CN203649624U - Gun barrel device applied to rectangular coordinate system welded robot - Google Patents
Gun barrel device applied to rectangular coordinate system welded robot Download PDFInfo
- Publication number
- CN203649624U CN203649624U CN201320659386.8U CN201320659386U CN203649624U CN 203649624 U CN203649624 U CN 203649624U CN 201320659386 U CN201320659386 U CN 201320659386U CN 203649624 U CN203649624 U CN 203649624U
- Authority
- CN
- China
- Prior art keywords
- mandrel
- fork
- gun barrel
- coordinate system
- servomotor
- 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.)
- Withdrawn - After Issue
Links
Images
Abstract
The utility model provides a gun barrel device applied to a rectangular coordinate system welded robot, belongs to the technical field of automation control, and solves the problems of large work space, insufficient processing depth, welding blind angles and the like in an existing gun barrel device for the robot. A welding gun head of the device is mounted at the bottom end of a core shaft, the tail of the welding gun head is connected with a wire feeding pipe, and a swing mechanism and a rotating mechanism which are used for controlling the activity of the welding gun head are arranged at the core shaft. By the adoption of the combined operation of the swing mechanism and the rotating mechanism, the structure of the gun barrel device is compact, and the activity of the welding gun head is more flexible, so that the device is suitable for tooling environments with complex structures; the swing radius and the rotation radius are both less, so that the device can penetrate into the inner part of a tooling for working. By testing, the device only requires a work space with the diameter of 100 mm, and the processing depth range can reach 1000 mm.
Description
Technical field
The utility model belongs to technical field of automatic control, relates to a kind of gun barrel device of rectangular coordinate system welding robot.
Background technology
Welding robot is mainly used in replacing and manually carries out welding job.Welding robot has rectangular coordinate system robot and prosthetic robot at present.The welding gun flexible pipe of articulated type welding robot is suspended from joint, end along joint arm, make the arc welding gun head of welding gun flexible pipe head be arranged on the below in the joint, end of joint arm, back rotation can be carried out in a joint in joint, end under the driving of drive motors on it, thereby drives arc welding gun head on it come together back rotation and swing.Said mechanism existent defect is as follows: mutually interfere for fear of welding gun flexible pipe and joint arm, the angle of revolution of arc welding gun head can only be less than 180 °, thereby it is very large to cause welding dead angle, is conventionally all greater than 180 °.Distant due to joint and arc welding gun head, swing and rotating radius larger, cannot extend into the inside of the less and complex tool equipment in space.Articulated type welding robot, because complex structure, cost are high, is difficult to promote in the medium-sized and small enterprises that have a large capacity and a wide range.
Release in the market inexpensive rectangular coordinate system welding robot, as: in Chinese patent literature CN 103111777 A, announce rectangular coordinate system welding robot device, the rotatable 180 ° of angles of its arc welding gun head, but can not swing up and down.There is following shortcoming in this patent: 1, turning motor is connected with arc welding gun head by connecting plate, and the radius of gyration is larger, cannot extend into the inside of the less and complex tool equipment in space, and working space is large, processing depth deficiency; 2, there is the revolution dead angle of 45 °, cannot weld certain angle of frock; 3, arc welding gun head can not swing, and the motion of arc welding gun head is subject to certain restrictions, and cannot realize the welding of complex tool equipment.
Summary of the invention
The purpose of this utility model is to provide that a kind of working space is less, the gun barrel device of the welding robot of the larger and applicable complex environment operation of processing depth.
The purpose of this utility model can realize by following technical proposal: arc welding gun head is installed on mandrel bottom, and arc welding gun head afterbody is connected with wire-feeding pipe, and mandrel place is provided with swing mechanism and the slew gear of controlling arc welding gun head activity.
In the above-mentioned gun barrel device that is applied to rectangular coordinate system welding robot, swing mechanism is made up of fork, two bearing pins, screw mandrel and the bindiny mechanism by servomotor control, wire-feeding pipe bottom is loaded on fork one end, the fork other end respectively with the screw rod bottom hinge of mandrel bottom, screw mandrel, screw mandrel top is provided with bindiny mechanism.
In the above-mentioned gun barrel device that is applied to rectangular coordinate system welding robot, mandrel bottom is shaped with groove, the fork on groove both sides is respectively shaped with hinge shaft hole, fork top is shaped with groove, both sides fork is established respectively axis hole and axis hole, the screw rod bottom of screw mandrel is shaped with axis hole, and bearing pin is loaded in the hinge shaft hole of mandrel and the axis hole of fork, and another bearing pin is loaded in the axis hole of fork and the axis hole of screw mandrel.
In the above-mentioned gun barrel device that is applied to rectangular coordinate system welding robot, pin sleeve has two axle sleeves, lays respectively at two hinge shaft hole inner sides of mandrel, two axis hole outsides of fork; Fork bottom is shaped with embraces clamping structure, and wire-feeding pipe bottom cover has insulation sleeve, is loaded on embracing in clamping structure of fork.
In the above-mentioned gun barrel device that is applied to rectangular coordinate system welding robot, bindiny mechanism is made up of flange, two thrust ball bearings, motor cabinet, nut seat, bearing block and servomotor, and motor cabinet is installed in mandrel top by flange; Two thrust ball bearings, nut seat and bearing block are loaded on motor cabinet inner chamber, nut seat and motor cabinet matched in clearance, the nut of screw mandrel is loaded in nut seat, screw rod is through thrust ball bearing, flange, servomotor is installed on motor cabinet top, and output shaft is connected through bearing block, another thrust ball bearing and nut seat.
In the above-mentioned gun barrel device that is applied to rectangular coordinate system welding robot, between thrust ball bearing and nut seat, be provided with adjusting pad, be placed on the screw rod of screw mandrel; Mandrel is provided with two inner chambers, and wire-feeding pipe penetrates the inner chamber of mandrel, and the screw rod of screw mandrel penetrates the inner chamber of mandrel.
In the above-mentioned gun barrel device that is applied to rectangular coordinate system welding robot, slew gear is made up of bearing, bearing block, servomotor and transmission mechanism, wherein two bearings is placed on mandrel middle part, bearing block is installed on the slide block of Y-axis, servomotor is installed on bearing block side by motor mounting plate, is transmission mechanism between servomotor and mandrel.
In the above-mentioned gun barrel device that is applied to rectangular coordinate system welding robot, transmission mechanism is made up of two synchronous pulleys and Timing Belt, and a synchronous pulley is placed on mandrel top admittedly, and another synchronous pulley is loaded on servomotor output shaft, both connect by Timing Belt, and outside cover has protective cover.
In the above-mentioned gun barrel device that is applied to rectangular coordinate system welding robot, mandrel top is provided with three place's reducers, and stage casing diameter is less than hypomere and is greater than epimere, and above-mentioned two bearings is placed on mandrel stage casing, nut is placed on stage casing intersection on mandrel, and synchronous pulley is positioned at nut upside.
In the above-mentioned gun barrel device that is applied to rectangular coordinate system welding robot, above-mentioned motor mounting plate is provided with slotted hole and circular hole, slotted hole is placed on nut outside, be installed on bearing block upper end by screw, servomotor is installed in motor mounting plate circular hole place, and servomotor output shaft passes motor mounting plate circular hole and is connected with synchronous pulley.
Compared with prior art, the gun barrel device of this kind of welding robot has advantages of following:
1, arc welding gun head revolution and pendulum radius are little, when revolution, swing, can not interfere with workpiece, wire-feeding pipe, can freely extend into frock interior welds.
2, arc welding gun head can be realized 360 ° of above revolution and each 45 ° of swings up and down, and the arc welding gun head free degree is larger, can eliminate welding dead angle, and serviceability improves.
3, gun barrel apparatus structure compactness, required working space only needs 100 millimeters of Φ, and processing depth scope can reach 1000 millimeters.
Brief description of the drawings
Fig. 1 is rectangular coordinate system welding robot structural representation.
Fig. 2 is the gun barrel device perspective view of this welding robot.
Fig. 3 is the cutaway view of the gun barrel device of this welding robot.
Fig. 4 is the explosive view of the gun barrel device of this welding robot.
In figure, arc welding gun head 1, wire-feeding pipe 2, insulation sleeve 3, fork 4, fork axis hole 4.1, fork axis hole 4.2, bearing pin 5, bearing pin 6, axle sleeve 7, screw mandrel 8, flange 9, thrust ball bearing 10, adjusting pad 11, bearing 12, motor cabinet 13, nut seat 14, thrust ball bearing 15, bearing block 16, servomotor 17, protective cover 18, Timing Belt 19, synchronous pulley 20, synchronous pulley 21, nut 22, motor mounting plate 23, servomotor 24, bearing block 25, bearing 26, mandrel 27, mandrel inner chamber 27.1, mandrel inner chamber 27.2, slide block 28, Y-axis 29, Z axis 30, X-axis 31.
Detailed description of the invention:
Be below specific embodiment of the utility model by reference to the accompanying drawings, the technical solution of the utility model is further described, but the utility model be not limited to these embodiment.
As the rectangular co-ordinate of Fig. 1 welding robot is made up of X-axis 31, Y-axis 29 and Z axis 30, Y-axis 29 is provided with slide block 28, and gun barrel device is fixed on this slide block 28.
As shown in Figure 2, Figure 3 and Figure 4, gun barrel device comprises arc welding gun head 1, wire-feeding pipe 2, mandrel 27, and wire-feeding pipe 2 is connected with the afterbody of arc welding gun head 1, and mandrel 27 places are provided with swing mechanism and the slew gear of controlling arc welding gun head 1 activity.
Swing mechanism is made up of fork 4, bearing pin 5, bearing pin 6, screw mandrel 8 and the bindiny mechanism that controlled by servomotor 17, its structure is as follows: mandrel 27 is provided with two inner chambers 27.1,27.2, wherein inner chamber 27.1 is larger, penetrate for wire-feeding pipe 2, inner chamber 27.2 is less, screw rod for screw mandrel 8 penetrates, and screw rod bottom is shaped with axis hole.Mandrel 27 bottoms are shaped with groove, and groove can be placed the top of fork 4, and the fork on groove both sides is respectively shaped with hinge shaft hole.Fork 4 tops are provided with the groove of placing for the screw rod bottom of screw mandrel 8, both sides fork is respectively provided with axis hole, be respectively axis hole 4.1, axis hole 4.2, bearing pin 5 is respectively through the hinge shaft hole of hinge shaft hole on one side of mandrel 27, axle sleeve 7, fork axis hole 4.1, another axle sleeve 7, mandrel 27 another sides, by fork 4 and mandrel 27 hinges.Bearing pin 6 is through the screw rod bottom axis hole of fork axis hole 4.2 and screw mandrel 8, by fork 4 and screw mandrel 8 hinges.Axle sleeve 7 is generally made up of nylon, and the frictional force can reduce fork 4 activity relative to mandrel 27 time, is not easy wearing and tearing between the two.Fork 4 bottoms are provided with embraces clamping structure, wire-feeding pipe 2 penetrates inner chamber 27.1 from mandrel 27 upper side, pass from mandrel 27 bottom grooves, wire-feeding pipe 2 bottom covers have insulation sleeve 3 to be installed on embracing in clamping structure of fork 4 again, and wire-feeding pipe 2 passes fork 4 positions and is connected with the afterbody of arc welding gun head 1.The effect of insulation sleeve 3 is that the low pressure that stops electric welding machine, large electric current pass in robot, thus parts, part and all electrical equipment, the system of protection robot motion pair.
The bindiny mechanism being controlled by servomotor 17 is located at screw mandrel 8 tops, and its structure is: flange 9 is fixed by screws in mandrel 27 tops, and motor cabinet 13 is fixed by screws in flange 9 opposite sides, and servomotor 17 is fixed on the top of motor cabinet 13.Motor cabinet 13 inner chambers are equipped with thrust ball bearing 10, adjusting pad 11, nut seat 14, thrust ball bearing 15, bearing block 16 from top to bottom successively, flange 9 and servomotor 17 by above-mentioned several component packages in motor cabinet 13 inner chambers, nut seat 14 and motor cabinet 13 inner chamber matched in clearance, can rotate at motor cabinet 13 inner chambers.The nut of screw mandrel 8 is assemblied in nut seat 14, and screw rod is respectively through penetrating mandrel inner chamber 27.2 after adjusting pad 11, thrust ball bearing 10, flange 9 again.The output shaft of servomotor 17 is fixedly connected with nut seat 14 through bearing block 16, thrust ball bearing 15.Adjusting pad 11 can be made up of multiple cushion blocks, can be also the monoblock that thickness is suitable, and its effect is the gap of eliminating between screw mandrel 8 nuts and flange 9, controls the collapsing length of screw mandrel 8, improves arc welding gun head 1 wobble accuracy.The screw rod of screw mandrel 8 is due to longer, and its thread segment is only shorter one section on top, in actual production, can will after screw rod segment processing, be welded into a whole again.
Slew gear is made up of bearing 12, bearing 26, bearing block 25, servomotor 24 and transmission mechanism, its structure is as follows: mandrel 27 tops are provided with three place's reducers, form upper, middle and lower segment, hypomere is mandrel 27 tops, diameter does not change, and stage casing diameter is less than hypomere diameter but is greater than epimere diameter.Hypomere and stage casing intersection form cascade ring, between stage casing and epimere, be provided with the screw thread coordinating with nut 22, between cascade ring and nut 22, be fixed with two bearings 26,12, outside cover has bearing block 25, and bearing block 25 inner sides are connected by the slide block 28 in screw and Y-axis 29.The effect of nut 22 is that two bearings 26,12 are packaged in bearing block 25.
Swing operation principle: the positive and negative rotation of servomotor 17, output shaft drives nut seat 14 to rotate, due to nut seat 14 and motor cabinet 13 matched in clearance, with the nut tight fit of screw mandrel 8, motor cabinet 14 is fixing with mandrel 27, under 10,15 supportings of two thrust ball bearings, nut seat 14 drives the nut of screw mandrel 8 and drives screw mandrel 8 to make stretching motion at mandrel inner chamber 27.2, drive fork 4 bottoms to swing around bearing pin 5, arc welding gun head 1 is realized each 45 ° of swings up and down, the flexibility that has greatly improved arc welding gun head 1.In addition, arc welding gun head 1 is to swing around bearing pin 5, and mandrel 27 keeps motionless, and pendulum radius is less.
Revolution operation principle: when the positive and negative rotation of servomotor 24, synchronous pulley 20 drives synchronous pulley 21 to rotate.Because bearing block 25 is fixed in Y-axis 29, and motor mounting plate 23 is fixing with bearing block 25, and under two bearings 26,12 supportings, synchronous pulley 21 rotates around the central shaft of mandrel 27 with moving mandrel 27, and bearing block 25, servomotor 24 keep motionless.Above-mentioned wire-feeding pipe 2 is loaded in mandrel inner chamber 27.1, and the rotation of mandrel 27 is not disturbed by wire-feeding pipe 2, and mandrel 27 is positive and negative all can be reached more than 180 °, thereby arc welding gun head 1 can be realized 360 ° of rotations, does not have welding dead angle.In addition, mandrel 27 can be realized arc welding gun head 1 around central shaft rotation and rotate, and the radius of gyration is less.
The utility model is provided with swing mechanism and slew gear on gun barrel device, gun barrel apparatus structure compactness, and by swing mechanism and slew gear combination operation, arc welding gun head 1 activity is more flexible, is applicable to baroque frock environment; Swing and the radius of gyration are all smaller, can go deep into frock inside and carry out operation.After tested, the required working space of the utility model only needs 100 millimeters of Φ, and processing depth scope can reach 1000 millimeters, needs 150 millimeters of Φ, processing depth maximum only, compared with 375 millimeters, to have larger advantage with like product processing space on market.
Specific embodiment described herein is only to the explanation for example of the utility model spirit.The utility model person of ordinary skill in the field can make various amendments or supplements or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present utility model or surmount the defined scope of appended claims.
Although more used arc welding gun head 1 herein, wire-feeding pipe 2, insulation sleeve 3, fork 4, fork axis hole 4.1, fork axis hole 4.2, bearing pin 5, bearing pin 6, axle sleeve 7, screw mandrel 8, flange 9, thrust ball bearing 10, adjusting pad 11, bearing 12, motor cabinet 13, nut seat 14, thrust ball bearing 15, bearing block 16, servomotor 17, protective cover 18, Timing Belt 19, synchronous pulley 20, synchronous pulley 21, nut 22, motor mounting plate 23, servomotor 24, bearing block 25, bearing 26, mandrel 27, mandrel inner chamber 27.1, mandrel inner chamber 27.2, slide block 28, Y-axis 29, Z axis 30, X-axis 31 terms such as grade, but do not get rid of the possibility that uses other term.Use these terms to be only used to describe more easily and explain essence of the present utility model; They are construed to any additional restriction is all contrary with the utility model spirit.
Claims (9)
1. one kind is applied to the gun barrel device of rectangular coordinate system welding robot, arc welding gun head (1) is installed on mandrel (27) bottom, arc welding gun head (1) afterbody is connected with wire-feeding pipe (2), mandrel (27) locates to be provided with swing mechanism and the slew gear of controlling arc welding gun head (1) activity, it is characterized in that swing mechanism is by fork (4), bearing pin (5), bearing pin (6), screw mandrel (8) and the bindiny mechanism being controlled by servomotor (17) form, wire-feeding pipe (2) bottom is loaded on fork (4) one end, fork (4) other end respectively with mandrel (27) bottom, the screw rod bottom hinge of screw mandrel (8), screw mandrel (8) top is provided with bindiny mechanism.
2. a kind of gun barrel device that is applied to rectangular coordinate system welding robot according to claim 1, it is characterized in that mandrel (27) bottom is shaped with groove, the fork on groove both sides is respectively shaped with hinge shaft hole, fork (4) top is shaped with groove, both sides fork is established respectively axis hole (4.1) and axis hole (4.2), the screw rod bottom of screw mandrel (8) is shaped with axis hole, bearing pin (5) is loaded in the hinge shaft hole of mandrel (27) and the axis hole (4.1) of fork (4), and bearing pin (6) is loaded in the axis hole of fork axis hole (4.2) and screw mandrel (8).
3. a kind of gun barrel device that is applied to rectangular coordinate system welding robot according to claim 2, is characterized in that bearing pin (5) cover has two axle sleeves (7), lays respectively at two hinge shaft hole inner sides, fork axis hole (4.1) outside of mandrel (27); Fork (4) bottom is shaped with embraces clamping structure, and wire-feeding pipe (2) bottom cover has insulation sleeve (3), is loaded on embracing in clamping structure of fork (4).
4. a kind of gun barrel device that is applied to rectangular coordinate system welding robot according to claim 3, it is characterized in that bindiny mechanism is made up of flange (9), thrust ball bearing (10), motor cabinet (13), nut seat (14), thrust ball bearing (15), bearing block (16) and servomotor (17), motor cabinet (13) is installed in mandrel (27) top by flange (9); Thrust ball bearing (10), nut seat (14), thrust ball bearing (15) and bearing block (16) are loaded on motor cabinet (13) inner chamber, nut seat (14) and motor cabinet (13) matched in clearance, the nut of screw mandrel (8) is loaded in nut seat (14), screw rod is through thrust ball bearing (10), flange (9), servomotor (17) is installed on motor cabinet (13) top, and output shaft is connected with nut seat (14) through bearing block (16), thrust ball bearing (15).
5. a kind of gun barrel device that is applied to rectangular coordinate system welding robot according to claim 4, is characterized in that being provided with adjusting pad (11) between thrust ball bearing (10) and nut seat (14), is placed on the screw rod of screw mandrel (8); Mandrel (27) is provided with two inner chambers, and wire-feeding pipe (2) penetrates the inner chamber (27.1) of mandrel (27), and the screw rod of screw mandrel (8) penetrates the inner chamber (27.2) of mandrel (27).
6. be applied to the gun barrel device of rectangular coordinate system welding robot according to claim 1 or 5 one kind, it is characterized in that slew gear is made up of bearing (12,26), bearing block (25), servomotor (24) and transmission mechanism, wherein two bearings (12,26) is placed on mandrel (27) middle part, bearing block (25) is installed on the slide block (28) of Y-axis (29), servomotor (24) is installed on bearing block (25) side by motor mounting plate (23), between servomotor (24) and mandrel (27), is transmission mechanism.
7. a kind of gun barrel device that is applied to rectangular coordinate system welding robot according to claim 6, it is characterized in that transmission mechanism is made up of synchronous pulley (21), Timing Belt (19) and synchronous pulley (20), synchronous pulley (21) is placed on mandrel (27) top admittedly, synchronous pulley (20) is loaded on servomotor (24) output shaft, both connect by Timing Belt (19), and outside cover has protective cover (18).
8. a kind of gun barrel device that is applied to rectangular coordinate system welding robot according to claim 7, it is characterized in that mandrel (27) top is provided with three place's reducers, stage casing diameter is less than hypomere and is greater than epimere, above-mentioned two bearings (12,26) is placed on mandrel (27) stage casing, nut (22) is placed on the upper stage casing of mandrel (27) intersection, and synchronous pulley (21) is positioned at nut (22) upside.
9. a kind of gun barrel device that is applied to rectangular coordinate system welding robot according to claim 8, it is characterized in that above-mentioned motor mounting plate (23) is provided with slotted hole and circular hole, slotted hole is placed on nut (22) outside, be installed on bearing block (25) upper end by screw, servomotor (24) is installed in motor mounting plate (23) circular hole place, and servomotor (24) output shaft passes motor mounting plate (23) circular hole and is connected with synchronous pulley (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320659386.8U CN203649624U (en) | 2013-10-23 | 2013-10-23 | Gun barrel device applied to rectangular coordinate system welded robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320659386.8U CN203649624U (en) | 2013-10-23 | 2013-10-23 | Gun barrel device applied to rectangular coordinate system welded robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203649624U true CN203649624U (en) | 2014-06-18 |
Family
ID=50916061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320659386.8U Withdrawn - After Issue CN203649624U (en) | 2013-10-23 | 2013-10-23 | Gun barrel device applied to rectangular coordinate system welded robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203649624U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103495798A (en) * | 2013-10-23 | 2014-01-08 | 台州吉宇工业机器人科技有限公司 | Gun-barrel device applied to rectangular coordinate system welding robot |
-
2013
- 2013-10-23 CN CN201320659386.8U patent/CN203649624U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103495798A (en) * | 2013-10-23 | 2014-01-08 | 台州吉宇工业机器人科技有限公司 | Gun-barrel device applied to rectangular coordinate system welding robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9895814B2 (en) | Industrial robot with at least one drive | |
| CN108656092B (en) | Series-parallel robot based on four branched chains, two-rotation and one-movement parallel mechanism | |
| CN103895032A (en) | Upper arm of robot | |
| CN105904131A (en) | Full-automatic welding mechanical arm | |
| CN103317506A (en) | Lifting and rotation device for manipulator and manipulator adopting same | |
| JP2013188783A (en) | Two shot spot welding equipment and spot welding robot | |
| CN101844284B (en) | Centring gesture correcting member of full-position welding robot | |
| CN201669516U (en) | Centering posture adjusting part of all position welding robot | |
| CN103495798A (en) | Gun-barrel device applied to rectangular coordinate system welding robot | |
| CN203649624U (en) | Gun barrel device applied to rectangular coordinate system welded robot | |
| CN104786211A (en) | Six-freedom-degree industrial robot with ball screw pairs | |
| CN204054075U (en) | A kind of novel robot grabbing device | |
| CN108202231B (en) | Working platform capable of realizing bidirectional simultaneous deflection angle | |
| CN204431241U (en) | A kind of five spindle-type transfer robots | |
| CN203495459U (en) | Gun-barrel rotation mechanism applied to rectangular coordinate system welding robot | |
| CN209272816U (en) | Clamping device and welding equipment | |
| CN102941772A (en) | Lower-mobility parallel mechanism with constraint chains | |
| CN203509402U (en) | Gun head swing mechanism applied to rectangular coordinate system welding robot | |
| CN206356819U (en) | A kind of L-type welds displacement device | |
| CN203266643U (en) | Lifting rotating device for mechanical hand and mechanical hand applying same | |
| CN103521968A (en) | Gun barrel turning mechanism applied to rectangular coordinate system welding robot | |
| CN204397897U (en) | A kind of transfer robot | |
| CN102689193B (en) | Automatically determine crank shaft angle to universal positioning device | |
| CN207901188U (en) | Multi-angle captures gripper | |
| CN102941425B (en) | Method for dotting by dotting fixture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140618 Effective date of abandoning: 20171114 |