pulling plate 38, rear traversing leading screw 39, rear traversing screw 54, rear traversing speed reducer 41 and rear traversing motor 42, it is rear traversing
Support disk roller 36 is arranged on rear bottom bracket 47, and rear traversing stent 53 is arranged on rear traversing support disk roller 36, rear traversing motor
42nd, rear traversing speed reducer 41 and rear traversing leading screw 39 are fixed on rear bottom bracket 47, and rear traversing screw 54 passes through rear traversing pulling plate
38 are connected with rear traversing guiding mechanism 37, and rear traversing guiding mechanism 37 is fixed on rear bottom bracket 47, after rear support portion is arranged on
On traversing stent 53, rear traversing stent 53 is fixedly connected with rear traversing screw 54, and in the driving lower slider of rear traversing leading screw 39.
Since rear traversing stent 53 is arranged on rear traversing support disk roller 36, in rear traversing stent 53 compared with rear bottom bracket 47
During slip, the friction between rear traversing support disk roller 36 is rolling friction, and frictional force is much smaller than sliding friction, therefore
Frictional resistance after can reducing in traversing 53 sliding process of stent reduces and adjusts power consumption.
In the present embodiment, under after being fixed on due to rear traversing motor 42, rear traversing speed reducer 41 and rear traversing leading screw 39
On bracket 47, therefore when rear traversing motor 42 works, rear traversing leading screw 39 rotates under the driving effect of rear traversing motor 42,
By the linear motion for being converted to rear traversing screw 54 of rear traversing leading screw 39, after being fixedly connected on due to rear traversing stent 53
It on traversing screw 54, therefore can together move, be realized to being located at the rear support on rear traversing stent 53 with rear traversing screw 54
The traversing adjusting in portion.
Preferably, rear traversing screw 54 is arranged on rear traversing pulling plate 38, rear traversing pulling plate 38 by rear traversing pin 55 with
Achieve a fixed connection afterwards between traversing stent 53, can conveniently realize rear traversing pulling plate 38 and rear traversing stent 53 connection and
Dismounting, it is easy to operate quick.
Slidable adjustment portion further includes the rear traversing handwheel 43 for the input terminal that rear traversing motor 42 is connected to by shaft coupling afterwards,
Rear slidable adjustment portion can be operated manually when rear traversing motor 42 does not work by rear traversing handwheel 43.
Preferably, rear oscillation adjustment portion include rolling guiding mechanism 32, rolling leading screw 33, rolling bracket 34, support base 29,
Rolling speed reducer 44, rolling motor 45, rolling screw 49 and rolling driving pull rod 50, rolling bracket 34 is fixedly connected on rear traversing
On stent 53, rolling motor 45, rolling speed reducer 44 and rolling leading screw 33 are fixed at rolling bracket 34 by support base 29
On, rolling driving pull rod 50 is connected on rolling guiding mechanism 32 and rolling screw 49, and rolling drives pull rod 50 in rolling screw
The swinging end in rear support portion is driven to swing under 49 driving effect.
The swinging end of one end and rear support portion of rolling driving pull rod 50 is rotatablely connected, when rolling screw 49 is in rolling leading screw
When being moved along a straight line under 33 driving effect, rolling driving pull rod 50 can be driven to be moved together with rolling screw 49, rolled at this time
Turning driving pull rod 50 can drive the swinging end in rear support portion to be moved together with rolling driving pull rod 50 so that the swing in rear support portion
End swings aside, and realizes that the swing to the swinging end in rear support portion adjusts.
The input terminal of rolling motor 45 is provided with shaft coupling and rolling handwheel 46, can realize the hand to rolling leading screw 33
It is dynamic to adjust, it adjusts more flexible and convenient.
Preferably, rear support portion includes tail-bracket 51, rear rolling support disk roller 52 and rear rolling gag lever post 48, tail-bracket 51
It is swingably arranged on rear traversing stent 53, rear rolling support disk roller 52 is supported on 51 bottom of tail-bracket, rolling driving pull rod
50 are drivingly connected with tail-bracket 51, and driving tail-bracket 51 is swung, and rear rolling gag lever post 48 limits the swing position of tail-bracket 51.
The bottom supporting surface of tail-bracket 51 is arc, can form good rotation between rear rolling support disk roller 52 and match somebody with somebody
Conjunction relation so that the rotation of tail-bracket 51 more flexibility and reliability.Rolling gag lever post 48 can limit the swing position of tail-bracket 51 afterwards
It puts, the amplitude of fluctuation for avoiding tail-bracket 51 is excessive.Preferably, the supporting surface of tail-bracket 51 can be plane, or plane,
The shape for the object to be adjusted 63 to be supported with it matches, so as to form more good support.
The adjustment process of cardan shaft is as follows：Propulsion electric machine 56 promotes silk through promoting speed reducer 57, shaft coupling 58 being promoted to drive
Thick stick 59 rotates, and dragging promotes screw 60 to move, and screw 60 is promoted to drag support underframe 3, preceding attitude-adjusting system 1, rear posture tune
Complete machine structure 2 along line slide rail 6 is promoted to move, realizes cardan shaft movement together.
The adjustment process of lifting shaft is as follows：Preceding lifting motor 19 before menstruation lifting shaft coupling 15 control before elevator 20 lift,
Preceding elevator 20 drags 24 1 lifting of case 22 and front rack, lifting shaft lifting action before realization before driving.Lifting motor 31 passes through afterwards
It lifts elevator 28 after shaft coupling 30 controls afterwards to lift, one lifting of attitude-adjusting system upper mechanism after rear elevator 28 drives
It is mobile, lifting shaft lifting action after realization.It is rotated synchronously by the preceding lifting motor 19 of control and rear lifting motor 31 and realizes lifting
Axis moves.
The adjustment process of traversing axis is as follows：Traversing 16 turns of leading screw before the premenstrual traversing speed reducer 17 of preceding traversing motor 18 drives
Dynamic, traversing screw 14 moves before dragging, 11 above section one of preceding rebound of attitude-adjusting system 1 before preceding traversing screw 14 drives
It rises and is moved along preceding traversing line slide rail 10, traversing axis action before realization.Traversing motor 42 is after traversing speed reducer 41 drives after afterwards
Traversing leading screw 39 rotates, and traversing screw 54 moves after dragging, traversing stent after rear traversing screw 54 is driven by rear traversing pin 55
53 above sections move together, traversing axis action after realization.Turn by the way that the preceding traversing motor 18 of control is synchronous with rear traversing motor 42
It is dynamic to realize traversing axis movement.
The adjustment process of pitch angle is as follows：Attitude-adjusting system 1 is static before holding, the liter of attitude-adjusting system 2 after control
Drop realizes pitch angle adjustment.
The adjustment process of yaw angle is as follows：Attitude-adjusting system 1 is static before holding, horizontal after attitude-adjusting system 2 after control
Axis movement is moved, object 63 to be adjusted will rotate under the drive of tail-bracket 51 around slewing bearing 13, realize yaw angle adjustment.
The adjustment process of roll angle is as follows：Rolling motor 45 drives rolling leading screw 33 to rotate through rolling speed reducer 44, rolling
Screw 49 drags rolling driving 50 transverse shifting of pull rod, and rolling driving pull rod 50 drives tail-bracket 51 to support disk roller 52 in rear rolling
Upper rolling, front rack is servo-actuated under product drive realizes roll angle adjustment.
Each spindle motor magnetic force band-type brake need to only be unlocked when adjusting gestures of object manually, then rotate and connected behind each spindle motor
Handwheel.
By above-mentioned mode, it can realize that the pose of multiple degree of freedom to object 63 to be adjusted is adjusted, it can
Quickly and easily the pose of object 63 to be adjusted is adjusted in place, is easy to implement the docking of object 63 to be adjusted, adjusting is efficient,
Labor intensity is small, safe and reliable.
Technical solution using the present invention has following advantageous effect：
(1) adjust automatically gestures of object；
(2) different product pose adjustment requirement is met with the different arc-shaped brackets of replacement by adjusting front and rear branch tie distance；
(3) there is manual operation interface, manually adjustable gestures of object；
(4) between each axis without interlocking, can self-movement, it is convenient to adjust gestures of object manually.
The explanation of above example is only intended to help to understand method and its core concept of the invention；Meanwhile for this
The those skilled in the art in field, thought according to the invention, there will be changes in specific embodiments and applications,
In conclusion this specification content should not be construed as limiting the invention.
Claims (14)
1. a kind of pose adjusting apparatus, which is characterized in that including carrying platform, support underframe, propulsive mechanism, preceding pose adjustment machine
Structure and rear attitude-adjusting system, the support underframe is movably arranged on by the propulsive mechanism on the carrying platform, described
Preceding attitude-adjusting system and the rear attitude-adjusting system are arranged on the rear and front end of the support underframe, the preceding pose adjustment
Mechanism, the carrying platform and it is described after attitude-adjusting system cooperate, around realizing object to be adjusted, up and down,
The adjusting of pitch angle, yaw angle and roll angle.
2. pose adjusting apparatus according to claim 1, which is characterized in that the propulsive mechanism includes propulsion electric machine, pushes away
Into speed reducer, propulsion lead screw and screw is promoted, the propulsive mechanism is fixed on the carrying platform, the propulsion screw
It is fixed on the support underframe, and is spirally connected with the propulsion lead screw, in the driving effect lower band of the propulsion lead screw
The support underframe is moved to move forward and backward.
3. pose adjusting apparatus according to claim 2, which is characterized in that the propulsion screw is connected to the support bottom
The one side of frame, the second side opposite with the first side of the support underframe is by promoting line slide rail to be slidably arranged in the carrying
On platform.
4. pose adjusting apparatus according to claim 1, which is characterized in that the preceding attitude-adjusting system includes being arranged on
Noseplate on the support underframe is provided with front slide adjustment portion, preceding lift adjustment portion and front support on the noseplate,
The front support is arranged in the lift adjustment portion, and the preceding lift adjustment portion is arranged in the front slide adjustment portion.
5. pose adjusting apparatus according to claim 4, which is characterized in that the front slide adjustment portion includes preceding transition
Plate, preceding traversing screw, preceding traversing leading screw, preceding traversing speed reducer and preceding traversing motor, the preceding rebound pass through preceding traversing screw
It is drivingly connected with the preceding traversing leading screw, the preceding traversing leading screw is connected to the output terminal of the preceding traversing speed reducer, before described
Traversing speed reducer is connected to the output terminal of the preceding traversing motor.
6. pose adjusting apparatus according to claim 5, which is characterized in that be additionally provided with preceding centre on the preceding rebound
Supporting rack, the preceding intermediate support beam are rotatably arranged in by pivoting support bearing on the preceding rebound, are risen before described
Drop adjustment portion is arranged on the preceding intermediate support beam.
7. pose adjusting apparatus according to claim 4, which is characterized in that the preceding lift adjustment portion includes preceding promotion
Machine, preceding guiding mechanism and preceding lifting motor, the front support are arranged on the preceding elevator, and the preceding guiding mechanism is to institute
The up and down motion for stating front support is oriented to, and the preceding lifting motor is drivingly connected with the preceding elevator, before driving is described
Elevator drives the front support to move up and down.
8. pose adjusting apparatus according to claim 7, which is characterized in that the preceding lift adjustment portion further include with it is described
The preceding lifting shaft coupling that the input terminal of preceding lifting motor is drivingly connected, the other end that shaft coupling is lifted before described are connected with preceding lifting
Handwheel.
9. pose adjusting apparatus according to claim 4, which is characterized in that the front support drags case, preceding rolling before including
Turn gag lever post, front rack and front support disk roller, case is dragged to be arranged on the lift side in the preceding lift adjustment portion, the forestock before described
Frame be swingably arranged on it is described before drag in case, dragged before described and limiting slot be provided on case, described preceding rolling gag lever post one end is consolidated
Surely be connected on the front rack, the other end is slidably arranged in the limiting slot, the front support disk roller be supported on it is described before
Bracket base.
10. pose adjusting apparatus according to any one of claim 1 to 9, which is characterized in that pose adjustment machine after described
Structure includes rear lift adjustment portion, rear slidable adjustment portion, rear oscillation adjustment portion and rear support portion, and the rear lift adjustment portion is arranged on
On the support underframe, the rear slidable adjustment portion is slidably disposed in the rear lift adjustment portion, is swung and is adjusted after described
Section portion and the rear support portion are slided together with the rear slidable adjustment portion, the pendulum in the oscillation adjustment portion and the rear support portion
Moved end is drivingly connected, and the swinging end is driven to swing.
11. pose adjusting apparatus according to claim 10, which is characterized in that lift adjustment portion is promoted after including after described
Machine, rear bottom bracket lift shaft coupling, rear lifting motor and rear lifting guide mechanism afterwards, and the rear support portion is set in the rear
On bottom bracket, the rear lifting motor passes through the rear lifting shaft coupling and the rear elevator drive connection, the rear lifting
Guiding mechanism includes guide cylinder and lead, and in the rear on bottom bracket, the guide cylinder is fixed for the lead fixed setting
It is arranged on the support underframe, the rear bottom bracket sets the lift side of elevator in the rear.
12. pose adjusting apparatus according to claim 11, which is characterized in that slidable adjustment portion includes rear traversing after described
Support disk roller, rear traversing stent, rear traversing pulling plate, rear traversing leading screw, rear traversing screw, rear traversing subtract rear traversing guiding mechanism
Fast machine and rear traversing motor, traversing support disk roller is arranged on the rear bottom bracket after described, and the rear traversing stent is arranged on
After described on traversing support disk roller, the rear traversing motor, the rear traversing speed reducer and the rear traversing leading screw are fixed on institute
It states on rear bottom bracket, the rear traversing screw is connected by the rear traversing pulling plate with the rear traversing guiding mechanism, after described
Traversing guiding mechanism is fixed on bottom bracket in the rear, and the rear support portion is set on traversing stent in the rear, horizontal after described
Stent is moved to be fixedly connected with the rear traversing screw, and the driving lower slider of traversing leading screw in the rear.
13. pose adjusting apparatus according to claim 12, which is characterized in that oscillation adjustment portion is led including rolling after described
Pull rod, institute are driven to mechanism, rolling leading screw, rolling bracket, support base, rolling speed reducer, rolling motor, rolling screw and rolling
It states rolling bracket to be fixedly connected on traversing stent in the rear, the rolling motor, the rolling speed reducer and the rolling silk
Thick stick is fixed at by the support base on the rolling bracket, and the rolling driving pull rod is connected to the rolling Guiding machine
On structure and the rolling screw, the rolling driving pull rod drives the rear support portion under the driving effect of the rolling screw
Swinging end swing.
14. pose adjusting apparatus according to claim 13, which is characterized in that the rear support portion include tail-bracket, after
Rolling supports disk roller and rear rolling gag lever post, the tail-bracket swingably to set on traversing stent in the rear, is rolled after described
Turn support disk roller and be supported on the tail-bracket bottom, the rolling driving pull rod is drivingly connected with the tail-bracket, described in driving
Tail-bracket is swung, and the rear rolling gag lever post limits the swing position of the tail-bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711294263.8A CN108071910B (en) | 2017-12-08 | 2017-12-08 | A kind of pose adjustment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711294263.8A CN108071910B (en) | 2017-12-08 | 2017-12-08 | A kind of pose adjustment device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108071910A true CN108071910A (en) | 2018-05-25 |
| CN108071910B CN108071910B (en) | 2019-10-11 |
Family
ID=62158152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711294263.8A Active CN108071910B (en) | 2017-12-08 | 2017-12-08 | A kind of pose adjustment device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108071910B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544437A (en) * | 2018-06-21 | 2018-09-18 | 宁波介量机器人技术有限公司 | A kind of flexible docking equipment for large-sized structural parts |
| CN108980548A (en) * | 2018-10-15 | 2018-12-11 | 苏州精濑光电有限公司 | A kind of support frame and screen detection device |
| CN110605202A (en) * | 2019-10-15 | 2019-12-24 | 北京星航机电装备有限公司 | Accurate posture adjusting method for automatic spraying of various products |
| CN113028232A (en) * | 2021-02-25 | 2021-06-25 | 翟桂荣 | Mobile internet-based video and audio fusion cloud platform |
| CN113753599A (en) * | 2021-09-08 | 2021-12-07 | 贵州航天天马机电科技有限公司 | Multi-degree-of-freedom stepless adjusting mechanism |
| CN113770675A (en) * | 2021-09-18 | 2021-12-10 | 中航西安飞机工业集团股份有限公司 | Structural component posture adjusting positioner and use method |
| CN113954385A (en) * | 2021-10-28 | 2022-01-21 | 湖北三江航天江北机械工程有限公司 | Rotatory support of gypsum mandrel is equipped |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102156340A (en) * | 2011-03-31 | 2011-08-17 | 哈尔滨工业大学 | High-precision pose adjusting device for spliced grating |
| CN104148914A (en) * | 2014-08-07 | 2014-11-19 | 天津航天长征火箭制造有限公司 | Posture adjustment assembly system used for butt joint of components of rocket and posture adjustment method |
| CN104308767A (en) * | 2014-09-03 | 2015-01-28 | 上海交通大学 | Co-location device for automatically butting and assembling large-sized thin-wall barrel-shaped members |
| US20160000512A1 (en) * | 2013-02-19 | 2016-01-07 | gomtec GmbH | Holding device for a surgical instrument and a sheath and method and control device for operating a robot with such a holding device |
| CN106142073A (en) * | 2016-07-24 | 2016-11-23 | 中国科学院合肥物质科学研究院 | A kind of advance and the adjusting apparatus of pose and method of adjustment for continuous robot |
| CN106541256A (en) * | 2016-10-25 | 2017-03-29 | 上海交通大学 | Running fix is equipped with the assembling docking for combining of dynamic adjustment |
| CN206155820U (en) * | 2016-11-16 | 2017-05-10 | 浙江日发航空数字装备有限责任公司 | Aircraft vertical fin removes transfers appearance butting device |
-
2017
- 2017-12-08 CN CN201711294263.8A patent/CN108071910B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102156340A (en) * | 2011-03-31 | 2011-08-17 | 哈尔滨工业大学 | High-precision pose adjusting device for spliced grating |
| US20160000512A1 (en) * | 2013-02-19 | 2016-01-07 | gomtec GmbH | Holding device for a surgical instrument and a sheath and method and control device for operating a robot with such a holding device |
| CN104148914A (en) * | 2014-08-07 | 2014-11-19 | 天津航天长征火箭制造有限公司 | Posture adjustment assembly system used for butt joint of components of rocket and posture adjustment method |
| CN104308767A (en) * | 2014-09-03 | 2015-01-28 | 上海交通大学 | Co-location device for automatically butting and assembling large-sized thin-wall barrel-shaped members |
| CN106142073A (en) * | 2016-07-24 | 2016-11-23 | 中国科学院合肥物质科学研究院 | A kind of advance and the adjusting apparatus of pose and method of adjustment for continuous robot |
| CN106541256A (en) * | 2016-10-25 | 2017-03-29 | 上海交通大学 | Running fix is equipped with the assembling docking for combining of dynamic adjustment |
| CN206155820U (en) * | 2016-11-16 | 2017-05-10 | 浙江日发航空数字装备有限责任公司 | Aircraft vertical fin removes transfers appearance butting device |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544437A (en) * | 2018-06-21 | 2018-09-18 | 宁波介量机器人技术有限公司 | A kind of flexible docking equipment for large-sized structural parts |
| CN108980548A (en) * | 2018-10-15 | 2018-12-11 | 苏州精濑光电有限公司 | A kind of support frame and screen detection device |
| CN108980548B (en) * | 2018-10-15 | 2024-04-16 | 苏州精濑光电有限公司 | Support frame and screen detection device |
| CN110605202A (en) * | 2019-10-15 | 2019-12-24 | 北京星航机电装备有限公司 | Accurate posture adjusting method for automatic spraying of various products |
| CN113028232A (en) * | 2021-02-25 | 2021-06-25 | 翟桂荣 | Mobile internet-based video and audio fusion cloud platform |
| CN113753599A (en) * | 2021-09-08 | 2021-12-07 | 贵州航天天马机电科技有限公司 | Multi-degree-of-freedom stepless adjusting mechanism |
| CN113770675A (en) * | 2021-09-18 | 2021-12-10 | 中航西安飞机工业集团股份有限公司 | Structural component posture adjusting positioner and use method |
| CN113954385A (en) * | 2021-10-28 | 2022-01-21 | 湖北三江航天江北机械工程有限公司 | Rotatory support of gypsum mandrel is equipped |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108071910B (en) | 2019-10-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108071910A (en) | A kind of pose adjusting apparatus | |
| CN105466662B (en) | A kind of wind-tunnel angle of attack adjusting apparatus | |
| CN101987413B (en) | Three-dimensional precision control supporting platform | |
| CN103302151B (en) | Improved structure of bending machine | |
| CN113146179B (en) | Installation method of multi-degree-of-freedom heavy rocket cabin section butt-joint parking device | |
| CN108240783A (en) | A kind of bay section docks adjustment mechanism | |
| CN203209504U (en) | Rear material blocking mechanism of bending machine | |
| CN103240312B (en) | Bending machine | |
| CN106477452B (en) | A kind of raising beam mechanism of elevator for the laying of tunnel inner cable | |
| CN109333197A (en) | A kind of efficient grinding device of structural lumber | |
| CN105881469B (en) | A kind of multi-functional loader mechanism of multistation | |
| CN203197160U (en) | Bending machine | |
| CN105252105B (en) | Flame groove cutting machine | |
| CN207076877U (en) | A kind of plate centralising device | |
| CN207659004U (en) | A kind of boss rod enters cabin installation ancillary equipment | |
| CN109911656A (en) | It unloads goods in a kind of intelligence of medical instrument cargo transport operating system | |
| CN207449127U (en) | The rotatable 3D printing device of workbench | |
| CN213497360U (en) | Table type numerical control cutting machine | |
| CN105397239A (en) | Pipe intersecting line cutting machine with irrotational cut pipe | |
| CN111035189B (en) | Non-lost aerial three-dimensional display equipment | |
| CN107054684A (en) | A kind of multiple degrees of freedom adjusts device for loading cargos | |
| CN208345238U (en) | A kind of nuclear industry transport carriage | |
| CN207289059U (en) | A kind of wiredrawing machine | |
| CN207521465U (en) | A kind of panel beating adjustment mechanism | |
| CN211279209U (en) | Improved generation stonecutter |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |