CN205415630U - Bottled water transfer robot - Google Patents
Bottled water transfer robot Download PDFInfo
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- CN205415630U CN205415630U CN201521044316.7U CN201521044316U CN205415630U CN 205415630 U CN205415630 U CN 205415630U CN 201521044316 U CN201521044316 U CN 201521044316U CN 205415630 U CN205415630 U CN 205415630U
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Abstract
The utility model relates to a transport robotic device specifically says so one kind and is applied to the special manipulator of the pile up neatly machine people who carries the bottled water on the bottled water filling line specially. The utility model aims to design a with bottled water filling line's pile up neatly machine people, the degree of automation of solution mill is low, workman's intensity of labour is strong, bottled water manufacturing cost is high, the low scheduling problem of production quality. The utility model discloses by base 1, waist rotary mechanism 2, vertical elevator construct 3, horizontal mechanism 4, hand open and shut mechanism 5 and constitute. Base 1 is the support of whole robot, waist rotary mechanism 2 utilizes bolt and 1 fixed being in the same place of base, waist rotary mechanism 2 constitutes a series connection degree of freedom of robot, realize vertical hoist mechanism 3, the open and shut rotary motion of mechanism 5 of horizontal mechanism 4 and hand, the flexibility of robot is greatly improved, the space of robot has been increased simultaneously, vertical hoist mechanism 3 has realized the open and shut vertical motion of mechanism 5 of horizontal mechanism 4 and hand, horizontal migration mechanism 4 realized the hand open and shut the mechanism level motion with press from both sides tight motion, the open and shut centre grippings of the main realization bottled waters of mechanism 5 of hand, the smooth completion of bottled water transport has been guaranteed. The utility model discloses a cylindrical robot's motion is controlled easily, and positioning accuracy is high than revolute robot, simple structure, and the action scope is big, and area is little and do not have the singular point at the action within range, and the programming is simple, functioning speed advantage such as fast, simultaneously the utility model discloses the degree of automation intensity of labour low, the workman that can solve the mill is strong, bottled water manufacturing cost is high, the low scheduling problem of production quality.
Description
Technical field
This utility model relates to a kind of transfer robot equipment, a kind of robot palletizer special manipulator being specifically applied to carry bottled water on bottled water filling production lines.
Background technology
Barreled drinking water is welcome by many units, family, but the loss to equipment during whole controlling the water circulation, and the maintenance of equipment, the renewal of accessory also exist huge cost.Traditional carrying barreled water is all by being accomplished manually, and needs huge manpower and ability, adds the production cost of bottled water.Carrying barreled water robot improves the automaticity of factory, reduces the labor intensity of workman and the production cost of bottled water, and improves the quality of production.
Summary of the invention
The purpose of this utility model is to design a kind of robot palletizer special manipulator being applied to bottled water filling production lines, the problems such as the automaticity of solution factory is low, the labor intensity of workman is strong, bottled water production cost is high, the quality of production is low.
This utility model is made up of base 1, waist rotating mechanism 2, vertical-lift mechanism 3, horizontal mechanism 4, hand open-and-close mechanism 5；Base 1 is the support of whole robot；nullWaist rotating mechanism 2 utilizes bolt to be fixed together with base 1，It is the mechanism realizing robot integral-rotation motion，It is by motor 2-1、Rebound 2-2、Rebound screw 2-3、Screw 2-4 fixed by harmonic wave、Motor shaft sleeve 2-5、Harmonic speed reducer 2-6、Bed bolt 2-7 forms，Rebound 2-2 and base 1 are fixed together，Form the support of waist rotating mechanism 2，The upper end of harmonic speed reducer 2-6 is connected with the lower supporting plate 3-15 of vertical ascent mechanism 3 by bed bolt 2-7，The lower end of harmonic speed reducer 2-6 is fixed screw 2-4 by harmonic wave and is connected with rebound 2-2，Motor 2-1 is arranged on rebound 2-2，The external part of motor 2-1 is connected by the input of motor shaft sleeve 2-5 and harmonic speed reducer 2-6，The power of power source motor 2-1 inputs to harmonic speed reducer 2-6 by motor shaft sleeve 2-5，The outfan of harmonic speed reducer 2-6 drives vertical ascent mechanism 3 to rotate，It is achieved thereby that the transmission of robot waist rotary motion，Waist rotating mechanism 2 forms a series connection degree of freedom of robot，Realize vertical-lifting mechanism 3、Horizontal mechanism 4 and the rotary motion of hand open-and-close mechanism 5；nullVertical-lift mechanism 3 is by motor 3-1、Bolt 3-2 fixed by motor、Motor support frame 3-3、Shaft coupling 3-4、Upper backup pad 3-5、Bearing (ball) cover 3-6、Locking nut 3-7、Taper roll bearing 3-8、Big leading screw 3-9、Round guide 3-10、Linear bearing 3-11、Big screw set 3-12、Slide unit 3-13、Bolt 3-14、Lower supporting plate 3-15、Taper roll bearing 3-16、Locking nut 3-17 forms，Motor support frame 3-3 and upper backup pad 3-5 and lower supporting plate 3-15 is fixed together，Form the support of vertical-lift mechanism 3，The two ends of round guide 3-10 are arranged on upper backup pad 3-5 and lower supporting plate 3-15，The motor side of ball big leading screw 3-9 is arranged on upper backup pad 3-5，By bearing (ball) cover 3-6、Locking nut 3-7 and taper roll bearing 3-8 fixes，The other end of ball big leading screw 3-9 is arranged on lower supporting plate 3-15，Realize supporting by taper roll bearing 3-16 and locking nut 3-17，Linear bearing 3-11 and big screw set 3-12 is arranged on vertical slide unit 3-13，Power is transmitted by ball big leading screw 3-9，Vertically slide along round guide 3-10，Power source motor 3-1 is fixed on motor support frame 3-3，The power of motor 3-1 passes to ball-screw 3-9 by shaft coupling 3-4，It is achieved thereby that the transmission of vertical-lift mechanism motion；Horizontal mechanism 4 is fixed screw 4-2 by motor 4-1, motor, right-hand apron 4-3, shaft coupling 4-4, bearing (ball) cover 4-5, locking nut 4-6, deep groove ball bearing 4-7, middle baffle plate 4-8, leading screw 4-9, slide rail 4-10, square steel tube 4-11, screw set 4-12, slide block bolt 4-13, fixed block 4-14, slide block 4-15, slide rail bolt 4-16, block bolt 4-17, left side baffle plate 4-18, counterweight 4-19 form；nullLeft side baffle plate 4-18 and middle baffle plate 4-8 and square steel tube 4-11 are fixed together，Form the support of horizontal mechanism 4，The two ends of slide rail 4-10 are arranged in left side baffle plate 4-18 and middle baffle plate 4-8，The motor side of ball-screw 4-9 is arranged on right-hand apron 4-3，By bearing (ball) cover 4-5、Locking nut 4-6 and deep groove ball bearing 4-7 fixes，The other end of ball-screw 4-9 is arranged on the baffle plate 4-18 of left side，Also it is to realize supporting by deep groove ball bearing and locking nut，Screw set 4-12 is arranged on slide block 4-15，Power is transmitted by ball-screw 4-9，Slide along slide rail 4-10 level，Power source motor 4-1 fixes screw 4-2 by motor and is fixed on right-hand apron 4-3，The power of motor 4-1 passes to ball-screw 4-9 by shaft coupling 4-4，It is achieved thereby that the transmission of vertical-lift mechanism motion，Counterweight 4-19 ensure that the easy motion of horizontal mechanism 4；Hand open-and-close mechanism 5 is made up of screw rod 5-1, upper block 5-2, lower block 5-3, screw 5-4, right pawl 5-5, left claw 5-6, left claw 5-6 has fluting to be connected with square steel tube 4-11 with the top of right pawl 5-5, the gravity of water is undertaken by square steel tube 4-11, there is fluting the bottom of left claw 5-6 and right pawl 5-5 to clamp workpiece, upper block 5-2 and lower block 5-3 is linked by screw 5-4, upper block 5-2 and lower block 5-3 has thread groove to link with screw rod 5-1, the rotation of screw rod 5-1 drives left claw 5-6 and right pawl 5-5 to realize holding function, it is ensured that smoothly completing of carrying barreled water.
The utility model has the advantages that: one, the motion of cylindrical robot of the present utility model is easily controlled, positioning precision relatively revolute robot is high, simple in construction, actuating range big and in actuating range without singular point, the advantages such as floor space is little, and programming is simple, and the speed of service is fast.Two, this utility model can solve the problems such as the automaticity of factory labor intensity low, workman is strong, bottled water production cost is high, the quality of production is low.
Accompanying drawing explanation
Fig. 1 is the front view of carrying barreled water robot of the present utility model, and Fig. 2 is the left view of Fig. 1.
Detailed description of the invention
Detailed description of the invention one: combine Fig. 1 ~ Fig. 2 and present embodiment is described, present embodiment is made up of base 1, waist rotating mechanism 2, vertical-lift mechanism 3, horizontal mechanism 4, hand open-and-close mechanism 5.Base 1 is the support of whole robot, waist rotating mechanism 2 utilizes bolt to be fixed together with base 1, waist rotating mechanism 2 forms a series connection degree of freedom of robot, realize vertical-lifting mechanism 3, horizontal mechanism 4 and the rotary motion of hand open-and-close mechanism 5, substantially increase the motility of robot, increase the space of robot simultaneously, vertical-lifting mechanism 3 achieves horizontal mechanism 4 and the vertical motion of hand open-and-close mechanism 5, horizontal mobile mechanism 4 achieves horizontal movement and the clamping movement of hand open-and-close mechanism, hand open-and-close mechanism 5 mainly realizes the clamping of bottled water, ensure that smoothly completing of carrying barreled water.
Machine man-hour, by workman by carrying barreled water robot of the present utility model installation assembly line end.nullThe present invention can be in conjunction with plc programming Control technology，It is input in CPU by industrial computer programming，CPU and high-speed pulse output module control motor by stepper motor driver，Concrete input and output amount is: the position that end effector paw section of the present utility model has two input quantities to carry out one paw of perception，Its excess-three paw is controlled by the relation of worm drive，Horizontal transfer portion has two input quantities，Vertically movable part has two input quantities，Waist rotating part has two input quantities，Further need exist for start button SB1 and stop button SB2，So altogether needing 10 input quantities，Output part needs to control four motor rotatings，Each motor is by three port controlling，Therefore need 12 outputs，By 10 input quantities with 12 outputs respectively with the corresponding carrying realizing bottled water of motion of motor.This utility model solves the problems such as the automaticity of factory labor intensity low, workman is strong, bottled water production cost is high, the quality of production is low.
nullDetailed description of the invention two: combine Fig. 1 and present embodiment is described，The waist rotating mechanism 2 of present embodiment is the mechanism realizing robot integral-rotation motion，It is by motor 2-1、Rebound 2-2、Rebound screw 2-3、Screw 2-4 fixed by harmonic wave、Motor shaft sleeve 2-5、Harmonic speed reducer 2-6、Bed bolt 2-7 forms，Rebound 2-2 and base 1 are fixed together，Form the support of waist rotating mechanism 2，The upper end of harmonic speed reducer 2-6 is connected with the lower supporting plate 3-15 of vertical ascent mechanism 3 by bed bolt 2-7，The lower end of harmonic speed reducer 2-6 is fixed screw 2-4 by harmonic wave and is connected with rebound 2-2，Motor 2-1 is arranged on rebound 2-2，The external part of motor 2-1 is connected by the input of motor shaft sleeve 2-5 and harmonic speed reducer 2-6，The power of power source motor 2-1 inputs to harmonic speed reducer 2-6 by motor shaft sleeve 2-5，The outfan of harmonic speed reducer 2-6 drives vertical ascent mechanism 3 to rotate，It is achieved thereby that the transmission of robot waist rotary motion.
nullDetailed description of the invention three: combine Fig. 1 and present embodiment is described，The vertical-lift mechanism 3 of present embodiment is by motor 3-1、Bolt 3-2 fixed by motor、Motor support frame 3-3、Shaft coupling 3-4、Upper backup pad 3-5、Bearing (ball) cover 3-6、Locking nut 3-7、Taper roll bearing 3-8、Big leading screw 3-9、Round guide 3-10、Linear bearing 3-11、Big screw set 3-12、Slide unit 3-13、Bolt 3-14、Lower supporting plate 3-15、Taper roll bearing 3-16、Locking nut 3-17 forms，Motor support frame 3-3 and upper backup pad 3-5 and lower supporting plate 3-15 is fixed together，Form the support of vertical-lift mechanism 3，The two ends of round guide 3-10 are arranged on upper backup pad 3-5 and lower supporting plate 3-15，The motor side of ball big leading screw 3-9 is arranged on upper backup pad 3-5，By bearing (ball) cover 3-6、Locking nut 3-7 and taper roll bearing 3-8 fixes，The other end of ball big leading screw 3-9 is arranged on lower supporting plate 3-15，Realize supporting by taper roll bearing 3-16 and locking nut 3-17，Linear bearing 3-11 and big screw set 3-12 is arranged on vertical slide unit 3-13，Power is transmitted by ball big leading screw 3-9，Vertically slide along round guide 3-10，Power source motor 3-1 is fixed on motor support frame 3-3，The power of motor 3-1 passes to ball-screw 3-9 by shaft coupling 3-4，It is achieved thereby that the transmission of vertical-lift mechanism motion.
Detailed description of the invention four: combine Fig. 1 and present embodiment is described, the horizontal mechanism 4 of present embodiment is fixed screw 4-2 by motor 4-1, motor, right-hand apron 4-3, shaft coupling 4-4, bearing (ball) cover 4-5, locking nut 4-6, deep groove ball bearing 4-7, middle baffle plate 4-8, leading screw 4-9, slide rail 4-10, square steel tube 4-11, screw set 4-12, slide block bolt 4-13, fixed block 4-14, slide block 4-15, slide rail bolt 4-16, block bolt 4-17, left side baffle plate 4-18, counterweight 4-19 form；nullLeft side baffle plate 4-18 and middle baffle plate 4-8 and square steel tube 4-11 are fixed together，Form the support of horizontal mechanism 4，The two ends of slide rail 4-10 are arranged in left side baffle plate 4-18 and middle baffle plate 4-8，The motor side of ball-screw 4-9 is arranged on right-hand apron 4-3，By bearing (ball) cover 4-5、Locking nut 4-6 and deep groove ball bearing 4-7 fixes，The other end of ball-screw 4-9 is arranged on the baffle plate 4-18 of left side，Also it is to realize supporting by deep groove ball bearing and locking nut，Screw set 4-12 is arranged on slide block 4-15，Power is transmitted by ball-screw 4-9，Slide along slide rail 4-10 level，Power source motor 4-1 fixes screw 4-2 by motor and is fixed on right-hand apron 4-3，The power of motor 4-1 passes to ball-screw 4-9 by shaft coupling 4-4，It is achieved thereby that the transmission of vertical-lift mechanism motion，Counterweight 4-19 ensure that the easy motion of horizontal mechanism 4.
Detailed description of the invention five: combine Fig. 2 and present embodiment is described, the hand open-and-close mechanism 5 of present embodiment is made up of screw rod 5-1, upper block 5-2, lower block 5-3, screw 5-4, right pawl 5-5, left claw 5-6.Left claw 5-6 has fluting to be connected with square steel tube 4-11 with the top of right pawl 5-5, the gravity of water is undertaken by square steel tube 4-11, there is fluting the bottom of left claw 5-6 and right pawl 5-5 to clamp workpiece, upper block 5-2 and lower block 5-3 is linked by screw 5-4, upper block 5-2 and lower block 5-3 has thread groove to link with screw rod 5-1, and the rotation of screw rod 5-1 drives left claw 5-6 and right pawl 5-5 to realize holding function.
Operation principle:
Base 1 is the support of whole robot, waist rotating mechanism 2 utilizes bolt to be fixed together with base 1, waist rotating mechanism 2 forms a series connection degree of freedom of robot, realize vertical-lifting mechanism 3, horizontal mechanism 4 and the rotary motion of hand open-and-close mechanism 5, substantially increase the motility of robot, increase the space of robot simultaneously, vertical-lifting mechanism 3 achieves horizontal mechanism 4 and the vertical motion of hand open-and-close mechanism 5, horizontal mobile mechanism 4 achieves horizontal movement and the clamping movement of hand open-and-close mechanism, hand open-and-close mechanism 5 mainly realizes the clamping of bottled water, ensure that smoothly completing of carrying barreled water.
Claims (1)
1. a carrying barreled water robot, it is characterised in that: it is made up of base (1), waist rotating mechanism (2), vertical-lift mechanism (3), horizontal mechanism (4), hand open-and-close mechanism (5)；Base (1) is the support of whole robot；nullWaist rotating mechanism (2) utilizes bolt to be fixed together with base (1)，It is the mechanism realizing robot integral-rotation motion，It is by motor (2-1)、Rebound (2-2)、Rebound screw (2-3)、Screw (2-4) fixed by harmonic wave、Motor shaft sleeve (2-5)、Harmonic speed reducer (2-6)、Bed bolt (2-7) forms，Rebound (2-2) and base (1) are fixed together，Form the support of waist rotating mechanism (2)，The upper end of harmonic speed reducer (2-6) is connected with the lower supporting plate (3-15) of vertical ascent mechanism (3) by bed bolt (2-7)，The lower end of harmonic speed reducer (2-6) is fixed screw (2-4) by harmonic wave and is connected with rebound (2-2)，Motor (2-1) is arranged on rebound (2-2)，The external part of motor (2-1) is connected with the input of harmonic speed reducer (2-6) by motor shaft sleeve (2-5)，The power of power source motor (2-1) inputs to harmonic speed reducer (2-6) by motor shaft sleeve (2-5)，The outfan of harmonic speed reducer (2-6) drives vertical ascent mechanism (3) to rotate，It is achieved thereby that the transmission of robot waist rotary motion，Waist rotating mechanism (2) forms a series connection degree of freedom of robot，Realize vertical-lifting mechanism (3)、Horizontal mechanism (4) and the rotary motion of hand open-and-close mechanism (5)；nullVertical-lift mechanism (3) is by motor (3-1)、Bolt (3-2) fixed by motor、Motor support frame (3-3)、Shaft coupling (3-4)、Upper backup pad (3-5)、Bearing (ball) cover (3-6)、Locking nut (3-7)、Taper roll bearing (3-8)、Big leading screw (3-9)、Round guide (3-10)、Linear bearing (3-11)、Big screw set (3-12)、Slide unit (3-13)、Bolt (3-14)、Lower supporting plate (3-15)、Taper roll bearing (3-16)、Locking nut (3-17) forms，Motor support frame (3-3) and upper backup pad (3-5) and lower supporting plate (3-15) are fixed together，Form the support of vertical-lift mechanism (3)，The two ends of round guide (3-10) are arranged on upper backup pad (3-5) and lower supporting plate (3-15)，The motor side of the big leading screw of ball (3-9) is arranged on upper backup pad (3-5)，By bearing (ball) cover (3-6)、Locking nut (3-7) and taper roll bearing (3-8) are fixed，The other end of the big leading screw of ball (3-9) is arranged on lower supporting plate (3-15)，Realize supporting by taper roll bearing (3-16) and locking nut (3-17)，Linear bearing (3-11) and big screw set (3-12) are arranged on vertical slide unit (3-13)，Power is transmitted by the big leading screw of ball (3-9)，Vertically slide along round guide (3-10)，Power source motor (3-1) is fixed on motor support frame (3-3)，The power of motor (3-1) passes to ball-screw (3-9) by shaft coupling (3-4)，It is achieved thereby that the transmission of vertical-lift mechanism motion；Horizontal mechanism (4) is by motor (4-1), screw (4-2) fixed by motor, right-hand apron (4-3), shaft coupling (4-4), bearing (ball) cover (4-5), locking nut (4-6), deep groove ball bearing (4-7), middle baffle plate (4-8), leading screw (4-9), slide rail (4-10), square steel tube (4-11), screw set (4-12), slide block bolt (4-13), fixed block (4-14), slide block (4-15), slide rail bolt (4-16), block bolt (4-17), left side baffle plate (4-18), counterweight (4-19) forms；nullLeft side baffle plate (4-18) and middle baffle plate (4-8) and square steel tube (4-11) are fixed together，Form the support of horizontal mechanism (4)，The two ends of slide rail (4-10) are arranged in left side baffle plate (4-18) and middle baffle plate (4-8)，The motor side of ball-screw (4-9) is arranged on right-hand apron (4-3)，By bearing (ball) cover (4-5)、Locking nut (4-6) and deep groove ball bearing (4-7) are fixed，The other end of ball-screw (4-9) is arranged on left side baffle plate (4-18)，Also it is to realize supporting by deep groove ball bearing and locking nut，Screw set (4-12) is arranged on slide block (4-15)，Power is transmitted by ball-screw (4-9)，Slide along slide rail (4-10) level，Power source motor (4-1) is fixed screw (4-2) by motor and is fixed on right-hand apron (4-3)，The power of motor (4-1) passes to ball-screw (4-9) by shaft coupling (4-4)，It is achieved thereby that the transmission of vertical-lift mechanism motion，Counterweight (4-19) ensure that the easy motion of horizontal mechanism (4)；Hand open-and-close mechanism (5) is by screw rod (5-1), upper block (5-2), lower block (5-3), screw (5-4), right pawl (5-5), left claw (5-6) forms, left claw (5-6) has fluting to be connected with square steel tube (4-11) with the top of right pawl (5-5), the gravity of water is undertaken by square steel tube (4-11), there is fluting the bottom of left claw (5-6) and right pawl (5-5) to clamp workpiece, upper block (5-2) and lower block (5-3) are linked by screw (5-4), upper block (5-2) and lower block (5-3) have thread groove to link with screw rod (5-1), the rotation of screw rod (5-1) drives left claw (5-6) and right pawl (5-5) to realize holding function, ensure that smoothly completing of carrying barreled water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521044316.7U CN205415630U (en) | 2015-12-15 | 2015-12-15 | Bottled water transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521044316.7U CN205415630U (en) | 2015-12-15 | 2015-12-15 | Bottled water transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205415630U true CN205415630U (en) | 2016-08-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521044316.7U Expired - Fee Related CN205415630U (en) | 2015-12-15 | 2015-12-15 | Bottled water transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205415630U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272379A (en) * | 2016-09-23 | 2017-01-04 | 羊丁 | A kind of intelligent wine brewing robot |
| CN106767607A (en) * | 2017-03-30 | 2017-05-31 | 苏州中顺瑞泰汽车检具有限公司 | A kind of rotating device for automobile detecting tool |
| CN108453681A (en) * | 2018-04-04 | 2018-08-28 | 吉林大学 | Workpiece motion s platform for spatial digitizer |
| CN108861579A (en) * | 2018-08-30 | 2018-11-23 | 浙江工业大学 | A kind of block objects clamping handling device |
| CN108858140A (en) * | 2018-06-27 | 2018-11-23 | 东北大学 | A kind of underloading material transfer robot |
| CN109436654A (en) * | 2018-12-29 | 2019-03-08 | 大连华锐重工集团股份有限公司 | A kind of rise and fall roller side baffle transmission mechanism |
| CN109956428A (en) * | 2019-04-23 | 2019-07-02 | 林友钢 | Mechanism assembly system and its implementation are clasped in a kind of rotation |
| CN110811334A (en) * | 2019-09-23 | 2020-02-21 | 金文亚 | Automatic water changing device for water dispenser and working method thereof |
| CN110978025A (en) * | 2019-12-26 | 2020-04-10 | 广州数控设备有限公司 | Posture-variable clamp |
| CN111730339A (en) * | 2020-06-18 | 2020-10-02 | 苏州耀水源环境科技有限公司 | Feeding and discharging mechanism for cutting processing of edge of filter plate of plate filter press |
| CN112357569A (en) * | 2020-11-30 | 2021-02-12 | 江苏集萃华科智能装备科技有限公司 | Material container handling robot system |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272379A (en) * | 2016-09-23 | 2017-01-04 | 羊丁 | A kind of intelligent wine brewing robot |
| CN106767607A (en) * | 2017-03-30 | 2017-05-31 | 苏州中顺瑞泰汽车检具有限公司 | A kind of rotating device for automobile detecting tool |
| CN108453681A (en) * | 2018-04-04 | 2018-08-28 | 吉林大学 | Workpiece motion s platform for spatial digitizer |
| CN108453681B (en) * | 2018-04-04 | 2024-03-08 | 吉林大学 | Workpiece motion platform for three-dimensional scanner |
| CN108858140A (en) * | 2018-06-27 | 2018-11-23 | 东北大学 | A kind of underloading material transfer robot |
| CN108861579A (en) * | 2018-08-30 | 2018-11-23 | 浙江工业大学 | A kind of block objects clamping handling device |
| CN109436654A (en) * | 2018-12-29 | 2019-03-08 | 大连华锐重工集团股份有限公司 | A kind of rise and fall roller side baffle transmission mechanism |
| CN109436654B (en) * | 2018-12-29 | 2023-08-18 | 大连华锐重工集团股份有限公司 | Side baffle driving mechanism for lifting roller way |
| CN109956428B (en) * | 2019-04-23 | 2023-06-16 | 林友钢 | Rotary holding mechanism assembly system and implementation method thereof |
| CN109956428A (en) * | 2019-04-23 | 2019-07-02 | 林友钢 | Mechanism assembly system and its implementation are clasped in a kind of rotation |
| CN110811334B (en) * | 2019-09-23 | 2021-11-19 | 金文亚 | Automatic water changing device for water dispenser |
| CN110811334A (en) * | 2019-09-23 | 2020-02-21 | 金文亚 | Automatic water changing device for water dispenser and working method thereof |
| CN110978025A (en) * | 2019-12-26 | 2020-04-10 | 广州数控设备有限公司 | Posture-variable clamp |
| CN111730339A (en) * | 2020-06-18 | 2020-10-02 | 苏州耀水源环境科技有限公司 | Feeding and discharging mechanism for cutting processing of edge of filter plate of plate filter press |
| CN112357569A (en) * | 2020-11-30 | 2021-02-12 | 江苏集萃华科智能装备科技有限公司 | Material container handling robot system |
| CN112357569B (en) * | 2020-11-30 | 2024-05-31 | 江苏集萃华科智能装备科技有限公司 | Material container transfer robot system |
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