CN112091935B - Robot annular track - Google Patents
Robot annular track Download PDFInfo
- Publication number
- CN112091935B CN112091935B CN202011004539.6A CN202011004539A CN112091935B CN 112091935 B CN112091935 B CN 112091935B CN 202011004539 A CN202011004539 A CN 202011004539A CN 112091935 B CN112091935 B CN 112091935B
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- Prior art keywords
- guide rail
- robot
- guide rails
- wire harness
- fixed
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- 238000005452 bending Methods 0.000 claims abstract description 7
- 238000005096 rolling process Methods 0.000 claims description 12
- 239000012212 insulator Substances 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims description 2
- 238000003032 molecular docking Methods 0.000 claims 1
- 238000009776 industrial production Methods 0.000 abstract 1
- 239000002184 metal Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 235000010724 Wisteria floribunda Nutrition 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of rails, in particular to a robot annular rail, which comprises an arc bending auxiliary rail, a working rail, two rotating rails, two pneumatic push rods, two baffles, two mandrels, a wire harness guiding device and a fixed support, wherein the two ends of the working rail and the middle section of the auxiliary rail can be arranged in parallel; because the central rotary joint devices such as the control wire harness and the pipelines and the like required by the robot are fixed above the annular track by the support, when the robot circularly moves along the annular track, the control wire harness and the pipelines do circular conical surface-like movement by taking the central rotary joint device as the vertex, the purpose that the wire harness is not knotted is achieved, and the infinite circular movement of one or more robots on the annular track is realized, so that the industrial production requirement is further met.
Description
Technical Field
The invention relates to the field of rails, in particular to a robot annular rail.
Background
Industrial robot is a new technology in the field of modern automatic control, and becomes an important component in modern machine manufacturing, and can remarkably improve labor productivity and product quality. Meanwhile, china gradually transits from the low-labor-cost age to the high-cost age, and due to the increase of labor cost, the use cost of enterprises is greatly increased, and the enterprises have to reduce the expenditure of labor cost in face of vigorous competition, so that the use of industrial robots instead of manpower becomes a necessary trend. For example, fuji's patent announced in 2013 that industrial robots are used to cope with the rising labor costs.
The industrial robot operates through the robot track, and when the track is installed, the main body section is arranged at the horizontal position, the branch section is rotated according to the position in the track to adjust the height, and finally the rotary joint piece is locked, so that the construction robot can move along the track. However, there are three forms of existing robot rails: straight line, corner, U-shaped, according to current track mode, to order to make the robot move from a point to another point, keep moving from former procedure point to the action type of later procedure point, track form is comparatively monotonous, change through the straight line mainly, set up the inflection point in the middle and become corner robot track, buckle the straight line track and become U-shaped track with the change of buckling, adaptable comparatively general environmental operation needs, but this three can only repeat comparatively simple motion track, it can't all form 360 degrees closed annuluses, can't solve the pencil problem of knoing, can't satisfy the industry demand.
Disclosure of Invention
The annular track of the robot provided by the invention can realize infinite circular motion of the industrial robot, ensures that the direction of the industrial robot is unchanged during working, and solves the problems without knotting of a control wire harness.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a robot annular track, includes that both ends all are provided with arc auxiliary rail, working rail, two rotatory guide rails, two pneumatic push rods, two baffles, two dabbers, working rail with auxiliary rail interlude parallel arrangement, two rotatory guide rail ends pass through the dabber rotation setting and are in working rail left and right sides, two pneumatic push rod one end respectively with two baffles are articulated, the other end respectively with two rotatory guide rails are articulated and can drive two rotatory guide rails wind the dabber is rotatory and enable its free end respectively with working rail and auxiliary rail both ends align.
Preferably, the two baffle inside walls are provided with two first articulated lugs from top to bottom symmetrically, two second articulated lugs are provided in the middle of the two rotating guide rail inside walls symmetrically from top to bottom, the left and right sides of the movable push rod are respectively provided with two, and two ends of the movable push rod are respectively articulated with the first articulated lugs and the second articulated lugs through cylindrical pins.
Preferably, universal supporting wheels are arranged at the bottoms of the two rotary guide rails.
Preferably, the bottoms of the two mandrels are provided with bases, the lower ends of the two mandrels are provided with lower rolling bearings, the upper ends of the two mandrels are provided with upper rolling bearings, the tops of the lower rolling bearings are provided with bearing retainers, and the tops of the mandrels are fixed with end covers for fixing the upper rolling bearings by screws.
Preferably, the two rotating guide rail ends are positioned between the base and the end cover, and the outer walls of the upper rolling bearing and the lower rolling bearing are tightly matched with the inner walls of the two rotating guide rail ends.
Preferably, the auxiliary guide rail, the working guide rail and the two rotating guide rails comprise an upper plate and a lower plate with equal widths, and a plurality of upright posts are uniformly distributed on the left side and the right side between the upper plate and the lower plate.
Preferably, the device also comprises a wire harness and a pipeline central rotary joint device, wherein the central rotary joint device is fixed above the annular rail by a fixed bracket.
The beneficial effects of the invention are as follows:
1. The invention comprises an arc bending auxiliary guide rail, a working guide rail, two rotary guide rails, two pneumatic push rods, two baffles and two mandrels, wherein the two ends of the working guide rail are respectively provided with the arc bending auxiliary guide rail, the working guide rail, the two rotary guide rails, the two pneumatic push rods, the two baffles and the two mandrels are arranged in parallel at the middle section of the auxiliary guide rail, the tail ends of the two rotary guide rails are rotatably arranged at the left side and the right side of the working guide rail through the mandrels, one end of each of the two pneumatic push rods is hinged with the two baffles, the other end of each of the two pneumatic push rods is hinged with the two rotary guide rails and can drive the two rotary guide rails to rotate around the mandrels and align the free ends of the two rotary guide rails with the two ends of the working guide rail and the two auxiliary guide rail respectively.
2. The invention is provided with a wire harness and a pipeline central rotary joint device, an inner sleeve and an outer sleeve are connected into a whole body with the inner sleeve fixed and the outer sleeve rotatable by an upper fixing ring and a lower fixing ring; the outer connecting elastic sheet is always in contact with the inner annular sliding sheet and can move around the circumference of the inner annular sliding sheet, and the outer sleeve inner arm annular pipeline is always in butt joint with the output port of the outer wall of the inner sleeve, so that the inner and outer pipelines are kept smooth; the inner hose and the inner connecting wire are integrated into an inner pipe wire harness and pipeline wire harness fixing control box which are electrically and functionally connected, the outer connecting wire and the outer hose are integrated into an outer pipe wire harness and industrial robot which are electrically and functionally connected, and the outer pipe wire harness and the outer hose are matched with the industrial robot to move in 360-degree infinite circulation on the track, so that the outer pipe wire harness and the outer hose are not knotted.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a schematic diagram of the rotation of the rotating guide rail of the present invention.
FIG. 3 is a schematic view of the assembled structure of the pneumatic push rod and the rotary guide rail of the present invention.
FIG. 4 is a schematic view of the mounting position of the universal support wheel of the present invention.
Fig. 5 is a schematic diagram of an assembly structure of a rotary guide rail and a mandrel according to the present invention.
Fig. 6 is a schematic view of the structure of the central swivel joint device of the wire harness and the pipeline of the invention.
Fig. 7 is a front view of a baffle plate of the present invention.
Fig. 8 is a top view of a baffle plate of the present invention.
Fig. 9 is a right side view of the baffle plate of the present invention.
In the figure: 1-auxiliary guide rail, 2-working guide rail, 3-rotary guide rail, 4-pneumatic push rod, 5-baffle, 6-mandrel, 7-base, 8-upper rolling bearing, 9-lower rolling bearing, 10-bearing retainer ring, 11-end cover, 12-screw, 13-wire harness and pipeline central swivel joint device, 21-upper plate, 22-lower plate, 23-upright post, 31-second hinge lug, 32-universal supporting wheel, 51-first hinge lug, 131-inner sleeve, 132-lower fixed ring, 133-outer sleeve, 134-outer connecting spring plate, 135-outer connecting wire, 136-outer sleeve insulator, 137-inner sleeve insulator, 138-inner connecting wire, 139-inner hose, 1310-inner hose connector, 1311-upper fixed ring, 1312-inner annular slide sheet, 1313-outer hose connector, 1314-outer hose, 1315-outer sleeve inner wall annular pipe and 1316-outer sleeve outer wall output port.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-9, a robot annular track comprises arc bending auxiliary guide rails 1, a working guide rail 2 and two rotating guide rails 3 which are arranged at two ends, wherein universal supporting wheels 32 are arranged at the bottoms of the two rotating guide rails 3, so that the rotating guide rails 3 can conveniently rotate. Two pneumatic push rods 4, two baffles 5, two dabbers 6, work guide rail 2 and auxiliary guide rail 1 interlude parallel arrangement, two rotatory guide rail 3 ends pass through dabber 6 rotatory setting in work guide rail 2 left and right sides, and two dabber 6 bottoms are all provided with base 7 specifically, and the lower extreme all is provided with antifriction bearing 9 down, and the upper end all is provided with antifriction bearing 8 down, and antifriction bearing 9 top is provided with bearing retainer ring 10 down, and dabber 6 top is fixed with screw 12 and is used for fixing the end cover 11 of antifriction bearing 8. The tail ends of the two rotating guide rails 3 are positioned between the base 7 and the end cover 11, and the outer walls of the upper rolling bearing 8 and the lower rolling bearing 9 are tightly matched with the inner walls of the tail ends of the two rotating guide rails 3. The base 7 is fixed on the ground by bolts. The two baffles 5 are fixed on the bottom surface through bolts, two first hinge lugs 51 are symmetrically arranged on the upper and lower sides of the inner side walls of the two baffles 5, two second hinge lugs 31 are symmetrically arranged on the upper and lower sides of the middle of the inner side walls of the two rotating guide rails 3, two movable push rods 4 are respectively arranged on the left and right sides, two ends of each movable push rod are respectively hinged with the first hinge lugs 51 and the second hinge lugs 31 through cylindrical pins in a rotating mode, and the movable push rods can drive the two rotating guide rails 3 to rotate around the mandrel 6 and enable free ends of the movable push rods to be aligned with two ends of the working guide rails 2 and the auxiliary guide rails 1 respectively.
The working guide rail 2 of the auxiliary guide rail 1 is fixed on the ground through bolts and comprises an upper metal plate 21 and a lower metal plate 22 which are equal in width with the two rotating guide rails 3, and a plurality of upright posts 23 are uniformly distributed on the left side and the right side between the upper metal plate 21 and the lower metal plate 22.
The central rotary joint device 13 provided with a wire harness and a pipeline comprises an inner sleeve 131 and an outer sleeve 133 which are connected into a whole capable of rotating relatively by a lower fixed ring 132 and an upper fixed ring 1311; the inner connecting wire 138 and the inner annular slide 1312 are fixed on the inner sleeve 131 by the inner insulator 137, the outer connecting wire 135 and the outer connecting spring 134 are fixed on the outer sleeve by the outer insulator 136, and the outer connecting spring 134 is always contacted with the inner annular slide 1312 and can move around the circumference of the inner annular slide; the outer housing inner wall annular tube 1315 is always in abutting engagement with the inner housing outer wall output port 1316, the inner and outer pipelines are kept smooth; the inner hose 139 and the inner connection wire 138 are integrated into an inner pipe harness and a pipeline harness fixed control box which are electrically and functionally connected, and the outer connection wire 135 and the outer hose 1314 are integrated into an outer pipe harness and an industrial robot which are electrically and functionally connected, so that the industrial robot can move in an infinite circulation way of 360 degrees on the track without knotting.
The wire harness and pipeline central swivel joint device 13 is fixed at the middle position above the annular track by a fixed support, the fixed support is of a common rectangular frame structure formed by welding angle steel, the fixed support is fixed at the top of a factory building by bolts, and the upper fixed ring 1311 is fixed on the fixed support by bolts. Under the condition that a plurality of robots work simultaneously, a plurality of wire harnesses and a pipeline central rotary joint device are needed, the wire harnesses can be arranged up and down, and all inner pipe harnesses are electrically and functionally connected with a pipeline harness fixing control box through middle through holes of an inner sleeve 131, so that one or more robots can move in 360-degree circulation on the annular track sequentially at the same time.
It should be noted that, each component in the present invention is a general standard component or a component known to those skilled in the art, and the structure, the gas path connection, the circuit connection and the principle thereof are all known by those skilled in the art through technical manuals or through routine experimental methods.
Selection of a rotary rail driving device:
the pneumatic push rod mechanism not only can realize self-locking requirements and corresponding high-speed working requirements, but also can change the stroke through reasonable mathematical analysis, thereby realizing accurate position control. On the other hand, the main driving mode of the industrial robot is pneumatic transmission, so that the integrated design of the industrial robot system can be realized by using a pneumatic push rod structure, the control system is greatly simplified, the integrated control can be realized, and the overall working efficiency of the system is improved, so that the pneumatic push rod is the best choice of the rotary guide rail driving device. The type of the push rod is selected as follows: the cylinder diameter is 25mm, the stroke is 1500mm, and the maximum bearing force is 1500N.
Selection of an industrial robot:
according to the use requirement, a four-axis palletizing robot is selected, the model is PZ3013A, the arm span is 3m, and the maximum load is 130kg.
Working principle:
The invention comprises an arc bending auxiliary guide rail, a working guide rail, two rotary guide rails, two pneumatic push rods, two baffles and two mandrels, wherein the two ends of the working guide rail are respectively provided with the arc bending auxiliary guide rail, the working guide rail, the two rotary guide rails, the two pneumatic push rods, the two baffles and the two mandrels are arranged in parallel at the middle section of the auxiliary guide rail, the tail ends of the two rotary guide rails are rotatably arranged at the left side and the right side of the working guide rail through the mandrels, one end of each of the two pneumatic push rods is hinged with the two baffles, the other end of each of the two pneumatic push rods is hinged with the two rotary guide rails and can drive the two rotary guide rails to rotate around the mandrels and align the free ends of the two rotary guide rails with the two ends of the working guide rail and the two auxiliary guide rail respectively.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (6)
1. The utility model provides a robot ring rail which characterized in that: the device comprises an arc bending auxiliary guide rail (1), a working guide rail (2), two rotary guide rails (3), two pneumatic push rods (4), two baffles (5) and two mandrels (6), wherein the working guide rail (2) is arranged in parallel with the middle section of the auxiliary guide rail (1), the tail ends of the two rotary guide rails (3) are rotatably arranged on the left side and the right side of the working guide rail (2) through the mandrels (6), one ends of the two pneumatic push rods (4) are respectively hinged with the two baffles (5), the other ends of the two pneumatic push rods are respectively hinged with the two rotary guide rails (3) and can drive the two rotary guide rails (3) to rotate around the mandrels (6) and enable free ends of the two rotary guide rails to be aligned with the two ends of the working guide rail (2) and the two ends of the auxiliary guide rail (1), and the device also comprises a wire harness and a pipeline central rotary joint device (13);
The wire harness and pipeline central rotary joint device (13) comprises an inner sleeve (131) and an outer sleeve (133), wherein the inner sleeve (131) and the outer sleeve (133) are connected into a whole capable of rotating relatively through a lower fixing ring (132) and an upper fixing ring (1311); an inner connecting wire (138) and an inner annular sliding sheet (1312) are fixed on the inner sleeve (131) through an inner insulator (137), an outer connecting wire (135) and an outer connecting elastic sheet (134) are fixed on the outer sleeve (133) through an outer insulator (136), and the outer connecting elastic sheet (134) is always in contact with the inner annular sliding sheet (1312) and can move circumferentially around the inner annular sliding sheet (1312); the annular pipeline (1315) of the inner wall of the outer sleeve is always provided output port connected with the outer wall of the inner sleeve (1316) a docking station, the inner and outer pipelines are kept smooth; the inner hose (139) and the inner connecting wire (138) are integrated into an inner pipe wire harness and a pipeline wire harness fixed control box to be electrically and functionally connected, the outer connecting wire (135) and the outer hose (1314) are integrated into an outer pipe wire harness and an industrial robot to be electrically and functionally connected, and the industrial robot is matched with 360-degree circulating motion on the track;
The fixing support is of a common rectangular frame structure formed by welding angle steel, and is fixed at the top of the factory building through bolts;
the upper fixing ring (1311) is fixed on the fixing support through bolts, and then the wire harness and pipeline central rotary joint device (13) is fixed above the annular track.
2. A robot endless track as claimed in claim 1, wherein: two first hinge lugs (51) are symmetrically arranged on the upper side and the lower side of the inner side walls of the two baffles (5), two second hinge lugs (31) are symmetrically arranged on the upper side and the lower side of the middle of the inner side walls of the two rotary guide rails (3), two movable push rods (4) are respectively arranged on the left side and the right side, and two ends of each movable push rod are respectively hinged with the first hinge lugs (51) and the second hinge lugs (31) through cylindrical pins in a rotating mode.
3. A robot endless track as claimed in claim 2, wherein: the bottoms of the two rotary guide rails (3) are provided with universal supporting wheels (32).
4. A robot endless track according to claim 3, characterized in that: the two mandrel (6) bottoms all are provided with base (7), and the lower extreme all is provided with antifriction bearing (9), and the upper end all is provided with antifriction bearing (8), antifriction bearing (9) top is provided with bearing retainer ring (10) down, the screw (12) are fixed with in mandrel (6) top be used for fixing end cover (11) of antifriction bearing (8).
5. A robot endless track as claimed in claim 4, wherein: the tail ends of the two rotating guide rails (3) are positioned between the base (7) and the end cover (11), and the outer walls of the upper rolling bearing (8) and the lower rolling bearing (9) are tightly matched with the inner walls of the tail ends of the two rotating guide rails (3).
6. A robot endless track as claimed in claim 5, wherein: the auxiliary guide rail (1), the working guide rail (2) and the two rotating guide rails (3) comprise an upper plate (21) and a lower plate (22) which are equal in width, and a plurality of stand columns (23) are uniformly distributed on the left side and the right side between the upper plate (21) and the lower plate (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011004539.6A CN112091935B (en) | 2020-09-22 | 2020-09-22 | Robot annular track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011004539.6A CN112091935B (en) | 2020-09-22 | 2020-09-22 | Robot annular track |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112091935A CN112091935A (en) | 2020-12-18 |
| CN112091935B true CN112091935B (en) | 2024-09-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011004539.6A Active CN112091935B (en) | 2020-09-22 | 2020-09-22 | Robot annular track |
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| Country | Link |
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| CN (1) | CN112091935B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN213439656U (en) * | 2020-09-22 | 2021-06-15 | 青岛恒星科技学院 | Robot circular orbit |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959999B (en) * | 2015-07-09 | 2016-07-27 | 亿嘉和科技股份有限公司 | A kind of T-shaped track steering mechanism of robot and forward method |
| AU2016354524B2 (en) * | 2015-11-11 | 2021-08-05 | Bioness Medical, Inc. | Apparatus and methods for support track and power rail switching in a body weight support system |
| CN210140350U (en) * | 2019-06-13 | 2020-03-13 | 郑磊 | Cable pay-off rack for electric power engineering construction |
| CN210436135U (en) * | 2019-08-30 | 2020-05-01 | 深圳市施罗德工业集团有限公司 | Track rail transfer device and track |
| CN111605486B (en) * | 2020-06-08 | 2024-07-30 | 青岛恒星科技学院 | Artificial intelligence's vehicle auxiliary system |
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2020
- 2020-09-22 CN CN202011004539.6A patent/CN112091935B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN213439656U (en) * | 2020-09-22 | 2021-06-15 | 青岛恒星科技学院 | Robot circular orbit |
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| CN112091935A (en) | 2020-12-18 |
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