CN112405500A - Auxiliary device is used in valve installation - Google Patents
Auxiliary device is used in valve installation Download PDFInfo
- Publication number
- CN112405500A CN112405500A CN202011255881.3A CN202011255881A CN112405500A CN 112405500 A CN112405500 A CN 112405500A CN 202011255881 A CN202011255881 A CN 202011255881A CN 112405500 A CN112405500 A CN 112405500A
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- Prior art keywords
- seat
- cylinder
- auxiliary device
- valve
- buffer
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 238000009434 installation Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000008093 supporting effect Effects 0.000 claims description 37
- 230000009471 action Effects 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mechanically-Actuated Valves (AREA)
Abstract
The invention discloses an auxiliary device for valve installation, which comprises a support frame, wherein four support seats are arranged below the support frame, a support mechanism is arranged in each support seat, the outer side of each support seat is connected with a wheel mounting frame, a roller is arranged below each wheel mounting frame, a bottom buffer is arranged between each wheel mounting frame and each roller, two ends of each support frame are respectively provided with a guide rail, a driving assembly is arranged between each pair of guide rails, each driving assembly comprises an installation shell, a transmission mechanism is arranged in each installation shell, each transmission mechanism comprises a rotatable rotating shaft, a fixed plate is connected below each rotating shaft, a bearing seat is hinged below each fixed plate, a pair of clamping elements are arranged below each bearing seat, clamping jaws are connected below each clamping element and used for clamping a valve, and an angle adjusting mechanism is connected between each fixed plate and each bearing seat, the invention is convenient to operate and safer and more reliable to use.
Description
Technical Field
The invention relates to the technical field of valves, in particular to an auxiliary device for valve installation.
Background
The type of valve is very many, can divide into shut-off valve, check valve, governing valve etc. according to its function, whether the installation of valve is good or bad to be concerned about whether the pipeline can realize corresponding effect, and current valve installation is manual installation, but to some great valves of volume, the manual installation is more difficult, has not only the installation hidden danger, and misoperation still can cause personnel to be injured.
Disclosure of Invention
In view of the above, the present invention provides an auxiliary device for mounting a valve, so as to solve the above technical problems.
In order to achieve the purpose, the invention provides the following technical scheme:
an auxiliary device for valve installation comprises a support frame, wherein four support seats are arranged below the support frame, a support mechanism is arranged in each support seat, the outer side of each support seat is connected with a wheel mounting frame, rollers are arranged below the wheel mounting frames, a bottom buffer is arranged between each wheel mounting frame and each roller, guide rails are arranged at two ends of each support frame, a driving assembly is arranged between each pair of guide rails, each driving assembly comprises a mounting shell, each mounting shell slides between each pair of guide rails, a transmission mechanism is arranged in each mounting shell, each transmission mechanism comprises a rotatable rotating shaft, a fixed plate is connected below each rotating shaft, a bearing seat is hinged below each fixed plate, a pair of clamping elements are arranged below each bearing seat, clamping jaws are connected below the clamping elements, and each clamping jaw is used for clamping a valve, an angle adjusting mechanism is connected between the fixed plate and the bearing seat.
Further, the angle adjusting mechanism is obliquely arranged and comprises a second cylinder, a lifting lug is connected to the upper end of the second cylinder, an ear seat is hinged to the upper surface of the lifting lug and fixedly connected to the lower surface of the fixing plate, a second connecting rod is connected to the lower surface of the second cylinder, a second pin shaft is arranged at the lower end of the second connecting rod, and the lower end of the second connecting rod is hinged to the bearing seat through the second pin shaft.
Furthermore, the supporting mechanism comprises a first air cylinder, the first air cylinder is arranged in the supporting seat, a sliding plate is arranged below the first air cylinder, the sliding plate slides in the supporting seat, a lifting rod is arranged below the sliding plate, and the lower end of the lifting rod penetrates through the bottom of the supporting seat and is connected with a supporting plate.
Furthermore, the bottom buffer part comprises a buffer cylinder, a buffer spring is arranged at the bottom of the buffer cylinder, the upper end of the buffer spring is supported and held at the bottom of the wheel mounting rack, an inner rod is connected to the bottom of the wheel mounting rack, a fitting block is arranged below the inner rod, the upper end of the buffer spring is supported and held at the bottom of the fitting block, and the roller is connected below the corresponding buffer cylinder.
Furthermore, a plurality of check blocks and a plurality of sliding blocks are arranged in the buffer cylinder, the sliding blocks are respectively connected to the side faces of the conjunction blocks, the sliding blocks slide on the side wall of the buffer cylinder, and the check blocks are located on the sliding blocks.
Further, drive mechanism still includes the motor, the motor is installed in the mounting groove of installation casing, the upper end of motor is connected with the drive shaft, the cover is equipped with the action wheel in the drive shaft, the cover is equipped with driving belt on the action wheel, driving belt's the other end is connected with from the driving wheel, establish from the driving wheel cover in the pivot.
Furthermore, a first connecting rod is arranged below the fixing plate, a first pin shaft is arranged at the lower end of the first connecting rod, the first pin shaft is arranged in the middle of the bearing seat, and the first connecting rod is hinged to the bearing seat through the first pin shaft.
Furthermore, a plurality of transverse plates are arranged in the supporting seat, the first air cylinder is arranged on the plurality of transverse plates, a guide hole is formed in the bottom of the supporting seat, the lower end of the lifting rod penetrates through the guide hole and is connected with the supporting plate, and a plurality of anti-skidding convex points are arranged below the supporting plate.
Furthermore, the driving assembly further comprises a pair of hydraulic cylinders, the pair of hydraulic cylinders are installed in the supporting frame at intervals, the installation shell is connected to the lower ends of the pair of hydraulic cylinders, guide sleeves are arranged at two ends of the installation shell, and the guide sleeves are connected with the guide rails on the corresponding sides in a sliding mode.
The technical scheme can show that the invention has the advantages that:
1. the large-scale valve clamping device is provided with the driving assembly, the bearing seat is arranged below the driving assembly and can clamp a large-scale valve, so that the labor intensity of workers is reduced, and the driving assembly can drive the bearing seat to move up and down, so that the large-scale valve clamping device is more convenient to use.
2. The angle adjusting mechanism is further arranged in the invention, and the levelness of the bearing seat can be adjusted, so that the situation that the valve is obliquely arranged is solved, and the use convenience is further improved.
3. The buffer device is also provided with the supporting mechanism and the buffer piece, so that the device can integrally move, and has a buffer effect, and the service life is longer.
4. The valve clamping device is also provided with a transmission mechanism, so that the bearing seat can rotate, and the convenience in valve clamping is further improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the supporting mechanism of fig. 1.
Fig. 3 is a schematic structural diagram of the transmission mechanism of the present invention.
Fig. 4 is a schematic structural view of the connection between the fixing plate and the load-bearing seat of the present invention.
Fig. 5 is a partially enlarged view of fig. 4 at B.
Fig. 6 is a schematic view of another structure of fig. 4.
Fig. 7 is a partially enlarged view of a portion a of fig. 1.
List of reference numerals: the device comprises a support frame 1, a guide rail 11, a support seat 12, a transverse plate 121, a guide hole 122, a wheel mounting frame 13, an inner rod 131, a matching block 132, a sliding block 133, a roller 14, a bottom buffer 15, a buffer cylinder 151, a buffer spring 152, a stop 153, a support mechanism 2, a first air cylinder 21, a sliding plate 22, a lifting rod 23, a support plate 24, an anti-skidding bump 241, a hydraulic cylinder 3, a mounting shell 31, a mounting groove 311, a guide sleeve 32, a transmission mechanism 4, a motor 41, a driving shaft 411, a driving wheel 42, a transmission belt 43, a driven wheel 44, a rotating shaft 45, a fixing plate 5, a first connecting rod 51, a first pin 511, an angle adjusting mechanism 6, a second air cylinder 61, a lifting lug 611, an ear seat 62, a second connecting rod 63, a second pin 631, a bearing seat 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
Referring to fig. 1 to 7, the auxiliary device for valve installation shown in fig. 1, 4 and 6 includes a support frame 1, four support seats 12 are disposed below the support frame 1, a support mechanism 2 is disposed in each support seat 12, a wheel mounting frame 13 is connected to an outer side of each support seat 12, a roller 14 is disposed below each wheel mounting frame 13, a bottom buffer 15 is disposed between each wheel mounting frame 13 and the roller 14, guide rails 11 are disposed at both ends of the support frame 1, a driving assembly is disposed between each pair of guide rails 11, the driving assembly includes an installation housing 31, the installation housing 31 slides between each pair of guide rails 11, a transmission mechanism 4 is disposed in the installation housing 31, the transmission mechanism 4 includes a rotatable rotating shaft 45, a fixed plate 5 is connected to a lower surface of the rotating shaft 45, and a bearing seat 7 is hinged to a lower surface of the fixed plate 5, a pair of clamping elements 71 is arranged below the bearing seat 7, clamping jaws 72 are connected below the clamping elements 71, the clamping jaws 72 are used for clamping the valve 8, and an angle adjusting mechanism 6 is connected between the fixing plate 5 and the bearing seat 7.
As shown in fig. 5, the angle adjusting mechanism 6 is obliquely arranged, the angle adjusting mechanism 6 includes a second cylinder 61, the upper end of the second cylinder 61 is connected with a lifting lug 611, the upper surface of the lifting lug 611 is hinged with an ear seat 62, the ear seat 62 is fixedly connected to the lower surface of the fixing plate 5, the lower surface of the second cylinder 61 is connected with a second connecting rod 63, the lower end of the second connecting rod 63 is provided with a second pin 631, the lower end of the second connecting rod 63 is hinged to the bearing seat 7 through the second pin 631, the second cylinder 61 drives the second connecting rod 63 to stretch, so that the horizontal angle of the bearing seat 7 changes, and the valve 8 is correspondingly inclined.
As shown in fig. 2, the supporting mechanism 2 includes a first cylinder 21, the first cylinder 21 is disposed in the supporting seat 12, a sliding plate 22 is disposed below the first cylinder 21, the sliding plate 22 slides in the supporting seat 12, a lifting rod 23 is disposed below the sliding plate 22, a lower end of the lifting rod 23 passes through the bottom of the supporting seat 12 and is connected to a supporting plate 24, the first cylinder 21 drives the sliding plate 22 to move downwards, so as to drive the lifting rod 23 and the supporting plate 24 to move downwards, when the bottom of the supporting plate 24 exceeds the roller 14, the roller 14 can be separated from the ground, and the supporting plate 24 is supported on the ground, so that the position of the whole device can be fixed, and thus the valve 8 can be clamped and installed conveniently, when the supporting frame 1 needs to be moved, the first cylinder 21 retracts, and the roller 14 is supported on the ground.
As shown in fig. 7, the bottom buffer 15 includes a buffer tube 151, a buffer spring 152 is disposed at the bottom of the buffer tube 151, the upper end of the buffer spring 152 abuts against the bottom of the wheel mounting bracket 13, an inner rod 131 is connected to the bottom of the wheel mounting bracket 13, a fitting block 132 is disposed below the inner rod 131, the upper end of the buffer spring 152 abuts against the bottom of the fitting block 132, the roller 14 is connected below the corresponding buffer tube 151, and the buffer spring 152 can improve the buffer effect between the roller 14 and the wheel mounting bracket 13, so that the impact force applied to the roller 14 when the first cylinder 21 retracts is smaller, and the service life of the roller 14 is prolonged.
Preferably, a plurality of stoppers 153 and a plurality of sliding blocks 133 are arranged in the buffer cylinder 151, the plurality of sliding blocks 133 are respectively connected to the side surfaces of the fitting blocks 132, the sliding blocks 133 make the fitting blocks 132 more stable when moving, the sliding blocks 133 slide on the side walls of the buffer cylinder 151, the plurality of stoppers 153 are positioned on the plurality of sliding blocks 133, and the stoppers 153 have a limiting effect on the fitting blocks 132 and can prevent the fitting blocks 132 from being separated from the buffer cylinder 151.
As shown in fig. 3, transmission mechanism 4 further includes a motor 41, motor 41 is installed in mounting groove 311 of installation housing 31, the upper end of motor 41 is connected with drive shaft 411, the cover is equipped with action wheel 42 on drive shaft 411, the cover is equipped with driving belt 43 on action wheel 42, driving belt 43's the other end is connected with from driving wheel 44, establish from driving wheel 44 the pivot 45 is last, motor 41 drives action wheel 42 and from driving wheel 44 rotate, can drive fixed plate 5, angle adjusting mechanism 6 and bearing seat 7 and rotate to make bearing seat 7 can press from both sides valve 8 in each direction of horizontal plane and get, thereby it is more convenient to use.
Preferably, a first connecting rod 51 is arranged below the fixing plate 5, a first pin 511 is arranged at the lower end of the first connecting rod 51, the first pin 511 is installed in the middle of the bearing seat 7, and the first connecting rod 51 is hinged to the bearing seat 7 through the first pin 511.
Preferably, a plurality of transverse plates 121 are arranged in the supporting seat 12, the transverse plates 121 have a supporting effect on the first air cylinder 21, the first air cylinder 21 is arranged on the plurality of transverse plates 121, a guide hole 122 is formed in the bottom of the supporting seat 12, the lower end of the lifting rod 23 penetrates through the guide hole 122 and is connected with the supporting plate 24, a plurality of anti-skidding salient points 241 are arranged below the supporting plate 24, and the anti-skidding salient points 241 can improve the friction effect with the ground, so that the device is more stable when placed on the ground, and is safer to use.
Preferably, the driving assembly further includes a pair of hydraulic cylinders 3, the pair of hydraulic cylinders 3 are installed in the support frame 1 at intervals, the installation housing 31 is connected to the lower ends of the pair of hydraulic cylinders 3, guide sleeves 32 are respectively disposed at two ends of the installation housing 31, the guide sleeves 32 are slidably connected with the guide rails 11 on the corresponding sides, and the guide rails 11 have a guiding function on the installation housing 31, so that the installation housing 31 is more stable when moving up and down.
The working principle is as follows: the device is moved to a proper position, the first air cylinder 21 is started to enable the supporting plate 24 to be supported on the ground, then the hydraulic cylinder 3 is started to enable the bearing seat 7 to be moved to a proper height, whether the motor 41 and the second air cylinder 61 need to be started or not is selected according to the placement condition of the valve 8, the clamping jaws 72 are controlled to move through the clamping elements 71, the pair of clamping jaws 72 clamp the valve 8, and then the valve 8 is installed.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the embodiment of the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The auxiliary device for valve installation is characterized by comprising a support frame (1), four support seats (12) are arranged below the support frame (1), a support mechanism (2) is arranged in each support seat (12), the outer side of each support seat (12) is connected with a wheel mounting frame (13), rollers (14) are arranged below the wheel mounting frames (13), a bottom buffer member (15) is arranged between each wheel mounting frame (13) and each roller (14), guide rails (11) are arranged at two ends of the support frame (1), a driving assembly is arranged between each pair of guide rails (11), each driving assembly comprises a mounting shell (31), each mounting shell (31) slides between each pair of guide rails (11), a transmission mechanism (4) is arranged in each mounting shell (31), each transmission mechanism (4) comprises a rotatable rotating shaft (45), be connected with fixed plate (5) below pivot (45), articulated below fixed plate (5) have bearing seat (7), be equipped with a pair of clamping element (71) below bearing seat (7), be connected with clamping jaw (72) below clamping element (71), a pair of clamping jaw (72) are used for centre gripping valve (8), fixed plate (5) with be connected with angle adjustment mechanism (6) between bearing seat (7).
2. The auxiliary device for installing the valve according to claim 1, wherein the angle adjusting mechanism (6) is obliquely arranged, the angle adjusting mechanism (6) comprises a second cylinder (61), a lifting lug (611) is connected to the upper end of the second cylinder (61), an ear seat (62) is hinged to the upper surface of the lifting lug (611), the ear seat (62) is fixedly connected to the lower surface of the fixing plate (5), a second connecting rod (63) is connected to the lower surface of the second cylinder (61), a second pin (631) is arranged at the lower end of the second connecting rod (63), and the lower end of the second connecting rod (63) is hinged to the bearing seat (7) through the second pin (631).
3. The auxiliary device for installing the valve according to claim 2, wherein the supporting mechanism (2) comprises a first air cylinder (21), the first air cylinder (21) is arranged in the supporting seat (12), a sliding plate (22) is arranged below the first air cylinder (21), the sliding plate (22) slides in the supporting seat (12), a lifting rod (23) is arranged below the sliding plate (22), and the lower end of the lifting rod (23) penetrates through the bottom of the supporting seat (12) and is connected with a supporting plate (24).
4. The auxiliary device for installing the valve as claimed in claim 3, wherein the bottom buffer (15) comprises a buffer cylinder (151), a buffer spring (152) is arranged at the bottom of the buffer cylinder (151), the upper end of the buffer spring (152) abuts against the bottom of the wheel mounting rack (13), an inner rod (131) is connected to the bottom of the wheel mounting rack (13), a fitting block (132) is arranged below the inner rod (131), the upper end of the buffer spring (152) abuts against the bottom of the fitting block (132), and the roller (14) is connected below the corresponding buffer cylinder (151).
5. The auxiliary device for valve installation according to claim 4, wherein a plurality of stoppers (153) and a plurality of sliding blocks (133) are provided in the buffer cylinder (151), the plurality of sliding blocks (133) are respectively connected to the side surfaces of the fitting blocks (132), the sliding blocks (133) slide on the side walls of the buffer cylinder (151), and the plurality of stoppers (153) are provided on the plurality of sliding blocks (133).
6. The auxiliary device for installing the valve as claimed in claim 5, wherein the transmission mechanism (4) further comprises a motor (41), the motor (41) is installed in the installation groove (311) of the installation shell (31), the upper end of the motor (41) is connected with a driving shaft (411), a driving wheel (42) is sleeved on the driving shaft (411), a transmission belt (43) is sleeved on the driving wheel (42), the other end of the transmission belt (43) is connected with a driven wheel (44), and the driven wheel (44) is sleeved on the rotating shaft (45).
7. The auxiliary device for installing the valve according to claim 6, wherein a first connecting rod (51) is arranged below the fixing plate (5), a first pin (511) is arranged at the lower end of the first connecting rod (51), the first pin (511) is installed in the middle of the bearing seat (7), and the first connecting rod (51) is hinged to the bearing seat (7) through the first pin (511).
8. The auxiliary device for installing the valve according to claim 7, wherein a plurality of transverse plates (121) are arranged in the supporting seat (12), the first air cylinder (21) is arranged on the plurality of transverse plates (121), a guide hole (122) is formed in the bottom of the supporting seat (12), the lower end of the lifting rod (23) penetrates through the guide hole (122) and is connected with the supporting plate (24), and a plurality of anti-skidding salient points (241) are arranged below the supporting plate (24).
9. The auxiliary device for installing the valve according to claim 1, wherein the driving assembly further comprises a pair of hydraulic cylinders (3), the pair of hydraulic cylinders (3) are installed in the supporting frame (1) at intervals, the installation shell (31) is connected to the lower ends of the pair of hydraulic cylinders (3), guide sleeves (32) are arranged at two ends of the installation shell (31), and the guide sleeves (32) are slidably connected with the guide rails (11) on the corresponding sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011255881.3A CN112405500A (en) | 2020-11-11 | 2020-11-11 | Auxiliary device is used in valve installation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011255881.3A CN112405500A (en) | 2020-11-11 | 2020-11-11 | Auxiliary device is used in valve installation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112405500A true CN112405500A (en) | 2021-02-26 |
Family
ID=74781709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011255881.3A Pending CN112405500A (en) | 2020-11-11 | 2020-11-11 | Auxiliary device is used in valve installation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112405500A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL2012160C2 (en) * | 2014-01-28 | 2015-07-29 | Adrianus Franciscus Geest | ROBOT WITH DELTA CONNECTED IN SERIES. |
| CN105904432A (en) * | 2016-05-24 | 2016-08-31 | 陈薇 | Hydraulic engineering pipe fitting stacking industrial robot |
| CN106217108A (en) * | 2016-08-23 | 2016-12-14 | 朱林辉 | A kind of bearing machining is with from steady mobile foundation |
| CN106625620A (en) * | 2016-10-31 | 2017-05-10 | 徐洪恩 | Shoemaking robot |
| CN107932484A (en) * | 2017-12-21 | 2018-04-20 | 重庆世玛德智能制造有限公司 | A kind of multiple spot parallel-by-bit pick-and-place truss arm-and-hand system and its application method |
| CN109571415A (en) * | 2018-12-24 | 2019-04-05 | 重庆世玛德智能制造有限公司 | A kind of three axis truss robot device of four station |
-
2020
- 2020-11-11 CN CN202011255881.3A patent/CN112405500A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL2012160C2 (en) * | 2014-01-28 | 2015-07-29 | Adrianus Franciscus Geest | ROBOT WITH DELTA CONNECTED IN SERIES. |
| CN105904432A (en) * | 2016-05-24 | 2016-08-31 | 陈薇 | Hydraulic engineering pipe fitting stacking industrial robot |
| CN106217108A (en) * | 2016-08-23 | 2016-12-14 | 朱林辉 | A kind of bearing machining is with from steady mobile foundation |
| CN106625620A (en) * | 2016-10-31 | 2017-05-10 | 徐洪恩 | Shoemaking robot |
| CN107932484A (en) * | 2017-12-21 | 2018-04-20 | 重庆世玛德智能制造有限公司 | A kind of multiple spot parallel-by-bit pick-and-place truss arm-and-hand system and its application method |
| CN109571415A (en) * | 2018-12-24 | 2019-04-05 | 重庆世玛德智能制造有限公司 | A kind of three axis truss robot device of four station |
Non-Patent Citations (2)
| Title |
|---|
| ZHAO YINAN,ETC.: "Novel method for six-legged robots turning valves based on force sensing", 《MECHANISM AND MACHINE THEORY》 * |
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Application publication date: 20210226 |