CN112520406A - Novel gantry type truss carrying device - Google Patents
Novel gantry type truss carrying device Download PDFInfo
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- CN112520406A CN112520406A CN202011459790.1A CN202011459790A CN112520406A CN 112520406 A CN112520406 A CN 112520406A CN 202011459790 A CN202011459790 A CN 202011459790A CN 112520406 A CN112520406 A CN 112520406A
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- fixed
- sliding
- sliding seat
- truss
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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Abstract
The invention discloses a novel gantry type truss carrying device which comprises supporting legs and a cross beam arranged on the supporting legs, wherein a sliding rail is arranged on the cross beam, a longitudinal sliding device is arranged on the sliding rail, a transverse sliding device is arranged on the longitudinal sliding device, a vertical sliding device and a pneumatic brake device are arranged on the transverse sliding device, a rotating device is arranged on the vertical sliding device, and a carrying device is arranged on the rotating device. The conveying mechanism has the advantages that the conveying mechanism can move at fixed points in a three-dimensional space through the longitudinal sliding device, the transverse sliding device and the vertical sliding device, the round bar piece is lifted through the claw piece and is fixed through the fixing cylinder and the fixing piece to prevent the round bar piece from sliding, the horizontal angle of the round bar piece can be adjusted through the rotating device according to requirements, the round bar piece can be rotated by 360 degrees, the structural stability of the whole device is high, and the conveying efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a novel gantry type truss carrying device.
Background
The conveying operation is to hold a workpiece with one kind of equipment, and is to move from one processing position to another processing position. The transfer robot can be provided with different end effectors to finish the work of transferring workpieces in different shapes and states, thereby greatly reducing the heavy manual labor of human beings.
The gantry type transfer robot is a robot system which is constructed by using an XYZ rectangular coordinate system as a basic mathematical model, using a single-shaft mechanical arm driven by a servo motor and a stepping motor as basic working units and using a ball screw, a synchronous belt and a gear rack as common transmission modes, and can achieve the purpose of reaching any point in the XYZ three-dimensional coordinate system and follow a controllable motion track. Especially, the carrying work of some large round bar pieces has high requirement on the stability of the carrying robot, the existing carrying robot occupies a large space and has poor stability of the whole structure, the angle of the round bar pieces needs to be adjusted in the carrying process along with the change of a processing station in production, but the existing carrying robot does not support the function, the manufacturing cost of the machine is high, and the requirement of people cannot be met.
In view of this, research improvement is carried out to current problem, provides a novel planer-type truss handling device, aims at through this technique, reaches the purpose of solving the problem and improving practical value nature.
Disclosure of Invention
The invention aims to solve the problems and designs a novel gantry type truss carrying device.
The technical scheme includes that the novel gantry type truss carrying device comprises supporting legs and a cross beam mounted on the supporting legs, a sliding rail is arranged on the cross beam, a longitudinal sliding device is arranged on the sliding rail, a transverse sliding device is arranged on the longitudinal sliding device, a vertical sliding device and a pneumatic brake device are arranged on the transverse sliding device, a rotating device is arranged on the vertical sliding device, and a carrying device is arranged on the rotating device.
As a further description of the present invention, there are two cross beams, the support legs are fixed at two ends of the bottom of the cross beam, the longitudinal sliding device includes two longitudinal sliding seats, pulleys, trusses, long racks, gear members and servo motors, the pulleys are fixed at four ends of the bottom of the longitudinal sliding seats, the longitudinal sliding seats are slidably connected with the slide rails on the cross beam, the two trusses are arranged in parallel, two ends of each truss are respectively fixed on the two longitudinal sliding seats, the long racks are fixed on the side surfaces of the cross beam, the servo motors are fixed on the side surfaces of the longitudinal sliding seats, the servo motors are engaged with the long racks through the gears, two ends of the long racks are provided with limiting members, and the side surfaces of the two trusses are provided with the slide rails.
As a further description of the present invention, one of the two trusses is provided with a long rack and a soft limit, the soft limit is located at two ends of the long rack, the lateral sliding device includes a lateral sliding seat, a pulley, a gear member and a servo motor, the pulley is fixed at the inner side of the lateral sliding seat, the lateral sliding seat is connected with the sliding rails at the side surfaces of the two trusses in a sliding manner, the servo motor is vertically fixed on the lateral sliding seat and meshed with the long rack on the trusses through the gear member, and the vertical sliding device is fixed on the lateral sliding seat and located between the two trusses.
As a further description of the invention, the transverse sliding seat is further provided with an air storage tank, a one-way valve, a booster valve, an electromagnetic valve, a quick release valve and a lubricating pump, the electromagnetic valve is connected with the air storage tank through a pipeline, the air storage tank is connected with the one-way valve through a pipeline, the one-way valve is connected with the booster valve through a pipeline, the booster valve is fixedly connected with the quick release valve in a penetrating manner, the quick release valve is connected with the pneumatic band-type brake device through a pipeline, and the lubricating pump is fixed on the side surface of the transverse sliding seat.
As a further description of the present invention, the vertical sliding device includes a vertical sliding seat, a sliding rail, a long rack, a gear member, a servo motor, and a speed reducer, the vertical sliding seat is slidably connected to the horizontal sliding seat through the sliding rail, the long rack is fixed to a side surface of the vertical sliding seat, the servo motor is fixedly connected to the speed reducer, the speed reducer is fixed to a side surface of the horizontal sliding seat and engaged with the long rack through the gear member, and the pneumatic band-type brake device is installed on a side surface of the vertical sliding seat and slidably connected to the horizontal sliding seat.
As a further description of the present invention, the rotating device includes a rotating fixed seat fixed to an end of the vertical sliding seat, and a rotating motor fixed to the rotating fixed seat.
As a further description of the present invention, the carrying device includes a support member, a claw member, an air source processor, a fixed cylinder, and a fixing member, wherein the support member is fixedly connected to a rotating shaft of the rotating motor, the claw members are respectively fixed to two ends of the bottom of the support member, the fixed cylinder is fixed to the claw member, the fixing member is fixedly connected to a transmission rod of the fixed cylinder, and the air source processor is fixed to the bottom of the support member and connected to the fixed cylinder through a pipe.
As a further description of the invention, the longitudinal sliding device is also provided with a hard stop and a lubrication pump.
The lifting device has the advantages that the fixed-point movement of the carrying mechanism in a three-dimensional space can be realized through the longitudinal sliding device, the transverse sliding device and the vertical sliding device, the round bar piece is lifted through the claw piece and is fixed through the fixing cylinder and the fixing piece to prevent the round bar piece from sliding, the horizontal angle of the round bar piece can be adjusted through the rotating device according to requirements, the round bar piece can be rotated by 360 degrees, the structural stability of the whole device is high, the round bar piece can be carried as long as the round bar piece can be carried, the lifting device is convenient to use, low in operation difficulty and high in automation degree, the lifting device can effectively replace manual carrying of heavy objects, and the carrying efficiency is greatly improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the present invention with the legs and cross members removed;
FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2;
FIG. 4 is a schematic view of the present invention with the legs, cross member and longitudinal slide removed
FIG. 5 is an enlarged view of the structure at B in FIG. 4;
FIG. 6 is a schematic view of the structure of FIG. 4 from yet another perspective;
FIG. 7 is an enlarged view of the structure of FIG. 6 at C;
fig. 8 is another view angle structure diagram of fig. 4.
In the figure, 1, a support leg; 2. a cross beam; 3. a slide rail; 4. a longitudinal sliding device; 401. a longitudinal sliding seat; 402. a truss; 5. a lateral sliding device; 501. a transverse sliding seat; 6. a pneumatic band-type brake device; 7. a vertical sliding device; 701. a vertical sliding seat; 702. a speed reducer; 8. a rotating device; 801. rotating the fixed seat; 802. rotating the motor; 9. a carrying device; 901. a support member; 902. fixing the air cylinder; 903. a fixing member; 904. a claw member; 905. an air source processor; 10. a limiting member; 11. a long rack; 12. hard limiting; 13. a servo motor; 14. a gear member; 15. a pulley; 16. a gas storage tank; 17. an electromagnetic valve; 18. a one-way valve; 19. a pressure increasing valve; 20. a quick discharge valve; 21. a lubrication pump.
Detailed Description
Firstly, the design of the invention is designed originally, a specific conveying device is needed when a plurality of large round bar workpieces are conveyed, but the existing conveying device has poor stability, cannot adjust the angle of the conveying piece in the conveying process, and cannot meet the requirements of certain stations, so a novel gantry type truss conveying device is developed.
The invention is described in detail below with reference to the accompanying drawings, and as shown in fig. 1 to 8, the complete set of device includes a supporting leg 1, a cross beam 2 mounted on the supporting leg 1, a longitudinal sliding device 4 mounted on the cross beam 2, a vertical sliding device 7 and a pneumatic contracting brake device 6 mounted on the longitudinal sliding device 4, a rotating device 8 mounted on the vertical sliding device 7, and a carrying device 9 mounted on the rotating device 8, so that the carrying work of round bars can be realized, 360-degree arbitrary angle adjustment can be performed on the round bars in the horizontal direction during carrying according to requirements, and the carrying efficiency and the carrying flexibility are effectively improved.
The above components will be described in detail respectively, the two cross beams 2 are provided, the support legs 1 are respectively mounted at two ends of the bottom of the two cross beams 2 for supporting, each cross beam 2 is provided with a slide rail 3, and two ends of the longitudinal sliding device 4 are lapped on the slide rails 3 of the two cross beams 2; the longitudinal sliding device 4 comprises a longitudinal sliding seat 401, a pulley 15, a truss 402, a long rack 11, a gear piece 14 and a servo motor 13, wherein the pulley 15 is fixed at four ends of the bottom of the longitudinal sliding seat 401, the longitudinal sliding seat 401 is connected with a sliding rail 3 on the cross beam 2 in a sliding manner, and the pulley 15 is fixed at four ends of the inner side of the bottom of the longitudinal sliding seat 401 so as to facilitate the longitudinal sliding seat 401 to slide on the sliding rail 3; the two trusses 402 are also arranged in parallel and used for fixing the transverse sliding device 5, two ends of each truss 402 are respectively fixed on the longitudinal sliding seat 401 installed on the cross beam 2, the long rack 11 is fixed on the side surface of the cross beam 2, the servo motor 13 is fixed on the side surface of the longitudinal sliding seat 401, the servo motor 13 is meshed with the long rack 11 through the gear piece 14, the servo motor 13 drives the longitudinal sliding seat 401 to integrally and longitudinally move through the gear piece 14, in order to prevent the longitudinal sliding seat 401 from sliding out of the sliding rail 3, the two ends of the long rack 11 are provided with the limiting pieces 10, and the sliding distance of the limiting pieces is limited.
In the two trusses 402, the two trusses 402 are provided with the slide rails 3, one truss 402 is also provided with a long rack 11 and soft limit positions, and the soft limit positions are positioned at two ends of the long rack 11 and used for preventing the transverse sliding device 5 from sliding out of the slide rails 3; the transverse sliding device 5 is overlapped on the two trusses 402 and is connected with the sliding rail 3 in a sliding way, wherein the transverse sliding device 5 comprises a transverse sliding seat 501, a pulley 15, a gear piece 14 and a servo motor 13, the pulley 15 is fixed on the inner side of the transverse sliding seat 501, the transverse sliding seat 501 is connected with the sliding rail 3 on the side surface of the two trusses 402 in a sliding way, the servo motor 13 is vertically fixed on the transverse sliding seat 501 and is meshed with the long rack 11 on the trusses 402 through the gear piece 14, the vertical sliding device 7 is fixed on the transverse sliding seat 501 and is positioned between the two trusses 402 and is driven by the servo motor 13 to drive the transverse sliding device 5 and the vertical sliding device 7 arranged on the transverse sliding device 5 to slide transversely integrally, a hard limit 12 and a lubricating pump 21 are also arranged on the longitudinal sliding device 4, the hard limit 12 is positioned at the two ends of the trusses 402, and a lubrication pump 21 is provided on the longitudinal sliding seat 401 for supplying lubricant to the gear member 14 of the longitudinal sliding device 4 to enhance the lubrication performance.
The transverse sliding seat 501 is further provided with an air storage tank 16, a one-way valve 18, a pressure increasing valve 19, an electromagnetic valve 17, a quick exhaust valve 20 and a lubricating pump 21, wherein the electromagnetic valve 17 is connected with the air storage tank 16 through a pipeline, the air storage tank 16 is connected with the one-way valve 18 through a pipeline, the one-way valve 18 is connected with the pressure increasing valve 19 through a pipeline, the pressure increasing valve 19 is fixedly connected with the quick exhaust valve 20 in a penetrating manner, the quick exhaust valve 20 is connected with the pneumatic band-type brake device 6 through a pipeline, the electromagnetic valve 17 can control air intake and air cut-off of the system, the one-way valve 18 is arranged to prevent air from flowing back into the air storage tank 16, after the air passes through the pressure increasing valve 19, the pressure increasing valve 19 increases the air pressure to a required pressure, the air is rapidly released by the quick exhaust valve 20 to provide required power for the pneumatic band-type brake device 6, the pneumatic band-type brake device 6 is positioned on the side surface of the vertical sliding, the locking mechanism can be locked at a critical moment, so that the safety of carrying work is improved; the lubrication pump 21 is fixed on the side of the lateral sliding seat 501 to supply lubricant to the lateral sliding device 5 and the vertical sliding device 7.
The structure of the vertical sliding device 7 is similar to that of the longitudinal sliding device 4 and the transverse sliding device 5, and the vertical sliding device comprises a vertical sliding seat 701, a sliding rail 3, a long rack 11, a servo motor 13 and a speed reducer 702, wherein the vertical sliding seat 701 is in sliding connection with the transverse sliding seat 501 through the sliding rail 3, the long rack 11 is fixed on the side surface of the vertical sliding seat 701, the servo motor 13 is fixedly connected with the speed reducer 702, the speed reducer 702 is fixed on the side surface of the transverse sliding seat 501 and is meshed with the long rack 11 through a gear, the servo motor 13 provides driving power for the speed reducer, and then the speed reducer 702 reduces the speed and drives the rotating device 8 and the carrying device 9 which are installed on the vertical sliding device 7 to vertically move through a gear piece 14; rotating device 8 includes rotating fixing base 801 and rotation motor 802, and rotating fixing base 801 fixes the tip at vertical sliding seat 701, and rotation motor 802 fixes on rotating fixing base 801, and round bar spare can drive each 180 degrees rotations of handling device 9 anticlockwise and clockwise when the transport through rotating motor because weight is heavier, namely can realize 360 arbitrary angle rotations for adjust the horizontal angle of round bar spare, cooperation actual demand.
The carrying device 9 comprises a support 901, a hook piece 904, an air source processor 905, a fixed air cylinder 902, a fixing piece 903 and the like, wherein the support 901 is fixedly connected with a rotating shaft of a rotating motor 802, the hook pieces 904 are respectively fixed at two ends of the bottom of the support 901, the fixed air cylinder 902 is fixed on the hook pieces 904, the fixing piece 903 is fixedly connected with a transmission rod of the fixed air cylinder 902, the air source processor 905 is fixed at the bottom of the support 901 and connected with the fixed air cylinder 902 through a pipeline, the air source processor 905 is used for stabilizing an air source of the fixed air cylinder 902, the position of the carrying device 9 is adjusted by the transverse sliding device 5, the longitudinal sliding device 4 and the vertical sliding device 7, the round bar piece is hooked by the claw piece 904, then the round bar is fixed by the fixing cylinder 902 through the fixing part 903 and then can be carried, so that the round bar can be prevented from sliding, and the safety of carrying work is improved.
The working principle is as follows: firstly, the longitudinal sliding seat 401 can slide on the sliding rail 3 by being driven by a servo motor 13 on the longitudinal sliding device 4 through the meshing transmission of a gear piece 14 and a long rack 11, the longitudinal position of the carrying device 9 is adjusted, then after the speed is reduced and changed through a speed reducer 702 by being driven by the servo motor 13 of the transverse sliding device 5, the transverse sliding seat 501 can slide on the sliding rail 3 on the truss 402 through the meshing transmission of the gear piece 14 and the long rack 11, the transverse position of the carrying device 9 is adjusted, then the transverse position of the carrying device 9 is adjusted, the round bar piece 904 is hooked through a claw piece, then the round bar piece is fixed through a fixing cylinder 902 driving fixing piece 903, and then the round bar piece can be carried to the designated position by repeated operation, when the horizontal angle of round bar spare needs to be adjusted, can adjust through rotary machine of rotary device 8, can realize anticlockwise and each 180 degrees rotations of clockwise, wherein pneumatic band-type brake device 6 can prevent handling device 9 from weighing down suddenly when the transport, the key moment can be with its locking, admit air and the disconnected gas through solenoid valve 17 control entire system, pressurize atmospheric pressure by booster valve 19, provide required atmospheric pressure for pneumatic band-type brake device 6, then there is fast valve 20 quick release of arranging, stability when having promoted the whole transport of device.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.
Claims (8)
1. The utility model provides a novel planer-type truss (402) handling device (9), includes landing leg (1) and installs crossbeam (2) on landing leg (1), its characterized in that, be provided with slide rail (3) on crossbeam (2), be provided with longitudinal sliding device (4) on slide rail (3), be provided with lateral sliding device (5) on longitudinal sliding device (4), be provided with vertical slider (7) and pneumatic brake device (6) on lateral sliding device (5), be provided with rotary device (8) on vertical slider (7), be provided with handling device (9) on rotary device (8).
2. The novel gantry type truss (402) carrying device (9) as claimed in claim 1, wherein the number of the cross beam (2) is two, the legs (1) are fixed at two ends of the bottom of the cross beam (2), the longitudinal sliding device (4) comprises longitudinal sliding seats (401), pulleys (15), trusses (402), long racks (11), gear pieces (14) and servo motors (13), the pulleys (15) are fixed at four ends of the bottom of the longitudinal sliding seats (401), the longitudinal sliding seats (401) are slidably connected with the sliding rails (3) on the cross beam (2), the trusses (402) are two and are arranged in parallel, two ends of each truss (402) are respectively fixed on the two longitudinal sliding seats (401), the long racks (11) are fixed at the side of the cross beam (2), and the servo motors (13) are fixed at the side of the longitudinal sliding seats (401), and the servo motor (13) is meshed with the long rack (11) through a gear, the two ends of the long rack (11) are provided with limiting pieces (10), and the side surfaces of the two trusses (402) are provided with sliding rails (3).
3. The novel gantry type truss (402) handling device (9) as claimed in claim 2, it is characterized in that one truss (402) of the two trusses (402) is provided with a long rack (11) and a soft limit, the soft limit positions are positioned at two ends of the long rack (11), the transverse sliding device (5) comprises a transverse sliding seat (501), a pulley (15), a gear piece (14) and a servo motor (13), the pulley (15) is fixed on the inner side of the transverse sliding seat (501), the transverse sliding seat (501) is connected with the sliding rails (3) on the side surfaces of the two trusses (402) in a sliding manner, the servo motor (13) is vertically fixed on the transverse sliding seat (501) and is meshed with the long rack (11) on the truss (402) through a gear piece (14), the vertical sliding device (7) is fixed on the transverse sliding seat (501) and is positioned between the two trusses (402).
4. The novel gantry truss (402) carrying device (9) as claimed in claim 3, wherein the transverse sliding seat (501) is further provided with an air storage tank (16), a one-way valve (18), a pressure increasing valve (19), an electromagnetic valve (17), a quick-release valve (20) and a lubricating pump (21), the electromagnetic valve (17) is connected with the air storage tank (16) through a pipeline, the air storage tank (16) is connected with the one-way valve (18) through a pipeline, the one-way valve (18) is connected with the pressure increasing valve (19) through a pipeline, the pressure increasing valve (19) is fixedly connected with the quick-release valve (20) in a penetrating manner, the quick-release valve (20) is connected with the pneumatic band-type brake device (6) through a pipeline, and the lubricating pump (21) is fixed on the side surface of the transverse sliding seat (501).
5. The novel gantry type truss (402) handling device (9) as claimed in claim 3, it is characterized in that the vertical sliding device (7) comprises a vertical sliding seat (701), a sliding rail (3), a long rack (11), a gear piece (14), a servo motor (13) and a speed reducer (702), the vertical sliding seat (701) is connected with the transverse sliding seat (501) in a sliding way through a sliding rail (3), the long rack (11) is fixed on the side surface of the vertical sliding seat (701), the servo motor (13) is fixedly connected with the speed reducer (702), the speed reducer (702) is fixed on the side surface of the transverse sliding seat (501) and is meshed with the long rack (11) through a gear piece (14), the pneumatic band-type brake device (6) is installed on the side face of the vertical sliding seat (701) and is in sliding connection with the transverse sliding seat (501).
6. The novel gantry type truss (402) carrying device (9) as claimed in claim 5, wherein the rotating device (8) comprises a rotating fixing seat (801) and a rotating motor (802), the rotating fixing seat (801) is fixed at the end of the vertical sliding seat (701), and the rotating motor (802) is fixed on the rotating fixing seat (801).
7. The novel gantry truss (402) carrying device (9) as claimed in claim 6, wherein the carrying device (9) comprises a support member (901), a claw hooking member (904), an air source processor (905), a fixed air cylinder (902) and a fixing member (903), the support member (901) is fixedly connected with a rotating shaft of the rotating motor (802), the claw hooking member (904) is respectively fixed at two ends of the bottom of the support member (901), the fixed air cylinder (902) is fixed on the claw hooking member (904), the fixing member (903) is fixedly connected with a transmission rod of the fixed air cylinder (902), and the air source processor (905) is fixed at the bottom of the support member (901) and connected with the fixed air cylinder (902) through a pipeline.
8. The new gantry type truss (402) handling device (9) of claim 1, wherein said longitudinal sliding device (4) is further provided with a hard stop (12) and a lubrication pump (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011459790.1A CN112520406A (en) | 2020-12-11 | 2020-12-11 | Novel gantry type truss carrying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011459790.1A CN112520406A (en) | 2020-12-11 | 2020-12-11 | Novel gantry type truss carrying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112520406A true CN112520406A (en) | 2021-03-19 |
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ID=74999207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011459790.1A Pending CN112520406A (en) | 2020-12-11 | 2020-12-11 | Novel gantry type truss carrying device |
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| Country | Link |
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| CN (1) | CN112520406A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086623A (en) * | 2021-04-13 | 2021-07-09 | 宁夏巨能机器人股份有限公司 | Transfer robot |
| CN113928848A (en) * | 2021-10-29 | 2022-01-14 | 安徽斯柯瑞智能装备科技有限公司 | Truss device with high synchronization degree for welding tank body end socket |
| CN114274182A (en) * | 2021-12-31 | 2022-04-05 | 亚威徕斯机器人制造（江苏）有限公司 | Truss robot for assembling stirring barrels |
-
2020
- 2020-12-11 CN CN202011459790.1A patent/CN112520406A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086623A (en) * | 2021-04-13 | 2021-07-09 | 宁夏巨能机器人股份有限公司 | Transfer robot |
| CN113928848A (en) * | 2021-10-29 | 2022-01-14 | 安徽斯柯瑞智能装备科技有限公司 | Truss device with high synchronization degree for welding tank body end socket |
| CN114274182A (en) * | 2021-12-31 | 2022-04-05 | 亚威徕斯机器人制造（江苏）有限公司 | Truss robot for assembling stirring barrels |
| CN114274182B (en) * | 2021-12-31 | 2024-04-05 | 亚威徕斯机器人制造（江苏）有限公司 | Truss robot for stirring barrel assembly |
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