CN111590606A - 6-axis robot-based grabbing-lifting expanded pipe and opening flattening all-in-one machine - Google Patents
6-axis robot-based grabbing-lifting expanded pipe and opening flattening all-in-one machine Download PDFInfo
- Publication number
- CN111590606A CN111590606A CN202010497499.7A CN202010497499A CN111590606A CN 111590606 A CN111590606 A CN 111590606A CN 202010497499 A CN202010497499 A CN 202010497499A CN 111590606 A CN111590606 A CN 111590606A
- Authority
- CN
- China
- Prior art keywords
- motor
- rotating
- upper side
- seat
- machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
- B21D39/08—Tube expanders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The invention discloses a 6-axis robot-based gripping and lifting expansion pipe flat opening all-in-one machine, which belongs to the technical field of robots, and particularly relates to a 6-axis robot-based gripping and lifting expansion pipe flat opening all-in-one machine which comprises a robot body, a bottom plate, a three-dimensional laser measuring camera and an expansion pipe flat opening all-in-one machine, wherein the robot body is arranged on the upper side of the bottom plate, a control box is fixedly connected to the upper side of the bottom plate, the upper side of the control box is connected with a fixed seat through screws, a rotating seat is rotatably connected to the upper side of the fixed seat, a first motor is connected to the upper side of the rotating seat through screws, an output shaft of the first motor is fixedly connected with the middle part of the rotating seat, the circle center of a pipe to be processed and the pipe extension amount are identified through the three-dimensional laser measuring, the pipe is expanded or flattened, so that manual operation is avoided, and the working efficiency is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a 6-axis robot-based grabbing and lifting pipe expanding and opening flattening all-in-one machine.
Background
Robots are machine devices that automatically perform work, including all machines that simulate human behavior or thought and other creatures. There are also a number of taxonomies and controversy over the definition of robots in the narrow sense, and some computer programs are even referred to as robots. In modern industry, robots refer to man-made machines capable of automatically performing tasks to replace or assist human work, and are typically electromechanical devices, controlled by computer programs or electronic circuits. When some pipes are used, pipe expansion and opening flattening are needed to enhance the pressure resistance of the pipes.
Most of the existing pipe flat-end modes are manual operation, an operator pulls a flat-end tool, a central hole of a part to be machined is aligned, the part is inserted and positioned, a handle of the flat-end tool is tightly held by a right hand, a pneumatic trigger is pulled, the flat-end tool rotates clockwise, a feed lever is pushed forwards by a left hand, the flat-end tool moves forwards to finish cutting, the method has the defects that tool contact type fulcrums are too few, the tool rotates clockwise in the production process, the feed speed is unstable, the operator needs to counteract vibration and rotation reaction force generated by the tool in cutting by manpower, the manual consumption is very large in long-time working, appropriate rest is needed midway, and the working efficiency is not high.
Disclosure of Invention
The invention aims to provide a grabbing and lifting pipe expanding and opening flattening all-in-one machine based on a 6-axis robot, and aims to solve the problems that most of the existing pipe opening flattening modes in the background technology are manually operated, the long-time work physical consumption is large, a proper rest is required in midway, and the work efficiency is low.
In order to achieve the purpose, the invention provides the following technical scheme: a grabbing and lifting expand tube and flat mouth all-in-one machine based on a 6-axis robot comprises a robot body, a bottom plate, a three-dimensional laser measuring camera and an expand tube and flat mouth all-in-one machine, wherein the robot body is installed on the upper side of the bottom plate and comprises a control box, a fixed seat, a rotating seat, a first motor, a fixed plate, a second motor, a rotating arm, a connecting seat, a third motor, a fourth motor, a rotating rod, a first rotating mechanism and a second rotating mechanism, the control box is fixedly connected to the upper side of the bottom plate, the upper side of the control box is connected with the fixed seat through screws, the upper side of the fixed seat is rotatably connected with the rotating seat, the upper side of the rotating seat is connected with the first motor through screws, the output shaft of the first motor is fixedly connected with the middle of the rotating seat, the upper side of the rotating seat is connected with the fixed plate, second motor output shaft and rotor arm fixed connection, the rotor arm upside rotates and is connected with the connecting seat, there is the third motor connecting through the screw in the connecting seat left side, third motor output shaft and connecting seat fixed connection, the connecting seat front side rotates and is connected with the dwang, the connecting seat rear side has the fourth motor through the screw connection, fourth motor output shaft and dwang rear side middle part fixed connection, the dwang front side rotates and is connected with first slewing mechanism, first slewing mechanism lower extreme rotates and is connected with second slewing mechanism, there is three-dimensional laser survey camera second slewing mechanism middle part through bolted connection, the flat mouthful all-in-one of bolted connection expand tube is passed through to the second slewing mechanism front side.
Preferably, the lower end of the bottom plate is fixedly connected with a bottom cushion.
Preferably, the bottom pad is a rubber bottom pad.
Preferably, the first motor, the second motor, the third motor and the fourth motor are all servo motors.
Preferably, the fourth motor is arranged coaxially with the rotating rod.
Compared with the prior art, the invention has the beneficial effects that:
1) the three-dimensional laser measuring camera is used for identifying the circle center and the pipe extension amount of a pipe to be processed and calculating the depth to be processed, the three-dimensional laser measuring camera transmits signals to the robot body, the robot body is used for executing space coordinate movement, the pipe expanding and flat opening integrated machine is driven to move through the robot body, pipe expansion or flat opening is carried out on the pipe, manual operation is avoided, and working efficiency is improved;
2) through the arrangement of the first motor, the second motor, the third motor, the fourth motor, the first rotating mechanism and the second rotating mechanism, the robot body can drive the pipe expanding and opening flattening all-in-one machine to move to a required working position;
3) through the setting of heelpiece, be convenient for steadily put equipment.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
In the figure: the robot comprises a base plate 1, a control box 2, a fixed seat 3, a rotating seat 4, a robot body 5, a first motor 6, a second motor 7, a rotating arm 8, a fixed plate 9, a third motor 10, a connecting seat 11, a fourth motor 12, a rotating rod 13, a first rotating mechanism 14, a second rotating mechanism 15, a three-dimensional laser measuring camera 16, a tube expansion and opening leveling integrated machine 17 and a base cushion 18.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
referring to fig. 1, the present invention provides a technical solution: a grabbing and lifting expand tube and flat opening all-in-one machine based on a 6-axis robot comprises a robot body 5, a bottom plate 1, a three-dimensional laser measuring camera 16 and an expand tube and flat opening all-in-one machine 17, wherein the robot body 5 is installed on the upper side of the bottom plate 1, the robot body 5 comprises a control box 2, a fixed seat 3, a rotating seat 4, a first motor 6, a fixed plate 9, a second motor 7, a rotating arm 8, a connecting seat 11, a third motor 10, a fourth motor 12, a rotating rod 13, a first rotating mechanism 14 and a second rotating mechanism 15, the control box 2 is fixedly connected to the upper side of the bottom plate 1, a robot body 5 control system is integrated in the control box 2, the upper side of the control box 2 is connected with the fixed seat 3 through screws, the upper side of the fixed seat 3 is rotatably connected with the rotating seat 4, the upper side of the rotating seat 4 is connected with the first motor 6 through screws, an output shaft, the rotating seat 4 is driven to rotate by the first motor 6, the upper side of the rotating seat 4 is connected with the fixing plate 9 through a screw, the right side of the fixing plate 9 is connected with the rotating arm 8 in a rotating way, the left side of the fixing plate 9 is connected with the second motor 7 through a screw, the output shaft of the second motor 7 is fixedly connected with the rotating arm 8, the second motor 7 drives the rotating arm 8 to rotate, the upper side of the rotating arm 8 is connected with the connecting seat 11 in a rotating way, the left side of the connecting seat 11 is connected with the third motor 10 through a screw, the connecting seat 11 is driven to rotate relative to the rotating arm 8 through the third motor 10, the output shaft of the third motor 10 is fixedly connected with the connecting seat 11, the front side of the connecting seat 11 is connected with the rotating rod 13 in a rotating way, the rear side of the connecting seat 11 is connected with the fourth motor 12 through a screw, the output shaft, the front side of the rotating rod 13 is rotatably connected with a first rotating mechanism 14, the lower end of the first rotating mechanism 14 is rotatably connected with a second rotating mechanism 15, the first rotating mechanism 14 and the second rotating mechanism 15 are both controlled to rotate through a servo motor, the first rotating mechanism 14 can rotate upwards or downwards relative to the rotating rod 13, the second rotating mechanism 15 can rotate relative to the first rotating mechanism 14, the middle part of the second rotating mechanism 15 is connected with a three-dimensional laser measuring camera 16 through a bolt, the front side of the second rotating mechanism 15 is connected with an expanding and flat opening all-in-one machine 17 through a bolt, when the device is used, a two-dimensional image of a product is firstly guided into an intelligent system for path planning, the three-dimensional laser measuring camera 16 is used for identifying the circle center and the pipe extension of the pipe to be processed, the required processing depth is calculated, and the two-dimensional image original image of the product in the intelligent system, the control box 2 controls the robot body 5 to move, the robot body 5 executes space coordinate movement, the expansion pipe and opening flattening all-in-one machine 17 is driven to move through the robot body 5, expansion pipes or opening flattening are conducted on the pipes, manual operation is avoided, and working efficiency is improved.
The lower end of the bottom plate 1 is fixedly connected with a bottom pad 18, so that equipment can be stably placed.
The base pad 18 is a rubber base pad.
The first motor 6, the second motor 7, the third motor 10 and the fourth motor 12 are all servo motors and rotate accurately.
The working principle is as follows: when the equipment is used, a two-dimensional graph of a product is firstly led into an intelligent system for path planning, a three-dimensional laser measuring camera 16 is used for identifying the circle center and the pipe extension amount of a pipe to be processed, the depth to be processed is calculated, the original image of the two-dimensional graph of the product in the intelligent system is matched and sent to a control box 2, a robot body 5 is controlled by the control box 2 to move, the robot body 5 executes space coordinate movement, a pipe expanding and flat opening integrated machine 17 is driven by the robot body 5 to move, the pipe expanding and flat opening integrated machine 17 completes processing operation of corresponding procedures on the pipe, the operation can be repeated, the working efficiency is higher,
while there have been shown and described the fundamental principles and essential features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a based on 6 flat mouthful all-in-one of expand tube of grabbing of robot, includes robot body (5), bottom plate (1), three-dimensional laser survey camera (16) and the flat mouthful all-in-one of expand tube (17), its characterized in that: the robot comprises a base plate (1), a robot body (5) is installed on the upper side of the base plate (1), the robot body (5) comprises a control box (2), a fixing seat (3), a rotating seat (4), a first motor (6), a fixing plate (9), a second motor (7), a rotating arm (8), a connecting seat (11), a third motor (10), a fourth motor (12), a rotating rod (13), a first rotating mechanism (14) and a second rotating mechanism (15), the control box (2) is fixedly connected to the upper side of the base plate (1), the upper side of the control box (2) is connected with the fixing seat (3) through screws, the upper side of the fixing seat (3) is rotatably connected with the rotating seat (4), the upper side of the rotating seat (4) is connected with the first motor (6) through screws, an output shaft of the first motor (6) is fixedly connected with the middle of the rotating seat (4), the upper side of the rotating seat (, the right side of the fixing plate (9) is rotatably connected with a rotating arm (8), the left side of the fixing plate (9) is connected with a second motor (7) through a screw, an output shaft of the second motor (7) is fixedly connected with the rotating arm (8), the upper side of the rotating arm (8) is rotatably connected with a connecting seat (11), the left side of the connecting seat (11) is connected with a third motor (10) through a screw, an output shaft of the third motor (10) is fixedly connected with the connecting seat (11), the front side of the connecting seat (11) is rotatably connected with a rotating rod (13), the rear side of the connecting seat (11) is connected with a fourth motor (12) through a screw, an output shaft of the fourth motor (12) is fixedly connected with the middle part of the rear side of the rotating rod (13), the front side of the rotating rod (13) is rotatably connected with a first rotating mechanism (14), and the lower end of the, the middle part of the second rotating mechanism (15) is connected with a three-dimensional laser measuring camera (16) through a bolt, and the front side of the second rotating mechanism (15) is connected with an expanding and opening leveling integrated machine (17) through a bolt.
2. The 6-axis robot based grabbing tube expanding and flattening all-in-one machine is characterized in that: the lower end of the bottom plate (1) is fixedly connected with a bottom pad (18).
3. The 6-axis robot based grabbing tube expanding and flattening all-in-one machine is characterized in that: the bottom pad (18) is a rubber bottom pad.
4. The 6-axis robot based grabbing tube expanding and flattening all-in-one machine is characterized in that: the first motor (6), the second motor (7), the third motor (10) and the fourth motor (12) are all servo motors.
5. The 6-axis robot based grabbing tube expanding and flattening all-in-one machine is characterized in that: and the fourth motor (12) and the rotating rod (13) are coaxially arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010497499.7A CN111590606A (en) | 2020-06-04 | 2020-06-04 | 6-axis robot-based grabbing-lifting expanded pipe and opening flattening all-in-one machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010497499.7A CN111590606A (en) | 2020-06-04 | 2020-06-04 | 6-axis robot-based grabbing-lifting expanded pipe and opening flattening all-in-one machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111590606A true CN111590606A (en) | 2020-08-28 |
Family
ID=72184631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010497499.7A Pending CN111590606A (en) | 2020-06-04 | 2020-06-04 | 6-axis robot-based grabbing-lifting expanded pipe and opening flattening all-in-one machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111590606A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114505413A (en) * | 2022-02-08 | 2022-05-17 | 格力电器（合肥）有限公司 | Automatic expansion joint system and control method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802313A (en) * | 2013-11-28 | 2014-05-21 | 武汉金运激光股份有限公司 | 3D (three dimensional) laser printing system |
| CN106179885A (en) * | 2016-09-23 | 2016-12-07 | 武汉大音科技有限责任公司 | A kind of complex part dispensing method guided based on stereoscopic vision and device |
| CN106523977A (en) * | 2016-12-30 | 2017-03-22 | 谢朋轩 | Multifunctional LED table lamp used for students |
| CN106807152A (en) * | 2017-03-24 | 2017-06-09 | 张林球 | A kind of efficient preventing and treating haze intelligent machine equipment with self-cleaning function |
| CN206536464U (en) * | 2017-02-16 | 2017-10-03 | 遨博（江苏）机器人有限公司 | A kind of high-freedom degree six-joint robot |
| CN108500173A (en) * | 2018-03-06 | 2018-09-07 | 珠海格力电器股份有限公司 | Automatic expanding welding system and expanding joint method |
| CN108544153A (en) * | 2018-04-23 | 2018-09-18 | 哈尔滨阿尔特机器人技术有限公司 | A kind of vision robot's system for Tube-sheet Welding |
| CN108748171A (en) * | 2018-05-28 | 2018-11-06 | 芜湖纵横智能制造产业技术研究有限公司 | A kind of intelligence manufacture device based on industrial robot |
| CN209737607U (en) * | 2019-04-25 | 2019-12-06 | 西安盘古智能科技有限公司 | anti-collision six-axis robot |
| KR102096897B1 (en) * | 2018-12-31 | 2020-04-03 | (주) 엠엔비젼 | The auto teaching system for controlling a robot using a 3D file and teaching method thereof |
-
2020
- 2020-06-04 CN CN202010497499.7A patent/CN111590606A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802313A (en) * | 2013-11-28 | 2014-05-21 | 武汉金运激光股份有限公司 | 3D (three dimensional) laser printing system |
| CN106179885A (en) * | 2016-09-23 | 2016-12-07 | 武汉大音科技有限责任公司 | A kind of complex part dispensing method guided based on stereoscopic vision and device |
| CN106523977A (en) * | 2016-12-30 | 2017-03-22 | 谢朋轩 | Multifunctional LED table lamp used for students |
| CN206536464U (en) * | 2017-02-16 | 2017-10-03 | 遨博（江苏）机器人有限公司 | A kind of high-freedom degree six-joint robot |
| CN106807152A (en) * | 2017-03-24 | 2017-06-09 | 张林球 | A kind of efficient preventing and treating haze intelligent machine equipment with self-cleaning function |
| CN108500173A (en) * | 2018-03-06 | 2018-09-07 | 珠海格力电器股份有限公司 | Automatic expanding welding system and expanding joint method |
| CN108544153A (en) * | 2018-04-23 | 2018-09-18 | 哈尔滨阿尔特机器人技术有限公司 | A kind of vision robot's system for Tube-sheet Welding |
| CN108748171A (en) * | 2018-05-28 | 2018-11-06 | 芜湖纵横智能制造产业技术研究有限公司 | A kind of intelligence manufacture device based on industrial robot |
| KR102096897B1 (en) * | 2018-12-31 | 2020-04-03 | (주) 엠엔비젼 | The auto teaching system for controlling a robot using a 3D file and teaching method thereof |
| CN209737607U (en) * | 2019-04-25 | 2019-12-06 | 西安盘古智能科技有限公司 | anti-collision six-axis robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114505413A (en) * | 2022-02-08 | 2022-05-17 | 格力电器（合肥）有限公司 | Automatic expansion joint system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109922931A (en) | Robot controller, robot, robot system and robot control method | |
| CN212977228U (en) | A automatic welding set for industrial robot | |
| CN110695809B (en) | Unstructured free-form surface grinding device | |
| CN205328246U (en) | Stacking manipulator | |
| CN105127976A (en) | Robot | |
| CN109128786A (en) | Electric screwdriver screwdriver bit fast replacing device and its quick change method, screwdriver bit quick-changing type screw tightening machine and its it is screwed method | |
| CN111590606A (en) | 6-axis robot-based grabbing-lifting expanded pipe and opening flattening all-in-one machine | |
| CN104537944A (en) | Six-connecting-rod teaching device of six-axis robot | |
| CN112692831A (en) | Mechanical arm control system and mechanical arm | |
| CN211102357U (en) | Welding robot workstation | |
| CN105171725A (en) | Joint robot with motion assisting device | |
| CN204913888U (en) | Four degree of freedom robots | |
| CN204997661U (en) | Robot | |
| CN107378587A (en) | A kind of lathe tool changing device | |
| CN207014140U (en) | A kind of burr remover installed in robot arm | |
| CN204248536U (en) | Be suitable for the Horizontal double-headed machining center of production line balance | |
| CN107253180B (en) | Object posture adjusting device and method based on industrial robot | |
| CN105082114A (en) | Robot | |
| KR101211658B1 (en) | 7 degree of freedom robot arm | |
| CN204913894U (en) | Three degree of freedom robots | |
| CN205704156U (en) | A kind of mechanical hand armshaft mechanism | |
| CN209831435U (en) | Assemblage tool with fixed clamping structure | |
| CN207026752U (en) | One kind is switched fast welding robot | |
| CN206967500U (en) | It is a kind of based on the flexible clamp for connecting rod virtually positioned | |
| CN104070404A (en) | Full-automatic intelligent cardan universal joint processing manipulator |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200828 |
|
| RJ01 | Rejection of invention patent application after publication |