CN108146993B - Annular storage device based on circular arc guide rail - Google Patents
Annular storage device based on circular arc guide rail Download PDFInfo
- Publication number
- CN108146993B CN108146993B CN201711268952.1A CN201711268952A CN108146993B CN 108146993 B CN108146993 B CN 108146993B CN 201711268952 A CN201711268952 A CN 201711268952A CN 108146993 B CN108146993 B CN 108146993B
- Authority
- CN
- China
- Prior art keywords
- guide rail
- chain
- annular
- arc
- rail structure
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/12—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of individual load-carriers fixed, or normally fixed, relative to traction element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/30—Details; Auxiliary devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses an annular storage device based on arc guide rails, which comprises a rack, wherein a positioning mechanism is arranged on a rack material taking and placing point, a horizontal guide rail supporting plate is arranged above the rack, an annular guide rail structure is arranged on the guide rail supporting plate, two identical arc-shaped roller guide rails are symmetrically arranged at two ends of the annular guide rail structure, and the two arc-shaped roller guide rails are connected through two parallel linear roller guide rails; the inside of annular guide rail structure is provided with sprocket chain transmission, and sprocket chain transmission includes the chain, and the chain is the same and the equidistance with annular guide rail structure's shape. The device has reduced the complexity of annular storage system design, has improved the functioning speed of annular storage, has improved the positioning accuracy of slide, has reduced the running resistance, has reduced the impact vibrations that straightway and circular arc section velocity of motion sudden change produced, has improved the stability and the reliability of system.
Description
Technical Field
The invention belongs to the technical field of automatic control; in particular to an annular storage device based on a circular arc guide rail.
Background
In the automatic production process, the automatic supply, circulation and storage of materials are crucial, and the efficiency and reliability of the operation of an automatic processing unit or an automatic production line are directly influenced. In the automatic machining link of the machine tool, a material storage system is usually matched with a mechanical arm, so that the automation of the machining process of a target product is realized. The material storage system has a fixed type, a disc type, a ring type and the like, and different material storage systems have different application ranges, occupied spaces and material storage capacities. The disc type occupies a large space, the fixed type requires a manipulator to have enough freedom degree and a larger reachable range, and the annular material storage system is flexible in layout, so that one or more material taking and placing points can be arranged, and the annular material storage system has greater advantages.
Patent grant publication No. is CN204137731U, and utility model patent multistation storage system that patent number is 201420597092.1 provides a ring form storage system, including frame, drive sprocket, driven sprocket, drive chain and a plurality of feed bin. The bin comprises a supporting plate, a limiting rod and a movable wheel, and is dragged by a chain to do annular rotary motion and positioning. Although the prior art scheme solves the problems of large occupied space and small storage capacity to a certain extent, the prior art scheme has the defects of low running speed, inaccurate positioning, large running resistance and easy abrasion of movable wheels; and the movement speed of the storage bin is suddenly changed in a straight line section and a circular arc section due to the fact that the revolving radius of the chain wheel is small, and then the defects of large impact vibration and the like are generated.
Disclosure of Invention
The invention provides an annular material storage device based on a circular arc guide rail; the device has reduced the complexity of annular storage system design, has improved the functioning speed of annular storage, has improved the positioning accuracy of slide, has reduced the running resistance, has reduced the impact vibrations that straightway and circular arc section velocity of motion sudden change produced, has improved the stability and the reliability of system.
The technical scheme of the invention is as follows: an annular storage device based on arc guide rails comprises a rack, wherein a positioning mechanism is arranged on a rack material taking and placing point, a horizontal guide rail supporting plate is arranged above the rack, an annular guide rail structure is arranged on the guide rail supporting plate, two ends of the annular guide rail structure are symmetrically provided with two identical arc-shaped roller guide rails, and the two arc-shaped roller guide rails are connected through two parallel linear roller guide rails; a chain wheel and chain transmission device is arranged in the annular guide rail structure and comprises a chain, the shape of the chain is the same as that of the annular guide rail structure, the chain is equidistant to the annular guide rail structure, a driving chain wheel is arranged at one end of the chain, a driven chain wheel is arranged at the other end of the chain, and a driving assembly is connected onto the driving chain wheel; wherein the annular guide rail structure evenly is provided with the slide that a plurality of and gyro wheel guide rail match, and wherein the slide can move along the direction of annular guide rail structure motion, the inboard and the chain fixed connection of slide, the outside and the positioning mechanism swing joint of slide, the top of slide is provided with the tool of placing the target product.
Furthermore, the invention is characterized in that:
The sliding seat comprises a sliding block matched with the roller guide rail, and a transmission plate fixedly connected with the chain is arranged on the inner side of the sliding block.
wherein the chain is fixedly connected with a transmission pin, the transmission plate is provided with a notch, and the notch is connected with the transmission pin in a small clearance fit manner.
Wherein the drive pin is capable of reciprocating in a direction perpendicular to the direction of chain motion.
The positioning mechanism comprises an air cylinder mounting plate and a bearing seat, the air cylinder mounting plate and the bearing seat are used for being fixed on the rack, an air cylinder is arranged on the air cylinder mounting plate, the other end of the air cylinder is connected with a transmission block, the transmission block is connected with one end of the bearing seat, the other end of the bearing seat is connected with an L-shaped positioning block, and a cam follower is arranged at the tail end of the L-shaped positioning.
The cylinder reciprocates to drive the transmission block to reciprocate around the bearing seat in an arc-shaped motion track, and the bearing seat drives the L-shaped positioning block to reciprocate in an arc-shaped motion track opposite to the motion direction of the transmission block, so that the cam follower at the tail end of the L-shaped positioning block reciprocates towards or away from the annular guide rail structure.
The sliding seat comprises a sliding block matched with the roller guide rail, and a positioning plate movably connected with the cam follower is arranged on the outer side of the sliding block.
Wherein, the positioning plate is provided with a notch, and a chamfer is arranged in the notch.
wherein the driving assembly is connected with the driving chain wheel through a speed reducer.
A plurality of material taking and placing points are arranged on the rack, and positioning mechanisms are arranged on the material taking and placing points.
Compared with the prior art, the invention has the beneficial effects that: the device supports and leads the slide through the gyro wheel guide rail, the slide passes through the chain and drives and remove on annular guide rail structure, chain and slide fixed connection simultaneously, still be provided with the positioning mechanism who is used for fixing a position the slide in the frame, the chain is the same with annular guide rail structure's shape, and it has straightway and circular arc section equally, and the chain sets up the inboard at annular track structure, and the pitch radius is less than annular track structure's pitch radius, the sudden change of slide at annular track structure straightway and circular arc section motion process and the impact shock that produces have been reduced, the steam generator is simple in structure, the running resistance is little, the operation is steady and reliable, and the functioning speed is high, the automatic efficiency of going up unloading of manipulator has been improved greatly.
Furthermore, it is connected with the little clearance fit of drive pin on the chain through the notch on its drive plate specifically to have injectd the slide to the drive pin can be followed the direction reciprocating motion of perpendicular to chain motion, has played the absorbing effect, and when the chain drove the slide motion and took place vibrations, the drive pin can carry out reciprocating motion, consequently can not influence the speed and the motion of slide in the chain direction of motion.
Furthermore, the positioning mechanism is driven by the air cylinder, linear reciprocating motion is converted into arc reciprocating motion tracks on the circumference through the transmission block and the bearing seat, so that the cam follower performs reciprocating motion, and when the sliding seat moves to a material taking and placing point, the sliding seat is clamped into a notch on the positioning plate, the positioning accuracy is improved, and the notch is internally provided with a chamfer, so that the connection stability is further improved.
Furthermore, the driving assembly enables the movement speed of the sliding seat to be controllable, and the device is more stable and reliable in operation.
furthermore, a plurality of material taking and placing points are arranged, the arrangement is flexible, the range of the manipulator for taking and placing the material points is expanded, and the conveying efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the slider of the present invention;
FIG. 3 is a schematic view of the chain drive of the present invention;
FIG. 4 is a schematic structural view of a positioning mechanism according to the present invention;
fig. 5 is a schematic view of the positioning mechanism of the present invention.
In the figure: 1 is a frame; 2, a positioning mechanism; 3 is a guide rail supporting plate; 4 is a driving assembly; 5 is a driving chain wheel; 6 is a sliding seat; 7 is a chain; 8 is a driven chain wheel; 9 is an annular guide rail structure; 10 is a transmission plate; 11 is a slide block; 12 is a positioning plate; 13 is a supporting plate; 14 is a jig; 15 is a driving pin; 16 is a cylinder; 17 is a cylinder mounting plate; 18 is a fisheye bearing; 19 is a transmission block; 20 is a bearing seat; 21 is an L-shaped positioning block; and 22 is a cam follower.
Detailed Description
the technical solution of the present invention is further explained with reference to the accompanying drawings and specific embodiments.
The invention provides an annular storage device based on arc guide rails, which comprises a rack 1, wherein a positioning mechanism 2 is fixed on a material taking and placing point of the rack 1, a horizontally arranged guide rail support plate 3 is fixed above the rack 1, an annular guide rail structure 9 is arranged on the guide rail support plate 3, two ends of the annular guide rail structure 9 are symmetrically arranged identical arc roller guide rails, the arc roller guide rails are connected through two parallel linear roller guide rails, and a plurality of sliding seats 6 matched with the roller guide rails are uniformly arranged on the annular guide rail structure 9; the guide rail support plate 3 is also provided with a chain wheel and chain transmission device, the chain wheel and chain transmission device is arranged on the inner side of the annular guide rail structure 9, and the chain wheel and chain transmission device and the annular guide rail structure 9 are equidistant; the chain wheel and chain transmission device comprises a driving chain wheel 5 and a driven chain wheel 8 which are arranged at two ends of the chain wheel and chain transmission device, wherein a chain 7 is connected between the driving chain wheel 5 and the driven chain wheel 8, the shape of the chain 7 is the same as that of the annular guide rail structure 9, and the chain 7 and the annular guide rail structure are equidistant; the driving chain wheel 5 is connected with the driving assembly 4, the driving assembly 4 is connected with the speed reducer, and an output shaft of the speed reducer is connected with the driving chain wheel 5 through a coupler.
As shown in fig. 2, the sliding base 6 includes a sliding block 11 capable of rolling on the roller guide rail, a transmission plate 10 connected with the chain 7 is arranged on the inner side of the sliding block 11, and a positioning plate 12 connected with the positioning mechanism 2 is arranged on the outer side of the sliding block 11; the upper portion of the sliding block 11 is fixedly connected with a supporting plate 13 through screws and pins, a jig 14 is arranged on the supporting plate 13, the jig 14 is designed according to the structure, the appearance and the clamping and positioning requirements of target products, and at least 1 target product can be stored on the jig 14 of a single sliding seat 6.
As shown in fig. 1, 2 and 3, a driving pin 15 is fixedly arranged on the chain 7, and the driving pin 15 moves synchronously with the chain 7; the transmission pin is connected with a notch formed in the transmission plate 10 in a close clearance fit mode, and the notch in the transmission plate 10 is preferably a rectangular groove; the driving pin 15 drives the slide carriage 6 to move on the endless track structure 9 through connection with the driving plate 10, and the driving pin 15 can reciprocate along the direction perpendicular to the moving direction of the chain, namely, the relative positions of the driving pin 15 and the slide carriage 6 in the moving direction along the endless track structure 9 are fixed, but the driving pin 15 can move with small amplitude in the direction perpendicular to the moving direction of the endless track structure 9.
as shown in fig. 1 and 4, the positioning mechanism 2 includes a cylinder mounting plate 17 and a bearing seat 20, the cylinder mounting plate 17 is provided with a cylinder 16, one end of the cylinder 16 is connected to a transmission block 19 through a fisheye bearing 18, the transmission block 19 is connected to one end of the bearing seat 20, the other end of the bearing seat 20 is connected to an L-shaped positioning block 21, the end of the L-shaped positioning block 21 is connected to a cam follower 22, and the cam follower 22 can be inserted into a notch on the positioning plate 12.
As shown in fig. 1 and 5, the cylinder mounting plate 17 and the bearing seat 20 are fixed on the frame 1, wherein the reciprocating motion of the cylinder 16 can drive the reciprocating rotation of the bearing seat 20 through the transmission block 19, so as to make the cam follower 22 swing back and forth, wherein the cam follower 22 swings inwards to clamp the notch of the positioning plate 12, so as to realize the positioning of the sliding seat 6, and preferably, the notch of the positioning plate 12 is provided with a chamfer, so as to realize the accurate positioning of the sliding seat.
The using method and the working principle of the invention are as follows: the frame 1 is fixedly connected to a foundation or a manipulator base, the device is assembled, and 12 sliding seats 6 are arranged according to the figure 1; and designing a proper jig 14 according to the structure, the appearance and the clamping and positioning requirements of the target product, wherein 1 or more target products are placed on the jig 14 of the sliding seat 6. The driving assembly 4 drives the driving sprocket 5 to rotate through the speed reducer, the driving sprocket 5 drives the driven sprocket 8 to rotate through the chain 7, and therefore the chain 7 moves, wherein the moving direction of the chain 7 is the same as the moving direction of the design of the annular guide rail structure 9; a driving pin 15 is fixed on the chain 7, the driving pin 15 moves along the moving direction of the chain 7, as shown in fig. 3, the driving pin 15 is connected with the rectangular notch on the driving plate 10 in a matching manner at a small distance, so that the driving pin 15 drives the sliding seat 6 to move along the moving direction; meanwhile, the cylinder 16 reciprocates, the cylinder 16 drives the transmission block 19 to reciprocate through the fisheye bearing 18, the reciprocating movement of the transmission block 19 drives the L-shaped positioning block 21 to reciprocate through the bearing seat 20, meanwhile, the cam follower 22 also reciprocates under the driving of the L-shaped positioning block 21, when the sliding seat 6 moves to a material taking and placing point, as shown in fig. 5, the cam follower 22 is clamped into a notch with a chamfer on the positioning plate 12, so that the accurate positioning of the sliding seat 6 is realized, and then the process of taking and placing a target product on the jig 14 is completed through other components.
Claims (6)
1. The annular storage device based on the arc guide rails is characterized by comprising a rack (1), wherein a positioning mechanism (2) is arranged on a material taking and placing point of the rack (1), a horizontal guide rail supporting plate (3) is arranged above the rack (1), an annular guide rail structure (9) is arranged on the guide rail supporting plate (3), two ends of the annular guide rail structure (9) are symmetrically provided with two identical arc-shaped roller guide rails, and the two arc-shaped roller guide rails are connected through two parallel linear roller guide rails; a chain wheel and chain transmission device is arranged in the annular guide rail structure (9), the chain wheel and chain transmission device comprises a chain (7), the chain (7) and the annular guide rail structure (9) are identical in shape and are equidistant, a driving chain wheel (5) is arranged at one end of the chain (7), a driven chain wheel (8) is arranged at the other end of the chain, and a driving assembly (4) is connected onto the driving chain wheel (5);
the annular guide rail structure (9) is uniformly provided with a plurality of sliding seats (6) matched with the roller guide rails, wherein the sliding seats (6) can move along the moving direction of the annular guide rail structure (9), the inner sides of the sliding seats (6) are fixedly connected with the chain (7), the outer sides of the sliding seats (6) are movably connected with the positioning mechanism (2), and a jig (14) for placing a target product is arranged above the sliding seats (6);
The sliding seat (6) comprises a sliding block (11) matched with the roller guide rail, and a transmission plate (10) fixedly connected with the chain (7) is arranged on the inner side of the sliding block (11);
The chain (7) is fixedly connected with a transmission pin (15), the transmission plate (10) is provided with a notch, and the notch is in close clearance fit connection with the transmission pin (15);
the driving pin (15) can reciprocate along the direction vertical to the movement direction of the chain (7);
The positioning mechanism (2) comprises an air cylinder mounting plate (17) and a bearing seat (20) which are used for being fixed on the rack (1), an air cylinder (16) is arranged on the air cylinder mounting plate (17), the other end of the air cylinder (16) is connected with a transmission block (19), the transmission block (19) is connected with one end of the bearing seat (20), the other end of the bearing seat (20) is connected with an L-shaped positioning block (21), and a cam follower (22) is arranged at the tail end of the L-shaped positioning block (21).
2. the circular storage device based on the circular arc guide rail as claimed in claim 1, wherein the cylinder (16) reciprocates to drive the transmission block (19) to reciprocate with an arc-shaped motion track around the bearing seat (20), and the bearing seat (20) drives the L-shaped positioning block (21) to reciprocate with an arc-shaped motion track opposite to the motion direction of the transmission block (19), so that the cam follower (22) at the tail end of the L-shaped positioning block (21) reciprocates towards/away from the circular guide rail structure (9).
3. The circular arc guide rail-based annular storage device according to claim 2, characterized in that the sliding base (6) comprises a sliding block (11) matched with the roller guide rail, and a positioning plate (12) movably connected with the cam follower (22) is arranged on the outer side of the sliding block (11).
4. The circular storage device based on the circular arc guide rail is characterized in that a notch is formed in the positioning plate (12), and a chamfer is arranged in the notch.
5. The circular arc guide rail-based annular storage device according to any one of claims 1 to 4, characterized in that the driving assembly (4) is connected with the driving chain wheel (5) through a speed reducer.
6. The circular storage device based on the arc guide rail according to any one of claims 1 to 4, wherein a plurality of material taking and placing points are arranged on the machine frame (1), and a positioning mechanism (2) is arranged on each material taking and placing point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711268952.1A CN108146993B (en) | 2017-12-05 | 2017-12-05 | Annular storage device based on circular arc guide rail |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711268952.1A CN108146993B (en) | 2017-12-05 | 2017-12-05 | Annular storage device based on circular arc guide rail |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108146993A CN108146993A (en) | 2018-06-12 |
| CN108146993B true CN108146993B (en) | 2019-12-10 |
Family
ID=62466570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711268952.1A Active CN108146993B (en) | 2017-12-05 | 2017-12-05 | Annular storage device based on circular arc guide rail |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108146993B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945964A (en) * | 2018-06-13 | 2018-12-07 | 重庆工业职业技术学院 | A kind of rotary feeding system for automatic assembly line |
| CN108861332A (en) * | 2018-06-21 | 2018-11-23 | 东莞市冠佳电子设备有限公司 | The mounting structure of conveyer belt and carrier and feeding buffer storage comprising this structure |
| CN109693911B (en) * | 2018-07-05 | 2023-12-08 | 广东格瑞克智能科技有限公司 | Mechanical arc precise reflux system |
| CN112432486A (en) * | 2018-10-27 | 2021-03-02 | 杨华根 | Insertion air supply type Futian chrysanthemum layered drying equipment and drying method |
| CN109399080A (en) * | 2018-12-06 | 2019-03-01 | 宁波然诺科学仪器有限公司 | A kind of automation annular transport mechanism |
| CN110104398A (en) * | 2019-04-16 | 2019-08-09 | 宁波川拓自动化科技有限公司 | A kind of modular circular orbit device |
| CN110145261A (en) * | 2019-05-29 | 2019-08-20 | 路运胜 | A kind of Oil Field oil pipe transport device and fortune dress method |
| CN110077798A (en) * | 2019-05-31 | 2019-08-02 | 海安交睿机器人科技有限公司 | A kind of straight line material library suitable for transformer core automatic overlapping and assembling |
| CN113548388B (en) * | 2021-08-04 | 2023-01-13 | 丽水市凯德森工贸有限公司 | Assembly line of automobile fuel filter |
| CN113928793B (en) * | 2021-12-16 | 2022-04-22 | 佛山市艾乐博机器人科技有限公司 | Flexible multi-station transplanting line |
| CN114247649A (en) * | 2021-12-23 | 2022-03-29 | 深圳友邦物联科技有限公司 | Express delivery parcel sorting device |
| CN115744115A (en) * | 2022-12-07 | 2023-03-07 | 安费诺嘉力讯(海盐)连接技术有限公司 | High-precision high-speed rectangular precision screw driving type circulating conveying mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2108067A (en) * | 1981-10-24 | 1983-05-11 | Surman Ind Limited | Elevator |
| FR2574768A1 (en) * | 1984-12-19 | 1986-06-20 | Gerber Garment Technology Inc | CONVEYOR TRANSPORTING SYSTEM AND SWITCHING DEVICE USED IN SUCH A SYSTEM |
| CN103159000A (en) * | 2013-04-15 | 2013-06-19 | 宫文峰 | Follow-up guiding type annual guiding rail feeding device |
| CN103879718A (en) * | 2013-12-27 | 2014-06-25 | 广州奥迪通用照明有限公司 | Novel guide rail |
| CN205373221U (en) * | 2016-01-22 | 2016-07-06 | 台州商城网股份有限公司 | Intelligence cold chain storehouse |
| CN206318339U (en) * | 2016-12-23 | 2017-07-11 | 扬州金源机器人自动化设备有限公司 | A kind of feed device for rod member |
-
2017
- 2017-12-05 CN CN201711268952.1A patent/CN108146993B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2108067A (en) * | 1981-10-24 | 1983-05-11 | Surman Ind Limited | Elevator |
| FR2574768A1 (en) * | 1984-12-19 | 1986-06-20 | Gerber Garment Technology Inc | CONVEYOR TRANSPORTING SYSTEM AND SWITCHING DEVICE USED IN SUCH A SYSTEM |
| CN103159000A (en) * | 2013-04-15 | 2013-06-19 | 宫文峰 | Follow-up guiding type annual guiding rail feeding device |
| CN103879718A (en) * | 2013-12-27 | 2014-06-25 | 广州奥迪通用照明有限公司 | Novel guide rail |
| CN205373221U (en) * | 2016-01-22 | 2016-07-06 | 台州商城网股份有限公司 | Intelligence cold chain storehouse |
| CN206318339U (en) * | 2016-12-23 | 2017-07-11 | 扬州金源机器人自动化设备有限公司 | A kind of feed device for rod member |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108146993A (en) | 2018-06-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108146993B (en) | Annular storage device based on circular arc guide rail | |
| CN205380982U (en) | High -accuracy glass locating device | |
| CN110653797B (en) | Three-degree-of-freedom pneumatic translation parallel mechanism | |
| CN112958965B (en) | Flexible switching device of multi-vehicle type shared clamp and control method | |
| CN109160258A (en) | A kind of automatic thread replacing mechanism of production line part | |
| CN105935884A (en) | Positioning platform device | |
| CN206105685U (en) | 3 centering mechanisms of screw rod | |
| CN107323998B (en) | Multi-station vibration disc with high-precision positioning function | |
| CN101664928A (en) | Vacuum robot | |
| CN108406751A (en) | A kind of high-precision multi-axis robot | |
| CN102166594B (en) | Three-axle-linkage servo transmission system for vertical spinning machine | |
| CN109367003B (en) | Cylindrical 6D printer system based on 6-degree-of-freedom parallel mechanism | |
| CN208914093U (en) | A kind of track walking robot | |
| CN203306645U (en) | Precise carrying apparatus | |
| CN106607877B (en) | Cam-driven three-degree-of-freedom parallel manipulator | |
| CN208100380U (en) | A kind of high-precision multi-axis robot | |
| CN110253558B (en) | Mechanism for realizing mechanical arm action through intermittent compound motion | |
| CN208472262U (en) | A kind of drawing frame automatic can_doffing system | |
| CN208315523U (en) | Three Degree Of Freedom dispensing locating platform | |
| CN209504159U (en) | A kind of rotating mechanical arm | |
| CN216917389U (en) | Annular conveying track | |
| CN206825362U (en) | A kind of pneumatic four stations workbench for flexible manufacturing system | |
| CN111438539B (en) | Vertical series-parallel engraving machine and working method thereof | |
| CN220033045U (en) | Precise annular conveying line with wide applicability | |
| CN206998913U (en) | A kind of workpiece that can overturn is to the device of arbitrary face |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |