CN109719751A - A kind of rotor blade lifting machine people's system - Google Patents
A kind of rotor blade lifting machine people's system Download PDFInfo
- Publication number
- CN109719751A CN109719751A CN201811648639.5A CN201811648639A CN109719751A CN 109719751 A CN109719751 A CN 109719751A CN 201811648639 A CN201811648639 A CN 201811648639A CN 109719751 A CN109719751 A CN 109719751A
- Authority
- CN
- China
- Prior art keywords
- electric cylinders
- rotor blade
- lifting machine
- fixed
- machine people
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of rotor blade lifting machine people's systems, in carrying out rotor blade detection process, multiple degrees of freedom lifting machine people lifts the rotor blade produced to positioning mechanism, and positioning mechanism can position rotor blade, in order to carry out detection operation.In view of the design feature of rotor blade is irregular curved-surface structure, therefore, the material moving machine tool hand of the application is not conventional robot manipulator structure, realizes multiple change in location and adjustment for moving material suction nozzles by exclusive structure, it is come into full contact with to enable to move material suction nozzle with rotor blade, and then realize that adsorbed close is fixed, it is ensured that the safety of lifting, simultaneously, since negative-pressure adsorption acts on, rotor blade surface can be avoided to be damaged while safty hoisting, avoid influencing detection accuracy.
Description
Technical field
The present invention relates to robot device's technical fields, and in particular to a kind of rotor blade lifting machine people's system.
Background technique
With the gradually aggravation of global energy crisis, the eco-friendly power sources such as wind energy, solar energy are had been to be concerned by more and more people.
For wind-driven generator, rotor blade is indispensable building block, and wind-force is captured and is transferred to axis by rotor blade
The heart, and then realize the conversion of wind energy to electric energy.Whether the operation that rotor blade quality is related to wind-driven generator is stable.It is existing
Rotor blade detection line be all rotor blade to be placed on localization tool using hanging device, and then to rotor blade table
Face carries out quality testing, and hanging device generallys use wirerope with rotor blade and is connected and fixed, and is easy to cause rotor blade
Damage, influences detection accuracy, and detection device is difficult to judge that surface damage is in damage or hoisting process in process
Damage.
Summary of the invention
The purpose of the present invention is to the deficiencies in the prior art, provide a kind of rotor blade lifting machine people's system,
It effectively can avoid rotor blade from being damaged in hoisting process, in order to ensure subsequent detection precision.
Technology solution of the invention is as follows:
A kind of rotor blade lifting machine people's system, the shifting including multiple degrees of freedom lifting machine people and setting at its end
Expect manipulator；Material moving machine tool hand includes moving material support plate, and the bottom side for moving material support plate forms support plate subplate, moves material support plate
Two sides be respectively articulated be equipped with the first shifting material electric cylinders and second move material electric cylinders, first move material electric cylinders, second move material electric cylinders and branch
It is respectively articulated between fagging subplate and the first push electric cylinders and the second push electric cylinders is installed；It moves on the upside of material support plate and is fixed with third
Electric cylinders and manipulator mounting blocks are pushed, is bolted at the top of manipulator mounting blocks and is fixed on multiple degrees of freedom lifting machine people
Front end；The push part of third push electric cylinders is interspersed to be set in manipulator mounting blocks, and in the fixed company in the front end of pars contractilis
It is connected to electric cylinders mounting plate；It is fixed with third on electric cylinders mounting plate and moves material electric cylinders；It is further fixed on electric cylinders mounting plate and is led for flexible
To the optical axis of electric cylinders mounting plate；The quantity of optical axis is two, and interts and be set in manipulator mounting blocks；First shifting material electric cylinders,
The telescopic end side that second shifting material electric cylinders and third move material electric cylinders is respectively and fixedly provided with mounting rod, is connected with suction nozzle on mounting rod and fixes
It is fixed on suction nozzle fixed block to move material suction nozzle for block.
Suction nozzle fixed block with vulcanized rubber material flexible by being made.
Moving material suction nozzle includes the air hose being tightly connected with outer fan, and the lower seal of air hose is plugged with casing, casing
Inside has gas channels, and lower end, integrally formed with annular endplate, the lower part of annular endplate is connected with mounting blocks, mounting blocks
Inside is formed with the conical cavity being connected to gas channels, and the outside of mounting blocks is sealedly connected with sucking disk part, the lower part tool of sucking disk part
There is end socket, the lower end surface of end socket is concordantly arranged, and equally distributed suction hole is formed on end socket, and the upper surface of end socket has rank
Terraced slot, magnetic ball mounting rack is fixedly connected on the outside of stepped groove, and conical cavity, and magnetic ball mounting rack are inserted into the upper end of magnetic ball mounting rack
Inclination gas circuit is formed between conical cavity；It is equipped with logical electromagnetic ball in the middle part of magnetic ball mounting rack, the lower part of logical electromagnetic ball is provided with
The spring being fixedly connected with ladder groove center；Gas channels, inclination gas circuit, on venthole and end socket on magnetic ball mounting rack
Suction hole is interconnected.
The lower part of logical electromagnetic ball is fixedly connected with intubation, is plugged on the upper end of spring.
Multiple degrees of freedom lifting machine people includes pedestal, and the top of pedestal is provided with support base, and the top rotation of support base is set
It is equipped with rotating seat, rotating seat is sequentially connected with the rotating electric machine being fixedly mounted on support base；The side of rotating seat rotates setting
There is swing arm, the oscillating motor being fixedly installed on swing arm and rotating seat is sequentially connected；The upper end of swing arm is provided with pitch arm,
Pitch arm and the pitching motor being fixedly mounted on a swing arm are sequentially connected；The front end of pitch arm is connected with telescopic arm, telescopic arm
It is fixedly connected with the telescopic cylinder for being fixedly mounted on pitch arm front end；The front end of telescopic arm forms yoke, is fixed on yoke
Angular adjustment seat, material moving machine tool hand are fixedly mounted on the front end of angular adjustment seat；It is provided at the top of telescopic arm and moves material for incuding
The sensor of manipulator operation position.
The beneficial effects of the present invention are: in carrying out rotor blade detection process, multiple degrees of freedom lifting machine people will be given birth to
The rotor blade that output is come is lifted to positioning mechanism, and positioning mechanism can position rotor blade, in order to be examined
Survey operation.In view of the design feature of rotor blade is irregular curved-surface structure, therefore, the material moving machine tool hand of the application is not
It is conventional robot manipulator structure, multiple change in location and adjustment for moving material suction nozzle is realized by exclusive structure, to make
Moving material suction nozzle can come into full contact with rotor blade, and then realize that adsorbed close is fixed, it is ensured that the safety of lifting, meanwhile, by
It is acted in negative-pressure adsorption, rotor blade surface can be avoided to be damaged while safty hoisting, avoid influencing detection essence
Degree.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of multiple degrees of freedom lifting machine people；
Fig. 2-3 is the structural schematic diagram of material moving machine tool hand different perspectives；
Fig. 4-5 is the structure sectional view for moving material suction nozzle different working condition.
Specific embodiment
In order to keep the above objects, features and advantages of the present invention more obvious and easy to understand, with reference to the accompanying drawing to this hair
Bright specific embodiment is described in detail.
As shown in Figs. 1-5, a kind of rotor blade lifting machine people's system, including multiple degrees of freedom lifting machine people and setting
Material moving machine tool hand 5 at its end；Multiple degrees of freedom lifting machine people includes pedestal 40, and the top of pedestal 40 is provided with support base
41, the top rotation of support base 41 is provided with rotating seat 42, rotating seat 42 and the rotating electric machine being fixedly mounted on support base 41
410 transmission connections；The side rotation of rotating seat 42 is provided with swing arm 43, the pendulum being fixedly installed on swing arm 43 and rotating seat 42
Dynamic motor 420 is sequentially connected；The upper end of swing arm 43 is provided with pitch arm 44, pitch arm and is fixedly mounted on swing arm 43
Pitching motor 430 is sequentially connected；The front end of pitch arm 44 is connected with telescopic arm 45, telescopic arm 45 and is fixedly mounted on pitch arm 44
The telescopic cylinder 440 of front end is fixedly connected；The front end of telescopic arm 45 forms yoke, and angular adjustment seat 450 is fixed on yoke,
Material moving machine tool hand 5 is fixedly mounted on the front end of angular adjustment seat 450；It is provided at the top of telescopic arm 45 for incuding material moving machine tool hand
The sensor 46 of 5 operating positions.
Material moving machine tool hand 5 includes moving material support plate 50, and the bottom side for moving material support plate 50 forms support plate subplate 501, is moved
The two sides of material support plate 50, which are respectively articulated with, is equipped with the first shifting material electric cylinders 51 and the second shifting material electric cylinders 52, the first shifting material electric cylinders 51,
It is respectively articulated between second shifting material electric cylinders 52 and support plate subplate 501 and first push electric cylinders 513 and the second push electric cylinders is installed
523；The upside for moving material support plate 50 is fixed with third push electric cylinders 54 and manipulator mounting blocks 53, the top of manipulator mounting blocks 53
The front end for being fixed on angular adjustment seat 450 is bolted in portion；The push part 541 of third push electric cylinders 54 is interspersed to be set to machine
In tool hand mounting blocks 53, and electric cylinders mounting plate 55 is fixedly connected in the front end of pars contractilis 541；It is fixed on electric cylinders mounting plate 55
There is third to move material electric cylinders 56；The optical axis 531 for flexible guiding electric cylinders mounting plate 55 is further fixed on electric cylinders mounting plate 55；Optical axis
531 quantity is two, and interts and be set in manipulator mounting blocks 53；First, which moves material electric cylinders 51, second, moves material 52 and of electric cylinders
The telescopic end side that third moves material electric cylinders 56 is respectively and fixedly provided with mounting rod 511, and suction nozzle fixed block 512 is connected on mounting rod 511, moves
Expect that suction nozzle 6 is fixed on suction nozzle fixed block 512.
Suction nozzle fixed block 512 with vulcanized rubber material flexible by being made.
Moving material suction nozzle 6 includes the air hose 60 being tightly connected with outer fan (not shown), the lower seal of air hose 60
It is plugged with casing 61, the inside of casing 61 has gas channels 610, and lower end is integrally formed with annular endplate 611, annular endplate
611 lower part is connected with mounting blocks, and the inside of mounting blocks is formed with the conical cavity being connected to gas channels 610, mounting blocks it is outer
Portion is sealedly connected with sucking disk part 62, and the lower part of sucking disk part 62 has end socket, and the lower end surface of end socket is concordantly arranged, and is formed on end socket
There is equally distributed suction hole (not shown), the upper surface of end socket has stepped groove, is fixedly connected on the outside of stepped groove
Conical cavity is inserted into the upper end of magnetic ball mounting rack 63, magnetic ball mounting rack 63, and is formed between magnetic ball mounting rack 63 and conical cavity 612
Tilt gas circuit 612；Logical electromagnetic ball 64 is equipped in the middle part of magnetic ball mounting rack 63, the lower part of logical electromagnetic ball 64 be provided with in stepped groove
The spring 65 that the heart is fixedly connected；Gas channels 610, inclination gas circuit 612, venthole 630 and end socket on magnetic ball mounting rack 63
On suction hole be interconnected.
The lower part of logical electromagnetic ball 64 is fixedly connected with intubation 641, and intubation 641 is plugged on the upper end of spring 65.
Carry out rotor blade detection process in, multiple degrees of freedom lifting machine people by the rotor blade produced lift to
At positioning mechanism, positioning mechanism can position rotor blade, in order to carry out detection operation.In view of rotor blade
Design feature is irregular curved-surface structure, and therefore, the material moving machine tool hand of the application is not conventional robot manipulator structure, is led to
Crossing exclusive structure realizes multiple change in location and adjustment for moving material suction nozzle, expects that suction nozzle is filled with rotor blade to enable to move
Tap touching, and then realize that adsorbed close is fixed, it is ensured that the safety of lifting, simultaneously as negative-pressure adsorption acts on, it can be in safety
While lifting, rotor blade surface is avoided to be damaged, avoids influencing detection accuracy.
Further, the application is also provided with exclusive shifting material suction nozzle, in carrying out adsorption process, in addition to conventional negative pressure is inhaled
It is attached, also there is electromagnetic adsorption, logical electromagnetic ball can be passed through the big minor adjustment electromagnetic adsorption power of electric current by changing, inhale by electromagnetism
The synergistic effect of attached power and negative-pressure sucking, it is ensured that adsorb the stability and safety of lifting.
The embodiment is to be illustrated the present invention, and is not intended to limit the present invention.Anyone skilled in the art
Without departing from the spirit and scope of the present invention, it modifies to the embodiment, therefore rights protection model of the invention
It encloses, should be as listed in the claims of the present invention.
Claims (5)
1. a kind of rotor blade lifting machine people's system, it is characterised in that: exist including multiple degrees of freedom lifting machine people and setting
The material moving machine tool hand (5) of its end；Material moving machine tool hand (5) include move material support plate (50), move material support plate (50) bottom side at
Type has support plate subplate (501), and the two sides for moving material support plate (50), which are respectively articulated with, is equipped with the first shifting material electric cylinders (51) and second
Material electric cylinders (52) is moved, the first shifting material electric cylinders (51), second, which move between material electric cylinders (52) and support plate subplate (501), is respectively articulated with installation
There are the first push electric cylinders (513) and the second push electric cylinders (523)；It moves on the upside of material support plate (50) and is fixed with third push electric cylinders
(54) and manipulator mounting blocks (53) it, is bolted at the top of manipulator mounting blocks (53) and is fixed on multiple degrees of freedom hoisting machine
The front end of device people；The push part (541) of third push electric cylinders (54) is interspersed to be set in manipulator mounting blocks (53), and in flexible
The front end in portion (541) is fixedly connected with electric cylinders mounting plate (55)；It is fixed with third on electric cylinders mounting plate (55) and moves material electric cylinders
(56)；The optical axis (531) for flexible guiding electric cylinders mounting plate (55) is further fixed on electric cylinders mounting plate (55)；Optical axis (531)
Quantity be two, and interspersed be set in manipulator mounting blocks (53)；First moves material electric cylinders (51), the second shifting material electric cylinders (52)
The telescopic end side for moving material electric cylinders (56) with third is respectively and fixedly provided with mounting rod (511), is connected with suction nozzle on mounting rod (511) and is fixed
It is fixed on suction nozzle fixed block (512) to move material suction nozzle (6) for block (512).
2. a kind of rotor blade lifting machine people's system according to claim 1, it is characterised in that: suction nozzle fixed block
(512) by being made with vulcanized rubber material flexible.
3. a kind of rotor blade lifting machine people's system according to claim 1, it is characterised in that: move material suction nozzle (6) packet
Include the air hose (60) being tightly connected with outer fan, the lower seal of air hose (60) is plugged with casing (61), casing (61) it is interior
Portion has gas channels (610), and lower end, integrally formed with annular endplate (611), the lower part of annular endplate (611) is connected with peace
Block is filled, the inside of mounting blocks is formed with the conical cavity being connected to gas channels (610), and the outside of mounting blocks is sealedly connected with sucker
The lower part in portion (62), sucking disk part (62) has end socket, and the lower end surface of end socket is concordantly arranged, and is formed on end socket equally distributed
Suction hole, the upper surface of end socket have stepped groove, are fixedly connected with magnetic ball mounting rack (63), magnetic ball mounting rack on the outside of stepped groove
(63) conical cavity is inserted into upper end, and inclination gas circuit (612) is formed between magnetic ball mounting rack (63) and conical cavity (612)；Magnetic
Logical electromagnetic ball (64) are equipped in the middle part of ball mounting rack (63), the lower part of logical electromagnetic ball (64) is provided with and the fixed company of ladder groove center
The spring (65) connect；Gas channels (610), inclination gas circuit (612), the venthole (630) on magnetic ball mounting rack (63) and envelope
Suction hole on head is interconnected.
4. a kind of rotor blade lifting machine people's system according to claim 3, it is characterised in that: logical electromagnetic ball (64)
Lower part is fixedly connected with intubation (641), and intubation (641) is plugged on the upper end of spring (65).
5. a kind of rotor blade lifting machine people's system according to claim 1, it is characterised in that: multiple degrees of freedom hoisting machine
Device people includes pedestal (40), and the top of pedestal (40) is provided with support base (41), and the top rotation of support base (41) is provided with rotation
Swivel base (42), rotating seat (42) are sequentially connected with the rotating electric machine (410) being fixedly mounted on support base (41)；Rotating seat (42)
Side rotation be provided with swing arm (43), the oscillating motor (420) being fixedly installed on swing arm (43) and rotating seat (42) passes
Dynamic connection；The upper end of swing arm (43) is provided with pitch arm (44), pitch arm and the pitching being fixedly mounted on swing arm (43)
Motor (430) transmission connection；The front end of pitch arm (44) is connected with telescopic arm (45), telescopic arm (45) and is fixedly mounted on pitching
The telescopic cylinder (440) of arm (44) front end is fixedly connected；The front end of telescopic arm (45) forms yoke, fixes on yoke angled
Adjustment seat (450), material moving machine tool hand (5) are fixedly mounted on the front end of angular adjustment seat (450)；It is provided at the top of telescopic arm (45)
For incuding the sensor (46) of material moving machine tool hand (5) operating position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811648639.5A CN109719751B (en) | 2018-12-30 | 2018-12-30 | Rotor blade hoisting robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811648639.5A CN109719751B (en) | 2018-12-30 | 2018-12-30 | Rotor blade hoisting robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109719751A true CN109719751A (en) | 2019-05-07 |
| CN109719751B CN109719751B (en) | 2022-10-04 |
Family
ID=66298562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811648639.5A Active CN109719751B (en) | 2018-12-30 | 2018-12-30 | Rotor blade hoisting robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109719751B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723647A (en) * | 2019-09-16 | 2020-01-24 | 孙飞 | Movable hoisting device capable of being accurately matched for bridge construction |
| CN112193977A (en) * | 2020-09-29 | 2021-01-08 | 珠海格力智能装备有限公司 | Lifting appliance and robot |
| CN115971952A (en) * | 2023-03-20 | 2023-04-18 | 江苏永信恒业汽车部件科技有限公司 | Manipulator is used in production of car door reinforcing plate |
| CN116215956A (en) * | 2023-05-10 | 2023-06-06 | 无锡砺成智能装备有限公司 | Full-automatic winding and binding equipment and method for photovoltaic junction box |
| TWI810525B (en) * | 2020-02-18 | 2023-08-01 | 韓商泰克元股份有限公司 | Picking apparatus for gripping electronic component |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000084884A (en) * | 1998-09-11 | 2000-03-28 | Kawasaki Steel Corp | Hand of blade replacement device |
| JP2001267271A (en) * | 2000-03-22 | 2001-09-28 | Yoshioka Seiko:Kk | Vacuum chuck apparatus |
| CN102441895A (en) * | 2011-10-09 | 2012-05-09 | 山西省电力公司长治供电分公司 | Insulating sheath special for mechanical arm for high-voltage live line work |
| CN104108099A (en) * | 2013-04-22 | 2014-10-22 | 焦浩 | Extensible multi-degree-of-freedom explosive ordnance disposal robot |
| CN205346310U (en) * | 2016-01-11 | 2016-06-29 | 深圳市国显科技有限公司 | Unpowered vacuum chuck |
| CN105855769A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Intelligent welding robot |
| CN205634591U (en) * | 2016-03-23 | 2016-10-12 | 迪皮埃复材构件（太仓）有限公司 | Aerogenerator blade vacuum drawing of patterns frock |
| CN106226013A (en) * | 2016-09-19 | 2016-12-14 | 杭州戬威机电科技有限公司 | Wind electricity blade ultrasonic no damage detection device |
| CN206278813U (en) * | 2016-12-05 | 2017-06-27 | 郑州日产汽车有限公司 | Fuel tank secondary transfer device |
| JP2018089732A (en) * | 2016-12-01 | 2018-06-14 | 株式会社イシダ | Suction device |
-
2018
- 2018-12-30 CN CN201811648639.5A patent/CN109719751B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000084884A (en) * | 1998-09-11 | 2000-03-28 | Kawasaki Steel Corp | Hand of blade replacement device |
| JP2001267271A (en) * | 2000-03-22 | 2001-09-28 | Yoshioka Seiko:Kk | Vacuum chuck apparatus |
| CN102441895A (en) * | 2011-10-09 | 2012-05-09 | 山西省电力公司长治供电分公司 | Insulating sheath special for mechanical arm for high-voltage live line work |
| CN104108099A (en) * | 2013-04-22 | 2014-10-22 | 焦浩 | Extensible multi-degree-of-freedom explosive ordnance disposal robot |
| CN205346310U (en) * | 2016-01-11 | 2016-06-29 | 深圳市国显科技有限公司 | Unpowered vacuum chuck |
| CN205634591U (en) * | 2016-03-23 | 2016-10-12 | 迪皮埃复材构件（太仓）有限公司 | Aerogenerator blade vacuum drawing of patterns frock |
| CN105855769A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Intelligent welding robot |
| CN106226013A (en) * | 2016-09-19 | 2016-12-14 | 杭州戬威机电科技有限公司 | Wind electricity blade ultrasonic no damage detection device |
| JP2018089732A (en) * | 2016-12-01 | 2018-06-14 | 株式会社イシダ | Suction device |
| CN206278813U (en) * | 2016-12-05 | 2017-06-27 | 郑州日产汽车有限公司 | Fuel tank secondary transfer device |
Non-Patent Citations (1)
| Title |
|---|
| 李小彪 等: "航空发动机叶片砂带抛光力控制技术", 《计算机集成制造系统》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723647A (en) * | 2019-09-16 | 2020-01-24 | 孙飞 | Movable hoisting device capable of being accurately matched for bridge construction |
| CN110723647B (en) * | 2019-09-16 | 2021-10-15 | 广东省建筑设计研究院有限公司 | Movable hoisting device capable of being accurately matched for bridge construction |
| TWI810525B (en) * | 2020-02-18 | 2023-08-01 | 韓商泰克元股份有限公司 | Picking apparatus for gripping electronic component |
| CN112193977A (en) * | 2020-09-29 | 2021-01-08 | 珠海格力智能装备有限公司 | Lifting appliance and robot |
| CN115971952A (en) * | 2023-03-20 | 2023-04-18 | 江苏永信恒业汽车部件科技有限公司 | Manipulator is used in production of car door reinforcing plate |
| CN115971952B (en) * | 2023-03-20 | 2023-11-24 | 江苏永信恒业汽车部件科技有限公司 | Manipulator for producing automobile door reinforcing plate |
| CN116215956A (en) * | 2023-05-10 | 2023-06-06 | 无锡砺成智能装备有限公司 | Full-automatic winding and binding equipment and method for photovoltaic junction box |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109719751B (en) | 2022-10-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109719751A (en) | A kind of rotor blade lifting machine people's system | |
| CN109613009B (en) | Rotor blade detection line based on robot technology | |
| CN204355189U (en) | For the vacuum type climbing robot of column | |
| CN201816805U (en) | Bag-taking mechanism on packaging machine | |
| CN204445673U (en) | One climbs wall cleaning device automatically | |
| CN212076853U (en) | Curved surface glass processing auxiliary device | |
| CN204308410U (en) | A kind of laser process equipment with protection of blowing | |
| CN214163055U (en) | Floating mechanical arm | |
| CN213381622U (en) | Multi-joint manipulator joint stabilizing structure | |
| CN206565901U (en) | Smooth alien invasion clean robot | |
| CN109707572B (en) | Be applied to rotor blade detecting system's absorption positioning jig | |
| CN210335931U (en) | Robot for inspecting GIS | |
| CN113059267B (en) | Air floatation device for optical device coupling and using method | |
| CN207312941U (en) | A kind of pulpboard hoisting fixture | |
| CN105398822A (en) | Finished glass suction loading device | |
| CN113524036A (en) | Automatic pneumatic manipulator | |
| CN113289832A (en) | Puttying robot for fan blade maintenance | |
| CN215429678U (en) | Plastic spraying gun | |
| CN212635944U (en) | Off-line board separator | |
| CN217776247U (en) | Fixing clamp for precision machining and manufacturing | |
| CN210709590U (en) | Manipulator of quick location | |
| CN221316918U (en) | Empty bag snatchs structure | |
| CN218364803U (en) | Industrial robot's terminal clamping jaw mechanism | |
| CN220097752U (en) | Paint can snatchs robotic arm structure | |
| CN213731360U (en) | Novel porous ceramic vacuum chuck |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220914 Address after: 200123 1st floor, No. 65, Lane 799, huanlin East Road, Pudong New Area, Shanghai Applicant after: Shanghai Lanyu Automation Technology Co.,Ltd. Address before: 518055 building a, Harbin Institute of technology, Xili University City, Nanshan District, Shenzhen, Guangdong Province Applicant before: Fan Lingfeng |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |