CN112454250B - Inside subassembly dismouting device of large-scale ocean robot sealed cabin - Google Patents
Inside subassembly dismouting device of large-scale ocean robot sealed cabin Download PDFInfo
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- CN112454250B CN112454250B CN202011361230.2A CN202011361230A CN112454250B CN 112454250 B CN112454250 B CN 112454250B CN 202011361230 A CN202011361230 A CN 202011361230A CN 112454250 B CN112454250 B CN 112454250B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
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Abstract
The invention belongs to the technical field of marine robots, and particularly relates to a device for dismounting components in a large marine robot sealed cabin. The robot comprises a robot frame supporting mechanism, a robot frame, a cylindrical pressure-resistant cabin body, a movable lifting platform car, an assembly butt joint tool, a push-pull linear module mechanism and a robot internal assembly, wherein the cylindrical pressure-resistant cabin body is arranged on the robot frame; the assembly butt joint tool and the push-pull linear module mechanism are arranged on the movable lifting platform car, and the assembly butt joint tool is used for butt joint with the cylindrical pressure-resistant cabin body; the robot inner assembly is connected with the assembly butt joint tool in a sliding mode, and the push-pull linear module mechanism is connected with the robot inner assembly and used for pushing the robot inner assembly into the cylindrical pressure-resistant cabin. The invention adopts automation equipment to install the internal components of the large-scale marine robot, saves labor and can improve the installation efficiency.
Description
Technical Field
The invention belongs to the technical field of marine robots, and particularly relates to a device for dismounting components in a large marine robot sealed cabin.
Background
With the continuous development of ocean technology, ultra-large type large submersible deep ocean robots are increasingly applied to the ocean field. From the perspective of improving the submergence depth of the marine robot, large marine robots developed at home and abroad in recent years abandon the structural form of the traditional submarine, adopt an open-frame type modular structure, wherein pressure-resistant devices, equipment, sensors and the like are directly fixed on a structural frame to be contacted with seawater, a non-pressure-resistant structure is protected by a sealed cabin, and the whole robot is composed of an external streamline buoyancy material, an internal keel frame, the sealed cabin, an extra-cabin component and the like. The robot assembly relates to the installation or the disassembly of a constrained space component in a sealed cabin. The existing medium and small ocean robots usually adopt manual work to assist a ladder, a lift truck, a lifting appliance and the like to complete assembly and disassembly tasks, are difficult to implement for large or super-large robots, and must adopt a proper auxiliary assembly and disassembly device to assemble and disassemble components in a sealed cabin of the robot.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a device for dismounting and mounting components inside a large-scale marine robot capsule, so as to realize quick and accurate dismounting and mounting of components inside a large-scale marine robot capsule and improve work efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a large-scale ocean robot seal cabin internal assembly dismounting device comprises a robot frame supporting mechanism, a robot frame, a cylindrical pressure-resistant cabin body, a movable lifting platform car, an assembly butt joint tool, a push-pull linear module mechanism and a robot internal assembly, wherein the cylindrical pressure-resistant cabin body is arranged on the robot frame;
the assembly butt joint tool and the push-pull linear module mechanism are arranged on the movable lifting platform car, and the assembly butt joint tool is used for butt joint with the cylindrical pressure-resistant cabin body; the robot internal component is connected with the component butt joint tool in a sliding mode, and the push-pull linear module mechanism is connected with the robot internal component and used for pushing the robot internal component into the cylindrical pressure-resistant cabin body.
The cylindrical pressure-resistant cabin body comprises a cylindrical pressure-resistant cabin body and cabin inner guide rails, wherein the cabin inner guide rails are axially arranged on two sides of the inner wall of the cylindrical pressure-resistant cabin body.
The assembly butt joint tool comprises an assembly butt joint tool main body frame and tool side guide rails arranged on two sides of the top of the assembly butt joint tool main body frame, and the tool side guide rails are in butt joint with the guide rails in the cabin through transition section connecting guide rails; the robot inner assembly is arranged in the assembly butt joint tool main body frame and is in sliding connection with the tool side guide rail.
The bottom of the assembly butt joint tool main body frame is provided with an adjusting foot cup for adjusting the height; and a hoisting piece for hoisting is arranged on the side part of the assembly butt joint tool main body frame.
The push-pull linear module mechanism comprises a height adaptive base, a push-pull linear module main body frame, a linear push-pull module, a linear guide rail and a tail end connecting fixing plate, wherein the height adaptive base is arranged at the bottom of the push-pull linear module main body frame; two sides of the push-pull linear module main body frame are provided with linear guide rails along the horizontal direction; two ends of the tail end connecting fixing plate are respectively connected with the two linear guide rails in a sliding manner, and the tail end connecting fixing plate is used for being connected with the internal components of the robot;
the linear push-pull module is arranged on the push-pull linear module main body frame, and the output end of the linear push-pull module is connected with the tail end connecting fixing plate.
The linear push-pull module is a gear-rack mechanism and comprises racks, gears, a transmission shaft and a driving motor, wherein the racks are arranged on two sides of a main body frame of the push-pull linear module, the driving motor is arranged on the end connection fixing plate, the output end of the driving motor is in transmission connection with the transmission shaft, the tail end of the transmission shaft is provided with the gears, and the gears are meshed with the racks.
The movable lifting platform truck comprises a movable lifting platform truck body, a hydraulic lifting mechanism and a top mounting base, wherein the hydraulic lifting mechanism is arranged on the movable lifting platform truck body and outputs power along the vertical direction; the top installation base is arranged above the movable lifting platform truck body and is connected with the output end of the hydraulic lifting mechanism.
The movable lifting platform truck body is provided with a hydraulic lifting shield positioned outside the hydraulic lifting mechanism; guard railings are arranged around the top mounting base.
The robot frame supporting mechanisms are divided into two groups; two ends of the robot frame are arranged on the two groups of robot frame supporting mechanisms through supporting buoyancy cushion blocks;
the robot frame supporting mechanism comprises rail trolleys and a robot frame supporting seat, wherein two ends of the robot frame supporting seat are respectively arranged on the two rail trolleys.
The rail trolley comprises a rail trolley body, rail trolley steel wheels, a transverse moving oil cylinder, a jacking oil cylinder and a transverse moving plate, wherein the rail trolley steel wheels are arranged at the bottom of the rail trolley body; the transverse moving plate can be arranged on the rail trolley body in a transverse sliding mode, the transverse moving oil cylinder is arranged on the rail trolley body, and the output end of the transverse moving oil cylinder is connected with the transverse moving plate; the jacking oil cylinder is arranged on the transverse moving plate, and the output end of the jacking oil cylinder is hinged with the robot frame supporting seat.
The invention has the following beneficial effects and advantages:
1. the invention adopts automation equipment to install the internal components of the large-scale marine robot, saves labor and can improve the installation efficiency.
2. The dismounting device is strong in universality, and large-scale assembly dismounting with different guide rail intervals can be met through replacement of the assembly tool.
3. According to the invention, through multi-degree-of-freedom adjustment of the dismounting device, multiple pose adjustment of the robot and internal components thereof in the butt joint process can be met, so that the butt joint precision is higher.
Drawings
FIG. 1 is a schematic structural diagram of a device for assembling and disassembling components inside a sealed cabin of a large-scale marine robot according to the invention;
FIG. 2 is a schematic structural diagram of a robot frame support mechanism according to the present invention;
FIG. 3 is a schematic structural view of the rail car according to the present invention;
FIG. 4 is a schematic structural view of the inner guide rail of the cylindrical pressure-resistant cabin of the present invention;
FIG. 5 is a schematic view of the structure of the mobile lift platform of the present invention;
FIG. 6 is a schematic structural view of the assembly docking tool of the present invention;
fig. 7 is a schematic structural diagram of the push-pull linear module mechanism according to the present invention.
In the figure: 1. a rail trolley; 101. a rail trolley body; 102. a small rail car steel wheel; 103. transversely moving the oil cylinder; 104. a jacking oil cylinder; 105. transversely moving the plate; 2. a robot frame support seat; 3. supporting the buoyancy cushion block; 4. a robot frame; 5. a cylindrical pressure-resistant cabin body; 501. a cylindrical pressure resistant cabin body; 502. an in-cabin guide rail; 6. moving the lifting platform vehicle; 601. moving the lifting platform truck body; 602. a hydraulic lifting shutter; 603. a base is arranged at the top; 604. protecting the fence; 7. assembly butt joint tooling; 701. side guide rails are assembled; 702. the assembly is butted with a tool main body frame; 703. a hoisting member; 704. adjusting the foot cup; 8. a push-pull linear module mechanism; 801. a height-adaptive base; 802. a push-pull linear module main body frame; 803. a linear push-pull module; 804. the tail end is connected with a fixed plate; 9. internal components of the robot; 10. the transition section is connected with the guide rail.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the device for dismounting and mounting internal components of a large marine robot capsule provided by the invention comprises a robot frame adjusting end and a robot internal component adjusting end, wherein the robot frame adjusting end comprises a robot frame supporting mechanism, a robot frame 4 and a cylindrical pressure-resistant capsule body 5, the cylindrical pressure-resistant capsule body 5 is arranged on the robot frame 4, and the robot frame 4 is arranged on the robot frame supporting mechanism. The robot internal component adjusting end comprises a movable lifting platform truck 6, a component butt joint tooling 7, a push-pull linear module mechanism 8 and a robot internal component 9, wherein the component butt joint tooling 7 and the push-pull linear module mechanism 8 are arranged on the movable lifting platform truck 6, and the component butt joint tooling 7 is used for butt joint with the cylindrical pressure-resistant cabin body 5; the robot inner assembly 9 is connected with the assembly butt joint tool 7 in a sliding mode, and the push-pull linear module mechanism 8 is connected with the robot inner assembly 9 and used for pushing the robot inner assembly 9 into the cylindrical pressure-resistant cabin body 5.
As shown in fig. 1, in the embodiment of the present invention, there are two sets of robot frame supporting mechanisms, and two ends of the robot frame 4 are disposed on the two sets of robot frame supporting mechanisms through the supporting buoyancy spacers 3. The support buoyancy block 3 is installed as a pre-loading member at the bottom of the robot frame 4, and plays a role of support when being disassembled and assembled.
As shown in fig. 2, in the embodiment of the present invention, the robot frame supporting mechanism includes a small rail car 1 and a robot frame supporting seat 2, and two ends of the robot frame supporting seat 2 are respectively disposed on the two small rail cars 1. Robot frame supporting seat 2 includes the base and sets up two support frames on the base, and the top surface of support frame is the arc structure to the cylindrical surface of adaptation robot frame 4.
As shown in fig. 3, in the embodiment of the present invention, the rail trolley 1 includes a trolley body 101, a trolley steel wheel 102, a traverse cylinder 103, a jacking cylinder 104, and a traverse plate 105, wherein the trolley steel wheel 102 is disposed at the bottom of the trolley body 101; the traverse plate 105 is arranged on the rail trolley body 101 in a transverse sliding manner, the traverse cylinder 103 is arranged on the rail trolley body 101, and the output end of the traverse cylinder is connected with the traverse plate 105; the jacking cylinder 104 is arranged on the traverse plate 105, and the output end is hinged with the robot frame support seat 2. The robot frame 4 can be mounted through the two rail trolleys 1, and the freedom degree adjustment of the robot frame 4 on the robot frame supporting seat 2 in three directions is realized.
As shown in fig. 4, in the embodiment of the present invention, the cylindrical pressure-resistant cabin 5 includes a cylindrical pressure-resistant cabin body 501 and an in-cabin guide rail 502, wherein the in-cabin guide rail 502 is axially disposed on both sides of the inner wall of the cylindrical pressure-resistant cabin body 501.
As shown in fig. 5, in the embodiment of the present invention, the mobile lifting platform truck 6 includes a mobile lifting platform truck body 601, a hydraulic lifting mechanism and a top mounting base 603, wherein the hydraulic lifting mechanism is disposed on the mobile lifting platform truck body 601 and outputs power in a vertical direction; the top mounting base 603 is disposed above the movable lifting platform body 601 and connected to an output end of the hydraulic lifting mechanism. A hydraulic lifting shield 602 positioned outside the hydraulic lifting mechanism is arranged on the movable lifting platform truck body 601; guard rails 604 are arranged around the top mounting base 603.
The omnidirectional driving trundles are installed at the bottom of the movable lifting platform car 6, so that the whole car can move in the horizontal plane, and the hydraulic lifting mechanism can realize displacement adjustment in the height direction. In addition, the component docking tool 7 and the push-pull linear module mechanism 8 can be mounted and fixed through the top mounting base 603.
As shown in fig. 1 and 6, in the embodiment of the present invention, the component docking tool 7 includes a component docking tool main body frame 702 and tool side guide rails 701 disposed on both sides of the top of the component docking tool main body frame 702, and the tool side guide rails 701 are docked with the in-cabin guide rails 502 by the transition section connection guide rails 10; the robot inner assembly 9 is disposed in the assembly docking tool body frame 702, and is slidably connected to the tool side guide rail 701.
Further, an adjusting foot cup 704 for adjusting the height is arranged at the bottom of the component docking tool main body frame 702; the side part of the main body frame 702 of the assembly butt joint tool is provided with a lifting piece 703 for lifting, the integral lifting and transferring of the assembly and the tool can be realized through the lifting piece 703, and the height of the assembly butt joint tool can be adjusted within a certain range through adjusting the foot cup 704.
As shown in fig. 7, in the embodiment of the present invention, the push-pull linear module mechanism 8 includes a height adapting base 801, a push-pull linear module main body frame 802, a linear push-pull module 803, a linear guide rail, and a tail end connection fixing plate 804, wherein the height adapting base 801 is disposed at the bottom of the push-pull linear module main body frame 802; two sides of the push-pull linear module main body frame 802 are provided with linear guide rails along the horizontal direction; two ends of the tail end connecting and fixing plate 804 are respectively connected with the two linear guide rails in a sliding manner, and the tail end connecting and fixing plate 804 is used for being connected with the robot internal component 9; the linear push-pull module 803 is disposed on the push-pull linear module main body frame 802, and the output end is connected to the end connection fixing plate 804.
In the embodiment of the present invention, the linear push-pull module 803 is a rack-and-pinion mechanism, and includes a rack, a pinion, a transmission shaft, and a driving motor, wherein the rack is disposed on two sides of the main body frame 802 of the push-pull linear module, the driving motor is disposed on the end connection fixing plate 804, and the output end is in transmission connection with the transmission shaft, the end of the transmission shaft is disposed with the pinion, and the pinion is engaged with the rack. The driving motor drives the end connection fixing plate 804 to move along the linear guide rail through the gear rack mechanism, so as to push the robot inner assembly 9 to move to the cabin guide rail 502 in the cylindrical pressure-resistant cabin body 5. The transition section connecting guide rail 10 is installed between the assembly butt joint tool 7 and the cylindrical pressure-resistant cabin body 5, the guide rails of the two adjusting ends are in butt joint, and the robot inner assembly 9 is finally installed on the cabin inner guide rail 502.
The working process of the device for dismounting and mounting the internal components of the sealed cabin of the large-scale marine robot provided by the invention is as follows (taking the installation of the internal components of the robot as an example, the dismounting process is opposite to that of the internal components of the robot):
1) and adjusting the distance between the two groups of robot frame supporting mechanisms, and installing the robot frame 4 provided with the supporting buoyancy cushion blocks 3 on the robot frame supporting seat 2 on the small rail car 1.
2) The cylindrical pressure-resistant cabin body 5 is installed at the appointed position of the robot frame 4 through a rail, and the installation of the adjusting end of the robot frame is completed.
3) The robot inner component 9 is mounted on the component docking tooling 7 by a crane and is hoisted to a designated position of the movable lifting platform car 6 together with the component docking tooling 7.
4) And hoisting the push-pull linear module mechanism 8 to the specified position of the movable lifting platform car 6.
5) Locking a steel wheel 101 of the rail trolley to enable the steel wheel to be fixed in the x direction, and adjusting the movable lifting platform truck 6 to enable the movable lifting platform truck to be close to the end of the rail trolley 1 in the x direction, specifically, the end face of the front side of the movable lifting platform truck 6 in the x direction is close to the end face of the robot frame 4 (the distance is about 100mm-150 mm); adjusting the height of the movable lifting platform car 6 in the z direction to enable the side guide rail 701 of the tool on the car and the guide rail 502 in the cabin to be at the same height, and in the step, fine adjustment of the position of the jacking oil cylinder 104 of the rail car 1 is needed to ensure the butt joint precision in the height direction; and adjusting the movable lifting platform truck 6 to move in the y direction, so that the tooling side guide rail 701 is aligned with the in-cabin guide rail 502 in the width direction, and in the step, fine adjustment of the position of the transverse moving oil cylinder 103 of the rail trolley 1 is required to ensure the butt joint precision in the width direction. In addition, the oil cylinders on the two groups of small rail cars 1 can be adjusted to realize angle adjustment in three planes.
6) The guide rail 10 is connected to the installation changeover portion, the distance adjustment in the x direction is needed during installation, the distance adjustment is realized by moving the lifting platform truck 6, and the butt joint of the guide rail 10, the tooling side guide rail 701 and the cabin inner guide rail 502 is realized.
7) And (3) connecting the robot internal assembly 9 and the tail end of the push-pull linear module mechanism 8 with a fixing plate 804 for installation and fixation.
8) And starting the push-pull linear module mechanism 8, pushing the robot internal component 9 into the cylindrical pressure-resistant cabin body 5, and completing the cabin-entering installation of the components.
According to the dismounting device disclosed by the invention, the dismounting of the internal components of the large ocean robot sealed cabin can be quickly realized by utilizing the two adjusting ends, the dismounting process is safer and more reliable, the efficiency is higher, the dismounting of the large components with different guide rail intervals can be met by replacing the component tool, the multi-pose adjustment of the robot and the internal components thereof in the butt joint process can be met, and the butt joint precision is higher.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (5)
1. A large-scale ocean robot seal cabin interior assembly and disassembly device is characterized by comprising a robot frame supporting mechanism, a robot frame (4), a cylindrical pressure-resistant cabin body (5), a movable lifting platform truck (6), an assembly butt joint tool (7), a push-pull linear module mechanism (8) and a robot interior assembly (9), wherein the cylindrical pressure-resistant cabin body (5) is arranged on the robot frame (4), and the robot frame (4) is arranged on the robot frame supporting mechanism;
the assembly butt joint tooling (7) and the push-pull linear module mechanism (8) are arranged on the movable lifting platform car (6), and the assembly butt joint tooling (7) is used for butt joint with the cylindrical pressure-resistant cabin body (5); the robot internal assembly (9) is connected with the assembly butt joint tool (7) in a sliding mode, and the push-pull linear module mechanism (8) is connected with the robot internal assembly (9) and used for pushing the robot internal assembly (9) into the cylindrical pressure-resistant cabin body (5);
the cylindrical pressure-resistant cabin body (5) comprises a cylindrical pressure-resistant cabin body (501) and an in-cabin guide rail (502), wherein the in-cabin guide rail (502) is axially arranged on two sides of the inner wall of the cylindrical pressure-resistant cabin body (501);
the assembly butt joint tool (7) comprises an assembly butt joint tool main body frame (702) and tool side guide rails (701) arranged on two sides of the top of the assembly butt joint tool main body frame (702), and the tool side guide rails (701) are in butt joint with the cabin inner guide rails (502) through transition section connecting guide rails (10); the robot internal component (9) is arranged in the component butt joint tool main body frame (702) and is in sliding connection with the tool side guide rail (701);
an adjusting foot cup (704) for adjusting the height is arranged at the bottom of the assembly butt joint tool main body frame (702); a hoisting piece (703) for hoisting is arranged on the side of the assembly butt joint tool main body frame (702);
the robot frame supporting mechanisms are divided into two groups; two ends of the robot frame (4) are arranged on the two groups of robot frame supporting mechanisms through supporting buoyancy cushion blocks (3);
the robot frame supporting mechanism comprises small rail cars (1) and a robot frame supporting seat (2), wherein two ends of the robot frame supporting seat (2) are respectively arranged on the two small rail cars (1);
the rail trolley (1) comprises a rail trolley body (101), rail trolley steel wheels (102), a transverse moving oil cylinder (103), a jacking oil cylinder (104) and a transverse moving plate (105), wherein the rail trolley steel wheels (102) are arranged at the bottom of the rail trolley body (101); the traverse plate (105) is arranged on the rail trolley body (101) in a transversely sliding manner, the traverse oil cylinder (103) is arranged on the rail trolley body (101), and the output end of the traverse oil cylinder is connected with the traverse plate (105); the jacking oil cylinder (104) is arranged on the traverse moving plate (105), and the output end of the jacking oil cylinder is hinged with the robot frame supporting seat (2).
2. The device for dismounting and mounting an internal component of a large-scale marine robot capsule as recited in claim 1, wherein the push-pull linear module mechanism (8) comprises a height adapting base (801), a push-pull linear module body frame (802), a linear push-pull module (803), a linear guide rail and a tail end connection fixing plate (804), wherein the height adapting base (801) is arranged at the bottom of the push-pull linear module body frame (802); two sides of the push-pull linear module main body frame (802) are provided with linear guide rails along the horizontal direction; two ends of the tail end connecting fixing plate (804) are respectively connected with the two linear guide rails in a sliding mode, and the tail end connecting fixing plate (804) is used for being connected with the robot internal assembly (9);
the linear push-pull module (803) is arranged on the push-pull linear module main body frame (802), and the output end of the linear push-pull module is connected with the tail end connecting and fixing plate (804).
3. The device for assembling and disassembling an internal component of a large marine robot capsule according to claim 2, wherein the linear push-pull module (803) is a rack-and-pinion mechanism comprising a rack, a pinion, a transmission shaft and a driving motor, wherein the rack is disposed on two sides of the push-pull linear module body frame (802), the driving motor is disposed on the end connection fixing plate (804), and the output end of the driving motor is in transmission connection with the transmission shaft, the end of the transmission shaft is provided with the pinion, and the pinion is engaged with the rack.
4. The device for dismounting and mounting an assembly inside a capsule of a large-scale marine robot according to claim 1, wherein the mobile lifting platform truck (6) comprises a mobile lifting platform truck body (601), a hydraulic lifting mechanism and a top mounting base (603), wherein the hydraulic lifting mechanism is arranged on the mobile lifting platform truck body (601) and outputs power along a vertical direction; the top mounting base (603) is arranged above the movable lifting platform truck body (601) and is connected with the output end of the hydraulic lifting mechanism.
5. The device for assembling and disassembling an assembly inside a capsule of a large-scale marine robot according to claim 4, wherein a hydraulic lifting shield (602) is arranged on the body (601) of the movable lifting platform and is positioned outside the hydraulic lifting mechanism; guard rails (604) are arranged on the periphery of the top mounting base (603).
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| CN202011361230.2A CN112454250B (en) | 2020-11-27 | 2020-11-27 | Inside subassembly dismouting device of large-scale ocean robot sealed cabin |
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| CN202011361230.2A CN112454250B (en) | 2020-11-27 | 2020-11-27 | Inside subassembly dismouting device of large-scale ocean robot sealed cabin |
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| CN112454250B true CN112454250B (en) | 2022-05-10 |
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| CN113830324B (en) * | 2021-10-09 | 2023-12-26 | 江苏航空职业技术学院 | Splicing device and splicing method for middle section of airplane body |
| CN114102507A (en) * | 2021-10-22 | 2022-03-01 | 珠海格力智能装备有限公司 | Rubber plug pulling equipment |
| CN116409452B (en) * | 2023-04-10 | 2024-04-23 | 南京全信传输科技股份有限公司 | Seabed power communication pressure-resistant cabin with adjustable function and disassembly and assembly method |
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| CN111759593A (en) * | 2020-07-24 | 2020-10-13 | 南京健之欣医用设备有限公司 | Take butt-joint equipment of negative pressure isolation cabin |
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| WO1997004923A1 (en) * | 1995-07-25 | 1997-02-13 | Cr Elastomere Gmbh | Assembly aid for machine parts, in particular for housing closure units |
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| JP2017177244A (en) * | 2016-03-28 | 2017-10-05 | キヤノン株式会社 | Assembly device and production line |
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| CN111759593A (en) * | 2020-07-24 | 2020-10-13 | 南京健之欣医用设备有限公司 | Take butt-joint equipment of negative pressure isolation cabin |
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| CN112454250A (en) | 2021-03-09 |
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