CN118083150A - Automatic butt-joint vehicle for movable cabin - Google Patents
Automatic butt-joint vehicle for movable cabin Download PDFInfo
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- CN118083150A CN118083150A CN202410200715.5A CN202410200715A CN118083150A CN 118083150 A CN118083150 A CN 118083150A CN 202410200715 A CN202410200715 A CN 202410200715A CN 118083150 A CN118083150 A CN 118083150A
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- support
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- guide rail
- lifting
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- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 238000003032 molecular docking Methods 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 210000001503 joint Anatomy 0.000 claims description 28
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000017105 transposition Effects 0.000 abstract 2
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/50—Handling or transporting aircraft components
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Manufacturing & Machinery (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention relates to a movable cabin automatic butt-joint vehicle, and belongs to the technical field of aerospace manufacturing. The butt-joint vehicle is fixed on a guide rail transversely extending on the AGV, and a plurality of groups of split type supporting and adjusting mechanisms which are distributed at intervals are arranged on the guide rail; the horizontal servo motor on the bottom plate of the split type supporting and adjusting mechanism is meshed with the rack through a transmission gear and is respectively provided with a lifting machine, and two lifting machines positioned at the horizontal corresponding positions are provided with the same adjusting support plate; the upper part of the sliding support frame on the adjusting support plate is provided with an arc opening, and forms a horizontal moving pair with the adjusting support plate; the arc opening and the arc-shaped supporting ring form a rotating pair for limiting a rotating angle; the sliding support frames on the two adjacent front and rear adjusting support plates in the split type support adjusting mechanism are respectively provided with two transposition gears which are simultaneously connected with the longitudinal servo motor in a transmission way, and the two transposition gears are respectively meshed with the outer circular arc teeth of the corresponding support rings. According to the invention, the docking and transferring functions of each cabin section are combined, so that the docking efficiency and the assembly precision of the cabin sections are ensured, and the labor intensity is reduced.
Description
Technical Field
The invention relates to cabin section butt joint equipment, in particular to a movable automatic cabin section butt joint vehicle, and belongs to the technical field of aerospace manufacturing.
Background
Aircraft such as airplanes often consist of a plurality of tanks, the assembly process of which is mainly to dock the tanks in sequence by means of a tank automatic docking vehicle (see fig. 1 and 2).
The applicant knows that the transportation and docking process is difficult to be automated due to the large mass and size of each cabin section when the aircraft is assembled, and the time consumption is long, so that heavy-load, high-precision and high-efficiency docking equipment is required.
In order to overcome the defects of low efficiency, difficult control of precision, complex structure, inconvenient operation and the like commonly existing in the existing cabin docking equipment, the Chinese patent with the application number of CN202110979569.7 discloses an automatic docking device for automatically clamping a cabin of a cylinder, the cabin of the cylinder is automatically clamped by a pneumatic device, the automatic and flexible clamping of the cabin of the cylinder by a clamp is realized, and then a transverse moving mechanism adjusts according to relative pose so that the axes of the two cabins are overlapped. However, practice shows that the technical scheme of the patent still has the following defects: firstly, the docking device is fixed, has insufficient maneuverability and cannot realize the function of cabin transportation; secondly, the four groups of transverse moving mechanisms can only finish the pose adjustment of one cabin section, and the integral butt joint assembly of all cabin sections can not be realized; in addition, the gesture adjustment can only be carried out according to the determined displacement requirement, and the gesture of the cabin section can not be recognized autonomously, so that the requirement of automation of the whole butt joint process is difficult to meet.
Disclosure of Invention
The purpose of the invention is that: aiming at the main problems in the prior art, the movable cabin section butt joint equipment with all cabin section transferring, butt joint and transporting functions is provided, so that manual intervention is reduced, cabin section butt joint efficiency and assembly precision are improved, and labor intensity is reduced.
In order to achieve the purpose, the basic technical scheme of the mobile cabin automatic docking vehicle is as follows: the automatic guide rail device comprises a guide rail fixed on the AGV and extending transversely and a rack parallel to the guide rail, wherein a plurality of groups of split type support adjusting mechanisms are arranged on the guide rail at intervals;
The split type support adjusting mechanism comprises a rectangular bottom plate which forms a moving pair with the guide rail, a transverse servo motor on the bottom plate is meshed with the rack through a transmission gear, lifting machines which convert the rotary motion of the lifting servo motor into lifting motion are respectively arranged near four corners on the bottom plate, and two lifting machines which are positioned at the transverse corresponding positions are provided with the same adjusting support plate;
The screw rod is supported on the adjusting support plate and driven by the horizontal servo motor, a screw pair is formed by the screw rod and a nut fixedly connected with the lower part of the sliding support frame, and a horizontal moving pair perpendicular to the transverse direction is formed by the sliding support frame with an arc opening at the upper part and the adjusting support plate; the arc opening of the sliding support frame and the arc-shaped support ring form a rotating pair with a limited rotation angle;
in the split type support adjusting mechanism, sliding support frames on the front and rear adjacent adjusting support plates staggered in the transverse position are respectively provided with an axial limiting gear, a longitudinal servo motor is simultaneously connected with two indexing gears in a transmission mode, and the two indexing gears are respectively meshed with outer circular arc teeth of corresponding support rings.
After the invention is adopted, the automatic transfer, butt joint and transportation of all cabin sections can be completed at one time by means of the control of each motor, so that the manual intervention is greatly reduced, the cabin section butt joint efficiency and assembly precision are ensured, and the labor intensity is reduced.
The AGV is further perfected by the invention, a vision measuring mechanism and a 3D camera matched with the vision measuring mechanism are also arranged on the AGV; the lower end of the vertical linear module is meshed with the rack through a camera gear driven by a camera servo motor, the vertical linear module is provided with a longitudinal linear module which forms a vertical moving pair with the vertical linear module, and the longitudinal linear module is provided with the 3D camera through a mounting base which forms a horizontal moving pair with the vertical linear module.
Like this, when the cabin section that needs the butt joint is placed on the holding ring, vision measuring device will move to the butt joint terminal surface centre voluntarily, can gather the output data of 3D camera and output the regulation and control signal to each servo motor with the help of regulating and control circuit, realize discernment cabin section position appearance and guide the regulation bearing structure of one of them cabin section and carry out the position appearance adjustment. The whole cabin section after the butt joint is accomplished can be transported by AGV to only need to put the cabin section in proper order on the support ring of butt joint equipment can realize the equipment of terminal surface automatic butt joint, need not the manual work and distinguish the relative position appearance of cabin section and carry out many times adjustment, show improvement automation level.
The invention is further perfected that the arc opening of the sliding support frame and the arc-shaped support ring form a rotation angle limiting revolute pair through the support rollers which are distributed at intervals.
The invention is further perfected that the longitudinal servo motor is simultaneously connected with the two indexing gears in a transmission way through a universal coupling.
The invention is further perfected in that the lifting machine converts the rotary motion of the lifting servo motor into the lifting motion through the screw nut pair.
The invention is further perfected that the two lifters positioned at the corresponding transverse positions jack up the same adjusting supporting plate through the corresponding jack-up posts.
The invention is further perfected in that the inner circular arc surface of the support ring is attached with a rubber gasket.
The invention is still further perfected in that the lower part of the bottom plate and the guide rail form a moving pair through the bottom sliding block.
Drawings
Fig. 1 is a schematic diagram of the structure of an embodiment of the present invention.
Fig. 2 is an enlarged schematic view of the structure at a in fig. 1.
Fig. 3 is an enlarged schematic view of the section B-B in fig. 1.
Fig. 4 is an enlarged schematic view of the structure of fig. 3 at the adjusting support plate.
Fig. 5 is an enlarged schematic view of the universal joint of fig. 2.
Fig. 6 is a schematic diagram of a mounting structure of the 3D camera in the embodiment of fig. 1.
Fig. 7 is a side view of fig. 6.
Fig. 8 is a schematic view of the overall structure of the embodiment of fig. 1 after docking of the bay sections is completed.
In the figure: 1. AGVs; 2. a guide rail; 3. a cabin section; 4. a 3D camera; 5. a vision measurement mechanism; 6. a split type supporting and adjusting mechanism; 7. a single body type supporting and adjusting mechanism; 8. a rack; 9. a traveling gear; 10. a hoist; 11. a transverse servo motor (X direction); 12. adjusting the supporting plate; 13. a screw; 14. a nut; 15. a sliding support; 16. a bottom slider; 17. a longitudinally rotating servo motor; 18. a middle slide block; 19. an indexing gear; 20. a support ring; 21. a rubber gasket; 22. a universal coupling; 23. A support roller; 24. a bottom plate; 25. lifting the servo motor; 26. a track; 28. A horizontal servo motor; 29. a coupling; 30. a bearing seat; 31. a bearing; 32. a support roller; 35. a mounting base; 36. a vertical linear module (Z direction); 37. a longitudinal linear module (Y-direction); 38. a camera servo motor; 39. a camera gear; 40. a lower slide block; 41. a displacement sensor.
Detailed Description
The basic structure of the mobile cabin automatic docking vehicle serving as cabin docking equipment in the embodiment is shown in fig. 1, and the mobile cabin automatic docking vehicle comprises a guide rail 2 fixed on an AGV (model LY-AK-14T-2-2B of Tianjin robot limited company) and a rack 8 parallel to the guide rail 2, wherein four groups of support adjusting mechanisms which are distributed at intervals and respectively support cabin 3 are arranged on the guide rail 2, a single support adjusting mechanism 7 positioned at the tail end is used for supporting a shorter cabin, and other three split support adjusting mechanisms 6 are used for supporting a longer cabin. In addition, a vision measuring mechanism 5 and a 3D camera 4 matched with the vision measuring mechanism are arranged on the AGV.
The split supporting and adjusting mechanism 6 is shown in fig. 2 and 3, and comprises a rectangular bottom plate 24 with a lower part forming a moving pair with the guide rail 2 through a bottom sliding block 16, and a transverse servo motor 11 arranged on the bottom plate 24 drives a gear 9 meshed with a rack 8 on the lower surface of the bottom plate 24 in a decelerating manner, so that the bottom plate and attachments on the bottom plate can be driven to linearly displace along the transverse direction (the guide rail and the length direction of the rack are defined as transverse direction or X direction) of the guide rail on the surface of the AGV. The displacement sensor 41 is arranged at the lower part of the bottom plate 24, and the position of the split type supporting and adjusting mechanism 6 in the X direction can be detected in real time. The lifts 10 (Bo energy transmission (Suzhou) limited JMW025 DM-300) capable of converting the rotation motion of the lifting servo motor 25 into the synchronous lifting motion of each jack-up column through the screw nut pair are respectively arranged near the four corners on the rectangular bottom plate 24, wherein two lifts 10 positioned at the corresponding transverse positions are provided with one adjusting support plate 12 jacked up through the corresponding jack-up columns, so that the adjusting support plate 12 can be driven to vertically lift up and down along the Z direction.
Referring to fig. 4, the adjusting support plate 12 supports a screw 13 driven by a horizontal servo motor 28 through a shaft coupling 29 by a bearing 31 in a bearing block 30, the screw 13 forms a screw pair with a nut 14 fixedly connected to the lower part of a sliding support 15 with an arc opening at the upper part, and the sliding support 15 and the adjusting support plate 12 form a horizontal moving pair perpendicular to the transverse direction by a middle sliding block 18 and a corresponding guide rail 26. Thus, the slide supporting frame 15 can be horizontally displaced perpendicular to the X direction by the driving of the horizontal servo motor 28. The circular arc opening of the sliding support frame 15 forms a rotating pair with the circular arc-shaped support ring 20 through the support rollers 32 distributed at intervals, the support rollers 23 distributed at intervals on the sliding support frame 15 and the long arc-shaped groove of the support ring 20 form a sliding pair, the stability of the support ring is further improved, the rubber gasket 21 is attached to the inner arc surface of the support ring 20, and relative sliding of the cabin section and the support ring can be avoided.
Referring to fig. 5, in the same split type supporting and adjusting mechanism 6, sliding supporting frames 15 on two adjacent supporting plates 12 in front and back with staggered transverse positions are respectively provided with an axial limiting gear 19, a longitudinal servo motor 17 with a speed reducer is simultaneously connected with two indexing gears 19 in a transmission way through a universal coupling 22, and the two indexing gears 19 are respectively meshed with outer circular arc teeth of corresponding supporting rings 20. Therefore, the front and rear support rings 20 of the same split type support adjusting mechanism 6 can be driven to synchronously index as required under the drive of the longitudinal servo motor 17.
The single body type supporting and adjusting mechanism 7 is basically consistent with the split type supporting and adjusting mechanism 6, is suitable for supporting a cabin section with a shorter tail end, and the structural composition, the driving mode and the action principle of the adjusting support plate 12 and the sliding support frame 15 arranged on the single body type supporting and adjusting mechanism are consistent with the above, and are not repeated. The difference is that the single support adjusting mechanism 7 is provided with only one group of sliding support frames 15, the sliding support frames are provided with cylindrical indexing gears 19 with axial limit, a longitudinal servo motor 17 with a speed reducer is in transmission connection with the indexing gears 19, and the indexing gears 19 are meshed with outer circular arc teeth of corresponding support rings 20. The support ring 20 of the one-piece support adjustment mechanism 7 can thus be indexed as desired under the drive of the longitudinal servomotor 17.
As shown in fig. 6 and 7, the mounting structure of the 3D camera 4 is that the lower end of a vertical linear module 36 (shenzhen Kang Shidu electric equipment limited K3D68SS-P10-S300-MD-CR type) forms a moving pair with the guide rail 2 through a lower slider 40, and a camera gear 39 driven by a camera servo motor 38 is meshed with the rack 8, the vertical linear module 36 is provided with a longitudinal linear module 37 (shenzhen Kang Shidu electric equipment limited K3D68SS-P10-S100-ML-CR type) forming a vertical moving pair therewith, and the longitudinal linear module 37 mounts the 3D camera 4 through a mounting base 35 with which the horizontal moving pair is formed. The displacement sensor 41 is installed at the lower end of the vertical linear module 36, and can detect the position of the 3D camera in the X direction in real time, so that the spatial position of the 3D camera 4 can be regulated and controlled as required.
When the device works, all the support adjusting mechanisms are distributed on the guide rail at intervals and ensure that all the motion actuating mechanisms are in zero positions, cabin sections are sequentially placed on the support adjusting mechanisms according to the butt joint sequence, after the cabin sections are all in place, the vision measuring mechanisms are controlled to move to a butt joint position 1 (between the cabin sections 1 and 2), an automatic measuring mode is started, the linear modules 36 and 37 of the vision measuring mechanisms drive the 3D cameras 4 to extend, the position parameters of the two butt joint end surfaces are respectively measured by using the rotary motion of the mounting base 35, the position parameters of the two butt joint end surfaces are returned to the original position after pose deviation analysis, and the control system controls the displacement of all the actuating mechanisms of the support adjusting mechanisms of the cabin section 2 according to the deviation analysis result, so that the pose of the cabin sections is adjusted, and the spatial coordinates of the butt joint end surfaces are kept consistent; starting an automatic measurement mode again after the cabin section position adjustment is finished, respectively measuring the position parameters of the two butt joint end surfaces by the 3D camera 4, determining that the positions of the butt joint end surfaces are adjusted in place, and returning to the original position; then, the cabin section 2 is controlled to be gradually closed towards the cabin section 1 along the guide rail until the two end faces are completely attached, and at the moment, an operator tightens the connecting bolt to finish the butt joint of the cabin section 1 and the cabin section 2; and by analogy, the vision measuring mechanism sequentially runs to the butt joint positions of the rest cabin sections, performs pose measurement of the end faces and feeds back data, and then controls and adjusts the support adjusting mechanism to perform pose adjustment and confirmation of the cabin sections until all the end faces are in butt joint.
Experiments show that the automatic docking vehicle for the movable cabin section realizes transportation and placement of the cabin section by means of an AGV on one hand, and utilizes the 3D vision system and the supporting and adjusting mechanism to automatically identify and adjust the position and the posture of the cabin section on the other hand, and has the advantages of compact structure, complete functions, high assembly precision, high automation degree, convenience in operation and the like, and can meet the requirements of docking of the cabin section and has high working efficiency. In a word, this embodiment is compound with the butt joint of each cabin section, possesses butt joint assembly, transportation multiple functions simultaneously, and the manual intervention that significantly reduces ensures cabin section butt joint efficiency and assembly precision, reduces intensity of labour.
Other embodiments of the invention are possible in addition to the above described embodiments. All technical schemes formed by equivalent transformation or equivalent transformation fall within the protection scope of the invention.
Claims (8)
1. The utility model provides a portable cabin automatic butt joint car which characterized in that: the automatic guide rail device comprises a guide rail fixed on the AGV and extending transversely and a rack parallel to the guide rail, wherein a plurality of groups of split type support adjusting mechanisms are arranged on the guide rail at intervals;
The split type support adjusting mechanism comprises a rectangular bottom plate which forms a moving pair with the guide rail, a transverse servo motor on the bottom plate is meshed with the rack through a transmission gear, lifting machines which convert the rotary motion of the lifting servo motor into lifting motion are respectively arranged near four corners on the bottom plate, and two lifting machines which are positioned at the transverse corresponding positions are provided with the same adjusting support plate;
The screw rod is supported on the adjusting support plate and driven by the horizontal servo motor, a screw pair is formed by the screw rod and a nut fixedly connected with the lower part of the sliding support frame, and a horizontal moving pair perpendicular to the transverse direction is formed by the sliding support frame with an arc opening at the upper part and the adjusting support plate; the arc opening of the sliding support frame and the arc-shaped support ring form a rotating pair with a limited rotation angle;
In the split type support adjusting mechanism, sliding support frames on the front and rear adjacent adjusting support plates staggered in the transverse position are respectively provided with an axial limiting indexing gear, a longitudinal servo motor is simultaneously connected with the two indexing gears in a transmission manner, and the two indexing gears are respectively meshed with outer circular arc teeth of corresponding support rings.
2. The mobile bay automation docking device of claim 1, wherein: the AGV is also provided with a visual measurement mechanism and a 3D camera matched with the visual measurement mechanism; the lower end of the vertical linear module is meshed with the rack through a camera gear driven by a camera servo motor, the vertical linear module is provided with a longitudinal linear module which forms a vertical moving pair with the vertical linear module, and the longitudinal linear module is provided with the 3D camera through a mounting base which forms a horizontal moving pair with the vertical linear module.
3. The mobile bay automation docking device of claim 2, wherein: the arc opening of the sliding support frame and the arc-shaped support ring form a rotating pair with a limited rotation angle through the support rollers which are distributed at intervals.
4. A mobile bay automation docking kit as in claim 3 wherein: the longitudinal servo motor is simultaneously connected with the two indexing gears in a transmission way through a universal coupling.
5. The mobile bay automation docking device of claim 4, wherein: the lifting machine converts the rotary motion of the lifting servo motor into lifting motion through the screw nut pair.
6. The mobile bay automation docking device of claim 5, wherein: the two lifters positioned at the corresponding transverse positions jack up the same adjusting support plate through corresponding jacking columns.
7. The mobile bay automation docking device of claim 6, wherein: the inner circular arc surface of the support ring is attached with a rubber gasket.
8. The mobile bay automation docking device of claim 7, wherein: the lower part of the bottom plate and the guide rail form a moving pair through a bottom sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410200715.5A CN118083150A (en) | 2024-02-23 | 2024-02-23 | Automatic butt-joint vehicle for movable cabin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410200715.5A CN118083150A (en) | 2024-02-23 | 2024-02-23 | Automatic butt-joint vehicle for movable cabin |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118083150A true CN118083150A (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410200715.5A Pending CN118083150A (en) | 2024-02-23 | 2024-02-23 | Automatic butt-joint vehicle for movable cabin |
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| Country | Link |
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| CN (1) | CN118083150A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119059112A (en) * | 2024-08-30 | 2024-12-03 | 湖北三江航天万峰科技发展有限公司 | A horizontal loading and docking device |
-
2024
- 2024-02-23 CN CN202410200715.5A patent/CN118083150A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119059112A (en) * | 2024-08-30 | 2024-12-03 | 湖北三江航天万峰科技发展有限公司 | A horizontal loading and docking device |
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