CN109159147A - A kind of binodal planet idle triple speed machinery arm configuration - Google Patents
A kind of binodal planet idle triple speed machinery arm configuration Download PDFInfo
- Publication number
- CN109159147A CN109159147A CN201810991464.1A CN201810991464A CN109159147A CN 109159147 A CN109159147 A CN 109159147A CN 201810991464 A CN201810991464 A CN 201810991464A CN 109159147 A CN109159147 A CN 109159147A
- Authority
- CN
- China
- Prior art keywords
- planet
- fixed
- idle
- idler wheel
- driving shaft
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention discloses a kind of binodal planet idle triple speed machinery arm configurations, it includes fixed pedestal, active shaft assembly, driven shaft assembly, motor driven component, planet idle component, motor driven Component driver active shaft assembly is axially moved on fixed pedestal, driven shaft assembly is driven to be axially moved on active shaft assembly by planet idle component when active shaft assembly is axially moved, planet idle component includes two fixed big idle pulleys, two groups of planet smaller idler wheel groups, one opening synchronous belt, planet smaller idler wheel group is made of three planet smaller idler wheels, opening synchronous belt is set around in the big idle pulley of two fixations and two groups of planet smaller idler wheel groups and constitutes symmetrical two groups of fixed pulleys and running block structure after the both ends of opening synchronous belt are fixed, driven shaft 3 unit lengths of component movement when planet smaller idler wheel group being made to move 1 unit length；Advantage is that its speed of service is fast, there is better cost performance under conditions of identical driving force.
Description
Technical field
The present invention relates to a kind of mechanical arm configurations, more particularly, to a kind of binodal planet idle triple speed machinery arm configuration.
Background technique
Currently, the maximal dilation speed of binodal mechanical arm known to industry can only achieve the two of the speed of single-unit mechanical arm
Times.Although binodal mechanical arm has reached twice of single-unit mechanical arm in the speed of service, its structure is but than single-unit mechanical arm
Structure is complicated, and manufacturing cost is also higher than the manufacturing cost of single-unit mechanical arm；In addition, the special operation condition shorter in the duty cycle
Under, the speed of service of traditional binodal mechanical arm does not catch up with operating condition beat sometimes, in this case can only be by increasing mechanical ratio
Driving force improves the speed of service of binodal mechanical arm, however this is without sensing the manufacturing cost for greatly increasing binodal mechanical arm, into
And affect the cost performance of binodal mechanical arm.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of binodal planet idle triple speed machinery arm configuration, operations
Speed is high, there is better cost performance under conditions of identical driving force.
The technical scheme of the invention to solve the technical problem is: a kind of binodal planet idle triple speed mechanical arm
Structure, including fixed pedestal, active shaft assembly, driven shaft assembly, motor driven component, the motor driven Component driver institute
The active shaft assembly stated is axially moved on the fixed pedestal, it is characterised in that: it is lazy that the machinery arm configuration introduces planet
Wheel assembly drives the driven shaft assembly to exist when the active shaft assembly is axially moved by the planet idle component
It is axially moved on the active shaft assembly, the planet idle component includes that two fixed big idle pulleys, two groups of planets are small lazy
Wheel group, an opening synchronous belt, the planet smaller idler wheel group are made of three planet smaller idler wheels, the opening synchronous belt around
In planet smaller idler wheel group described in the big idle pulley of fixation described in two and two groups and the both ends of the opening synchronous belt are solid
Symmetrical two groups of fixed pulleys and running block structure are constituted after fixed, when the planet smaller idler wheel group being made to move 1 unit length
Described 3 unit lengths of driven shaft component movement.
Wherein planet smaller idler wheel group, the big idle pulley of the fixation described in one of them, the fixation described in another described in one group
Big idle pulley, planet smaller idler wheel group is successively arranged in straight line from bottom to top described in another group, and it is small lazy to constitute the planet
Planet smaller idler wheel described in three of wheel group is arranged in side view angle in isosceles triangular structure, the opening synchronous belt
The other end is counterclockwise down around be located above the institute in planet smaller idler wheel group described in wherein one group after one end is fixed
The planet smaller idler wheel stated, again counterclockwise up around described in one of them the big idle pulley of fixation, again counterclockwise down around wherein
Planet smaller idler wheel described in being located below in planet smaller idler wheel group described in one group and two in tandem, another mistake hour hands to
It is upper around being located above in planet smaller idler wheel group described in another group and planet smaller idler wheel described in tandem two, again
Counterclockwise down around described in another the big idle pulley of fixation, again counterclockwise up around planet smaller idler wheel group described in another group
In underlying one described in it is fixed after planet smaller idler wheel.By limiting the specific winding mode of opening synchronous belt, really
Symmetrical two groups of fixed pulleys and running block structure can be constituted by having protected, and keep planet smaller idler wheel group driven when moving 1 unit length
Shaft assembly moves 3 unit lengths.
The active shaft assembly by driving shaft, the driving shaft top plate that is fixed on the top of the driving shaft and fixation
In the driving shaft bottom plate composition on the bottom end of the driving shaft, the driving shaft is consolidated by driving shaft guideway with described
Determine pedestal connection, the motor driven components distribution is in the side of the driving shaft driving driving shaft described
It is axially moved on fixed pedestal, the planet idle component is arranged in the other side of the driving shaft, the driving shaft
Top plate and the driving shaft bottom plate are connect with the planet idle component respectively.Here, due to fixed pedestal and driving shaft
Between be provided with driving shaft guideway, therefore the relatively fixed pedestal of driving shaft can be driven axially to transport when motor driven component operation
It is dynamic；The setting of driving shaft top plate and driving shaft bottom plate is primarily to connection planet idle component.
Guide rail in the driving shaft guideway is fixedly connected with the driving shaft, in the driving shaft guideway
Sliding block be fixedly connected with the fixed pedestal.
The driven shaft assembly is made of driven shaft and the connecting plate being fixed on the driven shaft, the connection
Plate passes through driven shaft guideway and the active axis connection.Here, due to being provided with driven shaft between connecting plate and driving shaft
Guideway, therefore planet idle component can drive driven shaft to be axially moved with respect to driving shaft.
Guide rail in the driven shaft guideway is fixedly connected with the driving shaft, in the driven shaft guideway
Sliding block be fixedly connected with the connecting plate.
The planet idle component further includes two planet idle framves and a fixed idler frame, described in one of them
Planet idle frame is fixedly connected with the driving shaft bottom plate, wherein planet smaller idler wheel group described in one group passes through connection axis connection
In planet idle frame described in one of them, planet idle frame and the driving shaft top plate described in another are fixed to be connected
It connects, planet smaller idler wheel group described in another group is connected in the planet idle frame described in another by connecting shaft, and described consolidates
Determine idle pulley frame to be fixedly connected with the other side of the fixed pedestal, vertical through-hole, institute are offered on the fixed idler frame
Two sides on the front for the fixed idler frame stated positioned at the vertical through-hole symmetrically offer two pairs of connection axial troughs, and described consolidates
Fixed screw with the connection axial trough cooperation is installed, the big idle pulley of fixation described in one is logical in the connecting shaft of fixed big idle pulley
It crosses the fixed screw to be fixed in connection axial trough described in a pair, the both ends of the opening synchronous belt pass through one respectively
Synchronous belt tooth plate is fixed on the back side of the fixed idler frame, and the opening synchronous belt is small positioned at planet described in two groups
One section of mobile section between idle pulley group is by the cooperation and the driven axis connection of tooth plate and pressing plate, and the one of pressing plate and driven shaft
Side is fixedly connected, and pressing plate and tooth plate cooperate permanent opening synchronous belt.
It is provided with threaded hole on the planet idle frame, the planet idle frame described in one of them passes through the screw thread
Hole is fixedly connected with the cooperation of tensioned screw with the driving shaft bottom plate, and the planet idle frame described in another passes through described
Threaded hole is fixedly connected with the cooperation of tensioned screw with the driving shaft top plate, and the threaded hole and tensioned screw is matched
Close the tensile force for playing the role of adjusting the opening synchronous belt.One of tensioned screw passes through driving shaft bottom plate and another
A tensioned screw holds planet idle component by driving shaft top plate, in this way primarily to keeping opening in planet idle component
Mouth is synchronous with suitable work tensile force.
The motor driven component is made of motor, driving wheel and driving belt, and the motor is fixed by motor
Bracket is fixed on the side of the fixed pedestal, and the driving wheel is set on the transmission shaft of the motor, described
Driving belt is set around on the driving wheel, the upper end of the driving belt by a tooth plate component be fixed on described in
The upper end of driving shaft, the lower end of the driving belt are fixed on the lower end of the driving shaft by another tooth plate component.
Compared with the prior art, the advantages of the present invention are as follows:
Since opening synchronous belt is set around in the big idle pulley of two fixation and two groups of planet smaller idler wheel groups and opening synchronous belt
Symmetrical two groups of fixed pulleys and running block structure are constituted after both ends are fixed, the mobile section of driven shaft assembly and opening synchronous belt is solid
Fixed connection, and two big idle pulleys of fixation and opening synchronous belt are connected with three strands, therefore according to pulley blocks theorem in planet smaller idler wheel
When group moves 1 unit length with certain speed, driven shaft assembly has just moved 3 unit lengths, and driven shaft assembly produces
It is three times in the final speed of service of motor driven component speed, i.e., the machinery arm configuration can reach single-unit machinery in the speed of service
The triple speed of arm, and improve 50% compared to traditional binodal manipulator motion speed, in this way with traditional binodal mechanical arm
Driving force has better cost performance under the same conditions.
Detailed description of the invention
Fig. 1 is the schematic diagram of mechanical arm configuration of the invention；
Fig. 2 is the schematic perspective view of mechanical arm configuration of the invention；
Fig. 3 is that mechanical arm configuration of the invention connects the schematic diagram after workpiece；
Fig. 4 is that mechanical arm configuration of the invention is fixed on the schematic diagram behind static ground；
Fig. 5 is the decomposition texture schematic diagram of mechanical arm configuration of the invention；
Fig. 6 is the decomposition texture schematic diagram of the planet idle component in mechanical arm configuration of the invention.
Specific embodiment
The present invention will be described in further detail below with reference to the embodiments of the drawings.
A kind of binodal planet idle triple speed machinery arm configuration proposed by the present invention, as shown in the figure comprising fixed pedestal
1, active shaft assembly 2, driven shaft assembly 3, motor driven component 4, planet idle component 5, the machinery arm configuration pass through fixed base
Seat 1 is fixed on static ground, and motor driven component 4 drives active shaft assembly 2 to be axially moved on fixed pedestal 1, driving shaft
Driven shaft assembly 3 is driven to be axially moved on active shaft assembly 2 by planet idle component 5 when component 2 is axially moved, planet is lazy
Wheel assembly 5 includes two fixed big 51, two groups of idle pulley planet smaller idler wheel group 53, one opening synchronous belts 54, and every group of planet is small lazy
Wheel group 53 is made of three planet smaller idler wheels 531, wherein one group of planet smaller idler wheel group 53, one of fixed big idle pulley 51, another
The big idle pulley 51 of one fixation, another group of planet smaller idler wheel group 53 are successively arranged in straight line from bottom to top, and it is small lazy to constitute planet
Three planet smaller idler wheels 531 of wheel group 53 are arranged in side view angle in isosceles triangular structure, the one end for the synchronous belt 54 that is open
After fixation the other end bypass counterclockwise be located above planet smaller idler wheel 531 in wherein one group of planet smaller idler wheel group 53,
Again counterclockwise up around one of fixed big idle pulley 51, again counterclockwise down around in wherein one group of planet smaller idler wheel group 53
Be located below and two planet smaller idler wheels 531 in tandem, again counterclockwise up around another group of planet smaller idler wheel group 53
In be located above and two planet smaller idler wheels 531 in tandem, again counterclockwise down around another fix big idle pulley 51,
It is fixed counterclockwise up around after the underlying planet smaller idler wheel 531 in another group of planet smaller idler wheel group 53 again, this
Sample opening synchronous belt 54 be set around in the big idle pulley 51 of two fixation and two groups of planet smaller idler wheel groups 53 and opening synchronous belt 54 two
Symmetrical two groups of fixed pulleys and running block structure are constituted after end is fixed, since the effective vent being wound on fixed big idle pulley 51 is same
Step band 54 has 3 strands, by Fig. 1 schematic diagram it is found that being fixed on according to pulley blocks theorem driven on the mobile section of opening synchronous belt 54
The moving distance of shaft assembly 3 moving distance, 3 times of planet smaller idler wheel groups 53, and planet smaller idler wheel group 53 is mounted on active shaft assembly
On 2, so that planet smaller idler wheel group 53 moves driven shaft assembly 3 when 1 unit length and moves 3 unit lengths, that is, 3 times are realized
Fast movement effects.
In the present embodiment, active shaft assembly 2 by driving shaft 21, the driving shaft top plate that is fixed on the top of driving shaft 21
22 form with the driving shaft bottom plate 23 being fixed on the bottom end of driving shaft 21, and driving shaft 21 is by driving shaft guideway 7 and fixes
The connection of 1 face of pedestal, the side driving driving shaft 21 that motor driven component 4 is distributed in driving shaft 21 are axially transported on fixed pedestal 1
Dynamic, planet idle component 5 is arranged in the other side of driving shaft 21, and driving shaft top plate 22 and driving shaft bottom plate 23 are lazy with planet respectively
Wheel assembly 5 connects.Here, due to being provided with driving shaft guideway 7, motor driven between fixed pedestal 1 and driving shaft 21
Component 4 can drive the relatively fixed pedestal 1 of driving shaft 21 to be axially moved when working；Driving shaft top plate 22 and driving shaft bottom plate 23 are set
It sets primarily to connecting planet idle component 5；Guide rail 71 in driving shaft guideway 7 is fixedly connected with driving shaft 21, actively
Sliding block 72 in axis rail pair 7 is fixedly connected with fixed pedestal 1.
In the present embodiment, driven shaft assembly 3 is made of driven shaft 31 and the connecting plate 32 being fixed on driven shaft 31, even
Fishplate bar 32 is connect by driven shaft guideway 8 with driving shaft 21, and driven shaft 31 is connect with planet idle component 5, driven shaft 31
Bottom end is for connecting workpiece 9.Here, due to being provided with driven shaft between the back side of connecting plate 32 and the front of driving shaft 21
Guideway 8, therefore planet idle component 5 can drive driven shaft 31 to be axially moved with respect to driving shaft 21；In driven shaft guideway 8
Guide rail 81 is fixedly connected with driving shaft 21, and the sliding block 82 in driven shaft guideway 8 is fixedly connected with connecting plate 32.
In the present embodiment, planet idle component 5 further includes two planet idle framves 55 and a fixed idler frame 56,
In a planet idle frame 55 be fixedly connected with driving shaft bottom plate 23, wherein one group of planet smaller idler wheel group 53 passes through connection axis connection
In in one of planet idle frame 55, another planet idle frame 55 is fixedly connected with driving shaft top plate 22, another group of planet
Smaller idler wheel group 53 is connected in another planet idle frame 55 by connecting shaft, and fixed idler frame 56 is another with fixed pedestal 1
Side is fixedly connected, and vertical through-hole 561 is offered on fixed idler frame 56, is located at vertical through-hole on the front of fixed idler frame 56
561 two sides symmetrically offer two pairs of connection axial troughs 562, fix the company for being equipped on big idle pulley 51 and connecting the cooperation of axial trough 562
Spindle 511, the connecting shaft 511 of fixed big idle pulley 51 cooperate with axial trough 562 is connect, then being fixed with fixed screw 563 will be fixed big
Idle pulley 51 is mounted in a pair of of connection axial trough 562, and it is fixed that the both ends of opening synchronous belt 54 pass through a synchronous belt tooth plate 57 respectively
In on the back side of fixed idler frame 56, one section of mobile section that opening synchronous belt 54 is located between two groups of planet smaller idler wheel groups 53 passes through
The cooperation of tooth plate 58 and pressing plate 59 is connect with driven shaft 31, and pressing plate 59 is fixedly connected with the side of driven shaft 31, pressing plate 59 and tooth
Plate 58 cooperates permanent opening synchronous belt 54.
In the present embodiment, threaded hole 551 is provided on planet idle frame 55, one of planet idle frame 55 passes through spiral shell
Pit 551 is fixedly connected with the cooperation of tensioned screw (not shown) with driving shaft bottom plate 23, another planet idle frame 55
It is fixedly connected by threaded hole 551 with the cooperation of tensioned screw with driving shaft top plate 22, and threaded hole 551 and tensioned screw are matched
Close the tensile force for playing the role of adjusting opening synchronous belt 54.
In the present embodiment, motor driven component 4 is made of motor 41, driving wheel 42 and driving belt 43, and motor 41 is logical
The side that the fixed bracket 44 of motor is fixed on fixed pedestal 1 is crossed, driving wheel 42 is set on the transmission shaft of motor 41, driving belt
43 are set around on driving wheel 42, and the upper end of driving belt 43 is fixed on the upper end of driving shaft 21 by a tooth plate component 45, pass
The lower end of dynamic belt 43 is fixed on the lower end of driving shaft 21 by another tooth plate component 45.
Claims (9)
1. a kind of binodal planet idle triple speed machinery arm configuration, including fixed pedestal, active shaft assembly, driven shaft assembly, horse
Up to transmission component, active shaft assembly described in the motor driven Component driver is axially moved on the fixed pedestal,
It is characterized by: the machinery arm configuration introduces planet idle component, by described when the active shaft assembly is axially moved
Planet idle component drive the driven shaft assembly to be axially moved on the active shaft assembly, the planet idle
Component includes two fixed big idle pulleys, two groups of planet smaller idler wheel groups, an opening synchronous belt, and the planet smaller idler wheel group is by three
A planet smaller idler wheel is constituted, the opening synchronous belt be set around two described in planet described in the big idle pulley of fixation and two groups it is small
Symmetrical two groups of fixed pulleys and running block structure are constituted after in the idle pulley group and both ends of the opening synchronous belt are fixed, makes institute
3 unit lengths of driven shaft component movement described in when planet smaller idler wheel group 1 unit length of movement stated.
2. a kind of binodal planet idle triple speed machinery arm configuration according to claim 1, it is characterised in that: wherein one group
The planet smaller idler wheel group, the big idle pulley of the fixation described in one of them, the big idle pulley of the fixation described in another, described in another group
Planet smaller idler wheel group successively arrange from bottom to top in straight line, constitute row described in three of the planet smaller idler wheel group
Star smaller idler wheel is arranged in side view angle in isosceles triangular structure, and the other end is inverse after one end of the opening synchronous belt is fixed
Hour hands are down around planet smaller idler wheel, another mistake described in one be located above in planet smaller idler wheel group described in wherein one group
Hour hands up around described in one of them the big idle pulley of fixation, again counterclockwise down around planet smaller idler wheel described in wherein one group
Planet smaller idler wheel described in being located below in group and two in tandem, again counterclockwise up around row described in another group
Planet smaller idler wheel described in being located above in star smaller idler wheel group and two in tandem, again counterclockwise down around another
Upward needle is when the big idle pulley of the fixation, another mistake around the underlying institute in planet smaller idler wheel group described in another group
It is fixed after the planet smaller idler wheel stated.
3. a kind of binodal planet idle triple speed machinery arm configuration according to claim 2, it is characterised in that: the master
Moving axis component by driving shaft, the driving shaft top plate that is fixed on the top of the driving shaft and be fixed on the driving shaft
Driving shaft bottom plate composition on bottom end, the driving shaft is connect by driving shaft guideway with the fixed pedestal, described
Motor driven components distribution it is axial on the fixed pedestal in the side of the driving shaft driving driving shaft
Movement, the planet idle component are arranged in the other side of the driving shaft, the driving shaft top plate and the master
Moving axis bottom plate is connect with the planet idle component respectively.
4. a kind of binodal planet idle triple speed machinery arm configuration according to claim 3, it is characterised in that: the master
Guide rail in moving axis guideway is fixedly connected with the driving shaft, and the sliding block in the driving shaft guideway is consolidated with described
Determine pedestal to be fixedly connected.
5. a kind of binodal planet idle triple speed machinery arm configuration according to claim 3, it is characterised in that: it is described from
Moving axis component is made of driven shaft and the connecting plate being fixed on the driven shaft, and the connecting plate passes through driven axis rail
Secondary and described active axis connection.
6. a kind of binodal planet idle triple speed machinery arm configuration according to claim 5, it is characterised in that: it is described from
Guide rail in moving axis guideway is fixedly connected with the driving shaft, the sliding block in the driven shaft guideway and the company
Fishplate bar is fixedly connected.
7. a kind of binodal planet idle triple speed machinery arm configuration according to claim 5, it is characterised in that: the row
Star idler sheave assemblies further include two planet idle framves and a fixed idler frame, the planet idle frame described in one of them with it is described
Driving shaft bottom plate be fixedly connected, wherein planet smaller idler wheel group described in one group is connected to described in one of them by connecting shaft
In planet idle frame, the planet idle frame described in another is fixedly connected with the driving shaft top plate, row described in another group
Star smaller idler wheel group is connected in the planet idle frame described in another by connecting shaft, and the fixed idler frame is consolidated with described
The other side for determining pedestal is fixedly connected, and vertical through-hole is offered on the fixed idler frame, the fixed idler frame is just
Two sides on face positioned at the vertical through-hole symmetrically offer two pairs of connection axial troughs, in the connecting shaft of the big idle pulley of the fixation
Fixed screw with the connection axial trough cooperation is installed, the big idle pulley of fixation described in one is solid by the fixed screw
In the connection axial trough described in a pair, the both ends of the opening synchronous belt pass through a synchronous belt tooth plate respectively and are fixed on institute
On the back side for the fixed idler frame stated, one section shifting of the opening synchronous belt between planet smaller idler wheel group described in two groups
The cooperation and the driven axis connection that dynamic section passes through tooth plate and pressing plate.
8. a kind of binodal planet idle triple speed machinery arm configuration according to claim 7, it is characterised in that: the row
It is provided with threaded hole on star idle pulley frame, the planet idle frame described in one of them is matched by the threaded hole and tensioned screw
Conjunction is fixedly connected with the driving shaft bottom plate, and the planet idle frame described in another passes through the threaded hole and tensioned screw
Cooperation be fixedly connected with the driving shaft top plate, and the cooperation of the threaded hole and tensioned screw plays described in adjusting
Opening synchronous belt tensile force effect.
9. a kind of binodal planet idle triple speed machinery arm configuration, feature according to any one of claim 2 to 8 exist
In: the motor driven component is made of motor, driving wheel and driving belt, and the motor is solid by the fixed bracket of motor
Due to the side of the fixed pedestal, the driving wheel is set on the transmission shaft of the motor, the transmission skin
Band is set around on the driving wheel, and the upper end of the driving belt is fixed on the driving shaft by a tooth plate component
Upper end, the lower end of the driving belt is fixed on the lower end of the driving shaft by another tooth plate component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810991464.1A CN109159147B (en) | 2018-08-29 | 2018-08-29 | Double-section planetary idler triple-speed mechanical arm structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810991464.1A CN109159147B (en) | 2018-08-29 | 2018-08-29 | Double-section planetary idler triple-speed mechanical arm structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109159147A true CN109159147A (en) | 2019-01-08 |
| CN109159147B CN109159147B (en) | 2020-10-27 |
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ID=64893228
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810991464.1A Active CN109159147B (en) | 2018-08-29 | 2018-08-29 | Double-section planetary idler triple-speed mechanical arm structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109159147B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116944702A (en) * | 2023-09-19 | 2023-10-27 | 南通科美自动化科技有限公司 | In-situ laser cutting manipulator, device and method |
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| US5483267A (en) * | 1991-04-26 | 1996-01-09 | Canon Kabushiki Kaisha | Ink jet recording apparatus |
| CN202517313U (en) * | 2012-03-26 | 2012-11-07 | 长安大学 | Pulley block speed multiplication mechanism for hydraulic cylinder |
| EP2724695A1 (en) * | 2012-10-29 | 2014-04-30 | Cook Medical Technologies LLC | Low Profile Stepped Delivery System |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116944702A (en) * | 2023-09-19 | 2023-10-27 | 南通科美自动化科技有限公司 | In-situ laser cutting manipulator, device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109159147B (en) | 2020-10-27 |
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