CN212333940U - Spatial multidirectional conveying device - Google Patents
Spatial multidirectional conveying device Download PDFInfo
- Publication number
- CN212333940U CN212333940U CN202021512487.9U CN202021512487U CN212333940U CN 212333940 U CN212333940 U CN 212333940U CN 202021512487 U CN202021512487 U CN 202021512487U CN 212333940 U CN212333940 U CN 212333940U
- Authority
- CN
- China
- Prior art keywords
- guide
- movable
- seat
- base
- axis direction
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a multidirectional conveyor in space, include: the device comprises a machine base, a first movable base, a second movable base, a guide system and a power driving mechanism, wherein the first movable base is arranged on the machine base; the second movable seat is arranged on the first movable seat; the guide system comprises a first guide mechanism and a second guide mechanism, the first guide mechanism is connected between the machine base and the second movable base, and the second guide mechanism is connected between the first movable base and the second movable base; the power driving mechanism is used for driving the first movable seat to move upwards relative to the machine base in the X-axis direction, so that the first movable seat drives the second movable seat to move relative to the first movable seat in at least one of the Y-axis direction and the Z-axis direction through the guide system. The conveying device can realize multidirectional movement of the second movable seat in space only by one power source and can accurately reach a position point, so that the conveying device is simple in structure, reliable in operation and low in manufacturing cost.
Description
Technical Field
The utility model relates to a conveying equipment's field, in particular to multidirectional conveyor in space.
Background
With the development of intellectualization, the operation of hands is replaced by a machine in a plurality of industries, and in some special occasions, for example, an unmanned intelligent kitchen relates to the transfer and butt joint of various foodstuffs, the carrying work is more complex, and carrying equipment in the prior art mostly adopts a manipulator with a rectangular coordinate axis so as to achieve the purpose of saving manpower. Because the existing manipulator is driven by motors independently used for all shafts, the problems of complex control, high cost and low reliability exist.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a multidirectional conveyor in space to solve one or more technical problem that exist among the prior art, provide a profitable selection or create the condition at least.
The technical scheme adopted for solving the technical problems is as follows:
a spatial multi-directional transport apparatus having mutually orthogonal X, Y, and Z axes, the spatial multi-directional transport apparatus comprising: the device comprises a machine base, a first movable base, a second movable base, a guide system and a power driving mechanism, wherein the first movable base is arranged on the machine base; the second movable seat is arranged on the first movable seat; the guide system comprises a first guide mechanism and a second guide mechanism, the first guide mechanism is connected between the machine base and the second movable base, and the second guide mechanism is connected between the first movable base and the second movable base; the power driving mechanism is used for driving the first movable seat to move in the X-axis direction relative to the machine base, so that the first movable seat drives the second movable seat to move in at least one of the Y-axis direction and the Z-axis direction relative to the first movable seat through a guide system.
It should be noted that: the above-mentioned mutually orthogonal X-axis, Y-axis, and Z-axis are virtual features, and are provided for convenience of accurately describing the movement direction.
The utility model has the advantages that: under the first seat that removes of power actuating mechanism drive moved in the X axial displacement, first removal seat can drive the second together through the guide system and remove the seat for first removal seat removes in at least one direction in Y axial, Z axial to the second removes the motion of seat superpose first removal seat in the X axial, makes this conveyor only need a power supply can realize the second and removes the multidirectional motion of seat in the space, and can accurately reach the position point. Meanwhile, the power driving mechanism can adopt a conventional linear driving element to complete the function of the existing multi-shaft driven manipulator, so that the conveying device has the advantages of simple structure, reliable operation and low manufacturing cost.
As a further improvement of the above technical solution, the first guide mechanism includes a first guide body, the first guide body is fixed to the machine base in an inclined manner along the X-axis direction on the projection of the Z-axis direction, and the second movable base is in sliding fit with the first guide body through a first slider body; the second movable base is mounted on the first movable base through a second guide mechanism, so that the second movable base can slide in the Y-axis direction relative to the first movable base.
When the second movable seat needs to move in the X-axis direction and the Y-axis direction, in the process that the power driving mechanism drives the first movable seat to move in the X-axis direction, the second movable seat moves in the Y-axis direction along with the inclined movement of the first guide body under the action of the sliding fit of the first sliding block body and the first guide body, and then the second movable seat can superpose the movement of the first movable seat in the X-axis direction and the movement of the first movable seat in the Y-axis direction.
As a further improvement of the above technical solution, the first guide mechanism includes a second guide body, the second guide body is fixed to the machine base in an inclined manner along the X-axis direction in the projection of the Y-axis direction, the second movable base is in sliding fit with the second guide body through a second slider body, and the second movable base is mounted on the first movable base through the second guide mechanism, so that the second movable base can slide in the Z-axis direction relative to the first movable base.
When the second movable seat needs to move in the X-axis direction and the Z-axis direction, in the process that the power driving mechanism drives the first movable seat to move in the X-axis direction, the second movable seat moves in the Z-axis direction along with the inclined movement of the second guide body under the sliding fit effect of the second sliding block body and the second guide body, and then the second movable seat can superpose the movement of the first movable seat in the X-axis direction and the movement of the first movable seat in the Z-axis direction.
As a further improvement of the above technical solution, the first guide mechanism includes a first guide body and a second guide body, the first guide body is obliquely fixed on the machine base along the X-axis direction in the projection of the Z-axis direction, and the second guide body is obliquely fixed on the machine base along the X-axis direction in the projection of the Y-axis direction; the second guide mechanism comprises a third movable seat;
the third moving seat is arranged on the first moving seat, can slide in the Y-axis direction or the Z-axis direction relative to the first moving seat, and is in sliding fit with the first guide body through the first sliding block body or in sliding fit with the second guide body through the second sliding block body;
the second moving seat is arranged on a third moving seat, the second moving seat can slide in the Z-axis direction or the Y-axis direction relative to the third moving seat, and the second moving seat is in sliding fit with the second guide body through a second sliding block body or in sliding fit with the first guide body through a first sliding block body.
When the second moving seat needs to move in the X-axis direction, the Z-axis direction and the Y-axis direction, in the process that the power driving mechanism drives the first moving seat to move in the X-axis direction, under the action of sliding fit of the first slider body and the first guide body and sliding fit of the second slider body and the second guide body, the third moving seat can move in the Y-axis direction along with the first guide body relative to the first moving seat, and meanwhile, the second moving seat can move in the Z-axis direction along with the second guide body relative to the third moving seat;
still alternatively, the third movable seat may move in the Z-axis direction with the second guide body with respect to the first movable seat, and the second movable seat may move in the Y-axis direction with the first guide body with respect to the third movable seat. The conveying device can realize the movement in three directions only by one power.
The movement of the second movable seat is superposed with the movement of the first movable seat in the X axial direction, so that the second movable seat can move in the X axial direction, the Z axial direction and the Y axial direction.
The first guide body and the second guide body can be inclined in a straight line, a curved line or an irregular line, and the motion track of the second movable seat is finally determined by the inclination, curvature or shape of the first guide body and the second guide body.
As a further improvement of the above technical scheme, the first guide body is of a groove structure, the first slide block body is a guide wheel in sliding fit with the groove structure, and the second movable seat moves in the Y axis direction through the sliding fit of the guide wheel and the groove structure.
As a further improvement of the above technical solution, the second guide body is a ramp body structure, the second slider body is a ball joint that is in rolling contact with the ramp body structure, wherein the ball joint is disposed at the bottom of the third movable seat or the second movable seat, and the second movable seat moves in the Z-axis direction by the sliding fit between the ball joint and the ramp body structure and the gravity of the ball joint.
As a further improvement of the above technical solution, a first guide shaft is arranged between the third moving seat and the first moving seat, and the third moving seat is slidably connected with the first moving seat through the first guide shaft; first guiding axle can improve third and remove stability and the smoothness nature of relative slip between the seat and the first seat that removes, and first guiding axle can be fixed in the third and remove on seat or the first seat that removes, is provided with the slip hole that cup joints with first guiding axle slip on first removal seat or the third removal seat correspondingly.
The third removes and is provided with the second guiding axle between seat and the second removal seat, the second removes the seat through second guiding axle and third removal seat sliding connection, and the second guiding axle can improve the third and remove seat and second removal seat relative slip's stability and smoothness nature, and first guiding axle can be fixed in the third and remove on seat or the second removal seat, is provided with the slip hole that cup joints with first guiding axle slip on seat or the third removal seat correspondingly is removed to the second.
Wherein, the quantity of first guiding axle and second guiding axle can set up many as required.
As a further improvement of the above technical solution, a third guide shaft extending along the X axis is disposed between the first movable base and the machine base, and the first movable base is slidably connected to the machine base through the third guide shaft.
The first movable seat can slide left and right on the machine base along the third guide shaft, so that the stability and the fluency of the movement of the first movable seat along the X axial direction are improved. The number of the third guide shafts can be also provided in a plurality as required.
As a further improvement of the above technical solution, the power driving mechanism includes a driving pulley, a driven pulley, an endless belt connected to the driving pulley and the driven pulley, and a rotation driving unit for driving the driving pulley to rotate, the endless belt is provided with a driving section extending along the X axis, and the driving section is fixedly connected to the first movable base.
Under the rotation of the driving belt wheel driven by the rotation driving unit, the driving section on the annular synchronous belt drives the first movable seat to move in the X-axis direction, and the transmission structure is simple.
As a further improvement of the above technical solution, a material placing table is provided on the second movable seat. The conveyed materials can be placed on the material placing table.
Drawings
The present invention will be further explained with reference to the drawings and examples;
fig. 1 is a schematic structural diagram showing a spatial multi-directional conveying apparatus provided by the present invention, in which a second movable base of an embodiment of the spatial multi-directional conveying apparatus can realize three-directional movement;
FIG. 2 is a partial enlarged view A of FIG. 1;
fig. 3 is a schematic structural view showing a spatial multi-directional conveying apparatus provided by the present invention, wherein the second movable seat of the embodiment of the spatial multi-directional conveying apparatus can realize three-directional movement;
fig. 4 is a partial enlarged view B in fig. 3;
fig. 5 is a schematic structural view of the spatial multi-directional conveying apparatus according to an embodiment of the present invention, wherein the second movable seat can move in two directions.
Detailed Description
This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, if words such as "a plurality" are used, the meaning is one or more, the meaning of a plurality of words is two or more, and the meaning of more than, less than, more than, etc. is understood as not including the number, and the meaning of more than, less than, more than, etc. is understood as including the number.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
Referring to fig. 1 to 4, the spatial multidirectional conveying apparatus of the present invention is made as follows:
the spatial multi-directional conveying apparatus of the present embodiment includes a machine base 100, a first movable base 200, a second movable base 300, a guide system, and a power driving mechanism.
Wherein, a third guiding shaft 110 extending along the X-axis is fixed on the machine base 100, the first movable base 200 is slidably connected to the third guiding shaft 110 along the X-axis, and there are two third guiding shafts 110 in this embodiment; the power driving mechanism comprises a driving pulley, a driven pulley, and an annular synchronous belt 700 connected to the driving pulley and the driven pulley, and is used for driving the driving pulley rotating driving unit 800, the driving pulley and the driven pulley are arranged on the machine base 100 along the X axial direction at intervals, the annular synchronous belt 700 is provided with a driving section extending along the X axial direction, and the driving section is fixedly connected with the first movable base 200.
The rotation driving unit 800 in the present embodiment employs a servo motor in consideration of convenience in controlling the speed and accuracy of the conveyance, and in other embodiments, the rotation driving unit 800 may be a rotation driving member such as a starter motor.
The guidance system in this embodiment comprises a first guidance means and a second guidance means,
the first guide mechanism comprises a first guide body 400 and a second guide body 500, the second guide mechanism comprises a third movable seat 600, the first guide body 400 is obliquely fixed on the machine seat 100 along the X axial direction in the projection of the Z axial direction, and the second guide body 500 is obliquely fixed on the machine seat 100 along the X axial direction in the projection of the Y axial direction.
The third movable base 600 is disposed on the first movable base 200, the third movable base 600 can slide in the Y-axis direction relative to the first movable base 200, specifically, a first guide shaft 610 extending along the Y-axis direction is disposed between the third movable base 600 and the first movable base 200, the first guide shaft 610 is fixed to the third movable base 600, and correspondingly, a sliding hole slidably sleeved with the first guide shaft 610 is disposed on the first movable base 200. The third moving seat 600 is in sliding fit with the first guide body 400 through the first slider body 410, the first guide body 400 in this embodiment is a groove structure, and the first slider body 410 is a guide wheel in sliding fit with the groove structure;
the second movable base 300 is disposed on the third movable base 600, the second movable base 300 is capable of moving in the Z-axis direction relative to the third movable base 600, specifically, a second guide shaft 620 extending in the Z-axis direction is disposed between the third movable base 600 and the second movable base 300, the second guide shaft 620 is fixed on the third movable base 600, and correspondingly, a sliding hole slidably sleeved with the first guide shaft 610 is disposed on the second movable base 300; the second movable seat 300 is slidably engaged with the second guiding body 500 through the second slider 510, the second guiding body 500 in this embodiment is a ramp structure, the second slider 510 is a ball gimbal in rolling contact with the ramp structure, and the ball gimbal is disposed at the bottom of the second movable seat 300. Meanwhile, a material placing table 310 is provided on the second movable base 300.
In other embodiments, the ramp structure is combined with the groove structure, and the universal ball is arranged at the bottom end of the guide wheel.
When the material is conveyed, the material is placed on the material placing table 310, the driving pulley is driven to rotate by the rotation driving unit 800, so that the driving section on the endless synchronous belt 700 drives the first movable seat 200 to move in the X-axis direction, under the action of the sliding fit between the first slider body 410 and the first guide body 400, the third movable seat 600 can move in the Y-axis direction along with the first guide body 400 relative to the first movable seat 200 and drive the second movable seat 300 to move in the Y-axis direction relative to the first movable seat 200, and simultaneously, under the action of the sliding fit between the second slider body 510 and the second guide body 500, the second movable seat 300 can move in the Z-axis direction along with the second guide body 500 relative to the third movable seat 600, because the third movable seat 600 and the first movable seat 200 are relatively fixed in the X-axis direction at this time, the second movable seat 300 also moves in the Z-axis direction relative to the first movable seat 200, so that the second movable seat 300 can superpose the movement of the first movable seat 200 in the X-axis direction, and the second movable seat 300 can move in the X-axis direction, the Z-axis direction, and the Y-axis direction. Therefore, the material can move in three directions in space only by one power source and can accurately reach a position point, the power driving mechanism can complete the function of the existing multi-shaft driven manipulator by adopting a conventional linear driving element, and the conveying device has the advantages of simple structure, reliable operation and low manufacturing cost.
Wherein the first guide body 400 and the second guide body 500 may be inclined linearly, inclined in a curved manner, or inclined irregularly, and the motion trajectory of the second movable base 300 ultimately depends on the inclination, curvature, or shape of the first guide body 400 and the second guide body 500.
Further, the first and second guide bodies 400 and 500 may be a guide rail structure, and the second and first slider bodies 510 and 410 are pulleys slidably engaged with the guide rail structure.
In other embodiments, the third moving body 600 may be slidably engaged with the second guide body 500 through the second slider body 510, the second moving body 300 may be slidably engaged with the first guide body 400 through the first slider body 410, and the second moving body 300 may be slidably engaged with the second guide body 400 through the second slider body 410.
The number of the first guide shafts 610 and the second guide shafts 620 in this embodiment is two.
In other embodiments, the power driving mechanism can adopt a cylinder, an electric push rod, a hydraulic push rod, a screw nut driving component and the like.
Meanwhile, the material placing table 310 may be replaced with a clamp, through which the material may be clamped.
In other embodiments, as shown in fig. 5, when the second movable base 300 only needs to move in the X-axis direction and the Y-axis direction, the third movable base 600 is integrated with the second movable base 300, and during the process that the first movable base 200 is driven by the power driving mechanism to move in the X-axis direction, the second movable base 300 moves in the Y-axis direction along with the tilting movement of the first guide 400 only under the effect of the sliding fit of the first slider body 410 and the first guide 400, so that the second movable base 300 can overlap the movement of the first movable base 200 in the X-axis direction with the movement of the first movable base 200 in the Y-axis direction.
In other embodiments, when the second movable seat 300 needs to move in the X-axis direction and the Z-axis direction, the third movable seat 600 is integrated with the first movable seat 200, and during the process that the power driving mechanism drives the first movable seat 200 to move in the X-axis direction, the second movable seat 300 moves in the Z-axis direction along with the tilting movement of the second guide body 500 only under the action of the sliding fit of the second slider body 510 and the second guide body 500, so that the second movable seat 300 can overlap the movement of the first movable seat 200 in the X-axis direction with the movement of the first movable seat 200 in the Z-axis direction.
In some embodiments, the second movable base 300, the first movable base 200, the third movable base 600 and the base 100 may be slidably connected by a sliding rail structure.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the details of the embodiments shown, but is capable of various modifications and substitutions without departing from the spirit of the invention.
Claims (10)
1. A space multidirectional conveying device is characterized in that: the space multi-directional conveying device is provided with an X axial direction, a Y axial direction and a Z axial direction which are mutually orthogonal, and comprises:
a frame (100);
a first movable base (200) arranged on the base (100);
a second movable base (300) disposed on the first movable base (200);
the guide system comprises a first guide mechanism and a second guide mechanism, the first guide mechanism is connected between the machine base (100) and the second movable base (300), and the second guide mechanism is connected between the first movable base (200) and the second movable base (300);
the power driving mechanism is used for driving the first movable seat (200) to move in the X-axis direction relative to the machine base (100), so that the first movable seat (200) drives the second movable seat (300) to move in at least one direction of the Y-axis direction and the Z-axis direction relative to the first movable seat (200) through a guide system.
2. A space multi-directional conveying apparatus according to claim 1, wherein:
the first guide mechanism comprises a first guide body (400), the first guide body (400) is obliquely fixed on the machine base (100) along the X axial direction on the projection of the Z axial direction, and the second movable base (300) is in sliding fit with the first guide body (400) through a first sliding block body (410); the second movable base (300) is mounted on the first movable base (200) through a second guide mechanism so that the second movable base (300) can slide in the Y-axis direction relative to the first movable base (200).
3. A space multi-directional conveying apparatus according to claim 1, wherein:
the first guide mechanism comprises a second guide body (500), the second guide body (500) is obliquely fixed on the machine base (100) along the X axial direction on the projection of the Y axial direction, the second movable base (300) is in sliding fit with the second guide body (500) through a second sliding block body (510), and the second movable base (300) is installed on the first movable base (200) through the second guide mechanism, so that the second movable base (300) can slide in the Z axial direction relative to the first movable base (200).
4. A space multi-directional conveying apparatus according to claim 1, wherein:
the first guide mechanism comprises a first guide body (400) and a second guide body (500), the first guide body (400) is obliquely fixed on the machine base (100) along the X axial direction on the projection of the Z axial direction, and the second guide body (500) is obliquely fixed on the machine base (100) along the X axial direction on the projection of the Y axial direction;
the second guide mechanism comprises a third moving seat (600);
the third moving seat (600) is arranged on the first moving seat (200), the third moving seat (600) can slide in the Y-axis direction or the Z-axis direction relative to the first moving seat (200), and the third moving seat (600) is in sliding fit with the first guide body (400) through the first sliding block body (410) or in sliding fit with the second guide body (500) through the second sliding block body (510);
the second movable seat (300) is arranged on a third movable seat (600), the second movable seat (300) can slide in the Z-axis direction or the Y-axis direction relative to the third movable seat (600), and the second movable seat (300) is in sliding fit with the second guide body (500) through a second sliding block body (510) or in sliding fit with the first guide body (400) through a first sliding block body (410).
5. A spatial multi-directional transport apparatus according to any one of claims 2 or 4, wherein:
the first guide body (400) is of a groove body structure, and the first sliding block body (410) is a guide wheel in sliding fit with the groove body structure.
6. A spatial multi-directional transport apparatus according to any one of claims 3 or 4, wherein:
the second guide body (500) is in a slant body structure, and the second sliding block body (510) is a universal ball in rolling contact with the slant body structure.
7. A spatial multi-directional transport apparatus according to claim 4, wherein:
a first guide shaft (610) is arranged between the third movable seat (600) and the first movable seat (200), and the third movable seat (600) is connected with the first movable seat (200) in a sliding manner through the first guide shaft (610);
a second guide shaft (620) is arranged between the third movable seat (600) and the second movable seat (300), and the second movable seat (300) is connected with the third movable seat (600) in a sliding mode through the second guide shaft (620).
8. A spatial multi-directional transport apparatus according to any one of claims 1 to 4, characterized in that:
a third guide shaft (110) extending along the X-axis direction is arranged between the first movable seat (200) and the machine seat (100), and the first movable seat (200) is connected with the machine seat (100) in a sliding mode through the third guide shaft (110).
9. A spatial multi-directional transport apparatus as set forth in claim 8, wherein:
the power driving mechanism comprises a driving belt wheel, a driven belt wheel, an annular synchronous belt (700) connected with the driving belt wheel and the driven belt wheel and a rotating driving unit (800) used for driving the driving belt wheel to rotate, wherein the annular synchronous belt (700) is provided with a driving section which extends along the X axial direction, and the driving section is fixedly connected with a first moving seat (200).
10. A spatial multi-directional transport apparatus as set forth in claim 8, wherein:
a material placing table (310) is arranged on the second moving seat (300).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021512487.9U CN212333940U (en) | 2020-07-27 | 2020-07-27 | Spatial multidirectional conveying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021512487.9U CN212333940U (en) | 2020-07-27 | 2020-07-27 | Spatial multidirectional conveying device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212333940U true CN212333940U (en) | 2021-01-12 |
Family
ID=74081054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021512487.9U Expired - Fee Related CN212333940U (en) | 2020-07-27 | 2020-07-27 | Spatial multidirectional conveying device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212333940U (en) |
-
2020
- 2020-07-27 CN CN202021512487.9U patent/CN212333940U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105883424B (en) | Can autonomous stacking AGV devices | |
| CN209406723U (en) | Vision dispenser | |
| CN104355065B (en) | High-speed linear driving circulating device and control method thereof | |
| CN212333940U (en) | Spatial multidirectional conveying device | |
| JP2017100208A (en) | Robot and robot system | |
| CN208948836U (en) | A kind of automatic oiling device | |
| CN111824760A (en) | Spatial multidirectional conveying device | |
| EP1054188A2 (en) | Positioning device | |
| CN210306584U (en) | Fixed shaft sleeve sealing ring device | |
| CN209352098U (en) | Workpiece stepped track and system | |
| CN109335553A (en) | Workpiece stepped track and system | |
| CN207578406U (en) | Truss manipulator assembly | |
| JPH0726673B2 (en) | Movement mechanism | |
| CN108544437A (en) | A kind of flexible docking equipment for large-sized structural parts | |
| CN111071726A (en) | Workpiece conveying device | |
| CN208914113U (en) | A kind of electric linear driving device and robot joints driving mechanism | |
| CN215755162U (en) | General type inclined walking type carrying mechanism | |
| CN112645251A (en) | Shuttle car | |
| CN204727153U (en) | A kind of universal joint retainer clamping and positioning device | |
| CN205802287U (en) | Fixed point feeding PTO | |
| CN106594093B (en) | Synchronous assembling device | |
| CN105690367B (en) | A kind of multi-spindle machining hand | |
| CN110104370A (en) | Dustless transmitting device and accurate device production equipment | |
| CN220699603U (en) | Multi-axis robot training module | |
| CN215755027U (en) | Feeding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210112 |