CN113567112B - Detection device for heat production and abrasion of speed reducer - Google Patents
Detection device for heat production and abrasion of speed reducer Download PDFInfo
- Publication number
- CN113567112B CN113567112B CN202110822193.9A CN202110822193A CN113567112B CN 113567112 B CN113567112 B CN 113567112B CN 202110822193 A CN202110822193 A CN 202110822193A CN 113567112 B CN113567112 B CN 113567112B
- Authority
- CN
- China
- Prior art keywords
- speed reducer
- detection
- pressing
- fixedly connected
- suction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 226
- 238000001514 detection method Methods 0.000 title claims abstract description 166
- 238000005299 abrasion Methods 0.000 title claims abstract description 12
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 230000020169 heat generation Effects 0.000 claims abstract description 21
- 238000003825 pressing Methods 0.000 claims description 166
- 238000001179 sorption measurement Methods 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims 2
- 239000000428 dust Substances 0.000 description 22
- 230000000694 effects Effects 0.000 description 7
- 238000007664 blowing Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000002184 metal Substances 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000007306 turnover Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- -1 ships Substances 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000004567 concrete Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/56—Investigating resistance to wear or abrasion
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of speed reducers, in particular to a detection device for heat generation and abrasion of a speed reducer. The invention provides a detection device for heat generation and abrasion of a speed reducer, which comprises: the robot comprises a conveyor, six-shaft mechanical arms fixedly connected to one side of the conveyor, a detection mechanism arranged at the tail end of the conveyor and a transfer mechanical arm arranged on one side of the detection mechanism; the detection mechanism is provided with a detection position; and after the speed reducer body is arranged at the detection position, the detection mechanism can detect heat generation abrasion of the speed reducer body. Can adjust the speed reducer in service through this kind of mode and detect to the heat production wearing and tearing of effective detection speed reducer.
Description
Technical Field
The invention relates to the technical field of speed reducers, in particular to a detection device for heat generation and abrasion of a speed reducer.
Background
The speed reducer is a mechanical transmission device in various fields of national economy, and the products related to the industry comprise various gear speed reducers, planetary gear speed reducers and worm speed reducers, and also comprise various special transmission devices, such as speed increasing devices, speed regulating devices, various composite transmission devices including flexible transmission devices and the like. The product service field relates to the industries of metallurgy, nonferrous metal, coal, building materials, ships, water conservancy, electric power, engineering machinery, petrifaction and the like.
In practical application, the detection of the running condition of the speed reducer is very important, and after the speed reducer is connected with a power supply and works for a period of time, the speed reducer inevitably generates a large amount of heat, and the heat is accumulated to reduce the working efficiency of the speed reducer, so that the transmission efficiency of the whole transmission system is reduced, and therefore the invention of the speed reducer precision detection device is necessary.
Disclosure of Invention
The invention aims to provide a detection device for heat generation and abrasion of a speed reducer.
In order to solve the above technical problem, the present invention provides a detection device for heat generation and wear of a speed reducer, comprising: the device comprises a conveyor, six mechanical arms fixedly connected to one side of the conveyor, a detection mechanism arranged at the tail end of the conveyor and a transfer mechanical arm arranged on one side of the detection mechanism; the six-axis manipulator is suitable for transferring the speed reducer body to the conveyor; the transfer manipulator is suitable for transferring the speed reducer body at the tail end of the conveyor to the detection mechanism; the detection mechanism is provided with a detection position; and after the speed reducer body is arranged at the detection position, the detection mechanism can detect heat generation abrasion of the speed reducer body.
Furthermore, the detection mechanism comprises a detection base, a linkage part fixedly connected to the upper end surface of the detection base and a detection part fixedly connected above the detection base; after the speed reducer body is arranged at the detection position, the linkage part can drive the speed reducer body to work, and the detection part can abut against the upper end face of the speed reducer body.
Furthermore, the linkage part comprises a linkage cylinder fixedly connected to the detection base and a linkage push block fixedly connected to the movable end of the linkage cylinder; the linkage push block can slide along the upper end face of the detection base; the upper end face of the linkage push block is fixedly connected with a linkage motor, and an output shaft of the linkage motor faces the detection position; after the speed reducer body is arranged at the detection position, the linkage cylinder can push the linkage motor to be inserted into the speed reducer body, so that the linkage cylinder is linked with the speed reducer body to work.
Furthermore, the detection part comprises a detection slide rail fixed on the upper end surface of the detection base, a detection bracket connected to the detection slide rail in a sliding manner, a detection sensor positioned above the detection base and a detection cylinder fixedly connected to the top end of the detection slide rail; the detection sensor is fixedly connected with the detection bracket; after the speed reducer body is placed at the detection position, the detection cylinder pushes the detection support to descend along the detection slide rail, so that the detection sensor is abutted to the upper end face of the speed reducer body.
The device is further characterized in that a plurality of lifting components are arranged between the detection bracket and the detection sensor, and each lifting component comprises a lifting slide rod fixedly connected to the top end face of the detection sensor and a lifting spring sleeved outside the lifting slide rod; and the lifting spring is positioned between the lifting bracket and the detection sensor; the top end of the lifting slide bar is fixedly connected with a lifting limiting ring; after the detection sensor is abutted to the speed reducer body, the lifting sensor can compress the lifting spring.
Furthermore, the movable end of the six-axis manipulator is fixedly connected with a suction part, and the suction end of the suction part is provided with a pressing part; the middle part of the pressing part is hollow and is communicated with the suction part, and the pressing part can be folded; the pressing part is provided with an air outlet; when the suction part stops, the six-axis manipulator can drive the pressing part to abut against the spherical surface of the end cover of the speed reducer and then stretch out and draw back, so that the pressing part intermittently blows air to the end cover of the speed reducer; the pressing portion is compressed to the position where the air outlet is blocked, and the suction portion can suck the straight surface of the end cover of the speed reducer through the pressing portion.
Furthermore, the pressing part comprises a pressing outer cylinder fixedly connected with the suction part and a pressing inner cylinder connected in the pressing outer cylinder in a sliding manner, and the outer side wall of the pressing inner cylinder is attached to the inner side wall of the pressing outer cylinder; the upper end surface of the pressing inner cylinder is lower than the upper end surface of the pressing outer cylinder; the bottom end surface of the pressing inner cylinder is lower than that of the pressing outer cylinder, and the air outlet is positioned at the part of the pressing inner cylinder lower than the pressing inner cylinder; when the pressing outer cylinder is pressed to abut against the spherical surface of the end cover of the speed reducer, the pressing inner cylinder can stretch relative to the pressing outer cylinder so as to intermittently blow air to the end cover of the speed reducer; when the pressing outer cylinder is pressed to block the air outlet, the suction part can suck the straight surface of the end cover of the speed reducer through the pressing inner cylinder.
Furthermore, the outer side wall of the pressing inner cylinder is provided with a rotating groove, and the inner side wall of the pressing outer cylinder is provided with a limiting groove; a pressing guide ball is matched in the rotating groove and the limiting groove; the limiting groove is internally provided with a plurality of clamping groups which are uniformly distributed in the circumferential direction, and when the pressing guide ball rolls along the rotating groove, the pressing guide ball can be clamped into each clamping group.
Furthermore, the suction part comprises a suction support fixedly connected to the movable end of the six-axis manipulator and a plurality of suction sleeves fixedly connected to the suction support; the pressing outer cylinder is fixedly connected with the corresponding suction sleeve; the suction sleeve is provided with an adsorption inlet pipe, and the adsorption inlet pipe is connected to the air suction pump; when the air outlet is blocked, the air suction pump works to enable the pressing inner cylinder to form negative pressure.
Furthermore, one side of the conveyor is rotatably connected with a turnover support, and one side of the conveyor is also fixedly connected with a turnover motor; the overturning bracket is fixedly connected to an output shaft of the overturning motor; after the speed reducer end cover with the upward spherical surface is arranged on the overturning bracket, the pressing inner cylinder abuts against the speed reducer end cover and blows air to the speed reducer end cover; after the overturning motor drives the speed reducer end cover to overturn onto the conveyor so that the straight surface of the speed reducer end cover faces upwards, the conveyor is in contact with the spherical surface.
The detection device provided by the invention has the beneficial effects that after the speed reducer is conveyed by the conveyor and placed at a specified position by the transfer manipulator, the detection mechanism starts to work to drive the speed reducer to work and generate heat, and then the detection part is attached to the end cover of the speed reducer in operation and is detected, so that the speed reducer in operation can be detected, and the heat generation abrasion of the speed reducer can be effectively detected.
Drawings
The invention is further illustrated by the following examples in conjunction with the drawings.
FIG. 1 is a perspective view of a preferred embodiment of the apparatus for generating thermal wear in a reducer of the present invention;
FIG. 2 is a schematic view of a preferred embodiment of the sensing mechanism mounting location of the present invention;
fig. 3 is a perspective view of a preferred embodiment of the linkage of the present invention.
Fig. 4 is a perspective view of a partially preferred embodiment of the detection mechanism of the present invention.
Fig. 5 is a perspective view of a preferred embodiment of the speed reducer of the present invention.
Fig. 6 is a perspective view of a preferred embodiment of the reducer end cover straight face of the present invention.
Fig. 7 is a perspective view of a preferred embodiment of the reducer end cap spherical surface of the present invention.
Fig. 8 is a perspective view of a preferred embodiment of the installation of the sucking part and the pressing part of the present invention;
FIG. 9 is a perspective view of a preferred embodiment of the pressing portion of the present invention;
fig. 10 is a partially enlarged view of a portion a in fig. 9;
FIG. 11 is a track-expanded view of a preferred embodiment of the pressing guide ball of the present invention moving along the rotation slot;
fig. 12 is a sectional view of a preferred embodiment of the pressing part of the present invention in a state of exhausting air;
fig. 13 is a sectional view of a preferred embodiment of the pressing part of the present invention in a pressure holding state;
in the figure: 1. a conveyor; 11. turning over the bracket; 12. turning over a motor;
2. a six-axis manipulator;
3. a suction part; 31. sucking the bracket; 32. sucking the sleeve; 33. adsorbing the pipe;
4. a pressing part; 41. an air outlet; 42. pressing the outer cylinder; 421. a limiting groove; 422. a first clamping position; 423. a second card position; 424. a first inflection point; 425. a second inflection point; 426. a third inflection point; 427. a third position; 428. a fourth inflection point; 429. a fourth position; 43. pressing the inner barrel; 431. a rotating groove; 432. a wind guide groove; 44. pressing the guide ball;
5. a speed reducer body; 51. a speed reducer chassis; 52. a reducer end cover; 521. spherical surface; 522. a straight surface; 53. a support frame;
6. a detection mechanism; 61. detecting a base; 62. a linkage section; 621. a linkage cylinder; 622. linkage push block; 623. a linkage motor; 63. a detection unit; 631. detecting a slide rail; 632. detecting the bracket; 633. a detection sensor; 634. detecting a cylinder; 64. a lifting assembly; 641. lifting the sliding rod; 642. a lift spring; 643. a lifting limiting ring;
7. a transfer manipulator.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams each illustrating the basic structure of the present invention only in a schematic manner, and thus show only the constitution related to the present invention.
It should be noted that, the speed reducer body 5 shown in this embodiment includes a speed reducer chassis 51, a speed reducer end cover 52, and a support frame 53 fixedly connected to a side wall of the speed reducer chassis 51, where the shape of the speed reducer end cover 52 is circular, a spherical surface 521 of the speed reducer end cover 52 is a spiral surface of the speed reducer end cover 52, that is, one side inside the speed reducer body 5, and a straight surface 522 of the speed reducer end cover 52 is a smooth end surface of the speed reducer end cover 52, that is, an outer surface of the speed reducer body 5. The speed reducer base 51 is suitable for installing a spherical surface 521 of the speed reducer end cover 52, a socket is arranged on one side of the speed reducer chassis 51 and is suitable for installing a motor, the motor drives the speed reducer chassis 51 to work, a support frame 53 is fixedly connected to the outer side of the socket, the support frame 53 can support the speed reducer chassis 51, and meanwhile the support frame 53 can guide the motor to be inserted into the socket of the speed reducer chassis 51 in the correct direction.
As shown in fig. 1 to 13, the present embodiment provides a detection device for heat generation and wear of a speed reducer, including a conveyor 1, the speed reducer body 5 is conveyed backward by the conveyor 1, a six-axis manipulator 2 is installed on one side of the conveyor 1, a suction part 3 is installed at a movable end of the six-axis manipulator 2, the suction part 3 is used for adsorbing the speed reducer body 5, after the speed reducer body 5 is adsorbed on the suction part 3, the speed reducer body 5 is carried to the conveyor 1 by the six-axis manipulator 2, a detection mechanism 6 is arranged at the end of the conveyor 1, a relay manipulator 7 is arranged on one side of the detection mechanism 6, the speed reducer body 5 is carried to a proper position by the relay manipulator 7, after the speed reducer body 5 is placed, the detection mechanism 6 can detect the end face of the speed reducer body 5. With respect to the above components, detailed description thereof is given below.
Conveyor with a movable conveyor belt
This conveyer 1 is used for carrying the speed reducer body 5 backward to realize the automated processing and the detection of speed reducer body 5, guarantee the straightness nature that speed reducer body 5 carried through conveyer 1, so that fix a position speed reducer body 5. Concrete conveyer 1 comprises two conveying roller and the conveyer belt that encircles two conveying roller, and one of them conveying roller is connected with conveying motor, and the conveying roller that corresponds through conveying motor drive rotates to drive the conveyer belt and carry out the gyration and carry speed reducer body 5, adopt above-mentioned structure to carry speed reducer body 5, the vibration that speed reducer body 5 received is less, and speed reducer body 5's transport stability is higher.
Six-shaft mechanical arm
Six manipulators 2 are used for transporting speed reducer body 5, and six of six manipulators 2 do respectively, one is: the first shaft is a part connected with the base and mainly bears the weight of the upper shaft and the left-right rotation of the base. Two axes: controlling the back and forth swing of the manipulator and the up and down movement of the whole arm. Three-axis: three axes are also used to control the back and forth swing of the robot, but the swing arm has a smaller range than the second axis. Four-axis: the four axes are circular tube parts which can rotate freely on the manipulator. The range of motion is equivalent to a human arm, but not 360 degrees. There are some wires in the same range as the person's arm. Five shafts: five-axis control and the rotation of the manipulator arm fine-tuned up and down. Six-axis: the sixth shaft functions as a rotation of the end clamp portion, being rotatable by 360 degrees. The six-axis robot 2 is installed at one side of the conveyor 1, the six-axis robot 2 is fixed on the ground, and the six-axis robot 2 is adapted to transfer the reducer body 5 on the conveyor 1, by which the degree of automation is improved.
Suction part
The suction part 3 is used for sucking the end cover 52 of the speed reducer, the suction part 3 is installed at the movable end of the six-axis manipulator 2, and specifically comprises a suction support 31 fixedly connected to the movable end of the six-axis manipulator 2 and a plurality of suction sleeves 32 fixedly connected to the suction support 31, in this embodiment, the preferred number of the suction sleeves 32 is four, the suction support 31 is in a "C" shape and is composed of a cross bar and longitudinal bars fixed at two ends of the cross bar, the middle part of the cross bar is installed at the movable end of the six-axis manipulator 2, two suction sleeves 32 are arranged at each end of the suction support 31, that is, two suction sleeves 32 are arranged on each longitudinal bar, a suction inlet pipe 33 is arranged on each suction sleeve 32, and the suction inlet pipe 33 is connected to a suction pump (not shown in the figure), when the suction pump (not shown in the figure) works, the suction sleeves 32 can be sucked on the end cover 52 of the speed reducer, specifically, air in the suction sleeve 32 is pumped away by a suction pump (not shown in the figure), so that negative pressure is formed inside the suction sleeve 32, and the suction sleeve 32 is adsorbed on the speed reducer end cover 52, so that the speed reducer end cover 52 can be transported along with the six-axis manipulator 2.
Transfer manipulator 7
The relay manipulator 7 is arranged on one side of the detection mechanism 6, and the relay manipulator 7 is suitable for grabbing the reducer body 5 conveyed backward by the conveyor 1 and placing the reducer body on a detection position of the detection mechanism 6.
However, when the speed reducer body 5 is installed and starts to work, the speed reducer end cover 52 rotates circumferentially in the speed reducer chassis 51, and the spherical surface of the speed reducer end cover 52 rubs with the internal components of the speed reducer chassis 51 to generate heat, so that when the heat is accumulated at the friction part and cannot be timely dissipated into the air, the speed reducer body 5 is damaged, the service life of the speed reducer body 5 is shortened, and the economic benefit of the speed reducer body 5 is also reduced.
In order to solve the above problems, a detection mechanism capable of detecting the heat generation and wear conditions of the speed reducer body 5 in operation is required, the temperature of the straight surface 522 of the speed reducer end cover 52 in a working environment is detected, and the speed reducer end cover 52 and the detection mechanism are made of heat-conducting metal, so that the heat generation conditions of the contact part of the speed reducer end cover 52 and the speed reducer chassis 51 can be indirectly measured by measuring the temperature of the straight surface 522, and the degree of heat generation and wear of the speed reducer body 5 can be obtained, and the detection mechanism 6 can adopt the following scheme: the detection mechanism 6 comprises a detection base 61, a linkage part 62 fixedly connected to the upper end face of the detection base 61 and a detection part 63 fixedly connected to the upper side of the detection base 61, wherein the detection base 61 is a mounting base of the detection device 6 and can provide a supporting and positioning reference for the speed reducer body 5, and the detection mechanism is specifically characterized in that a cushion block can be placed on the upper end face of the detection base 61 according to actual needs in the detection process, and then the speed reducer chassis 51 is placed on the cushion block to form a detection position suitable for detection of the detection mechanism 6. The inspection base 61 is composed of a plurality of hard plates, and each plate is fixed on a lower end support of the inspection base 61. When the reduction gear base plate 51 is placed at the detection position, the interlocking section 63 can drive the reduction gear base plate 51 to operate, and the detection section 63 can abut against the upper end surface of the reduction gear base plate 51. Thereby detecting the speed reducer chassis 51.
The linkage portion 62 specifically includes: the linkage device comprises a linkage cylinder 621 fixedly connected to the detection base 61 and a linkage push block 622 fixedly connected to the movable end of the linkage cylinder 621, wherein the linkage cylinder 621 can push the linkage push block 622 to slide along the upper end face of the detection base 61; a linkage motor 623 is fixedly connected to the upper end face of the linkage push block 622, and an output shaft of the linkage motor 623 faces the detection position; after the speed reducer chassis 51 is placed at the detection position, the linkage cylinder 621 can push the linkage motor 623 to be inserted into the speed reducer chassis 51, so that the linkage cylinder 621 is linked with the speed reducer chassis 51 to work. When the linkage motor 623 reaches a specified position and drives the speed reducer chassis 51 to rotate, the linkage cylinder 621 stops pushing the linkage push block 622 and keeps the distance from the linkage push block 622 unchanged, so that the linkage motor 623 can continuously drive the speed reducer chassis 51 to rotate.
The detection part 63 specifically comprises a detection slide rail 631 fixed on the upper end surface of the detection base 61, a detection support 632 slidably connected to the detection slide rail 631, a detection sensor 633 positioned above the detection base 61, and a detection cylinder 634 fixedly connected to the top end of the detection slide rail 631; wherein detect slide rail 631 and be two stands that the shape size is the same, and it is hollow to detect slide rail 631 middle part, it offers a spout (not shown on the picture) respectively to detect slide rail 631 and set up towards the lateral wall of speed reducer chassis 51, it can slide from top to bottom in spout (not shown on the picture) to detect support 632, it sets up in detection support 632 below to detect sensor 633, and detect sensor 633 and detect support 632 fixed connection, it sets up in detection support 632 top to detect cylinder 634, and it is fixed to detect the positioner of cylinder 634 accessible grafting in the hollow of detection slide rail 631 middle part. When the speed reducer chassis 51 is placed at the detection position, the detection cylinder 634 can push the detection bracket 632 to descend along the detection slide rail 631, so that the detection sensor 633 abuts against the upper end face of the speed reducer chassis 51.
In order to prevent the detection device 6 from being damaged due to hard contact with the reducer body 5, a plurality of lifting assemblies 64 are arranged between the detection support 632 and the detection sensor 633, each lifting assembly 64 comprises a lifting slide rod 641 fixedly connected to the top end surface of the detection sensor 634 and a lifting spring 642 sleeved outside the lifting slide rod 641, and the lifting slide rod 641 and the lifting spring 642 enable the detection mechanism 6 to have a function of elastically contacting with an object to be detected, and the lifting spring 642 is specifically shown between the lifting support 641 and the detection sensor 633; the top end of the lifting slide bar 641 is fixedly connected with a lifting limit ring 643; after the detection sensor 633 abuts against the speed reducer chassis 51, the detection sensor 633 can compress the elevation spring 642, and the elevation slide bar 641 slides upwards without exceeding the position limited by the elevation limiting ring 643.
In addition, when the reducer end cover 52 is installed in the middle of the reducer body 5, the spherical surface 521 is located inside the reducer body 5, and if metal debris is left on the spherical surface 521, the stability of the operation of the reducer body 5 is affected, in the prior art, the spherical surface 521 of the reducer end cover 52 is generally subjected to air blowing and dust removal and then is transferred to the reducer end cover 52, so that a process is added for the transfer of the reducer end cover 52, the transfer time of a single reducer end cover 52 is increased, the transfer efficiency of the reducer end cover 52 is reduced, and the processing efficiency of the reducer end cover 52 is reduced; or an additional inflating pump can be adopted, the inflating pump also needs to be communicated with the adsorption inlet pipe 33, the suction sleeve 32 blows air to the spherical surface 521 of the speed reducer end cover 52 through the inflating pump to remove dust, two power sources are needed in the mode, equipment cost is increased undoubtedly, and meanwhile the air suction pump and the inflating pump need to be used alternately, and the cost of alternate control is also increased.
In order to solve the above problems, the dual-purpose effects of blowing air to remove dust from the spherical surface 521 of the reducer end cover 52 and sucking the straight surface 522 of the reducer end cover 52 need to be realized only by the presence of the air suction pump, and a scheme can be adopted in which a pressing part 4 is installed at the air suction end of the sucking part 3, that is, the pressing part 4 is fixedly connected to the bottom of the sucking sleeve 32, the middle part of the pressing part 4 is hollow and is communicated with the sucking part 3, that is, the inside of the pressing part 4 is communicated with the inside of the sucking sleeve 32, when negative pressure is formed inside the sucking sleeve 32, negative pressure is also formed inside the pressing part 4, and at this time, the pressing part 4 abuts against the straight surface 522 of the reducer end cover 52 to realize the adsorption of the straight surface 522 of the reducer end cover 52; in order to realize the blowing and dust removal of the pressing part 4 on the spherical surface 521 of the reducer end cover 52, an air outlet 41 is arranged on the pressing part 4, the pressing part 4 is arranged to be foldable, and the volume inside the pressing part 4 is compressed through the folding of the pressing part 4, so that the air inside the pressing part 4 is sprayed out. When the air suction pump in the suction part 3 stops, the suction sleeve 32 in the suction part 3 is driven to move by the six-axis manipulator 2, the pressing part 4 is driven to move to abut against the spherical surface 521 of the end cover 52 of the speed reducer by the movement of the suction sleeve 32, the pressing part 4 is pressed by the six-axis manipulator 2 to contract, so that the pressing part 4 sprays air to the spherical surface 521 of the end cover 52 of the speed reducer, the pressing part 4 is stretched into an initial state when the six-axis manipulator 2 lifts the pressing part 4, and the pressing part 4 is repeatedly pressed and lifted by the six-axis manipulator 2, so that the pressing part 4 intermittently blows air to remove dust from the spherical surface 521 of the end cover 52 of the speed reducer, and the working stability of the speed reducer is further ensured; when the pressing portion 4 is compressed, the air outlet 41 on the pressing portion 4 is blocked, at this time, the pressing portion 4 is in a pressure maintaining state, the air pump works, the negative pressure inside the suction sleeve 32 presses the negative pressure inside the pressing portion 4, at this time, the pressing portion 4 can be adsorbed on the straight surface 522 of the end cover 52 of the speed reducer, when the pressing portion 4 is stretched, the air outlet 41 on the pressing portion 4 is exposed, and at this time, the pressing portion 4 is in an exhaust state. In this way, when only the suction pump is present and only the suction pump needs to be controlled, the pressing portion 4 can achieve both the effects of blowing air to remove dust from the spherical surface 521 of the speed reducer cover 52 and sucking the straight surface 522 of the speed reducer cover 52.
In order to enable the pressing part 4 to respectively carry out dust removal and adsorption operations on the speed reducer end covers 52 from front to back, the conveyor 1 is provided with a turning support 11 which is rotatably connected with one side of the conveyor 1, a turning motor 12 which is fixedly connected with the same side with the turning support 11, the turning support 11 is fixedly connected on an output shaft of the turning motor 12, a plurality of speed reducer end covers 52 can be placed on the turning support 11, the speed reducer end covers 52 need to keep a state that a circular surface 521 faces upwards, in addition, when the mounted speed reducer body 5 is detected, the turning support 11 can also be provided with a plurality of speed reducer bodies 5, the speed reducer bodies 5 can abut against the upper surface of the turning support 11 through a support frame 53 without sliding, when the turning motor 12 works, the turning support 11 can turn along with the turning motor 12 and drive the end covers 52 or the speed reducer bodies 5 to turn over, the reducer end cover 52 is directed straight 522 upward and the spherical surface 521 is in contact with the conveyor belt.
The folding structure of the pressing part 4 is specifically divided into a pressing outer cylinder 42 fixedly connected with the suction sleeve 32 and a pressing inner cylinder 43 connected in the pressing outer cylinder 42 in a sliding way, wherein the outer side wall of the pressing inner cylinder 43 is attached to the inner side wall of the pressing outer cylinder 42, and the upper end surface of the pressing inner cylinder 43 is lower than that of the pressing outer cylinder 42; the bottom end surface of the pressing inner cylinder 43 is lower than the bottom end surface of the pressing outer cylinder 42. The air outlet 41 is formed in a side wall of a lower end of the pressing inner cylinder 43, penetrates through the pressing inner cylinder 43, and is kept inclined downward from a side wall of the pressing inner cylinder 43, and an opening of the air outlet 41 faces the reducer end cover 52. When the six-axis manipulator 2 drives the suction sleeve 32 in the suction part 3 to move, and then the suction sleeve 32 moves to drive the pressing part 4 to move to abut against the spherical surface 521 of the end cover 52 of the speed reducer, and then the six-axis manipulator 2 presses the pressing part 4 to contract, and further the pressing outer cylinder 42 slides opposite to the suction sleeve 32, so that the pressing inner cylinder 43 blocks the air outlet 41, at this time, the pressing inner cylinder 43 and the pressing outer cylinder 42, the suction sleeve 32 and the straight surface 522 of the end cover 52 of the speed reducer can form a closed space, and when the closed space is formed, that is, the pressing part 4 is in a pressure maintaining state; when the pressing inner cylinder 43 does not block the air outlet 41, the pressing inner cylinder 43 and the pressing outer cylinder 42, the suction sleeve 32 and the straight surface 522 of the reducer cover 52 do not form a closed space, and at this time, the space in the pressing portion 4 is compressed, so that air is blown out from the air outlet 41, and an effect of intermittently blowing air to remove dust from the pressing portion 4 to the reducer cover 52 is achieved.
In order to enhance the effect of the air outlet 41 in intermittently blowing and removing dust on the spherical surface 51 of the reducer end cover 522, the diameter of the longitudinal section of the air outlet 41 is gradually reduced from the inner side wall to the outer side wall of the pressing inner cylinder 43, and when air is extruded and blown out from the air outlet 41, the air flow rate is increased along the direction in which the air outlet 41 is gradually reduced, so that the dust removal effect of the air outlet 41 on a place with much dust on the spherical surface 51 of the reducer end cover 52 from an oblique direction is better.
In order to control the relative movement between the pressing outer cylinder 42 and the pressing inner cylinder 43 and control the stroke of the relative movement, the outer side wall of the pressing inner cylinder 43 is provided with a rotating groove 431, the inner side wall of the pressing outer cylinder 42 is provided with a limiting groove 421 corresponding to the shape of the rotating groove 431, a pressing guide ball 44 is matched in the rotating groove 431 and the limiting groove 421, a plurality of clamping groups are uniformly distributed in the circumferential direction in the limiting groove 421, the pressing guide ball 44 can roll in the rotating groove 431 and is limited by the clamping groups to distinguish different working processes, and when the pressing guide ball 44 rolls along the rotating groove 431, the pressing guide ball 44 can be clamped in each clamping group.
The structure of each clamping group consisting of the limiting groove 421 and the rotating groove 431 is specifically described below, the clamping group includes a first clamping position 422 and a second clamping position 423 located on the clockwise side of the first clamping position 422, and the first clamping position 422 is higher than the second clamping position 423; the angles of the two side walls of the first detent 422 and the second detent 423 are the same, so as to ensure that the pressing guide ball 44 can be locked in the first detent 422 without sliding to the two sides. A first inflection point 424 is formed between the first position 422 and the second position 423 in the same group, and a second inflection point 425 is formed between the first position 422 and the second position 423 in different groups; after the pressing guide ball 44 is locked into the second detent 423 by the first detent 422 across the first inflection point 424, the outer cylinder 42 is pressed to close the air outlet 41. When the air outlet 41 is blocked, the air pump is operated to form a negative pressure by pressing the inner cylinder 43. After the negative pressure is formed, the closed space formed by the pressing inner cylinder 43, the pressing inner cylinder 4, the suction sleeve 32, and the straight surface 522 of the reducer end cover 52 can absorb the reducer end cover 52 through the straight surface 522. In addition, in order to ensure that the pressing inner cylinder 43 is tightly attached to the straight surface 522, a door of the pressing inner cylinder 43 located below the air outlet 41 should be made of a flexible material so as to be convenient to attach to the straight surface 522 and prevent air leakage after complete attachment; the upper part of the air outlet 41 should be made of rigid material to prevent the friction between the pressing inner cylinder 43 and the pressing outer cylinder 42 from being too large to hinder the relative sliding.
In order to further control the travel of the pressing guide ball 44, the lock group further includes a third inflection point 426 corresponding to the first lock 422, a third lock 427 corresponding to the first inflection point 424, a fourth inflection point 428 corresponding to the second lock 423, and a fourth lock 429 corresponding to the second inflection point 425; the first detent 422 is located on the clockwise side of the third inflection point 426; the third inflection point 426 is located on the counterclockwise side of the third position 427; the second stopper 423 is located on the clockwise side of the fourth inflection point 428; fourth inflection point 428 is located on a counterclockwise side of second inflection point 425. The arrangement of the clamping group divides the stroke of the pressing guide ball 44 into four sections to complete two different functions, wherein when the pressing guide ball 44 is clamped in the first clamping position 422, the pressing part removes dust from the spherical surface 521 of the end cover 52 of the speed reducer; when the pressing guide ball 44 is caught in the second catching portion 423, the pressing portion sucks the spherical surface 522 of the reducer end cap 52. The air outlet 41 can rotate along with the rotation of the pressing guide ball 44, when the pressing part 4 removes dust from the spherical surface 521 of the reducer cover 52, compressed air can be blown out from the air outlet 41, and the compressed air is blown on the surface of the reducer cover 52 along with the rotation of the air outlet 41 by a certain angle, which is the area where the dust removal is strengthened by the air outlet 41.
In order to enhance the effect of removing dust on the surface of the reducer end cover 52, an air guiding groove 432 is formed at the bottom of the inner side wall of the pressing inner cylinder 43 to diffuse the air compressed in the pressing inner cylinder 43. When the air in the pressing inner cylinder 43 is compressed, the air can be blown out along the pressing inner cylinder 43, and the air guide groove 432 is arranged at the lower end of the side wall of the pressing inner cylinder 43, so that the space occupied by the side wall of the pressing inner cylinder 43 can be effectively removed during dust removal. It should be noted that the effect of the pressing portion 4 in removing dust from the spherical surface 521 of the reducer cover 52 is enhanced by the provision of the air guide groove 432, but dust cannot be removed at a portion where the pressing inner cylinder 43 and the spherical surface 521 are still in contact with each other, and therefore, when the reducer cover 52 is placed on the conveyor belt in an inverted state after dust removal from the reducer cover 52, friction occurs between the reducer cover 52 and the conveyor belt during movement of the conveyor belt, and the dust-removed portion is wiped off by the conveyor belt.
After the end cover 52 of the speed reducer is dedusted, the end cover 52 of the speed reducer can be installed in the chassis 51 of the speed reducer, and then placed on the conveyor belt of the conveyor 1 again to wait for the transfer manipulator to grab the speed reducer body 5, and then the subsequent detection is carried out.
The working process of the detection mechanism for heat generation and abrasion of the speed reducer in the embodiment is that the spherical surface 521 of the end cover 52 of the speed reducer is firstly dedusted, and the specific expression is as follows: firstly, the spherical surface 521 of the end cover 52 of the speed reducer is arranged upwards on the overturning support 11, then the six-axis manipulator 2 intermittently blows air to remove dust on the spherical surface 521 of the end cover 52 of the speed reducer through the pressing part 4, after dust removal is finished, the overturning support 11 drives the end cover 52 of the speed reducer to overturn onto a conveying belt under the driving of the overturning motor 12 and convey backwards through the conveying belt (not shown in the figure), and then the end cover 52 of the speed reducer after dust removal can be installed on the chassis 51 of the speed reducer to form a complete speed reducer body 5, and then the installed speed reducer body 5 can be placed on the overturning support 11 again and overturned onto the conveying belt, conveyed backwards through the conveying belt and then conveyed through the transfer manipulator 7.
After the speed reducer body 5 is placed to the detection position by the transfer manipulator 7, the linkage part 62 in the detection mechanism 6 works to enable the linkage motor 623 to be inserted into the speed reducer chassis 51, drive the speed reducer chassis 51 to rotate, drive the speed reducer end cover 52 to rotate, enable the speed reducer end cover 52 to generate heat, and then push the detection sensor 633 to descend along the detection slide rail 631 through the detection cylinder 634 and abut against the straight surface 522 of the speed reducer end cover 52, so that the heat generation abrasion of the speed reducer body 5 is detected.
In light of the foregoing description of the preferred embodiment of the present invention, it is intended that the present invention cover modifications and variations of this invention provided they fall within the scope of the following claims. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (7)
1. The utility model provides a speed reducer heat production detection device for wearing and tearing, its characterized in that includes:
the robot comprises a conveyor, six-shaft mechanical arms fixedly connected to one side of the conveyor, a detection mechanism arranged at the tail end of the conveyor and a transfer mechanical arm arranged on one side of the detection mechanism;
the six-axis manipulator is suitable for transferring the speed reducer body to the conveyor;
the transfer manipulator is suitable for transferring the speed reducer body at the tail end of the conveyor to the detection mechanism;
the detection mechanism is provided with a detection position; and
after the speed reducer body is arranged at the detection position, the detection mechanism can detect heat generation abrasion of the speed reducer body;
the six-axis manipulator is fixedly connected with a suction part at the movable end, and a pressing part is arranged at the air suction end of the suction part;
the middle part of the pressing part is hollow and is communicated with the suction part, and the pressing part can be folded;
the pressing part is provided with an air outlet; wherein
When the suction part stops, the six-axis manipulator can drive the pressing part to abut against the spherical surface of the end cover of the speed reducer and then stretch out and draw back, so that the pressing part intermittently blows air to the end cover of the speed reducer;
the pressing part is compressed until the air outlet is blocked, and the suction part can suck the straight surface of the end cover of the speed reducer through the pressing part;
the pressing part comprises a pressing outer cylinder fixedly connected with the suction part and a pressing inner cylinder connected in the pressing outer cylinder in a sliding manner, and the outer side wall of the pressing inner cylinder is attached to the inner side wall of the pressing outer cylinder;
the upper end surface of the pressing inner cylinder is lower than the upper end surface of the pressing outer cylinder;
the bottom end surface of the pressing inner cylinder is lower than that of the pressing outer cylinder, and the air outlet is positioned at the part of the pressing inner cylinder lower than the pressing inner cylinder; wherein
When the pressing outer cylinder is pressed to abut against the spherical surface of the end cover of the speed reducer, the pressing inner cylinder can stretch relative to the pressing outer cylinder so as to intermittently blow air to the end cover of the speed reducer;
when the pressing outer cylinder is pressed to block the air outlet, the suction part can suck the straight surface of the end cover of the speed reducer through the pressing inner cylinder;
the outer side wall of the pressing inner cylinder is provided with a rotating groove, and the inner side wall of the pressing outer cylinder is provided with a limiting groove; and
a pressing guide ball is matched in the rotating groove and the limiting groove;
the limiting groove is internally provided with a plurality of clamping groups which are uniformly distributed in the circumferential direction, wherein
When the pressing guide ball rolls along the rotating groove, the pressing guide ball can be clamped into each clamping group;
the clamping position group comprises a first clamping position (422) and a second clamping position (423) located on the clockwise side of the first clamping position (422), and the first clamping position (422) is higher than the second clamping position (423); the angles of the two side walls of the first clamping position (422) and the second clamping position (423) are the same, so that the pressing guide ball (44) can be clamped in the first clamping position (422) and cannot slide towards the two sides; a first inflection point (424) is formed between the first clamping position (422) and the second clamping position (423) of the same group, and a second inflection point (425) is formed between the first clamping position (422) and the second clamping position (423) of different groups; after the pressing guide ball (44) passes through the first inflection point (424) from the first blocking position (422) and is blocked in the second blocking position (423), the outer cylinder (42) is pressed to block the air outlet (41).
2. The detecting device for detecting heat generation wear of a speed reducer as claimed in claim 1,
the detection mechanism comprises a detection base, a linkage part fixedly connected to the upper end surface of the detection base and a detection part fixedly connected above the detection base; wherein
After the speed reducer body is arranged at the detection position, the linkage part can drive the speed reducer body to work, and the detection part can abut against the upper end face of the speed reducer body.
3. The heat generation wear detection device for a speed reducer according to claim 2,
the linkage part comprises a linkage cylinder fixedly connected to the detection base and a linkage push block fixedly connected to the movable end of the linkage cylinder;
the linkage push block can slide along the upper end face of the detection base; and
the upper end face of the linkage pushing block is fixedly connected with a linkage motor, and an output shaft of the linkage motor faces the detection position; wherein
After the speed reducer body is arranged at the detection position, the linkage air cylinder can push the linkage motor to be inserted into the speed reducer body, so that the linkage air cylinder is linked with the speed reducer body to work.
4. The detecting device for detecting heat generation wear of a speed reducer as claimed in claim 3,
the detection part comprises a detection slide rail fixed on the upper end surface of the detection base, a detection bracket connected on the detection slide rail in a sliding manner, a detection sensor positioned above the detection base and a detection cylinder fixedly connected at the top end of the detection slide rail; and
the detection sensor is fixedly connected with the detection bracket; wherein
After the speed reducer body is placed at the detection position, the detection cylinder pushes the detection support to descend along the detection slide rail, so that the detection sensor is abutted to the upper end face of the speed reducer body.
5. The detecting device for detecting heat generation wear of a speed reducer as claimed in claim 4,
a plurality of lifting components are arranged between the detection bracket and the detection sensor,
each lifting assembly comprises a lifting slide rod fixedly connected to the top end face of the detection sensor and a lifting spring sleeved outside the lifting slide rod; and
the lifting spring is positioned between the lifting bracket and the detection sensor;
the top end of the lifting slide bar is fixedly connected with a lifting limiting ring; wherein
After the detection sensor is abutted to the speed reducer body, the lifting sensor can compress the lifting spring.
6. The detecting device for detecting heat generation wear of a speed reducer as claimed in claim 5,
the suction part comprises a suction support fixedly connected to the movable end of the six-axis manipulator and a plurality of suction sleeves fixedly connected to the suction support;
the pressing outer cylinder is fixedly connected with the corresponding suction sleeve;
the suction sleeve is provided with an adsorption inlet pipe, and the adsorption inlet pipe is connected to the air suction pump; wherein
And when the air outlet is blocked, the air suction pump works to enable the pressing inner cylinder to form negative pressure.
7. The heat generation wear detection device for a speed reducer according to claim 6,
one side of the conveyor is rotatably connected with an overturning bracket, and one side of the conveyor is also fixedly connected with an overturning motor;
the overturning bracket is fixedly connected to an output shaft of the overturning motor; wherein
After the speed reducer end cover with the upward spherical surface is arranged on the overturning bracket, the pressing inner cylinder abuts against the speed reducer end cover and blows air to the speed reducer end cover;
and after the overturning motor drives the speed reducer end cover to overturn onto the conveyor so that the straight surface of the speed reducer end cover faces upwards, the conveyor is in contact with the spherical surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110822193.9A CN113567112B (en) | 2021-07-21 | 2021-07-21 | Detection device for heat production and abrasion of speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110822193.9A CN113567112B (en) | 2021-07-21 | 2021-07-21 | Detection device for heat production and abrasion of speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113567112A CN113567112A (en) | 2021-10-29 |
| CN113567112B true CN113567112B (en) | 2022-07-19 |
Family
ID=78165892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110822193.9A Active CN113567112B (en) | 2021-07-21 | 2021-07-21 | Detection device for heat production and abrasion of speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113567112B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563106A (en) * | 2016-01-26 | 2016-05-11 | 广东辰奕科技有限公司 | Automatic assembly line of remote controller |
| CN205620120U (en) * | 2015-12-30 | 2016-10-05 | 深圳连硕自动化科技有限公司 | Accurate speed reducer automatic checkout device |
| CN207844415U (en) * | 2017-12-15 | 2018-09-11 | 深圳星河智能科技有限公司 | A kind of robotic arm cooperation automation loading and unloading machine |
| CN110333053A (en) * | 2019-06-11 | 2019-10-15 | 浙江亚太机电股份有限公司 | Clutch master cylinder assembly multinomial performance integral test system |
| CN210728981U (en) * | 2019-09-27 | 2020-06-12 | 无锡安和净化设备有限公司 | Filter cylinder with dust deposition cleaning device |
| CN112025237A (en) * | 2020-08-13 | 2020-12-04 | 苏州金策自动化工程有限公司 | Automatic assembling and detecting production line for speed reducing motor |
-
2021
- 2021-07-21 CN CN202110822193.9A patent/CN113567112B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205620120U (en) * | 2015-12-30 | 2016-10-05 | 深圳连硕自动化科技有限公司 | Accurate speed reducer automatic checkout device |
| CN105563106A (en) * | 2016-01-26 | 2016-05-11 | 广东辰奕科技有限公司 | Automatic assembly line of remote controller |
| CN207844415U (en) * | 2017-12-15 | 2018-09-11 | 深圳星河智能科技有限公司 | A kind of robotic arm cooperation automation loading and unloading machine |
| CN110333053A (en) * | 2019-06-11 | 2019-10-15 | 浙江亚太机电股份有限公司 | Clutch master cylinder assembly multinomial performance integral test system |
| CN210728981U (en) * | 2019-09-27 | 2020-06-12 | 无锡安和净化设备有限公司 | Filter cylinder with dust deposition cleaning device |
| CN112025237A (en) * | 2020-08-13 | 2020-12-04 | 苏州金策自动化工程有限公司 | Automatic assembling and detecting production line for speed reducing motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113567112A (en) | 2021-10-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103056874B (en) | Mechanical arm for high-speed carrying | |
| CN209393582U (en) | A kind of automatic charging sorter | |
| CN103979133B (en) | A kind of shunting conveying line device of liquid detergent | |
| CN112903704B (en) | An intelligent cyclic motion detection device | |
| CN107953339B (en) | Glass bottle sorting parallel robot with compliant structure | |
| US4921395A (en) | Apparatus for loading and/or unloading industrial presses | |
| CN111605960B (en) | A intelligent haulage equipment for plastic products production | |
| CN206969705U (en) | A kind of quartzite slate transporter | |
| CN207684300U (en) | A kind of feeding system of ring gauge cleaning machine | |
| CN113386163B (en) | Transfer device and transfer method for end cover of speed reducer | |
| CN113567111B (en) | High-precision detection device for heat production and abrasion of speed reducer | |
| CN113567112B (en) | Detection device for heat production and abrasion of speed reducer | |
| CN207343636U (en) | A kind of automatic production line for coordinating industrial robot work | |
| US5017083A (en) | Apparatus for loading and/or unloading industrial presses | |
| CN209319781U (en) | A two-axis vertical servo manipulator | |
| CN114132742B (en) | Soft bag loading attachment and machine is examined to lamp | |
| CN205526623U (en) | Multistation transport mechanism | |
| CN201374322Y (en) | Translating and overturning type wafer automatic conveying device | |
| CN206590783U (en) | A kind of automation feeding suspender for auto production line | |
| CN207792116U (en) | A kind of pharmaceutical production palletizing apparatus | |
| GB2121747A (en) | Apparatus for loading and/or unloading industrial presses or the like | |
| CN207311951U (en) | The automatic bag sheathing device of liquid crystal display die set | |
| CN112173597A (en) | Conveyer with adjustable conveying position | |
| CN205272017U (en) | Mechanical hand device of full -automatic sheet material installation | |
| CN220094627U (en) | Forging industry welding robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |