CN113211411A - Manipulator-assisted mobile positioning device - Google Patents
Manipulator-assisted mobile positioning device Download PDFInfo
- Publication number
- CN113211411A CN113211411A CN202110467525.6A CN202110467525A CN113211411A CN 113211411 A CN113211411 A CN 113211411A CN 202110467525 A CN202110467525 A CN 202110467525A CN 113211411 A CN113211411 A CN 113211411A
- Authority
- CN
- China
- Prior art keywords
- frame
- face
- limiting
- fixedly connected
- hole
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a device with a manipulator auxiliary moving positioning function, which relates to the technical field of mechanical equipment and solves the problems that when a manipulator pauses in the moving process, the shaking is inevitable to cause the shaking of materials clamped by the manipulator, and the falling of the materials is very easy to cause, when the existing manipulator moves, the existing manipulator is basically driven by a cylinder, the impact acting force is large, and the falling of the objects clamped by the manipulator is caused, the device comprises a frame body mechanism, and is characterized in that: the upper position in the frame body mechanism is rotatably connected with a transmission mechanism. Through the matching of the installed first limiting mechanism and the second limiting mechanism, the problem that the clamping object falls off due to shaking generated when the mechanical mechanism stops moving can be avoided in the moving process of the mechanical mechanism, and the practicability is better; through the matching of the installed power mechanism and the transmission mechanism, the mechanical mechanism moves at a uniform speed in the moving process of the frame body mechanism.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a manipulator-assisted mobile positioning device.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. It features that it can be programmed to perform various expected operations, and has the advantages of both human and mechanical manipulators, the mechanical manipulator is the earliest appearing industrial robot and the earliest appearing modern robot, it can replace the heavy labor of human to realize mechanization and automation of production, and it can be operated in harmful environment to protect personal safety, so it is widely used in mechanical manufacture, metallurgy, electronics, light industry and atomic energy departments
For example, application No.: the CN202010275860.1 manipulator moving device comprises a box body and a power groove arranged on the end surface of the bottom of the box body, wherein a moving steering device is arranged in the power groove, first lifting blocks are fixedly arranged on the front, rear, left and right end surfaces of the box body, a lifting device is arranged on the first lifting blocks, the moving steering device comprises limiting grooves arranged on the left end wall and the right end wall of the power groove, and the limiting grooves are arranged on limiting blocks in a sliding fit manner; for manipulator, arm provide the action of removal, be equipped with moving mechanism in this device, satisfy it and remove and turn to the demand, this device still possesses the raising function, in order to satisfy manipulator, arm stability at the during operation when this function is main to avoid the displacement deviation that vibrations at the during operation lead to, this device still is equipped with positioning mechanism simultaneously, can realize the action of taking off and landing convenient fixed in predetermined position.
Based on the search of the above patent, and in combination with the discovery of devices in the prior art, the above devices, when applied: although the displacement deviation caused by the vibration during the working process is avoided to increase the stability during the working process, the manipulator is inevitably shaken during the pause in the moving process, so that the material clamped by the manipulator is shaken, and the falling of the material is extremely easy to cause.
Disclosure of Invention
The invention aims to provide a manipulator auxiliary moving positioning device, which solves the problems that materials clamped by a manipulator are difficult to shake and easily fall off when the manipulator stops in the moving process in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a supplementary mobile positioning device with manipulator, includes support body mechanism, power unit, mechanical mechanism, first stop gear, second stop gear, its characterized in that: a transmission mechanism is rotatably connected to the upper position inside the frame body mechanism; the power mechanism is fixedly connected to the upper position of the front end of the frame body mechanism and is rotationally connected with the transmission mechanism; the mechanical mechanism is connected to the upper position inside the frame body mechanism in a sliding manner through the matching of the transmission mechanism; the first limiting mechanism is fixedly connected to the front end of the top of the frame body mechanism through a screw; the second limiting mechanism is fixedly connected to the rear end of the top of the frame body mechanism through a screw; the support body mechanism comprises a support frame, an installation plate, a clamp and an adjusting hole, wherein the upper position in the middle of the front end face of the support frame is fixedly connected with the rear end face of the installation plate, the top position of the front end of the support frame is fixedly connected with the clamp, and the adjusting hole is formed in the top end face of the support frame.
Preferably, the support frame is a square frame, a slide rail is arranged above the inside of the support frame, a through hole which is communicated with the support frame is formed above the front end face of the support frame, and the clamp clamping groove is located right in front of the through hole of the support frame.
Preferably, the transmission mechanism comprises a transmission rod and a small ring gear, the rod body of the transmission rod is provided with threads, the front end of the transmission rod is fixedly connected with the small ring gear, the transmission rod is positioned in the through hole of the support frame in the installation state of the transmission mechanism, and the front end of the transmission rod is positioned in the clamp groove of the clamp.
Preferably, the power mechanism comprises a motor, a transmission shaft and a large ring gear, the rear end of the motor is rotatably connected with the transmission shaft, the rear end of the transmission shaft is fixedly connected with the large ring gear, the bottom end face of the motor is fixedly connected with the top end face of the mounting plate, and the large ring gear is meshed with the small ring gear in the mounting state of the power mechanism.
Preferably, the mechanical mechanism comprises a closing block, a sliding groove, a threaded hole, a connecting frame and a mechanical claw, the sliding groove is formed in the top end face of the closing block, the threaded hole is formed in the middle of the front end face of the closing block, the top end face of the connecting frame is fixedly connected with the bottom end face of the closing block, the top of the mechanical claw is fixedly connected with the bottom of the connecting frame, the closing block is matched with a support frame sliding rail through the sliding groove in the installation state of the mechanical mechanism, the closing block is connected inside the support frame in a sliding mode, and the transmission rod is connected in the threaded hole in a rotating mode.
Preferably, first stop gear is including first frame, spacing A, gag lever post A, first frame is the frame of square, the through-hole has been seted up to first frame top face, the spout has been seted up to spacing A front end, spacing A top face passes through screw fixed connection with first frame bottom face, the gag lever post A body of rod outside is equipped with the spring, gag lever post A front end sliding connection is in spacing A spout, under the first stop gear installation state, the screw passes the regulation hole of first frame through-hole and strut front end, with first frame fixed connection at the inside front end of strut position.
Preferably, the second limiting mechanism comprises a second frame, a limiting frame B and a limiting rod B, a through hole is formed in the top end face of the second frame, a sliding groove is formed in the front end of the limiting frame B, the top end face of the limiting frame B is fixedly connected with the bottom end face of the second frame through screws, a spring is arranged on the outer side of a rod body of the limiting rod B, and the rear end of the limiting rod B is slidably connected in the sliding groove of the limiting frame B.
Preferably, the second frame is a square frame, and in the installation state of the second limiting mechanism, the screw penetrates through the through hole of the second frame and the adjusting hole at the rear end of the support frame to fixedly connect the second frame at the rear end position inside the support frame.
Compared with the prior art, the invention has the beneficial effects that:
1. through the cooperation of the first limiting mechanism and the second limiting mechanism, in the process of moving of the mechanical mechanism, the shaking generated when the mechanical mechanism stops moving can be avoided, the problem of falling off of the object is caused to clamp, and the practicability is achieved.
2. Through the cooperation of the power mechanism and the transmission mechanism of installation for the in-process that mechanical mechanism removed in support body mechanism is in the removal of uniform velocity, has avoided present manipulator to pass through the cylinder at the removal process and has driven, and the problem that the object that leads to the manipulator clamp to get drops at an excessive speed.
Drawings
FIG. 1 is a left side view of the main structure of the present invention;
FIG. 2 is a schematic side view of the main structure of the present invention;
FIG. 3 is a schematic side view of the frame mechanism of the present invention;
FIG. 4 is a schematic side view of the transmission mechanism of the present invention;
FIG. 5 is a schematic view of the structure at A in FIG. 4 according to the present invention;
FIG. 6 is a schematic side view of the power mechanism according to the present invention;
FIG. 7 is a side view of the mechanical mechanism of the present invention;
FIG. 8 is a schematic side view of the first limiting mechanism of the present invention;
FIG. 9 is a schematic side view of a second limiting mechanism according to the present invention;
in the figure: 1-a frame body mechanism; 101-a support frame; 102-a mounting plate; 103-a clamp; 104-a conditioning aperture; 2-a transmission mechanism; 201-a transmission rod; 202-small ring gear; 3, a power mechanism; 301-a motor; 302-a drive shaft; 303-large ring gear; 4-a mechanical mechanism; 401-block combination; 402-a sliding groove; 403-threaded hole; 404-a connecting frame; 405-gripper; 5-a first limiting mechanism; 501-a first frame; 502-a stop block A; 503-a spacing rod A; 6-a second limiting mechanism; 601-a second frame; 602-a spacing frame B; 603-limiting rod B.
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.
Referring to fig. 1-9, the present invention provides a technical solution with a manipulator auxiliary moving positioning device: the utility model provides a supplementary mobile positioning device with manipulator, includes support body mechanism 1, power unit 3, mechanical mechanism 4, first stop gear 5, second stop gear 6, its characterized in that: a transmission mechanism 2 is rotatably connected to the upper position inside the frame body mechanism 1; the power mechanism 3 is fixedly connected to the upper position of the front end of the frame body mechanism 1, and the power mechanism 3 is rotatably connected with the transmission mechanism 2; the mechanical mechanism 4 is connected to the upper position inside the frame body mechanism 1 in a sliding manner through the matching of the transmission mechanism 2; the first limiting mechanism 5 is fixedly connected to the front end of the top of the frame body mechanism 1 through screws; the second limiting mechanism 6 is fixedly connected to the rear end of the top of the frame body mechanism 1 through screws; the frame body mechanism 1 comprises a support frame 101, an installation plate 102, a clamp 103 and an adjusting hole 104, wherein the upper position in the middle of the front end face of the support frame 101 is fixedly connected with the rear end face of the installation plate 102, the clamp 103 is fixedly connected with the top position of the front end of the support frame 101, and the adjusting hole 104 is formed in the top end face of the support frame 101.
The supporting frame 101 is a frame in a shape like a Chinese character 'kou', a sliding rail is arranged above the inside of the supporting frame 101, a through hole which is communicated with the supporting frame 101 is formed above the front end face of the supporting frame 101, and the clamping groove of the clamp 103 is located right in front of the through hole of the supporting frame 101.
The transmission mechanism 2 comprises a transmission rod 201 and a small ring gear 202, a rod body of the transmission rod 201 is provided with threads, the small ring gear 202 is fixedly connected to the front end of the transmission rod 201, the transmission rod 201 is located in a through hole of the support frame 101 in the installation state of the transmission mechanism 2, and the front end of the transmission rod 201 is located in a clamping groove of the clamp 103.
The power mechanism 3 comprises a motor 301, a transmission shaft 302 and a large ring gear 303, the rear end of the motor 301 is rotatably connected with the transmission shaft 302, the rear end of the transmission shaft 302 is fixedly connected with the large ring gear 303, the bottom end face of the motor 301 is fixedly connected with the top end face of the mounting plate 102 in the installation state of the power mechanism 3, and the large ring gear 303 is meshed with the small ring gear 202.
The mechanical mechanism 4 comprises a combining block 401, a sliding groove 402, a threaded hole 403, a connecting frame 404 and a mechanical claw 405, the sliding groove 402 is formed in the top end face of the combining block 401, the threaded hole 403 is formed in the middle of the front end face of the combining block 401, the top end face of the connecting frame 404 is fixedly connected with the bottom end face of the combining block 401, the top of the mechanical claw 405 is fixedly connected with the bottom of the connecting frame 404, the combining block 401 is matched with a sliding rail of the support frame 101 through the sliding groove 402 in the installation state of the mechanical mechanism 4, the combining block 401 is connected inside the support frame 101 in a sliding mode, and the transmission rod 201 is connected in the threaded hole 403 in a rotating mode.
Wherein, first stop gear 5 is including first frame 501, spacing A502, gag lever post A503, first frame 501 is the frame of square character shape, the through-hole has been seted up to first frame 501 top face, the spout has been seted up to spacing A502 front end, spacing A502 top face passes through screw fixed connection with first frame 501 bottom face, the body of rod outside of gag lever post A503 is equipped with the spring, gag lever post A503 front end sliding connection is in spacing A502 spout, under first stop gear 5 installation state, the screw passes first frame 501 through-hole and the regulation hole 104 of strut 101 front end, with first frame 501 fixed connection in the inside front end position of strut 101.
The second limiting mechanism 6 includes a second frame 601, a limiting frame B602, and a limiting rod B603, the top end surface of the second frame 601 has a through hole, the front end of the limiting frame B602 has a chute, the top end surface of the limiting frame B602 is fixedly connected to the bottom end surface of the second frame 601 through a screw, the outer side of the rod body of the limiting rod B603 is provided with a spring, and the rear end of the limiting rod B603 is slidably connected to the chute of the limiting frame B602.
The second frame 601 is a square frame, and in the installation state of the second limiting mechanism 6, a screw penetrates through a through hole of the second frame 601 and the adjusting hole 104 at the rear end of the supporting frame 101 to fixedly connect the second frame 601 at the rear end position inside the supporting frame 101.
The working principle is as follows: when the working is needed, a user starts the motor 301, the transmission shaft 302 rotates, the large ring gear 303 is meshed with the small ring gear 202, the transmission rod 201 rotates, when the transmission rod 201 rotates, the threads of the transmission rod 201 are matched with the threaded holes 403, the combination block 401 moves back and forth, the forward movement process of the mechanical mechanism 4 is completed, when the mechanical mechanism 4 moves to the edge position towards the front end, the front end surface of the connecting frame 404 is attached to the rear end of the limiting rod A503, the combination block 401 continues to move forward, the limiting rod A503 slides into the sliding groove of the limiting frame A502, the combination block 401 is prevented from shaking when stopping moving forward, the acting force generated when the combination block 401 moves is relieved through the matching of the spring of the limiting rod A503 and the limiting frame A502, when the mechanical mechanism 4 moves backwards, the rear end surface of the connecting frame 404 is attached to the front end surface of the limiting rod B603, the block 401 continues to move backwards, the process of backwards moving of the mechanical mechanism 4 is completed, the limiting rod B603 slides into the sliding groove of the limiting frame B602, the phenomenon that the block 401 stops moving backwards when the block is shaken is avoided, and acting force generated when the block 401 moves is relieved through the matching of the limiting frame B602 and the limiting rod B603 to complete work.
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 (8)
1. The utility model provides a supplementary mobile positioning device with manipulator, includes support body mechanism (1), power unit (3), mechanical mechanism (4), first stop gear (5), second stop gear (6), its characterized in that: a transmission mechanism (2) is rotatably connected to the upper position inside the frame body mechanism (1); the power mechanism (3) is fixedly connected to the position above the front end of the frame body mechanism (1), and the power mechanism (3) is rotatably connected with the transmission mechanism (2); the mechanical mechanism (4) is connected to the upper position inside the frame body mechanism (1) in a sliding manner through the matching of the transmission mechanism (2); the first limiting mechanism (5) is fixedly connected to the front end of the top of the frame body mechanism (1) through screws; the second limiting mechanism (6) is fixedly connected to the rear end position of the top of the frame body mechanism (1) through a screw; the support body mechanism (1) comprises a support frame (101), an installation plate (102), a clamp (103) and an adjusting hole (104), wherein the upper position in the middle of the front end face of the support frame (101) is fixedly connected with the rear end face of the installation plate (102), the top position of the front end of the support frame (101) is fixedly connected with the clamp (103), and the adjusting hole (104) is formed in the top end face of the support frame (101).
2. A robot assisted mobile positioning apparatus as set forth in claim 1, wherein: the supporting frame (101) is a square frame, a sliding rail is arranged above the inside of the supporting frame (101), a through hole which is communicated with the supporting frame (101) is formed above the front end face of the supporting frame (101), and the clamping groove of the clamp (103) is located right in front of the through hole of the supporting frame (101).
3. A robot assisted mobile positioning apparatus as set forth in claim 1, wherein: the transmission mechanism (2) comprises a transmission rod (201) and a small ring gear (202), a rod body of the transmission rod (201) is provided with threads, the small ring gear (202) is fixedly connected to the front end of the transmission rod (201), the transmission rod (201) is located in a through hole of the support frame (101) in the installation state of the transmission mechanism (2), and the front end of the transmission rod (201) is located in a clamping groove of the clamp (103).
4. A robot assisted mobile positioning apparatus as set forth in claim 1, wherein: the power mechanism (3) comprises a motor (301), a transmission shaft (302) and a large ring gear (303), the rear end of the motor (301) is rotatably connected with the transmission shaft (302), the rear end of the transmission shaft (302) is fixedly connected with the large ring gear (303), the bottom end face of the motor (301) is fixedly connected with the top end face of the mounting plate (102) in the mounting state of the power mechanism (3), and the large ring gear (303) is meshed with the small ring gear (202).
5. A robot assisted mobile positioning apparatus as set forth in claim 1, wherein: the mechanical mechanism (4) comprises a combining block (401), a sliding groove (402), a threaded hole (403), a connecting frame (404) and a mechanical claw (405), the sliding groove (402) is formed in the top end face of the combining block (401), the threaded hole (403) is formed in the middle of the front end face of the combining block (401), the top end face of the connecting frame (404) is fixedly connected with the bottom end face of the combining block (401), the top of the mechanical claw (405) is fixedly connected with the bottom of the connecting frame (404), the combining block (401) is matched with a sliding rail of a support frame (101) through the sliding groove (402) in the installation state of the mechanical mechanism (4), the combining block (401) is slidably connected inside the support frame (101), and a transmission rod (201) is rotatably connected in the threaded hole (403).
6. A robot assisted mobile positioning apparatus as set forth in claim 1, wherein: first stop gear (5) is including first frame (501), spacing A (502), gag lever post A (503), first frame (501) is the frame of square font form, the through-hole has been seted up to first frame (501) top terminal surface, the spout has been seted up to spacing A (502) front end, spacing A (502) top terminal surface passes through screw fixed connection with first frame (501) bottom terminal surface, gag lever post A (503) body of rod outside is equipped with the spring, gag lever post A (503) front end sliding connection is in spacing A (502) spout, under first stop gear (5) installation state, the screw passes first frame (501) through-hole and regulation hole (104) of strut (101) front end, with first frame (501) fixed connection in strut (101) inside front end position.
7. A robot assisted mobile positioning apparatus as set forth in claim 1, wherein: the second limiting mechanism (6) comprises a second frame (601), a limiting frame B (602) and a limiting rod B (603), a through hole is formed in the top end face of the second frame (601), a sliding groove is formed in the front end of the limiting frame B (602), the top end face of the limiting frame B (602) is fixedly connected with the bottom end face of the second frame (601) through a screw, a spring is arranged on the outer side of a rod body of the limiting rod B (603), and the rear end of the limiting rod B (603) is slidably connected in the sliding groove of the limiting frame B (602).
8. A robot assisted mobile positioning apparatus as set forth in claim 7, wherein: the second frame (601) is a square frame, and in the installation state of the second limiting mechanism (6), a screw penetrates through a through hole of the second frame (601) and an adjusting hole (104) at the rear end of the support frame (101) to fixedly connect the second frame (601) at the rear end position in the support frame (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110467525.6A CN113211411A (en) | 2021-04-28 | 2021-04-28 | Manipulator-assisted mobile positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110467525.6A CN113211411A (en) | 2021-04-28 | 2021-04-28 | Manipulator-assisted mobile positioning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113211411A true CN113211411A (en) | 2021-08-06 |
Family
ID=77089759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110467525.6A Pending CN113211411A (en) | 2021-04-28 | 2021-04-28 | Manipulator-assisted mobile positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113211411A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202301724U (en) * | 2011-10-21 | 2012-07-04 | 浙江吉利汽车研究院有限公司 | Flying carpet damping device for pole impact test |
| CN109318219A (en) * | 2018-11-19 | 2019-02-12 | 广东技术师范学院 | A kind of gantry lift industrial robot |
| CN208880747U (en) * | 2018-09-28 | 2019-05-21 | 深圳市金粤缝纫设备有限公司 | It is a kind of to clamp stable automated machine pawl |
| CN211662055U (en) * | 2019-12-04 | 2020-10-13 | 贵州西南工具(集团)有限公司 | Anti-skid manipulator |
| CN211890891U (en) * | 2019-12-11 | 2020-11-10 | 重庆工贸职业技术学院 | Driving device of manipulator |
-
2021
- 2021-04-28 CN CN202110467525.6A patent/CN113211411A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202301724U (en) * | 2011-10-21 | 2012-07-04 | 浙江吉利汽车研究院有限公司 | Flying carpet damping device for pole impact test |
| CN208880747U (en) * | 2018-09-28 | 2019-05-21 | 深圳市金粤缝纫设备有限公司 | It is a kind of to clamp stable automated machine pawl |
| CN109318219A (en) * | 2018-11-19 | 2019-02-12 | 广东技术师范学院 | A kind of gantry lift industrial robot |
| CN211662055U (en) * | 2019-12-04 | 2020-10-13 | 贵州西南工具(集团)有限公司 | Anti-skid manipulator |
| CN211890891U (en) * | 2019-12-11 | 2020-11-10 | 重庆工贸职业技术学院 | Driving device of manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106926321B (en) | A kind of timber scale cun hi-precision cutting and waste recovery integration apparatus | |
| CN108284441B (en) | Terminal clamping device of small-size arm | |
| CN208585779U (en) | Workpiece-taking of plastic jetting-moulding machine manipulator | |
| CN212885581U (en) | Automatic soldering tin machine convenient to staff takes | |
| CN113211411A (en) | Manipulator-assisted mobile positioning device | |
| CN208584762U (en) | Convenient for the workpiece-taking of plastic jetting-moulding machine manipulator of jig installation | |
| CN110756876A (en) | Automatic plate shearing machine of automatic feeding mechanism | |
| CN116193722A (en) | Circuit board processing location frock | |
| CN213826686U (en) | Stable and efficient hardware mould | |
| CN213258433U (en) | Automatic chip removal device of digital display gantry milling machine | |
| CN209078455U (en) | A kind of stamping parts automatically grinding device | |
| CN209736949U (en) | Movable tool of robot assembly demonstration system | |
| CN107150337A (en) | A kind of production line robot mobile console | |
| CN208438028U (en) | Feeding device is used in a kind of processing of cylindrical workpiece | |
| CN219881645U (en) | Intelligent numerical control welding manipulator | |
| CN207952280U (en) | A kind of rear baffle of bending machine distance caging device | |
| CN207717632U (en) | A kind of Machine Vision Detection feeding device of metal casting | |
| CN216543347U (en) | Multi-shaft transverse moving type manipulator device | |
| CN209425427U (en) | A kind of three-D manipulator | |
| CN206855453U (en) | A kind of material tray type is ground one's teeth in sleep manipulator | |
| CN216264860U (en) | Machine part processing sweeps cleaning device | |
| CN114378401A (en) | High-precision automatic welding manipulator | |
| CN219881355U (en) | Processing equipment is used in water pump production | |
| CN221475218U (en) | Manipulator positioning device | |
| CN220481713U (en) | Triaxial motion mechanical arm |
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: 20210806 |
|
| RJ01 | Rejection of invention patent application after publication |