CN108747153A - A kind of positioner - Google Patents
A kind of positioner Download PDFInfo
- Publication number
- CN108747153A CN108747153A CN201810688104.4A CN201810688104A CN108747153A CN 108747153 A CN108747153 A CN 108747153A CN 201810688104 A CN201810688104 A CN 201810688104A CN 108747153 A CN108747153 A CN 108747153A
- Authority
- CN
- China
- Prior art keywords
- rotating device
- positioner
- support platform
- actuating unit
- driven
- 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
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 238000003466 welding Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- 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
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0461—Welding tables
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of positioners, including：Support platform, the first rotating device, the first actuating unit, the second rotating device, the second actuating unit, clamping device；At least there is first rotating device one side, the plane where side to intersect with support platform, and the first rotating device, which is suitable for being driven by the first actuating unit, to be rotated；The pivot center of any second rotating device intersects at the pivot center of the first rotating device, and at least different height is in there are two the second rotating device, second actuating unit equal with the second rotating device quantity is configured on first rotating device, every 1 second rotating device, which is suitable for being driven by corresponding second actuating unit, to be rotated, each clamping device, which is suitable for being driven by corresponding second rotating device, to be rotated, and the pivot center of clamping device and the pivot center of the second rotating device coincide, displacement function provided by the invention makes industrial robot continuous work, improve production efficiency, and the loading and unloading of worker can be convenient for.
Description
Technical field
The present invention relates to welding processing technical field more particularly to a kind of positioners.
Background technology
Industrial robot work station is that industrial production is widely used a kind of general production model, wherein positioner at this stage
It is widely used ancillary equipment in automated production.For at present, used positioner is generally single-station change in the market
Position machine, i.e. industrial robot are limited by station when being subjected to, are unable to continuous work, can only once weld one
A workpiece when welding next workpiece, needs to take out the upper workpiece in single-station, then next workpiece could be put into progress
Welding, reduces production efficiency in this way.With the development of economy, to production efficiency, more stringent requirements are proposed for enterprise, so existing
Be badly in need of a kind of novel positioner so that industrial robot can continuous work improve efficiency.
Invention content
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide a kind of positioners, can make industrial robot
Continuous work improves production efficiency, and can be convenient for the loading and unloading of worker.
The purpose of the present invention adopts the following technical scheme that realization：
A kind of positioner, including：
Support platform；
It is rotationally connected with the first rotating device of the support platform, and is configured at the first of the support platform and moves
At least there is one side, the plane where the side to intersect with the support platform for force mechanisms, first rotating device, institute
The first rotating device is stated to be suitable for driving rotation by first actuating unit；
It is rotationally connected at least two second rotating devices of first rotating device side, any second rotation
The pivot center of rotary device intersects at the pivot center of first rotating device, and at least there are two at the second rotating device
In in different height, first rotating device be configured with second engine equal with the second rotating device quantity
Structure, every 1 second rotating device, which is suitable for being driven by corresponding second actuating unit, to be rotated；Each second rotating device is matched
It is equipped with the clamping device suitable for clamping workpiece, each clamping device, which is suitable for being driven by corresponding second rotating device, to be rotated,
And the pivot center of the clamping device and the pivot center of second rotating device coincide.
Further, the support platform is obliquely installed with horizontal plane, and the pivot center of first rotating device is vertical
It is each perpendicular to the rotation axis of first rotating device in the pivot center of the support platform, any second rotating device
Line.
Further, each clamping device includes the mounting plate for being configured at each second rotating device, often
Spaced a pair of of fixture block is each equipped on one mounting plate, it is any to that can turn at least one fixture block in the fixture block
Dynamic to be connected with third rotating device, the third rotating device is suitable for by being configured at corresponding third actuating unit on the fixture block
Driving, the third rotating device are suitable for driving clamped workpiece around own axis.
Further, the third actuating unit is third servo motor, any to only there are one fixture blocks in the fixture block
On be rotatably connected and have third rotating device, the third rotating device is an active turntable；It is rotatably connected on another fixture block
There is driven turntable, clamping station is suitably formed between the active turntable and the driven turntable.
Further, the positioner further includes pedestal, and the support platform is configured at the pedestal, the base end face
Configured at least three liftable platforms, and at least three liftable platforms are not on the same line.
Further, the lifting platform includes screw rod, nut and bottom plate, and described screw rod one end and the bottom plate are affixed,
The screw rod other end is spirally connected with the pedestal, and the nut is suitable for locking the bottom with the screw rod and the base engagement
Plate.
Further, first rotating device includes rotary box；The rotary box bottom surface is configured with flat with the support
The first rotation axis that platform is rotatably connected is configured with the first driven gear, first actuating unit in first rotation axis
Including first servo motor；Configured with first coordinated with first driven gear on the output shaft of the first servo motor
Driving gear.
Further, be configured with the first block on the outside of the rotary box, in the support platform configured be suitable for it is described
The second block that first block abuts, by the abutting of first block and second block to limit the rotary box
Turned position.
Further, second rotating device includes the connecting plate being detachably connected with the mounting plate；The connection
It is configured with the second rotation axis being rotatably connected with the rotary box on plate, the second driven tooth is configured in second rotation axis
Wheel, second driven gear are located in the rotary box, and second actuating unit includes the second servo motor；Described second
Configured with the second driving gear coordinated with second driven gear on the output shaft of servo motor.
Further, baffle is configured on first rotating device, the baffle is suitable for separating the clamping device
It opens.
Compared with prior art, the beneficial effects of the present invention are：By the first rotation for being rotationally connected with support platform
Device, at least two second rotating devices for being rotationally connected with the first rotating device and it is configured at every 1 second rotating dress
The clamping device set, you can with realize multistation process, i.e., industrial robot without waiting for loading and unloading time, when a work
The work pieces process of position is complete can be rotated into another processing stations by the first rotating device later, so can improve in this way
Production efficiency, and the second rotating device can be conveniently adjusted the location of workpiece so that and processing is more flexible.In addition, at least
Different height be in there are two the second rotating device, then when worker's progress loading and unloading, higher second can be allowed
Rotating device is in the processing stations of industrial robot, allows lower second rotating device to be in worker's loading and unloading station, in this way
It can ensure that worker is in a suitable operation height always, meet ergonomics, reduce the labor intensity of worker.
Description of the drawings
Fig. 1 is positioner overall perspective view of the present invention；
Fig. 2 is the first rotating device of positioner perspective view of the present invention；
Fig. 3 is positioner partial enlarged view of the present invention.
In figure：1, support platform；2, the first rotating device；21, rotary box；22, the first driven gear；23, the first servo
Motor；24, the first driving gear；25, the first block；26, the second block；3, the second rotating device；31, connecting plate；32, second
Driven gear；33, the second servo motor；34, the second driving gear；4, clamping device；41, mounting plate；411, fixture block；51,
Three servo motors；52, active turntable；53, driven turntable；6, pedestal；61, lifting platform；62, screw rod；63, nut；64, bottom plate；
7, baffle；8, industrial robot.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the present invention is described further, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
As Fig. 1-3 shows a kind of positioner provided in an embodiment of the present invention, including：Support platform 1；It is rotationally connected with
First rotating device 2 of support platform 1, and it is configured at the first actuating unit of support platform 1, the first rotating device 2 is at least
With one side, the plane where side intersects with support platform 1, and the first rotating device 2 is suitable for being driven by the first actuating unit
Rotation；At least two second rotating devices 3 of 2 side of the first rotating device are rotationally connected with, any second rotating device 3
Pivot center intersects at the pivot center of the first rotating device 2, and is at least in different height there are two the second rotating device 3
It spends, second actuating unit equal with 3 quantity of the second rotating device, every 1 second rotating dress is configured on the first rotating device 2
3 are set to be suitable for driving rotation by corresponding second actuating unit；Every 1 second rotating device 3 is each equipped with the folder suitable for clamping workpiece
Device 4 is held, each clamping device 4, which is suitable for being driven by corresponding second rotating device 3, to be rotated, and the pivot center of clamping device 4
It coincides with the pivot center of the second rotating device 3.
In order to enable be at least in different height there are two the second rotating device 3, support platform 1 and horizontal plane can be allowed
It is obliquely installed, for the pivot center of the first rotating device 2 perpendicular to support platform 1, the pivot center of any second rotating device 3 is equal
Perpendicular to the pivot center of the first rotating device 2.It is envisioned that in addition to making at least two second rotations using aforesaid way
Device 3 is in except different height, and support platform 1 can also be allowed horizontally disposed, and the pivot center of the first rotating device 2 is allowed to hang down
Directly in support platform 1, the second rotating device 3 is configured to the position of 2 different height of the first rotating device, equally can also make to
Few two the second rotating devices 3 are in different height.Because at least two second rotating devices 3 are in different height, that
When the first rotating device 2 rotates, with the rotation of the first rotating device 2 height can occur for each second rotating device 3
The variation of degree, you can to allow higher second rotating device 3 to be in the processing stations of industrial robot 8, allow lower second to revolve
Rotary device 3 is in worker's loading and unloading station, can ensure that worker is in a suitable operation height always in this way, reduce work
The labor intensity of people.
For the convenience of description, by taking the second rotating device 3 there are two configurations on the first rotating device 2 as an example, and by two
Rotating device is symmetrical arranged with the pivot center of the first rotating device 2, while the two second rotating devices 3 are referred to as second respectively
Rotating device 3A and the second rotating device 3B.It, can be first the second rotating device 3A's so when actually using the positioner
Clamping workpiece on clamping device 4 then makes the first rotating device 2 rotate by the first actuating unit, until the second rotating device
Until the workpiece being clamped on 3A is in the position that can be processed by industrial robot 8.Workpiece quilt on the second rotating device 3A
Industrial robot 8 process when, can on the clamping device 4 of the second rotating device 3B clamping workpiece, then in the second rotating device
When the work pieces process being clamped on 3A is completed, then so that the first rotating device 2 is rotated by the first actuating unit, allows the second rotating dress
The position that 3B turns to the second rotating device 3A is set, and the workpiece being at this moment clamped on the second rotating device 3A can be removed,
Then workpiece to be processed is reloaded, after the completion of the work pieces process being clamped on the second rotating device 3B, then passes through the
One actuating unit makes the first rotating device 2 rotate, and allows the second rotating device 3A to turn to the position of the second rotating device 3B, so
Iterative cycles so that it is continuously continual to be welded into reality, i.e., industrial robot 8 is not had to the time for waiting for loading and unloading again,
To substantially increase production efficiency.And second rotating device 3 be rotationally connected with the first rotating device 2, so second rotation
The workpiece being clamped on device 3 has the adjustment space of bigger, and the first rotating device 2 can either be followed to rotate, and can follow the
Two rotating devices 3 rotate, so as to preferably adjust soldering angle so that processing is more flexible, improves welding quality.
Preferably embodiment, each clamping device 4 include the mounting plate for being configured at every 1 second rotating device 3
41, spaced a pair of of fixture block 411 is each equipped on each mounting plate 41, it is any at least one fixture block in fixture block 411
Being rotatably connected on 411 has third rotating device, and third rotating device is suitable for by being configured at corresponding third power on fixture block 411
Mechanism drives, and third rotating device is suitable for driving clamped workpiece rotation.The clamping device 4 is set particular by a pair of interval
The fixture block 411 set is and rotatable at least one fixture block 411 in a pair of of fixture block 411 in office workpiece to be clamped
It is connected with third rotating device, third rotating device is suitable for driving clamped workpiece rotation to be removed then after workpiece is clamped
The first rotating device 2 can be followed to rotate, and except following second rotating device 3 to rotate, moreover it is possible to follow third rotating dress
Rotation is set, allowing for workpiece in this way has further adjustment space, further improves welding quality.
Preferably, third actuating unit is third servo motor 51, any to only there are one on fixture block 411 in fixture block 411
Being rotatably connected has third rotating device, and third rotating device is an active turntable 52；Being rotatably connected on another fixture block 411 has
Driven turntable 53 suitably forms clamping station between active turntable 52 and driven turntable 53.By active turntable 52 with from turn
The mode that disk 53 coordinates is clamped and workpiece is driven to rotate, it is possible to reduce cost is saved in the use of third servo motor 51.
Preferably, positioner further includes pedestal 6, and support platform 1 is configured at pedestal 6, and 6 bottom surface of pedestal is configured at least three
Liftable platform 61, and at least three liftable platforms 61 are not on the same line.It can make the displacement function by lifting platform 61
Enough adjustment that adaptability is done on the ground of out-of-flatness so that the use scope of the positioner is wider, and at least three can rise
Not on the same line, i.e., at least three liftable platforms 61 can form stable triangular support structure to drop platform 61.Specifically,
Lifting platform 61 includes screw rod 62, nut 63 and bottom plate 64, and 62 one end of screw rod and bottom plate 64 are affixed, 62 other end of screw rod and pedestal
6 are spirally connected, and nut 63 is suitable for locking bottom plate 64 with screw rod 62 and pedestal 6.The bottom can be lifted by the adjusting of screw rod 62
Plate 64 can play the role of the locking to bottom plate 64 so that the positioner is using process to be adjusted by nut 63
In will not cause the turn of screw rod 62 because of factors such as vibrations, so as to cause positioner shakiness.
Preferably, the first rotating device 2 includes rotary box 21；21 bottom surface of rotary box is configured with rotatable with support platform 1
First rotation axis of connection, the first driven gear 22 is configured in the first rotation axis, and the first actuating unit includes the first servo electricity
Machine 23；Configured with the first driving gear 24 coordinated with the first driven gear 22 on the output shaft of first servo motor 23.Gear
The advantages that transmission has stable drive, and transmission ratio is accurate, reliable operation, efficient and long lifespan.
Preferably, the outside of rotary box 21 is configured with the first block 25, configured with being suitable for and the first block 25 in support platform 1
The second block 26 abutted, by the abutting of the first block 25 and the second block 26 to limit the turned position of rotary box 21, from
And may be implemented more accurately to control rotary box 21, further improve welding quality.
Preferably, the second rotating device 3 includes the connecting plate 31 being detachably connected with mounting plate 41, then needing to folder
When holding device 4 and repair, it is only necessary to disassemble mounting plate 41 from connecting plate 31, facilitate repair.Connection
It is configured with the second rotation axis being rotatably connected with rotary box 21 on plate 31, the second driven gear is configured in the second rotation axis
32, the second driven gear 32 is located in rotary box 21, and the second actuating unit includes the second servo motor 33；Second servo motor 33
Output shaft on configured with the second driving gear 34 for coordinating with the second driven gear 32.Rotary box 21 can play dust-proof work
With, while the waste material generated when processing also being avoided to enter gear drive.Equally, gear drive has stable drive, transmission
Than accurate, the advantages that reliable operation, efficient and long lifespan.
Preferably, on the first rotating device 2 be configured with baffle 7, baffle 7 be suitable for clamping device 4 is separated, then into
When row welding processing, the arc light that baffle 7 generates when can weld industrial robot 8 blocks, and avoids having an impact human eye.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (10)
1. a kind of positioner, which is characterized in that including：
Support platform；
It is rotationally connected with the first rotating device of the support platform, and is configured at the first engine of the support platform
Structure, first rotating device at least have one side, and the plane where the side intersects with the support platform, and described the
One rotating device, which is suitable for being driven by first actuating unit, to be rotated；
It is rotationally connected at least two second rotating devices of first rotating device side, any second rotating dress
The pivot center set intersects at the pivot center of first rotating device, and at least there are two the second rotating devices to be in not
With height, second actuating unit equal with the second rotating device quantity is configured on first rotating device, often
One second rotating device, which is suitable for being driven by corresponding second actuating unit, to be rotated；Each second rotating device is each equipped with suitable
In the clamping device of clamping workpiece, each clamping device, which is suitable for being driven by corresponding second rotating device, to be rotated, and described
The pivot center of clamping device and the pivot center of second rotating device coincide.
2. positioner as described in claim 1, which is characterized in that the support platform is obliquely installed with horizontal plane, and described
The pivot center of one rotating device is each perpendicular to perpendicular to the support platform, the pivot center of any second rotating device
The pivot center of first rotating device.
3. positioner as claimed in claim 2, which is characterized in that each clamping device is each described including being configured at
The mounting plate of second rotating device is each equipped with spaced a pair of of fixture block on each mounting plate, any to the folder
Being rotatably connected at least one fixture block in block has third rotating device, and the third rotating device is suitable for described by being configured at
Corresponding third actuating unit driving, the third rotating device are suitable for that clamped workpiece is driven around own axes to turn on fixture block
It is dynamic.
4. positioner as claimed in claim 3, which is characterized in that the third actuating unit is third servo motor, any
To, only there are one being rotatably connected to have third rotating device on fixture block, the third rotating device is that an active turns in the fixture block
Disk；Being rotatably connected on another fixture block has driven turntable, and clamping is suitably formed between the active turntable and the driven turntable
Station.
5. positioner as claimed in claim 2, which is characterized in that the positioner further includes pedestal, and the support platform is matched
It is placed in the pedestal, the base end face is configured at least three liftable platforms, and at least three liftable platforms are not same
On one straight line.
6. positioner as claimed in claim 5, which is characterized in that the lifting platform includes screw rod, nut and bottom plate, described
Screw rod one end and the bottom plate are affixed, and the screw rod other end is spirally connected with the pedestal, the nut be suitable for the screw rod with
And the base engagement locks the bottom plate.
7. positioner as claimed in claim 3, which is characterized in that first rotating device includes rotary box；The rotation
Bottom face is configured with the first rotation axis for being rotatably connected with the support platform, in first rotation axis configured with first from
Moving gear, first actuating unit includes first servo motor；It is configured with and institute on the output shaft of the first servo motor
State the first driving gear of the first driven gear cooperation.
8. positioner as claimed in claim 7, which is characterized in that be configured with the first block, the branch on the outside of the rotary box
Configured with the second block for being suitable for abutting with first block on support platform, pass through first block and second block
Abutting to limit the turned position of the rotary box.
9. positioner as claimed in claim 7, which is characterized in that second rotating device includes removable with the mounting plate
Unload the connecting plate of connection；Configured with the second rotation axis for being rotatably connected with the rotary box on the connecting plate, described second
The second driven gear is configured in rotation axis, second driven gear is located in the rotary box, second actuating unit
Including the second servo motor；Configured with second coordinated with second driven gear on the output shaft of second servo motor
Driving gear.
10. positioner as described in claim 1, which is characterized in that be configured with baffle, the gear on first rotating device
Plate is suitable for separating the clamping device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810688104.4A CN108747153A (en) | 2018-06-28 | 2018-06-28 | A kind of positioner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810688104.4A CN108747153A (en) | 2018-06-28 | 2018-06-28 | A kind of positioner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108747153A true CN108747153A (en) | 2018-11-06 |
Family
ID=63974515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810688104.4A Pending CN108747153A (en) | 2018-06-28 | 2018-06-28 | A kind of positioner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108747153A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202752787U (en) * | 2012-06-11 | 2013-02-27 | 徐州华恒机器人系统有限公司 | Precise five-axis double-station position changing machine |
| US20140015181A1 (en) * | 2012-07-12 | 2014-01-16 | Rimrock Automation, Inc. Dba Wolf Robotics | Offset index welding positioner |
| CN104551513A (en) * | 2014-12-18 | 2015-04-29 | 广东大冶摩托车技术有限公司 | Island type automatic welding system |
| CN105397806A (en) * | 2015-12-08 | 2016-03-16 | 徐州华恒机器人系统有限公司 | Three-shaft position changer workstation |
| DE202017002934U1 (en) * | 2016-06-14 | 2017-09-15 | Lincoln Global, Inc. | Skygimbal wheel positioner |
| CN206779780U (en) * | 2016-11-28 | 2017-12-22 | 珠海瑞凌焊接自动化有限公司 | Full gas dynamic triaxial positioner |
| CN208744000U (en) * | 2018-06-28 | 2019-04-16 | 广州瑞松威尔斯通智能装备有限公司 | A kind of positioner |
-
2018
- 2018-06-28 CN CN201810688104.4A patent/CN108747153A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202752787U (en) * | 2012-06-11 | 2013-02-27 | 徐州华恒机器人系统有限公司 | Precise five-axis double-station position changing machine |
| US20140015181A1 (en) * | 2012-07-12 | 2014-01-16 | Rimrock Automation, Inc. Dba Wolf Robotics | Offset index welding positioner |
| CN104551513A (en) * | 2014-12-18 | 2015-04-29 | 广东大冶摩托车技术有限公司 | Island type automatic welding system |
| CN105397806A (en) * | 2015-12-08 | 2016-03-16 | 徐州华恒机器人系统有限公司 | Three-shaft position changer workstation |
| DE202017002934U1 (en) * | 2016-06-14 | 2017-09-15 | Lincoln Global, Inc. | Skygimbal wheel positioner |
| CN206779780U (en) * | 2016-11-28 | 2017-12-22 | 珠海瑞凌焊接自动化有限公司 | Full gas dynamic triaxial positioner |
| CN208744000U (en) * | 2018-06-28 | 2019-04-16 | 广州瑞松威尔斯通智能装备有限公司 | A kind of positioner |
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