CN108772662A - A kind of U-shaped twin shaft positioner - Google Patents
A kind of U-shaped twin shaft positioner Download PDFInfo
- Publication number
- CN108772662A CN108772662A CN201810851674.0A CN201810851674A CN108772662A CN 108772662 A CN108772662 A CN 108772662A CN 201810851674 A CN201810851674 A CN 201810851674A CN 108772662 A CN108772662 A CN 108772662A
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- China
- Prior art keywords
- hole
- retarders
- swivel base
- flange
- overturning
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- 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.)
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Classifications
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- 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
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Arc Welding In General (AREA)
Abstract
The invention discloses a kind of U-shaped twin shaft positioners, including pedestal, swivel base, overturning servo motor and its overturning RV retarders, rotary servovalve motor and its revolution hollow type RV retarders, the first connecting flange, the second connecting flange, rotary flange and the penetration pipe driven driven；Overturning RV retarders are fixedly mounted on pedestal, and the output axis connection of one end and overturning RV retarders of swivel base, the other end of swivel base is rotatably set in the rolling bearing of pedestal, and overturning servo motor rotation drives swivel base overturning；Revolution hollow type RV retarders are fixedly mounted in swivel base, and penetration pipe is set in the center cavity of revolution hollow type RV retarders, and the output shaft of revolution hollow type RV retarders is fixedly connected with rotary flange, and the rotation of rotary servovalve motor drives rotary flange rotation；The rotary flange is equipped with current collecting equipment, and the pedestal is equipped with limiting device.It is the positioner rotating accuracy height of the application, good reliability, safe.
Description
Technical field
The present invention relates to electroplating equipment wielding machine technical fields, and in particular to a kind of U-shaped twin shaft positioner.
Background technology
For dragging workpiece to be welded, so that it is waited for that welding line moves to the equipment that ideal position carries out welding operation, claim welding
Positioner.Common positioner is divided into single shaft, twin shaft, three axis and more than five major class of axis positioner, and the wherein U-shaped welding of twin shaft becomes
Position machine is a kind of ancillary equipment being often equipped in robot arc-welding work station, is mainly characterized by：1, as the attached of robot
Add axis to use, i.e., as the J7 axis of robot and J8 axis, more easily converts workpiece and weld required posture, to improve weldering
Connect efficiency；2, the rotating shaft centre bore of the U-shaped positioner of twin shaft must wear the functions such as cable and tracheae, to realize positioner
On tooling device and the communication between robot and positioner；3, positioner must have the current collecting equipment of well conducting；
4, positioner needs safer safeguard structure.
The revolution axle construction of existing high-precision dual-axis positioner is mostly non-hollow type, direct using non-hollow RV speed reducers
Driving, threading are complicated；Hollow structure is realized in part in the form of non-hollow RV speed reducers add connector, but the structure design is multiple
Miscellaneous, transmission accuracy is difficult to ensure.Positioner equipment precision requirement in arc-welding work station is equal and robot precision, Cai Nengbao
Demonstrate,prove the precision of workpiece each position posture in the movements such as overturning and revolution on positioner.
In addition, the current collecting equipment of existing twin shaft positioner generally uses spring that conducting block is supported to be pressed on collector plate
On, which is not easy to observe the abrasion condition of conducting block in time, and cannot replace conducting block in time, influences welding quality.
Existing twin shaft positioner lacks safety prevention measure, and if torsion shaft does not limit setting, electric installation does not have
Add protective cover etc., to increase operating personnel's security risk.Lack safety prevention measure in existing twin shaft positioner, to
Increase operating personnel's security risk.
Invention content
In order to solve the above technical problems, the present invention provides a kind of U-shaped twin shaft positioners.
The technical solution adopted by the present invention is that：A kind of U-shaped twin shaft positioner, including it is pedestal, swivel base, horizontally disposed
In overturning servo motor and its overturning RV retarders driven, vertically disposed rotary servovalve motor and its revolution that is driven
Casement RV retarders, the first connecting flange, the second connecting flange, rotary flange and penetration pipe；It is equipped in the pedestal for leading to
The first cavity of cable and tracheae is crossed, the central part of swivel base is equipped with central through hole, is equipped in swivel base for passing through cable and tracheae
The second cavity, central through hole communicates with the second cavity, and the second cavity is communicated with the first cavity；Overturn servo motor and overturning RV
Retarder is coaxially disposed, and overturning RV retarders are fixedly mounted on pedestal, the first connecting flange of one end and the overturning RV of swivel base
The other end of the output axis connection of retarder, swivel base is rotatably set in the rolling bearing of pedestal through the second connecting flange, overturning
Servo motor rotation drives swivel base overturning；Rotary servovalve motor is arranged in parallel with revolution hollow type RV retarders, turns round hollow type
RV retarders are fixedly mounted in the central through hole of swivel base, and penetration pipe is set to the center of revolution hollow type RV retarders by screw
In cavity, penetration pipe is communicated with the second cavity, and the output shaft of revolution hollow type RV retarders is fixedly connected with rotary flange, is turned round
Servo motor rotation drives rotary flange rotation；The rotary flange is equipped with the collection Denso of observable conductive plate abrasion condition
It sets, the pedestal is equipped with the limiting device for limiting swivel base flip angle.
The rotary flange of the present invention is connected directly between by screw on the output shaft of revolution hollow type RV retarders, in revolution
The shell of casement RV retarders is connected directly between by screw on swivel base, and one end of swivel base is fixedly connected on by connecting flange to be turned over
On the output shaft for turning RV retarders, the other end of swivel base by connecting flange rotation in the bearing of pedestal, using directly connecting
The mode connect can ensure to turn round the center line of the center line and overturning RV reducer output shafts of hollow type RV reducer output shafts
In plumbness, and then when ensureing that overturning servo motor rotation drives swivel base overturning, the flange face of rotary flange always with turn over
Turn the centerline parallel of RV reducer output shafts, when ensureing that rotary servovalve motor drives rotary flange rotation, the method for rotary flange
Blue face always with revolution hollow type RV reducer output shafts central axis, greatly improve rotating accuracy.
The present invention is by being arranged hollow type RV retarders, the first through hole of swivel base and the second cavity, the first cavity of pedestal,
Electrical cable and tracheae can be made to be contained in swivel base and chassis interior, can not only realize tooling device on positioner and robot and
Communication function between positioner, also acts as the effect of protection appliance cord and tracheae, and positioner appearance can be made neat and artistic.It wears
The setting of spool can protect retarder that its inner cavity is made not to be worn.
The present invention by setting be easy to observe conducting block abrasion condition current collecting equipment, can improve welding stability and
Reliability.By the way that limiting device is arranged, the injury risk that welding equipment generates operating personnel can be reduced.
Further, the limiting device is the limited block on pedestal, and swivel base is equipped with the first stop section and second gear
Stop, the first stop section block is on limited block when swivel base rotates forward, and the second stop section block is limiting when swivel base rotates backward
On the block of position.The limit device structure is simple, using reliable.
Further, the current collecting equipment includes collector plate, conducting block, guide rod, screw, collets, spring and busbar；
Collets are fixedly mounted on swivel base, and the center portion thereof is equipped with ladder hole；Guide rod includes radially enlarged head and connection head
Shaft, the central part on head is equipped with threaded hole, V-shaped groove offered on the periphery of shaft bottom end, and guide rod head is set to ladder
In the macropore of through-hole, shaft is slidably disposed through the aperture of ladder hole, and spring, one end of spring are arranged with outside guide rod shaft
Against the bottom surface of ladder hole, step surface of the other end against head；Collector plate is fitted in the downside of rotary flange, screw according to
Secondary that conducting block, busbar is passed through to be fastened in the threaded hole on guide rod head, conducting block, busbar, guide rod are fitted and connected, conducting block
Upper surface be bonded the lower surface of collector plate always under the Elastic force support of spring.The other end of busbar passes through conducting connecting part
It is electrically connected with flexible cable, the other end of flexible cable is electrically connected with the conductive plate on pedestal insulating base, conductive plate and weldering
Connect being electrically connected to ground for power supply one end extraction.It can make rotary flange, collector plate, conduction by the synergistic effect of spring and screw
Block, busbar, guide rod are fitted and connected always, and so that it is separated with swivel base insulation by the way that collets are arranged, and rotary flange is charged
Lotus is efficiently transmitted to through current collecting equipment on the ground wire of the source of welding current, and an electrical circuit is formed with the source of welding current.Guide rod shaft bottom
V-shaped groove is opened up on the periphery at end, after conducting block or collector plate worn down, spring pushes up guide rod upwards, guide rod V-groove dew
The part gone out is smaller and smaller, replaces conducting block or collector plate in time when V-groove is completely invisible, avoids the production of failure welding part
It is raw, improve the reliability of positioner.
Further, it is described overturning servo motor output shaft fix suit the first transmission gear, the first transmission gear with
Overturn RV retarder input gears group engaged transmission；Rotary servovalve motor output shaft fixes the 4th gear of suit, and hollow type RV subtracts
The input shaft of fast device fixes the 5th gear of suit, and the 4th gear is connected by meshing transmission with the 5th gear.
Further, the central through hole of the swivel base be stepped hole, be followed successively by from top to bottom first through hole, the second through-hole and
Third through-hole；The input terminal of hollow type RV retarders be mounted on first through hole in, the 5th gear of hollow type RV retarders and return
The 4th transmission gear for turning servo motor is mounted in the second through-hole, and the output end of rotary servovalve motor is mounted on third through-hole
It is interior, the side wall of third through-hole be equipped with cable and tracheae by fourth hole；The both ends of swivel base are respectively equipped with first flange peace
Dress portion and second flange mounting portion, first flange mounting portion is for installing the first connecting flange, and second flange mounting portion is for pacifying
Fill the second connecting flange, in second flange mounting portion equipped with cable and tracheae by fifth hole, third through-hole, four-way
Hole, fifth hole are mutually communicated composition for the second cavity by cable and tracheae.The design of swivel base can make entire positioner
Mounting structure more simplify, it is easy for installation, and appearance and size is small.
Description of the drawings
Fig. 1 is the overall structure diagram for the positioner for indicating embodiment of the present invention 1.
Fig. 2 is the structural schematic diagram in the directions D-D for indicating Fig. 1.
Fig. 3 is the structural schematic diagram of the swivel base in the positioner for indicate embodiment of the present invention 1.
Fig. 4 is the structural schematic diagram of the current collecting equipment in the positioner for indicate embodiment of the present invention 1.
Specific implementation mode
In the following description, on the basis of direction shown in FIG. 1, the upside in figure is known as "upper", otherwise under being.
Hereinafter, with reference to attached drawing, a kind of positioner of preferred embodiment of the present invention is illustrated.
Embodiment 1
Referring to Fig. 1 and Fig. 2, a kind of U-shaped twin shaft positioner, including pedestal 10, swivel base 20, overturning servo motor 30,
Overturn RV retarders 40, rotary servovalve motor 50, revolution hollow type RV retarders 60, the first connecting flange 70, the second connection method
Orchid 80, rotary flange 90, adapter flange 100, penetration pipe 200 and current collecting equipment 300.
Pedestal 10 is equipped with the first mounting portion 101 and the second mounting portion 102, and the first mounting portion is equipped with the first installation through-hole
1011, the second mounting portion is equipped with the second installation through-hole 1021, the center of the first installation through-hole 1011 and the second installation through-hole 1021
Line overlaps and along horizontally disposed；Be additionally provided in pedestal 10 for by cable and tracheae the first cavity 103 and with the first cavity
The outlet hole 1031 being connected.The inside of second mounting portion 102 is fixed with limited block 104 by screw.
Referring to Fig. 3, the central part of swivel base 20 is equipped with ladder-like central through hole 201, the center line of central through hole 201 and first
The vertical and intersectant centerline of installation through-hole 1011 and the second installation through-hole 1021.Central through hole 201 is divided into from top to bottom
One through-hole 2011, the second through-hole 2012 and third through-hole 2013, the side wall of third through-hole be equipped with cable and tracheae by the
Four through-holes 2014, third through-hole 2013 are penetrated through with fourth hole 2014；The both ends of swivel base 20 are respectively equipped with columned first method
The central part axis of blue mounting portion 202 and second flange mounting portion 203, first flange mounting portion 202 and second flange mounting portion 203
To equipped with first flange mounting hole 2021 and second flange mounting hole 2015 (i.e. fifth hole), second flange mounting hole 2015 with
Fourth hole 2014 penetrates through, and first flange mounting hole 2021 and second flange mounting hole 2015 are blind hole.Third through-hole 2013,
Four through-holes 2014, the composition of fifth hole 2015 are for the second cavity 204 by cable and tracheae, the second cavity 204 and first
Cavity 103 communicates.It is arranged with as symmetry axis using the center line of central through hole 201 on the peripheral surface of second flange mounting portion 203
First stop section 204 and the second stop section 205, the first stop section 204 and the angle of the center line of central through hole 201 are+135 °,
Second stop section 205 and the angle of the center line of central through hole 201 are -135 °.
The output end of overturning servo motor 30 is fixedly connected with adapter flange 100, and adapter flange 100 is fixed by screws in
The outside of first mounting portion 101 of pedestal, output shaft fixes the first transmission gear 31 of suit, and the first transmission gear 31 passes through
Screw is fixed on the shaft end of the output shaft of overturning servo motor 30.The outside of overturning servo motor 30 is equipped with motor cover 32.
It overturns RV retarders 40 to be coaxially disposed with overturning servo motor 30, the shell of overturning RV retarders 40 is solid by screw
It is scheduled on the inside of the first mounting portion 101 of pedestal, the end shell of input terminal is fastened on the first installation through-hole 1011 of pedestal
It is interior.The input terminal for overturning RV retarders is equipped with input gear group 401, the first driving cog of gear set 401 and overturning servo motor
Wheel 31 is connected by meshing transmission.
First connecting flange 70 is fixed by screws on the output shaft of overturning RV retarders, with the defeated of overturning RV retarders
Shaft rotates synchronously, and the other side not connect with overturning RV retarders is equipped with flange.
Second connecting flange 80 is set in the second installation through-hole 1021 of pedestal, extends the part of the second installation through-hole
Equipped with flange, bearing, the second connecting flange 80 and second peace are equipped between the second connecting flange 80 and the second installation through-hole 1021
Fill the connection of 1021 friction rolling of through-hole.
The first flange mounting portion 202 of swivel base 20 is fixed by screws on the first connecting flange 70, the first connecting flange
70 flange is fastened in the first flange mounting hole 2021 of first flange mounting portion；The second flange mounting portion 203 of swivel base 20
It is fixed by screws on the second connecting flange 80, the flange of the second connecting flange 80 is fastened on the second of second flange mounting portion
In flange mounting hole 2015.Its 204 block of the first stop section is on the limited block 104 of pedestal when swivel base 20 rotates forward, swivel base
20 its 205 block of the second stop section when rotating backward are on limited block 104.
Rotary servovalve motor 50 is fixed by screws on swivel base 20, and the shell end of output end is fastened on the of swivel base
In three through-holes 2013.The output shaft of rotary servovalve motor 50 rotationally extends in the second through-hole 2012 of swivel base, and revolution is watched
The output the tip of the axis for taking motor 50 is equipped with the 4th gear 51 by screw fixing sleeve, and the 4th gear 51 is contained in the second through-hole
In 2012.The outside of rotary servovalve motor 50 is equipped with motor cover 52.
Revolution hollow type RV retarders 60 are fixed by screws on swivel base 20 and its input terminal is located at the first of swivel base and leads to
In hole 2011.The input shafts of hollow type RV retarders 60 fixes the 5th gear 61 of suit, and the 5th gear 61 is contained in the of swivel base
In two through-holes 2012, it is connected by meshing transmission with the 4th gear 51 of swivel base.Penetration pipe 200 is set to revolution hollow type RV by screw
In the center cavity of retarder 60, the inner cavity of penetration pipe 200 is communicated with the second cavity 204 of swivel base.
Rotary flange 90 is fixed by screws on the output shaft of revolution hollow type RV retarders 60, in rotary flange 90
Heart line is overlapped with the axis of the output shaft of revolution hollow type RV retarders 60.
Referring to Fig. 4 and Fig. 2, current collecting equipment 300 includes collector plate 301, conducting block 302, guide rod 303, screw 304, insulation
Block 305, spring 306 and busbar 307.Collets 305 are fixedly mounted on by screw on swivel base 20, and the center portion thereof is equipped with ladder
Through-hole 3051.Guide rod 303 includes radially enlarged head 3031 and connects the shaft 3032 on head, and the central part on head is equipped with spiral shell
Pit 3033, V-shaped groove 3034 is offered on the periphery of shaft bottom end, and guide rod 303 is set to the ladder hole 3051 of collets
In macropore, shaft 3032 is slidably disposed through the aperture of ladder hole 3051, and spring 306, spring are arranged with outside guide rod shaft
306 one end is against the bottom surface of ladder hole 3051, step surface of the other end against the head 3031 of guide rod.Screw 304 is successively
It is fastened in the threaded hole 3033 on guide rod head across conducting block 302, busbar 307, conducting block 302, busbar 307, guide rod
303 are fitted and connected.Under the Elastic force support of spring 306, the upper surface of conducting block 302 is bonded the lower surface of collector plate 301 always,
The upper surface of collector plate 301 is bonded the downside of rotary flange 90 always.
The other end of busbar 307 is electrically connected by conducting connecting part with flexible cable, the other end of flexible cable with set
In the conductive plate electrical connection on pedestal insulating base, conductive plate is electrically connected to ground with what source of welding current one end was drawn.
Collector plate 301, conducting block 302, guide rod 303, busbar 307 have conductivity good metal material and are made,
It is made of copper in embodiment.Collets 305 are formed of an electrically insulating material.
Unaccounted part is all the prior art or can be achieved by the prior art in the application.
Claims (6)
1. a kind of U-shaped twin shaft positioner, which is characterized in that including pedestal, swivel base, horizontally disposed overturning servo motor and
Its overturning RV retarder driven, vertically disposed rotary servovalve motor and its revolution hollow type RV retarders driven,
First connecting flange, the second connecting flange, rotary flange and penetration pipe；It is equipped in the pedestal for by cable and tracheae
The central part of first cavity, swivel base is equipped with central through hole, is equipped with for the second cavity by cable and tracheae, center in swivel base
Through-hole is communicated with the second cavity, and the second cavity is communicated with the first cavity；Servo motor and overturning RV retarders coaxial arrangement are overturn,
Overturning RV retarders are fixedly mounted on pedestal, and the first connecting flange of one end and the output shaft of overturning RV retarders of swivel base connect
It connects, the other end of swivel base is rotatably set in the rolling bearing of pedestal through the second connecting flange, and overturning servo motor rotation drives
Swivel base is overturn；Rotary servovalve motor is arranged in parallel with revolution hollow type RV retarders, and revolution hollow type RV retarders are fixedly mounted
In the central through hole of swivel base, penetration pipe by screw be set to revolution hollow type RV retarders center cavity in, penetration pipe with
Second cavity communicates, and the output shaft of revolution hollow type RV retarders is fixedly connected with rotary flange, and rotary servovalve motor rotates band
Dynamic rotary flange rotation；The rotary flange is equipped with the current collecting equipment of observable conductive plate abrasion condition, is set on the pedestal
It is useful for the limiting device of limitation swivel base flip angle.
2. positioner as described in claim 1, which is characterized in that the limiting device is the limit on pedestal
Block, swivel base are equipped with the first stop section and the second stop section, and the first stop section block is on limited block when swivel base rotates forward, swivel base
The second stop section block is on limited block when rotating backward.
3. positioner as described in claim 1, which is characterized in that the current collecting equipment includes collector plate, conducting block, leads
Bar, screw, collets, spring and busbar；Collets are fixedly mounted on swivel base, and the center portion thereof is equipped with ladder hole；Guide rod
Including radially enlarged head and connect the shaft on head, the central part on head is equipped with threaded hole, on the periphery of shaft bottom end
V-shaped groove is offered, guide rod head is set in the macropore of ladder hole, and shaft is slidably disposed through the aperture of ladder hole, leads
It is arranged with spring outside roofbolt body, one end of spring is against the bottom surface of ladder hole, step surface of the other end against head；Collector plate
It is fitted in the downside of rotary flange, screw sequentially passes through conducting block, busbar is fastened in the threaded hole on guide rod head, conductive
Block, busbar, guide rod are fitted and connected, and the upper surface of conducting block is bonded the following table of collector plate always under the Elastic force support of spring
Face.
4. positioner as claimed in claim 3, which is characterized in that the outside of the current collecting equipment is equipped with protective cover, protects
Shield is fixed on the base, and current collecting equipment is contained in protective cover.
5. positioner as described in claim 1, which is characterized in that the output shaft of the overturning servo motor fixes suit
First transmission gear, the first transmission gear and overturning RV retarder input gears group engaged transmission；Rotary servovalve motor output shaft
The input shaft of the 4th gear of fixed suit, hollow type RV retarders fixes the 5th gear of suit, and the 4th gear is nibbled with the 5th gear
It closes and is sequentially connected.
6. positioner as claimed in claim 5, which is characterized in that the central through hole of the swivel base is stepped hole, from upper
First through hole, the second through-hole and third through-hole are followed successively by under；The input terminal of hollow type RV retarders is mounted in first through hole,
5th gear of hollow type RV retarders and the 4th transmission gear of rotary servovalve motor are mounted in the second through-hole, rotary servovalve
The output end of motor is mounted in third through-hole, the side wall of third through-hole be equipped with cable and tracheae by fourth hole；Turn
The both ends of seat are respectively equipped with first flange mounting portion and second flange mounting portion, and first flange mounting portion is for installing the first connection
Flange, second flange mounting portion for installing the second connecting flange, in second flange mounting portion equipped with cable and tracheae by
Fifth hole, third through-hole, fourth hole, fifth hole are mutually communicated composition for the second cavity by cable and tracheae.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810851674.0A CN108772662A (en) | 2018-07-30 | 2018-07-30 | A kind of U-shaped twin shaft positioner |
| PCT/CN2019/086539 WO2020024647A1 (en) | 2018-07-30 | 2019-05-13 | U-shaped biaxial welding positioner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810851674.0A CN108772662A (en) | 2018-07-30 | 2018-07-30 | A kind of U-shaped twin shaft positioner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108772662A true CN108772662A (en) | 2018-11-09 |
Family
ID=64031474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810851674.0A Pending CN108772662A (en) | 2018-07-30 | 2018-07-30 | A kind of U-shaped twin shaft positioner |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108772662A (en) |
| WO (1) | WO2020024647A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020024647A1 (en) * | 2018-07-30 | 2020-02-06 | 南京埃斯顿机器人工程有限公司 | U-shaped biaxial welding positioner |
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| JP2008251232A (en) * | 2007-03-29 | 2008-10-16 | Daihen Corp | Collector apparatus |
| CN101934459A (en) * | 2009-06-29 | 2011-01-05 | 住友重机械工业株式会社 | Biaxial rotation type locater |
| CN202192395U (en) * | 2011-08-11 | 2012-04-18 | 珠海固得焊接自动化设备有限公司 | Overturning position changing machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202825092U (en) * | 2012-10-18 | 2013-03-27 | 徕斯机器人（昆山）有限公司 | Double-shaft positioner |
| CN204934998U (en) * | 2015-08-10 | 2016-01-06 | 沈阳维顶机器人有限公司 | Double-shaft double-station servo weld positioner |
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| CN206795075U (en) * | 2017-03-13 | 2017-12-26 | 郑州领航机器人有限公司 | A kind of twin shaft positioner |
| CN108772662A (en) * | 2018-07-30 | 2018-11-09 | 南京埃斯顿机器人工程有限公司 | A kind of U-shaped twin shaft positioner |
-
2018
- 2018-07-30 CN CN201810851674.0A patent/CN108772662A/en active Pending
-
2019
- 2019-05-13 WO PCT/CN2019/086539 patent/WO2020024647A1/en active Application Filing
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|---|---|---|---|---|
| JP2008251232A (en) * | 2007-03-29 | 2008-10-16 | Daihen Corp | Collector apparatus |
| CN101934459A (en) * | 2009-06-29 | 2011-01-05 | 住友重机械工业株式会社 | Biaxial rotation type locater |
| JP2012250241A (en) * | 2011-05-31 | 2012-12-20 | Daihen Corp | Positioner |
| CN202192395U (en) * | 2011-08-11 | 2012-04-18 | 珠海固得焊接自动化设备有限公司 | Overturning position changing machine |
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| CN206185401U (en) * | 2016-11-21 | 2017-05-24 | 河野精机(大连)有限公司 | High accuracy biax machine of shifting |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020024647A1 (en) * | 2018-07-30 | 2020-02-06 | 南京埃斯顿机器人工程有限公司 | U-shaped biaxial welding positioner |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020024647A1 (en) | 2020-02-06 |
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