CN108087521A - Rotational motion to linear motion integrated device and equipment - Google Patents
Rotational motion to linear motion integrated device and equipment Download PDFInfo
- Publication number
- CN108087521A CN108087521A CN201810086537.2A CN201810086537A CN108087521A CN 108087521 A CN108087521 A CN 108087521A CN 201810086537 A CN201810086537 A CN 201810086537A CN 108087521 A CN108087521 A CN 108087521A
- Authority
- CN
- China
- Prior art keywords
- output shaft
- linear motion
- integrated device
- driving wheel
- rack
- 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.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 114
- 230000007246 mechanism Effects 0.000 claims description 32
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 241000276425 Xiphophorus maculatus Species 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 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
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/16—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types with a driving or driven member which both rotates or oscillates on its axis and reciprocates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
-
- 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
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
-
- 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
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2096—Arrangements for driving the actuator using endless flexible members
Abstract
The present invention provides a kind of rotational motion to linear motion integrated device and equipment, belong to rotational motion to linear motion apparatus field.Rotational motion to linear motion integrated device includes output shaft, rotary motion component, linear motion component and the rack for above-mentioned parts to be fixedly mounted.For connecting follower, rotary motion component is used to that output shaft to be driven to rotate that follower is driven to rotate output shaft；Linear motion component is used to output shaft be driven to axially move so as to which follower be driven to axially move.Above-mentioned rotational motion to linear motion integrated device overall structure is fairly simple, and production cost is than relatively low.
Description
Technical field
The present invention relates to rotational motion to linear motion apparatus field, in particular to a kind of rotational motion to linear motion integrated device
And equipment.
Background technology
Rotational motion to linear motion integrated device can drive other mechanisms to move in a straight line and the device of rotary motion.Example
Such as, in robotic technology field, mechanical arm needs to do the movement of multiple degree of freedom by the driving of other devices.In rotational motion to linear motion
The output terminal of integrated device, which installs different mechanisms, can realize different functions, such as be mounted with can be to parts after welding gun
It is welded.
The content of the invention
It is an object of the invention to provide a kind of rotational motion to linear motion integrated devices, follower can be driven to do straight line
Movement, additionally it is possible to follower be driven to rotate.
Another object of the present invention is to provide a kind of rotational motion to linear motion equipment integrating, follower can do straight line fortune
Dynamic and rotary motion.
What the present invention was realized in：
A kind of rotational motion to linear motion integrated device, including：
Rack；
Output shaft, the output shaft are rotatably coupled with the rack and can axially move along the rack；
Rotary motion component, the rotary motion component are connected with the rack, the rotary motion component with it is described defeated
Shaft is sequentially connected, for the output shaft to be driven to rotate；
Linear motion component, the linear motion component are connected with the rack, the linear motion component with it is described defeated
Shaft is sequentially connected, for the output shaft to be driven to axially move.
Further,
The rotary motion component includes the first driving mechanism and the first driving wheel, first driving mechanism and described the
One driving wheel is sequentially connected；
Mounting base is provided in the rack, first driving wheel is rotatably coupled with the mounting base；Described
Mounting hole is provided on one driving wheel, first driving wheel is set on the output shaft；First driving wheel can drive
The dynamic output shaft rotates, and the output shaft can slide axially compared with first driving wheel.
Further,
Spline on the output shaft is set, spline is provided in the mounting hole, the spline can be along the spline
Slot slides.
Further,
Brake is provided on first driving mechanism or output shaft.
Further,
The linear motion component includes screw and nut, and the screw is rotatably coupled with the rack, the spiral shell
Female to be connected with the housing slide, the rotational freedom of the nut is limited,；
The nut coordinates with the screw, and the nut is connected to the output shaft；
Further,
The linear motion component includes the second driving mechanism and the second driving wheel, second driving mechanism and described the
Two driving wheels are sequentially connected, and second driving wheel is connected with the screw.
Further,
Second driving mechanism passes through synchronous band connection with second driving wheel.
Further,
Connector is additionally provided on the output shaft, the output shaft is connected by the connector with the nut；
Guide rail is provided in the rack, the guide rail extends along the glide direction of the output shaft；The connector with
The guide rail is slidably matched.
Further,
Sliding block is provided on the connector, the connector is slidably matched by the sliding block and the guide rail.
A kind of rotational motion to linear motion equipment integrating, including follower and the rotational motion to linear motion integrated device, institute
The free end that follower is stated with the output shaft is connected.
The beneficial effects of the invention are as follows：
The rotational motion to linear motion integrated device that the present invention is obtained by above-mentioned design, output shaft are used to connect follower,
Rotary motion component is used to that output shaft to be driven to rotate that follower is driven to rotate；Linear motion component is used to drive output shaft
It axially moves that follower is driven to axially move.Above-mentioned rotational motion to linear motion integrated device overall structure is simpler
Single, production cost is than relatively low.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present invention
Attached drawing be briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen as
It is the restriction to scope, it for those of ordinary skill in the art, without creative efforts, can be with root
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is the shaft side figure for the rotational motion to linear motion integrated device that embodiment of the present invention provides；
Fig. 2 is the rotational motion to linear motion integrated device front view that embodiment of the present invention provides.
Icon：100- rotational motion to linear motion integrated devices；110- racks；112- mounting bases；114- guide rails；120- is exported
Axis；130- rotary motion components；The first driving mechanisms of 132-；The first driving wheels of 134-；140- linear motion components；142-
Bar；144- nuts；The second driving mechanisms of 146-；The second driving wheels of 148-；150- connectors；152- sliding blocks；160- brakes.
Specific embodiment
To make the purpose, technical scheme and advantage of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is the embodiment of a part of embodiment of the present invention rather than whole.Based on the embodiment in the present invention, ability
The every other embodiment that domain those of ordinary skill is obtained without creative efforts, belongs to the present invention
The scope of protection.
Therefore, the detailed description of the embodiments of the present invention to providing in the accompanying drawings is not intended to limit requirement guarantor below
The scope of the present invention of shield, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention, ability
The every other embodiment that domain those of ordinary skill is obtained without creative efforts, belongs to the present invention
The scope of protection.
In the description of the present invention, it is to be understood that the term of indicating position or position relationship is based on shown in attached drawing
Orientation or position relationship, be for only for ease of the description present invention and simplify description rather than instruction or imply signified equipment
Or element must have specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " interior ", " outer " are based on orientation shown in the drawings or position relationship or are somebody's turn to do
Invention product using when the orientation usually put or position relationship, be for only for ease of the description present invention and simplify description, without
It is instruction or implies that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and cannot manage
It solves to indicate or imply relative importance.
In addition, the terms such as term " level ", " vertical ", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to represent the structure if " level " only refers to that its direction is more horizontal with respect to for " vertical "
It has to fully horizontally, but can be slightly tilted.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be on or below second feature
Contacted directly including the first and second features, can also include the first and second features not be contact directly but by them it
Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above to include fisrt feature special second
Directly over sign and oblique upper is merely representative of fisrt feature level height higher than second feature.Fisrt feature second feature it
Under, lower section and fisrt feature included below immediately below second feature and obliquely downward or be merely representative of fisrt feature level height
Less than second feature.
Embodiment 1：
A kind of rotational motion to linear motion integrated device 100 is present embodiments provided, it can be used to follower is driven to do directly
Line moves or rotary motion.It please refers to Fig.1, Fig. 1 is the structure diagram of rotational motion to linear motion integrated device 100.Rotational alignment
Moving integrated device 100 includes output shaft 120, rotary motion component 130, linear motion component 140 and for fixed installation
State the rack 110 of parts.For output shaft 120 to be driven to rotate, linear motion component 140 is used to drive rotary motion component 130
Dynamic output shaft 120 axially moves；Output shaft 120 is used to be connected with follower.
Specifically, such as Fig. 1, rack 110 is platy structure, and other parts are directly or indirectly mounted to rack 110
On.The lower part of rack 110 is provided with mounting base 112, and mounting base 112 provides support for the rotationally and axially movement of output shaft 120；
The middle part of mounting base 112 is provided with through hole.
Rotary motion component 130 includes the first driving mechanism 132 and the first driving wheel 134, and driving mechanism passes through transmission belt
It is sequentially connected with the first driving wheel 134.Bearing is arranged on the outer circumference surface of first driving wheel 134, bearing is mounted on mounting base
In 112 through hole.The middle part of first driving wheel 134 is provided with mounting hole, and spline, output shaft are provided on the inner wall of mounting hole
Spline is provided on 120, output shaft 120 is slidably matched through the mounting hole in the middle part of the first driving wheel 134, spline with spline.
Hole is provided through in rack 110, mounting base 112 is arranged on the one side of rack 110, and the first driving mechanism 132 is arranged on rack
110 another side, transmission belt connect the first driving mechanism 132 and the first driving wheel 134 through through hole.
In the present embodiment, the first driving mechanism 132 includes servomotor；Transmission belt employs synchronous belt；Correspondingly, first
Driving wheel 134 is synchronous pulley；May be employed in other embodiments V-belt or driving mechanism can also by gear or
Chain is connected with the first driving wheel 134.
Such as Fig. 1 and Fig. 2, one end of output shaft 120 is provided with mounting portion, for being connected with follower；The other end is set
There is connector 150, connector 150 is connected with linear motion component 140.Connector 150 is platy structure, and platy structure vertically connects
It is connected to output shaft 120.Guide rail 114 is additionally provided in rack 110, guide rail 114 is arranged in parallel with output shaft 120；Connector 150
On be provided with sliding block 152, connector 150 is slidably matched by sliding block 152 and guide rail 114.
Linear drives component includes the second driving mechanism 146, the second driving wheel 148, screw 142 and nut 144, and second drives
Motivation structure 146 is fixedly connected with rack 110, and the second driving wheel 148 is rotatably coupled with rack 110；Second driving mechanism 146
It is sequentially connected with the second driving wheel 148, so as to which the second driving wheel 148 be driven to rotate.Screw 142 is set parallel to output shaft 120,
And it is connected with the second driving wheel 148；Nut 144 is set on screw 142, and is slidably connected with rack 110；Due to nut 144
Rotational freedom limited, therefore screw 142 rotate when, axial movement of the nut 144 along screw 142.In the present embodiment, second
Driving mechanism 146 includes motor.
In order to which output shaft 120 is driven to be axially moved, nut 144 is connected with output shaft 120；Specifically, such as Fig. 1, connector
Through hole is provided on 150, screw 142 is fixedly connected through the through hole on connector 150, nut 144 with connector 150.Due to
Connector 150 is slidably connected with guide rail 114, therefore 150 one side of connector plays the role of connection and is oriented to；In addition, connector 150
The rotational freedom of nut 144 is also limited by being fixedly connected with nut 144.
In other embodiments, rotary motion component 130 is not limited to 142 nut of screw, 144 structure, can be gear teeth
Structure, rack are fixedly connected with connector 150, gear driving rack movement；Linear motor drive connection part can also be used
150 movements.
In order to prevent after motor power-off, output shaft 120 continues to move under the action of gravity or inertia, in the second driving machine
Brake 160 is provided on structure 146, brake employs motor internal contracting brake.
Further, in order to improve the rigidity of output shaft output terminal, splined nut, spline are additionally provided with below mounting base
Nut is connected with mounting base.Output shaft can axially move along splined nut, and can be rotated synchronously with splined nut.
In the present embodiment, the operation principle of rotational motion to linear motion integrated device 100 is as follows：
When output shaft 120 is needed to rotate, start the first driving mechanism 132, the first driving mechanism 132 drives the first driving
Wheel 134 rotates, and then by spline output shaft 120 is driven to rotate.When output shaft 120 is needed to axially move, start second
Driving mechanism 146, the second driving mechanism 146 drive output shaft 120 to axially move by nut 144, connector 150.When need
When fixing the position of output shaft 120, the first driving mechanism 132 and the second driving mechanism 146 are closed, and is made with brake 160
It is dynamic.
It should be noted that in other embodiments, output shaft 120 is not limited to spline with the first driving wheel 134 and connects,
Common key connection may be employed.
Embodiment 2：
A kind of rotational motion to linear motion equipment integrating is present embodiments provided, that includes in follower and embodiment 1
Rotational motion to linear motion integrated device, follower is connected with the free end of output shaft 120.In this example, follower is weldering
Rifle；Can be other mechanisms in other embodiments.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the invention, for this field
For technical staff, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made is any
Modification, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of rotational motion to linear motion integrated device, which is characterized in that including：
Rack；
Output shaft, the output shaft are rotatably coupled with the rack and can axially move along the rack；
Rotary motion component, the rotary motion component are connected with the rack, the rotary motion component and the output shaft
It is sequentially connected, for the output shaft to be driven to rotate；
Linear motion component, the linear motion component are connected with the rack, the linear motion component and the output shaft
It is sequentially connected, for the output shaft to be driven to axially move.
2. rotational motion to linear motion integrated device according to claim 1, which is characterized in that the rotary motion component includes
First driving mechanism and the first driving wheel, first driving mechanism and first driving wheel are sequentially connected；
Mounting base is provided in the rack, first driving wheel is rotatably coupled with the mounting base；Described first drives
Mounting hole is provided on driving wheel, first driving wheel is set on the output shaft；First driving wheel can drive institute
Output shaft rotation is stated, the output shaft can slide axially compared with first driving wheel.
3. rotational motion to linear motion integrated device according to claim 2, which is characterized in that flower is set on the output shaft
Key is provided with spline in the mounting hole, and the spline can be slided along the spline.
4. rotational motion to linear motion integrated device according to claim 2, which is characterized in that first driving mechanism or defeated
Brake is provided on shaft.
5. rotational motion to linear motion integrated device according to claim 1, which is characterized in that the linear motion component includes
Screw and nut, the screw are rotatably coupled with the rack, and the nut is connected with the housing slide, the nut
Rotational freedom limited；
The nut coordinates with the screw, and the nut is connected to the output shaft.
6. rotational motion to linear motion integrated device according to claim 5, which is characterized in that the linear motion component includes
Second driving mechanism and the second driving wheel, second driving mechanism are sequentially connected with second driving wheel, and described second drives
Driving wheel is connected with the screw.
7. rotational motion to linear motion integrated device according to claim 6, which is characterized in that second driving mechanism and institute
It states the second driving wheel and passes through synchronous band connection.
8. rotational motion to linear motion integrated device according to claim 5, which is characterized in that be additionally provided on the output shaft
Connector, the output shaft are connected by the connector with the nut；
Guide rail is provided in the rack, the guide rail extends along the glide direction of the output shaft；The connector with it is described
Guide rail is slidably matched.
9. rotational motion to linear motion integrated device according to claim 8, which is characterized in that be provided with cunning on the connector
Block, the connector are slidably matched by the sliding block and the guide rail.
10. a kind of rotational motion to linear motion equipment integrating, which is characterized in that including any one of follower and claim 1 to 9 institute
The rotational motion to linear motion integrated device stated, the follower are connected with the free end of the output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810086537.2A CN108087521A (en) | 2018-01-29 | 2018-01-29 | Rotational motion to linear motion integrated device and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810086537.2A CN108087521A (en) | 2018-01-29 | 2018-01-29 | Rotational motion to linear motion integrated device and equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108087521A true CN108087521A (en) | 2018-05-29 |
Family
ID=62182840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810086537.2A Pending CN108087521A (en) | 2018-01-29 | 2018-01-29 | Rotational motion to linear motion integrated device and equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108087521A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1740849A1 (en) * | 2004-04-01 | 2007-01-10 | Quantel Medical | Mechanism for converting a linear motion into an arcuate motion, which can be used in a scanning device |
| CN203133095U (en) * | 2012-12-28 | 2013-08-14 | 深圳迈瑞生物医疗电子股份有限公司 | Driving device and sample analysis device comprising driving device |
| CN105422779A (en) * | 2015-12-04 | 2016-03-23 | 湘潭大学 | Non-frictional mechanical stepless speed change mechanism |
| CN206816772U (en) * | 2016-12-31 | 2017-12-29 | 深圳大宇精雕科技有限公司 | Double rotation lowering or hoisting gears |
| CN207796018U (en) * | 2018-01-29 | 2018-08-31 | 潍坊海丰自动化科技有限公司 | Rotational motion to linear motion integrated device and equipment |
-
2018
- 2018-01-29 CN CN201810086537.2A patent/CN108087521A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1740849A1 (en) * | 2004-04-01 | 2007-01-10 | Quantel Medical | Mechanism for converting a linear motion into an arcuate motion, which can be used in a scanning device |
| CN203133095U (en) * | 2012-12-28 | 2013-08-14 | 深圳迈瑞生物医疗电子股份有限公司 | Driving device and sample analysis device comprising driving device |
| CN105422779A (en) * | 2015-12-04 | 2016-03-23 | 湘潭大学 | Non-frictional mechanical stepless speed change mechanism |
| CN206816772U (en) * | 2016-12-31 | 2017-12-29 | 深圳大宇精雕科技有限公司 | Double rotation lowering or hoisting gears |
| CN207796018U (en) * | 2018-01-29 | 2018-08-31 | 潍坊海丰自动化科技有限公司 | Rotational motion to linear motion integrated device and equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110099200B (en) | Imaging device, electronic apparatus, and method for using electronic apparatus | |
| CN102049773B (en) | Selective compliance assembly robot arm | |
| WO2005000378A3 (en) | Coupling system for an infusion pump | |
| CN109968335A (en) | Robots arm | |
| CN101699221A (en) | Limiting mechanism of rotary table capable of rotating within 360 DEG | |
| CN207593800U (en) | A kind of automatic mechanical arm transmission mechanism | |
| CN203810556U (en) | Air conditioner indoor unit and air conditioner | |
| CN207796018U (en) | Rotational motion to linear motion integrated device and equipment | |
| CN108087521A (en) | Rotational motion to linear motion integrated device and equipment | |
| CN105364910B (en) | It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving | |
| CN112738362A (en) | Imaging device, electronic apparatus, and method for using electronic apparatus | |
| CN207841328U (en) | Electronic clamping jaw | |
| CN205140411U (en) | Adjustable frame and be equipped with adjustable display screen including this frame | |
| CN106182076B (en) | It is a kind of can all-direction rotation mechanical joint | |
| CN208342877U (en) | A kind of rotatable six joints industry explosion prevention robot | |
| CN108103301B (en) | Annealing device is used in a kind of production of transmission gear | |
| CN107137923B (en) | Rising mechanism and mahjong machine | |
| CN107351064A (en) | A kind of Novel two-freedom-degree parallel robot of apery wrist joint | |
| CN107875465A (en) | A kind of automatic cup robot | |
| CN209504159U (en) | A kind of rotating mechanical arm | |
| CN208552655U (en) | A kind of automatic cupping robot | |
| CN207534814U (en) | A kind of spatial intersecting shaft transmission and robot | |
| CN213855950U (en) | Wabbler mechanism and wabbler washing equipment | |
| CN108096719A (en) | Telescoping mechanism, image-guided system and linear accelerator | |
| CN209632231U (en) | A kind of screw production tapping mechanism of tooth machining unit |
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 |