CN216686134U - Two-way two conveying mechanism, robot of stretching - Google Patents
Two-way two conveying mechanism, robot of stretching Download PDFInfo
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- CN216686134U CN216686134U CN202123172217.5U CN202123172217U CN216686134U CN 216686134 U CN216686134 U CN 216686134U CN 202123172217 U CN202123172217 U CN 202123172217U CN 216686134 U CN216686134 U CN 216686134U
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Abstract
The utility model relates to a two-way two-extension conveying mechanism and a robot, which comprises a bearing platform, a first conveying platform, a second conveying platform, a first driving component and a second driving component; the bearing platform is arranged on the first conveying platform in a sliding manner; the first conveying platform is arranged on the second conveying platform in a sliding mode through a base; the bearing platform is in transmission connection with the first driving assembly, and the first driving assembly is used for controlling the bearing platform and the first conveying platform to move relatively; the first conveying platform is in transmission connection with the second driving assembly, and the second driving assembly is used for controlling the first conveying platform and the second conveying platform to move relatively. Compared with the traditional mechanism, the mechanism does not increase the occupied space, and the stroke distance is increased in two directions, so that the conveying range is increased.
Description
Technical Field
The utility model relates to a sharp technical field that carries especially relates to a two-way two conveying mechanism, robot that stretch.
Background
The linear conveying mechanism is used on automation equipment, is limited by space, occupies less space and has a large stroke, and the existing linear conveying mechanism occupies large space and has a short stroke.
Therefore, the application provides a two-way two conveying mechanism, robot that stretch.
SUMMERY OF THE UTILITY MODEL
In order to solve at least one of the above technical problems, the present disclosure provides a bidirectional double-stretching conveying mechanism and a robot.
The technical scheme adopted by the utility model is as follows:
a bidirectional double-extension conveying mechanism comprises a bearing platform, a first conveying platform, a second conveying platform, a first driving assembly and a second driving assembly;
the bearing platform is arranged on the first conveying platform in a sliding manner;
the first conveying platform is arranged on the second conveying platform in a sliding mode through a base;
the bearing platform is in transmission connection with the first driving assembly, and the first driving assembly is used for controlling the bearing platform and the first conveying platform to move relatively;
the first conveying platform is in transmission connection with the second driving assembly, and the second driving assembly is used for controlling the first conveying platform and the second conveying platform to move relatively.
Preferably, the first conveying platform is arranged on the base in a sliding mode, the conveying mechanism further comprises a rack and pinion assembly, and the first conveying platform is in transmission connection with the second conveying platform through the rack and pinion assembly.
Preferably, the gear rack assembly comprises a gear and two racks, the gear is arranged on the base, the corresponding racks are respectively arranged at the opposite positions of the first conveying platform and the second conveying platform, and the two racks are meshed with the gear.
Preferably, the first driving assembly comprises a first motor, and the bearing platform is in transmission connection with the first motor through a first synchronous belt;
the second driving assembly comprises a second motor, and the first conveying platform is connected with the second motor through a second synchronous belt in a transmission mode.
Preferably, the first driving assembly further comprises at least one first synchronizing wheel, the first synchronizing wheel is arranged on the first conveying platform, and the relative position of the first synchronizing wheel and the first conveying platform is adjustable; and/or the presence of a gas in the gas,
the second driving assembly further comprises at least one second synchronizing wheel, the second synchronizing wheel is arranged on the second conveying platform, and the relative position of the second synchronizing wheel and the second conveying platform is adjustable.
Preferably, the conveying mechanism further comprises a position detection device,
the first conveying platform is provided with at least three position detection devices, and the at least three position detection devices are arranged at positions close to two ends and in the middle of the first conveying platform along the movement direction of the bearing platform; and/or the presence of a gas in the gas,
the second conveying platform is provided with at least three position detection devices, and the at least three position detection devices are arranged at positions close to two ends and in the middle of the second conveying platform along the movement direction of the first conveying platform.
Preferably, the position detection device comprises a U-shaped photo detection device.
Preferably, the conveying mechanism further comprises a first flexible stopper and a second flexible stopper,
along the movement direction of the bearing platform, the two ends of the first conveying platform are respectively provided with the first flexible limiting stopper, and the first flexible limiting stoppers are used for limiting the stroke of the bearing platform; and/or the presence of a gas in the gas,
and along the movement direction of the first conveying platform, the two ends of the second conveying platform are respectively provided with the second flexible limiting stopper, and the second flexible limiting stoppers are used for limiting the stroke of the first conveying platform.
Preferably, the first motor and the second motor are servo motors, and the conveying mechanism further comprises a controller, wherein the controller is electrically connected with the first motor and the second motor respectively and used for controlling the rotation direction and the position of the first motor and/or the second motor.
A robot comprises the bidirectional double-extension conveying mechanism.
In conclusion, compared with the traditional mechanism, the structure of the conveying device does not increase the occupied space, increases the travel distance in two directions, and further increases the conveying range; the automatic feeding device can be set according to a program, and can rotate to any position to stop in an effective stroke, so that any number of stations can be formed, and in combination with the reality, multiple stations can be formed, the number and relative positions of the stations can be switched at will, and most requirements are met; the relative position of each moving part can be monitored, and the phenomenon of collision and the like is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is a schematic view of a first angle configuration of the present application;
FIG. 2 is a schematic structural view of a second angle of the present application;
FIG. 3 is a schematic view of the base of the present application in cooperation with a first delivery platform;
FIG. 4 is a schematic view of another angular configuration of the base of the present application in cooperation with the first delivery platform;
fig. 5 is a schematic view of the structure of the base and the second conveying platform in the present application.
The labels in the figure are: 100 is a bearing platform, 200 is a first conveying platform, 300 is a second conveying platform, 400 is a base, 500 is a gear, 600 is a rack, 700 is a position detection device, and 800 is an induction plate;
201 is a first motor, 202 is a first synchronous belt, 203 is a first synchronous wheel, 204 is a first flexible stopper, 205 is a first limit support slide rail, 206 is a third limit support slide rail, 207 is a first mounting seat, and 208 is a first elongated hole;
301 is the second motor, 302 is the second hold-in range, 303 is the second synchronizing wheel, 304 is the second flexible stopper, 305 is the second spacing support slide rail, 306 is the second mount pad, 307 is the second rectangular hole.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1 to 5, a bidirectional double-extension conveying mechanism includes a carrying platform 100, a first conveying platform 200, a second conveying platform 300, a first driving assembly and a second driving assembly;
the bearing platform 100 is slidably disposed on the first conveying platform 200, specifically, the upper portion of the first conveying platform 200 is provided with a first limiting support slide rail 205 extending along the length thereof, specifically, two first limiting support slide rails 205 are disposed, and the bearing platform 100 is slidably mounted on the first limiting support slide rails 205, so that the first limiting support slide rails 205 provide stable and reliable sliding movement support for the bearing platform 100, meanwhile, the cross section of the first limiting support slide rails 205 is T-shaped, and the first limiting support slide rails 205 can limit the bearing platform 100, thereby effectively preventing the bearing platform 100 from being separated from the first conveying platform 200;
the first conveying platform 200 is slidably disposed on the second conveying platform 300 through a base 400, specifically, the upper portion of the second conveying platform 300 has a second limit support slide rail 305 extending along the length thereof, specifically, two third limit support slide rails 206 are disposed, and the lower portion of the base 400 is slidably connected to the second limit support slide rail 305; with such an arrangement, the second limiting support slide rail 305 provides a stable and reliable sliding movement support for the base 400, and meanwhile, the section of the second limiting support slide rail 305 is T-shaped, so that the second limiting support slide rail 305 can limit the base 400, and the base 400 is effectively prevented from being separated from the second conveying platform 300;
the bearing platform 100 is in transmission connection with a first driving assembly, the first driving assembly is used for controlling the bearing platform 100 and the first conveying platform 200 to move relatively, and the relative movement is movement along the length direction of the first conveying platform 200;
the first conveying platform 200 is in transmission connection with a second driving assembly, the second driving assembly is used for controlling the relative movement of the first conveying platform 200 and the second conveying platform 300, the relative movement is along the length direction of the second conveying platform 300, specifically, the first conveying platform 200 is in transmission connection with the second driving assembly through the base 400, and the second driving assembly controls the relative movement of the first conveying platform 200 and the second conveying platform 300 through the base 400.
Whole two-way pair is stretched conveying mechanism and is bilayer structure, and first conveying platform 200 can outwards slide at the length direction of second conveying platform 300 and extend, has increased the portable stroke distance of whole mechanism in two directions, and then has increased the transportable range of material.
In an embodiment of the present disclosure, as shown in fig. 2 to 5, the first conveying platform 200 is slidably disposed on the base 400, the conveying mechanism further includes a rack and pinion assembly, the first conveying platform 200 is in transmission connection with the second conveying platform 300 through the rack and pinion assembly, specifically, the lower portion of the first conveying platform 200 has a third limiting support rail 206 extending along the length thereof, specifically, two third limiting support rails 206 are disposed, and the upper portion of the base 400 is in sliding connection with the third limiting support rail 206, so that the third limiting support rail 206 provides a stable and reliable sliding movement support for the first conveying platform 200, and meanwhile, the cross-sectional shape of the third limiting support rail 206 is an inverted T shape, and the third limiting support rail 206 can limit the first conveying platform 200, thereby effectively preventing the first conveying platform 200 from separating from the base 400.
The rack and pinion assembly is used for controlling the first conveying platform 200 to move relative to the base 400, the second driving assembly can control the base 400 to move along the length of the second conveying platform 300, the base 400 can move to the limit positions at two ends of the second conveying platform 300, meanwhile, the rack and pinion assembly can control the first conveying platform 200 to move on the base 400 and can move to the limit positions at two ends of the first conveying platform 200, the movement of the base 400 and the first conveying platform 200 are in the same direction, and therefore the stroke of the bearing platform 100 in two directions can be increased by 1 time.
Further, the rack and pinion assembly comprises a gear 500 and two racks 600, the gear 500 is rotatably disposed on the base 400, the corresponding racks 600 are respectively disposed at the relative positions of the first conveying platform 200 and the second conveying platform 300, the two racks 600 are engaged with the gear 500, specifically, the rack 600 is disposed at the bottom of the first conveying platform 200, the rack 600 is disposed at the upper portion of the second conveying platform 300, and the second driving assembly controls the first conveying platform 200 to move along the length direction of the second conveying platform 300 through the base 400 according to the following principle: the second driving assembly controls the base 400 to move along the length direction of the second conveying platform 300, due to the action of the rack 600 of the second conveying platform 300, the gear 500 on the base 400 rotates forward or backward, the forward or backward rotation of the gear 500 acts on the rack 600 of the first conveying platform 200, the gear 500 drives the rack 600 of the first conveying platform 200 to move along the base 400, and further the first conveying platform 200 moves on the base 400, at this time, the sliding movement process of the first conveying platform 200 relative to the second conveying platform 300 is a compound movement process, that is, the sliding movement of the base 400 relative to the second conveying platform 300, and the sliding movement of the first conveying platform 200 relative to the base 400, and the base 400 and the sliding movement of the first conveying platform 200 are in the same direction.
In an embodiment of the present disclosure, as shown in fig. 1 to 5, a first driving assembly is disposed on the first conveying platform 200, the first driving assembly includes a first motor 201, and the carrying platform 100 is in transmission connection with the first motor 201 through a first synchronous belt 202;
the second driving assembly is arranged on the second conveying platform 300 and comprises a second motor 301, the first conveying platform 200 and the second motor 301 are in transmission connection through a second synchronous belt 302, and the first conveying platform 200 is in transmission connection with the second synchronous belt 302 through a base 400.
Specifically, the first motor 201 and the second motor 301 are servo motors, the servo motors can rotate forward and backward, and the conveying mechanism further comprises a controller, wherein the controller is electrically connected with the first motor 201 and the second motor 301 respectively and used for controlling the rotation direction and the position of the first motor 201 and/or the second motor 301.
Further, the first driving assembly further comprises at least one first synchronizing wheel 203, the first synchronizing wheel 203 is disposed on the first conveying platform 200, the relative positions of the first synchronizing wheel 203 and the first conveying platform 200 are adjustable, and herein, two first synchronizing wheels 203 are specifically disposed, one first synchronous wheel 203 is directly connected with an output shaft of a first motor 201, the two first synchronous wheels 203 are respectively arranged at two ends of the first conveying platform 200, a first synchronous belt 202 is sleeved on the first synchronous wheels 203, a servo motor drives the first synchronous wheels 203 directly connected with the output shaft of the servo motor to rotate, the first synchronous pulley 203 drives the first synchronous belt 202 to move, the first synchronous belt 202 drives the other first synchronous pulley 203 to rotate, the two first synchronous pulleys 203 provide reliable support for the movement of the first synchronous belt 202, and the first synchronous belt 202 drives the bearing platform 100 to slide along the length of the first conveying platform 200; and/or the presence of a gas in the gas,
the second driving assembly further includes at least one second synchronizing wheel 303, the second synchronizing wheel 303 is disposed on the second conveying platform 300, the relative position between the second synchronizing wheel 303 and the second conveying platform 300 is adjustable, three second synchronizing wheels 303 are specifically disposed herein, one of the second synchronizing wheels 303 is directly connected to an output shaft of the second motor 301, the second synchronizing wheel 303 and the second motor 301 are disposed in the middle of the second conveying platform 300, the other two second synchronizing wheels 303 are respectively disposed at two ends of the second conveying platform 300, the second synchronizing wheel 302 is sleeved on the second synchronizing wheel 303, the servo motor drives the second synchronizing wheel 303 directly connected to the output shaft of the servo motor to rotate, the second synchronizing wheel 303 drives the second synchronizing wheel 302 to move, the second synchronizing wheel 302 drives the other two second synchronizing wheels 303 to rotate, the three second synchronizing wheels 303 provide reliable support for the movement of the second synchronizing wheel 302, and the second synchronizing wheel 302 drives the first conveying platform 200 to move along the length of the second conveying platform 300 through the base 400. The servo motor, the synchronous belt and the synchronous wheel are all conventional parts in the mechanical field.
Specifically, the relative position of the first synchronizing wheel 203 and the first conveying platform 200 is adjustable, the relative position of the second synchronizing wheel 303 and the second conveying platform 300 is adjustable, so that the first synchronizing belt 202 and the second synchronizing belt 302 corresponding to tensioning are mainly arranged, the problem that the first synchronizing belt 202 and the second synchronizing belt 302 are loosened after being used for a long time is solved, the phenomenon of tooth slipping is avoided, and the method is specifically realized through the following structural form: the first synchronizing wheel 203 is mounted on the first conveying platform 200 through a first mounting seat 207, the first synchronizing wheel and the first conveying platform are fixedly connected through bolts, a first strip-shaped hole 208 is formed in the first mounting seat 207, and the first strip-shaped hole 208 can be used for adjusting the fixing position of the first mounting seat 207 along the length direction of the first conveying platform 200, so that the first synchronizing wheel 203 can tension the first synchronizing belt 202; second synchronizing wheel 303 is installed in second conveying platform 300 through second mount pad 306, and is fixed through bolted connection between the two, and second rectangular hole 307 has been seted up to second mount pad 306, and the setting up of second rectangular hole 307 can realize adjusting the fixed position of second mount pad 306 along second conveying platform 300 length direction for second synchronizing wheel 303 tensioning second hold-in range 302.
In one embodiment of the present disclosure, as shown in fig. 2, 3, and 5, the conveying mechanism further includes a position detecting device 700,
the first conveying platform 200 is provided with at least three position detection devices 700, along the movement direction of the bearing platform 100, the at least three position detection devices 700 are arranged at positions close to two ends and at the middle position of the first conveying platform 200, the position detection devices 700 are used for detecting the movement position of the bearing platform 100 so as to automatically control the movement stop of the bearing platform 100 and realize the accurate positioning of the movement process, furthermore, the specific positions of the position detection devices 700 arranged at each position can be adjusted, the specific positions of the position detection devices 700 can be adjusted according to actual needs, the accurate positioning of the bearing platform 100 at a plurality of positions within the length range of the first conveying platform 200 can be realized, and the adaptability is improved; and/or the presence of a gas in the gas,
the second conveying platform 300 is provided with at least three position detection devices 700, along the moving direction of the first conveying platform 200, the at least three position detection devices 700 are arranged at positions close to two ends of the second conveying platform 300 and at the middle position, the position detection devices 700 are used for detecting the moving position of the base 400, so that the movement stop of the base 400 is automatically controlled, and the accurate positioning of the moving process is realized, further, the specific positions of the position detection devices 700 arranged at each position can be adjusted, the specific positions of the position detection devices 700 can be adjusted according to actual needs, the accurate positioning of the base 400 at multiple positions in the length range of the second conveying platform 300 can be realized, the adaptability is increased, and the accurate positioning of the base 400 is realized, namely, the accurate positioning of the first conveying platform 200 relative to the second conveying platform 300 is realized.
Specifically, the position detection device 700 includes a U-shaped photoelectric detection device, and an induction plate 800 respectively disposed on the supporting platform 100 and the base 400, the U-shaped photoelectric detection device is used in cooperation with the corresponding induction plate 800, and when the induction plate 800 moves to the corresponding U-shaped photoelectric detection device, a shielding can be formed, so as to trigger the U-shaped photoelectric detection device at this position, and to form an accurate positioning.
In one embodiment of the present disclosure, as shown in fig. 2-5, the delivery mechanism further comprises a first flexible stop 204 and a second flexible stop 304,
along the moving direction of the carrying platform 100, the two ends of the first conveying platform 200 are both provided with a first flexible stopper 204, and the first flexible stoppers 204 are used for limiting the stroke of the carrying platform 100; and/or the presence of a gas in the gas,
along the moving direction of the first conveying platform 200, the second conveying platform 300 is provided with second flexible stoppers 304 at both ends, and the second flexible stoppers 304 are used for limiting the stroke of the first conveying platform 200. So set up, first flexible stopper 204, flexible stopper 304 of second are the safety measure who sets up, first flexible stopper 204 forms safe spacing to load-bearing platform 100, avoid load-bearing platform 100 to strike other zero portion or unexpected the breaking away from first conveying platform 200, flexible stopper 304 of second forms safe spacing to base 400, avoid base 400 to strike other zero portion or break away from second conveying platform 300, because first conveying platform 200 slides through base 400 and sets up in second conveying platform 300, therefore, flexible stopper 304 of second is spacing also to first conveying platform 200 to base 400.
The robot comprises the bidirectional double-stretching conveying mechanism, the bidirectional double-stretching mechanism is installed on the robot, the robot drives the bidirectional double-stretching mechanism to move, and material conveying is carried out through the bidirectional double-stretching conveying mechanism.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may be made to those skilled in the art, based on the above disclosure, and still be within the scope of the present disclosure.
Claims (10)
1. A bidirectional double-extension conveying mechanism is characterized by comprising a bearing platform (100), a first conveying platform (200), a second conveying platform (300), a first driving assembly and a second driving assembly;
the bearing platform (100) is arranged on the first conveying platform (200) in a sliding manner through a first limiting support sliding rail (205);
the first conveying platform (200) is arranged on the second conveying platform (300) in a sliding mode through a base (400);
the bearing platform (100) is in transmission connection with the first driving assembly, and the first driving assembly is used for controlling the bearing platform (100) and the first conveying platform (200) to move relatively;
the first conveying platform (200) is in transmission connection with the second driving assembly, and the second driving assembly is used for controlling the first conveying platform (200) and the second conveying platform (300) to move relatively.
2. The conveying mechanism according to claim 1, wherein the first conveying platform (200) is slidably disposed on the base (400), and the conveying mechanism further comprises a rack and pinion assembly, and the first conveying platform (200) is in transmission connection with the second conveying platform (300) through the rack and pinion assembly.
3. A bi-directional double-extension conveying mechanism according to claim 2, wherein a gear rack assembly comprises a gear (500) and two gear racks (600), the gear (500) is arranged on the base (400), the gear racks (600) are respectively arranged at the opposite positions of the first conveying platform (200) and the second conveying platform (300), and the two gear racks (600) are meshed with the gear (500).
4. The conveying mechanism of claim 1, wherein the first driving assembly comprises a first motor (201), and the carrying platform (100) is in transmission connection with the first motor (201) through a first synchronous belt (202);
the second driving assembly comprises a second motor (301), and the first conveying platform (200) is in transmission connection with the second motor (301) through a second synchronous belt (302).
5. A bi-directional double extension conveying mechanism according to claim 4, wherein the first driving assembly further comprises at least one first synchronizing wheel (203), the first synchronizing wheel (203) is arranged on the first conveying platform (200), and the relative positions of the first synchronizing wheel (203) and the first conveying platform (200) are adjustable; and/or the presence of a gas in the gas,
the second driving assembly further comprises at least one second synchronizing wheel (303), the second synchronizing wheel (303) is arranged on the second conveying platform (300), and the relative position of the second synchronizing wheel (303) and the second conveying platform (300) is adjustable.
6. A bi-directional double extension conveyor mechanism according to claim 1, characterized in that the conveyor mechanism further comprises position detection means (700),
the first conveying platform (200) is provided with at least three position detection devices (700), and the at least three position detection devices (700) are arranged at positions close to two ends and in the middle of the first conveying platform (200) along the movement direction of the bearing platform (100); and/or the presence of a gas in the gas,
the second conveying platform (300) is provided with at least three position detection devices (700), and the at least three position detection devices (700) are arranged at positions close to two ends and in the middle of the second conveying platform (300) along the movement direction of the first conveying platform (200).
7. A bi-directional double extension conveying mechanism according to claim 6, characterized in that the position detecting device (700) comprises a U-shaped photo detecting device.
8. A bi-directional dual extension conveyor mechanism according to claim 1, wherein the conveyor mechanism further comprises a first flexible stop (204) and a second flexible stop (304),
along the movement direction of the carrying platform (100), the two ends of the first conveying platform (200) are respectively provided with the first flexible limiting stopper (204), and the first flexible limiting stoppers (204) are used for limiting the stroke of the carrying platform (100); and/or the presence of a gas in the gas,
and along the movement direction of the first conveying platform (200), the two ends of the second conveying platform (300) are respectively provided with the second flexible limiting stopper (304), and the second flexible limiting stopper (304) is used for limiting the stroke of the first conveying platform (200).
9. A bi-directional double extension conveying mechanism according to claim 4, wherein the first motor (201) and the second motor (301) are servo motors, and the conveying mechanism further comprises a controller electrically connected to the first motor (201) and the second motor (301) respectively, for controlling the rotation direction and position of the first motor (201) and/or the second motor (301).
10. A robot comprising the bidirectional double-extension conveying mechanism of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123172217.5U CN216686134U (en) | 2021-12-15 | 2021-12-15 | Two-way two conveying mechanism, robot of stretching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123172217.5U CN216686134U (en) | 2021-12-15 | 2021-12-15 | Two-way two conveying mechanism, robot of stretching |
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| Publication Number | Publication Date |
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| CN216686134U true CN216686134U (en) | 2022-06-07 |
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| CN202123172217.5U Active CN216686134U (en) | 2021-12-15 | 2021-12-15 | Two-way two conveying mechanism, robot of stretching |
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2021
- 2021-12-15 CN CN202123172217.5U patent/CN216686134U/en active Active
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