CN113086881B - Conveying mechanism of automobile welding line - Google Patents
Conveying mechanism of automobile welding line Download PDFInfo
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- CN113086881B CN113086881B CN202110353286.1A CN202110353286A CN113086881B CN 113086881 B CN113086881 B CN 113086881B CN 202110353286 A CN202110353286 A CN 202110353286A CN 113086881 B CN113086881 B CN 113086881B
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- guide rail
- low
- rotating shaft
- limiting
- lifting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0633—Mechanical arrangements not covered by the following subgroups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention discloses a conveying mechanism of an automobile welding line, which comprises an underframe, a lifting part and at least two groups of jacking assemblies; the lifting component comprises a lifting platform and a guide rail assembly, the guide rail assembly comprises a guide rail frame, a vertical guide rail, a first horizontal guide rail and a second horizontal guide rail, the lifting assembly comprises a lifting support, a rotating shaft, a swinging rod, a low-position support piece and a high-position support piece, the rotating shaft is rotatably arranged on the lifting support, the swinging rod is arranged on the rotating shaft and synchronously rotates with the rotating shaft, the low-position support piece is arranged on one end of the swinging rod and is used for being matched with the first horizontal guide rail, the high-position support piece is arranged on the other end of the swinging rod and is used for being matched with the second horizontal guide rail, and the low-position support piece or the high-position support piece or the low-position support piece and the high-position support piece adopt needle roller cams. The invention can realize low speed of low position, receiving position and high position in the lifting process, even the speed is zero, the impact is small, the structure is simple, the lifting is stable, the noise is low, the conveying efficiency is high, the maintenance is easy, and the pollution is small.
Description
Technical Field
The invention relates to a conveying mechanism of an automobile welding line, and belongs to the technical field of welding conveying equipment.
Background
At present, in an automobile welding production line, a rolling machine system is widely applied and is continuously updated and optimized, so that the production efficiency of an automobile is greatly improved. On the premise that the production speed of each automobile factory is continuously improved, in the actual production process, in order to reduce impact, safety and high efficiency are long-term requirements; in order to realize low speed and low impact at low position, parking position and high position, most of the prior rolling machine systems adopt a complex electrical control system to control the rotating speed of a motor, the maintenance is complex, the cost is high, part of the rolling machine systems also adopt a lead screw structure, the rotation is realized by changing a certain lead and a lead angle of the lead screw, but the processing cost is high, the period is long, a small amount of rolling machines do not adopt any control means, the impact is large, and the service life of equipment and the quality of parts are greatly influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the conveying mechanism of the automobile welding line, which has the advantages of simple structure, convenience in maintenance, low maintenance cost, low processing difficulty, low speed and low impact and realizes low position, parking position and high position.
The technical scheme for solving the technical problems is as follows: a conveying mechanism of an automobile welding line comprises an underframe, a lifting part arranged on the underframe, at least two groups of jacking assemblies used for driving the lifting part to perform lifting action and a power mechanism used for driving the jacking assemblies to perform action; the lifting component comprises a lifting platform and a guide rail assembly, the guide rail assembly comprises a guide rail frame, a vertical guide rail arranged on the guide rail frame, a first horizontal guide rail used for enabling the lifting platform to move from a low position to a vehicle receiving position and a second horizontal guide rail used for enabling the lifting platform to move from the vehicle receiving position to a high position, the guide rail frame is installed on the lifting platform, and the guide rail frame is connected with the guide mechanism through the vertical guide rail;
the jacking assembly comprises a jacking support, a rotating shaft arranged on the jacking support in a rotating mode, a swing rod arranged on the rotating shaft and rotating synchronously with the rotating shaft, a low-position support piece arranged on one end of the swing rod and used for cooperating with the first horizontal guide rail, and a high-position support piece arranged on the other end of the swing rod and used for cooperating with the second horizontal guide rail, wherein the rotating shaft is driven under the action of the power mechanism, the swing rod rotates, and the jacking support is arranged on the chassis.
The invention has the beneficial effects that: the rotating shaft rotates to drive the swing rod to rotate, the low-position supporting piece supports the first horizontal guide rail along with the rotation of the swing rod, the high-position supporting piece supports the second horizontal guide rail, and the lifting or descending of the lifting platform is realized by matching with one rotation of the swing rod; the vertical speed of the low position, the connecting position and the high position is zero, and the impact is small; the low-position and high-position swing rods are vertical, gravity self-locking is achieved, and misoperation and falling are effectively prevented. In a word, the invention can realize low speed of low position, receiving position and high position in the lifting process, even the speed is zero, the impact is small, the structure is simple, the lifting is stable, the noise is low, the conveying is stable, the efficiency is high, the maintenance is easy, and the pollution is small.
On the basis of the technical scheme, the invention can be further improved as follows.
Furthermore, first horizontal guide rail, second horizontal guide rail are equallyd divide and are equipped with two, and the setting of symmetry is in on the guide rail frame, the pendulum rod is equipped with two, and sets up respectively on the both ends of pivot.
The beneficial effect of adopting the further scheme is that the cooperation of the low-position supporting piece on the swing rod and the first horizontal guide rail and the cooperation of the high-position supporting piece and the second horizontal guide rail are more stable and reliable.
Furthermore, the low-position supporting piece or the high-position supporting piece or both the low-position supporting piece and the high-position supporting piece are respectively provided with a needle roller cam.
Adopt above-mentioned further scheme's beneficial effect be, reduce the frictional force between support piece and the guide rail, reduce the wearing and tearing of support piece and guide rail, the life of extension cam and guide rail even if the wearing and tearing maintenance cost is low.
Furthermore, the distance between the low-position supporting piece and the rotating shaft is matched with the distance between the low position of the lifting platform and the vehicle receiving position; the distance between the high-position supporting piece and the rotating shaft is matched with the space between the parking space and the high position of the lifting platform.
Adopt above-mentioned further scheme's beneficial effect to be, the low level that the accessible was adjusted lift platform and connect the parking stall, connect the interval between parking stall and high level to the distance between support piece by the pivot of adjustment pendulum rod.
Furthermore, guiding mechanism includes the leading truck and locates the baffle on the leading truck, the baffle form with vertical guide slot of vertical guide rail looks adaptation.
Adopt above-mentioned further scheme's beneficial effect be, vertical guide slot can lead spacingly to the lift of vertical guide rail to guarantee lift platform's stable lift.
Furthermore, the guide plate is provided with a guide wheel matched with the vertical guide rail.
Adopt above-mentioned further scheme's beneficial effect be, the guide pulley can lead to vertical guide rail, reduces frictional force and wearing and tearing between guide slot and the vertical guide rail.
Furthermore, the swing rod limiting mechanism further comprises a limiting mechanism used for limiting the single-circle rotation of the swing rod.
The beneficial effect who adopts above-mentioned further scheme is that, can carry out spacing to the rotation of countershaft through stop gear, can effectually avoid the emergence of overtravel.
Furthermore, stop gear includes spacing support, gag lever post and is used for carrying on spacing last spacing piece and lower spacing piece to the one end of gag lever post, the rotatable setting in middle part of gag lever post is in on the spacing support, be equipped with in the pivot and hit the piece, the other end of gag lever post acts on and hits the piece and right it is spacing to hit the piece.
The beneficial effect who adopts above-mentioned further scheme is that, the one end of gag lever post is injectd through upper and lower spacing piece, and the other end acts on and hits the piece and can carry out spacingly to the rotation of countershaft, realizes carrying on spacingly to the rotation of countershaft through simple structure, and is not only with low costs, is convenient for maintain moreover.
Furthermore, the limiting rod acts on the collision block through a limiting needle roller cam, and a wheel shaft of the limiting needle roller cam is installed on the limiting rod.
The beneficial effect of adopting above-mentioned further scheme is that, spacing kingpin cam and the cooperation of hitting the piece, can not only prevent effectively the emergence of overrun, and the cooperation process friction and wearing and tearing are little moreover.
Furthermore, the power mechanism comprises a driving motor, a driving wheel, a driven wheel and a synchronous belt or chain surrounding the driving wheel and the driven wheel, the driving motor is mounted on the bottom frame, the driving wheel is connected with an output shaft of the driving motor, and the driven wheel is arranged on the rotating shaft.
The beneficial effect who adopts above-mentioned further scheme is that driving motor drives the action wheel and rotates, and the action wheel passes through hold-in range or chain drive driven wheel and rotates, because install in the pivot from the driving wheel, the pivot rotates to drive the pendulum rod and rotate, the cam on the pendulum rod realizes the action of going up and down of lift platform with the cooperation of horizontal guide.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the lifting platform of the present invention in a dotted line configuration;
FIG. 3 is a schematic view of the construction of the lift assembly of the present invention;
FIG. 4 is a schematic perspective view of the lift assembly of the present invention;
FIG. 5 is a schematic view of the present invention with the lifting member removed;
FIG. 6 is a schematic perspective view of the present invention with the lifting member removed;
FIG. 7 is a schematic perspective view of a set of jacking assemblies of the present invention;
FIG. 8 is a schematic structural view of a spacing mechanism of the present invention;
FIG. 9 is a schematic diagram of the ascending process according to the present invention;
FIG. 10 is a schematic diagram of the descent process of the present invention;
in the figure, 1, a chassis; 2. a lifting platform; 3. a guide rail assembly; 301. a guide rail bracket; 302. a vertical guide rail; 303. a first horizontal guide rail; 304. a second horizontal guide rail; 4. a jacking assembly; 401. jacking a support; 402. a rotating shaft; 403. a swing rod; 404. a low-level support member; 405. a high-position support member; 406. bumping the block; 5. a guide mechanism; 501. a guide frame; 502. a guide plate; 503. a guide wheel; 6. a limiting mechanism; 601. a limiting support; 602. a limiting rod; 603. an upper limit block; 604. a lower limiting block; 605. a limiting needle roller cam; 7. a power mechanism; 701. a drive motor; 702. a driving wheel; 703. a driven wheel; 704. a synchronous belt; 705. a tension wheel; A. limiting at a low point; B. and limiting the high point.
Detailed Description
The principles and features of this invention are described below in conjunction with examples, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
As shown in fig. 1-10, an automobile welding line conveying mechanism comprises an underframe 1, a lifting component arranged on the underframe, and at least two groups of jacking assemblies for driving the lifting component to lift; the lifting component comprises a lifting platform 2 and a guide rail assembly, the guide rail assembly 3 comprises a guide rail frame 301, a vertical guide rail 302 arranged on the guide rail frame, a first horizontal guide rail 303 used for enabling the lifting platform to move from a low position to a vehicle receiving position, and a second horizontal guide rail 304 used for enabling the lifting platform to move from the vehicle receiving position to a high position, the guide rail frame is installed on the lifting platform, and the guide rail frame is connected with a guide mechanism through the vertical guide rail;
jacking subassembly 4 includes jacking support 401, rotates pivot 402 of locating on the jacking support, locate in the pivot and with pivot synchronous rotation's pendulum rod 403, locate on the pendulum rod one end and be used for with low level support piece 404 of first horizontal guide rail mating reaction and locate on the pendulum rod other end and be used for with high level support piece 405 of second horizontal guide rail mating reaction, the pivot drives under power unit's effect the pendulum rod rotates, the jacking support sets up on the chassis.
First horizontal guide rail, second horizontal guide rail are equallyd divide and are equipped with two respectively, and the setting of symmetry is in on the guide rail frame, the pendulum rod is equipped with two, and sets up respectively on the both ends of pivot. The matching of the low-position supporting piece on the swing rod and the first horizontal guide rail and the matching of the high-position supporting piece and the second horizontal guide rail are more stable and reliable.
The low-position supporting piece or the high-position supporting piece or the low-position supporting piece and the high-position supporting piece are respectively provided with a needle roller cam. The friction between the supporting piece and the guide rail is reduced, the abrasion between the supporting piece and the guide rail is reduced, the service life of the cam and the guide rail is prolonged, and the maintenance cost is low even if the cam and the guide rail are abraded.
The distance between the low-position supporting piece and the rotating shaft is matched with the distance between the low position of the lifting platform and the vehicle receiving position; the distance between the high-position supporting piece and the rotating shaft is matched with the space between the parking space and the high position of the lifting platform. The distance between the low position and the vehicle receiving position and the distance between the vehicle receiving position and the high position of the lifting platform can be adjusted by adjusting the distance between the rotating shaft of the swing rod and the supporting piece.
The guide mechanism 5 comprises a guide frame 501 and a guide plate 502 arranged on the guide frame, and the guide plate forms a vertical guide groove matched with the vertical guide rail. The vertical guide groove can guide and limit the lifting of the vertical guide rail, so that the stable lifting of the lifting platform is ensured.
And the guide plate is provided with a guide wheel 503 matched with the vertical guide rail. The guide pulley can lead to vertical guide rail, reduces frictional force and wearing and tearing between guide slot and the vertical guide rail.
The swing rod limiting mechanism is used for limiting the single-circle rotation of the swing rod. The rotation of the rotating shaft can be limited through the limiting mechanism, and the over travel can be effectively avoided.
The limiting mechanism 6 comprises a limiting support 601, a limiting rod 602, an upper limiting block 603 and a lower limiting block 604, wherein the upper limiting block 603 and the lower limiting block 604 are used for limiting one end of the limiting rod, the middle part of the limiting rod is rotatably arranged on the limiting support, a collision block 406 is arranged on the rotating shaft, and the other end of the limiting rod acts on the collision block and limits the collision block. One end of the limiting rod is limited by the upper limiting block and the lower limiting block, the other end of the limiting rod acts on the collision block to limit the rotation of the rotating shaft, the rotation of the rotating shaft is limited by a simple structure, the cost is low, the maintenance is convenient, and A is a low-point limiting position of the limiting rod when the supporting platform is at a low-point position as shown in figure 8; and B is the high point position of the limiting rod when the supporting platform processes the high point position.
The limiting rod acts on the collision block through a limiting needle roller cam 605, and a wheel shaft of the limiting needle roller cam is installed on the limiting rod. The limiting needle roller cam and the collision block are matched, so that the over travel can be effectively prevented, and friction and abrasion in the matching process are small.
The power mechanism 7 comprises a driving motor 701, a driving wheel 702, a driven wheel 703 and a synchronous belt 704 or a chain encircling the driving wheel and the driven wheel, the driving motor is mounted on the bottom frame, the driving wheel is connected with an output shaft of the driving motor, and the driven wheel is arranged on the rotating shaft. The driving motor drives the driving wheel to rotate, the driving wheel drives the driven wheel to rotate through the synchronous belt or the chain, the driven wheel is installed on the rotating shaft, the rotating shaft rotates, the swing rod is driven to rotate, and the cam on the swing rod is matched with the horizontal guide rail to achieve lifting action of the lifting platform.
A tension wheel 705 is also arranged on the bottom frame. The tension of the synchronous belt or the chain can be adjusted through the tension wheel.
The lifting component mainly comprises a vertical guide rail used for limiting in XY directions, a first horizontal guide rail used for moving from a low position to a vehicle receiving position, and a second horizontal guide rail used for moving from the vehicle receiving position to a high position;
the jacking subassembly includes driving motor, the motor passes through two action wheels, two kingpin cams that distribute on the follow driving wheel drives two sets of jacking subassembly synchronous rotation pendulum rod 3 respectively, adjust kingpin cam and the distance L1 between the pivot, L2 can change low position and connect the parking stall, connect the interval of parking stall and high position spare, a guide pulley for XY direction is spacing can lead to vertical guide rail, a stop gear accessible that is used for the single circle rotatory stop hits the cooperation of piece and is used for spacing the rotation of pivot, a tensioning force of the adjustable hold-in range of take-up pulley for the hold-in range tensioning. The driving motor can run in a variable speed mode through a single-rotating-speed motor, a complex electrical system is not needed, the over-travel limiting function is started in a servo system, the single-rotating-speed motor system is used for stopping, and the forward rotation and the reverse rotation are limited through the swing rod system. The over travel can be effectively prevented by arranging the single-circle rotation stop limiting mechanism; the driving motor can use a single-rotating-speed motor, has low requirement on an electrical system, and is economical and efficient.
The specific operation flow is as follows: the ascent process as shown in fig. 9: initial state, lowest point, low point transport bit; rotating clockwise to 90 degrees, and increasing the speed from 0 to the maximum; rotating clockwise to 180 degrees, reducing the speed to 0, and reaching a joint position; rotating clockwise to 270 degrees, and increasing the speed from 0 to the maximum; rotating clockwise to 360 degrees, reducing the speed to 0 and reaching a high-point conveying position. As shown in fig. 10, the descent process: initial state, highest point, high point transport position; rotating counterclockwise to 90 degrees, the speed is increased from 0 to the maximum; rotating the workpiece to 180 degrees anticlockwise, reducing the speed to 0, and reaching a workpiece placing position; rotating counterclockwise to 270 degrees, the speed is increased from 0 to the maximum; rotating counterclockwise to 360 degrees, the speed is reduced to 0, and a low-point conveying position is reached.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A conveying mechanism of an automobile welding line is characterized by comprising an underframe, a lifting component arranged on the underframe, at least two groups of jacking components used for driving the lifting component to perform lifting action and a power mechanism used for driving the jacking components to act; the lifting component comprises a lifting platform and a guide rail assembly, the guide rail assembly comprises a guide rail frame, a vertical guide rail arranged on the guide rail frame, a first horizontal guide rail used for enabling the lifting platform to move from a low position to a vehicle receiving position and a second horizontal guide rail used for enabling the lifting platform to move from the vehicle receiving position to a high position, the guide rail frame is installed on the lifting platform, and the guide rail frame is connected with the guide mechanism through the vertical guide rail;
the jacking assembly comprises a jacking support, a rotating shaft arranged on the jacking support in a rotating mode, a swing rod arranged on the rotating shaft and rotating synchronously with the rotating shaft, a low-position support piece arranged on one end of the swing rod and used for cooperating with the first horizontal guide rail, and a high-position support piece arranged on the other end of the swing rod and used for cooperating with the second horizontal guide rail, wherein the rotating shaft is driven under the action of the power mechanism, the swing rod rotates, and the jacking support is arranged on the chassis.
2. The conveying mechanism for automobile welding line according to claim 1, wherein there are two of the first horizontal guide rail and the second horizontal guide rail, and the two of the first horizontal guide rail and the second horizontal guide rail are symmetrically disposed on the guide rail frame, and there are two of the swing links, and the two swing links are disposed on two ends of the rotating shaft, respectively.
3. The automobile welding line conveying mechanism according to claim 2, wherein the low-position supporting member or the high-position supporting member or both the low-position supporting member and the high-position supporting member are respectively provided with a needle roller cam.
4. The automobile welding line conveying mechanism according to claim 1, wherein the distance between the low-position supporting piece and the rotating shaft is matched with the distance between the low position of the lifting platform and the vehicle receiving position; the distance between the high-position supporting piece and the rotating shaft is matched with the space between the parking space and the high position of the lifting platform.
5. The automobile welding line conveying mechanism according to any one of claims 1 to 4, wherein the guide mechanism comprises a guide frame and a guide plate arranged on the guide frame, and the guide plate forms a vertical guide groove matched with the vertical guide rail.
6. The automobile welding line conveying mechanism of claim 5, wherein guide wheels matched with the vertical guide rails are arranged on the guide plates.
7. The automobile welding line conveying mechanism according to any one of claims 1 to 4, further comprising a limiting mechanism for limiting a single-turn rotation of the swing link.
8. The automobile welding line conveying mechanism according to claim 7, wherein the limiting mechanism comprises a limiting support, a limiting rod, an upper limiting block and a lower limiting block, the upper limiting block and the lower limiting block are used for limiting one end of the limiting rod, the middle part of the limiting rod is rotatably arranged on the limiting support, a collision block is arranged on the rotating shaft, and the other end of the limiting rod acts on the collision block and limits the collision block.
9. The automobile wire feeding mechanism according to claim 8, wherein the stopper is acted on the striker by a stopper needle cam, and a hub of the stopper needle cam is mounted on the stopper.
10. The automobile welding line conveying mechanism according to any one of claims 1 to 4, wherein the power mechanism comprises a driving motor, a driving wheel, a driven wheel, and a synchronous belt or a chain encircling the driving wheel and the driven wheel, the driving motor is mounted on the bottom frame, the driving wheel is connected with an output shaft of the driving motor, and the driven wheel is arranged on the rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110353286.1A CN113086881B (en) | 2021-03-31 | 2021-03-31 | Conveying mechanism of automobile welding line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110353286.1A CN113086881B (en) | 2021-03-31 | 2021-03-31 | Conveying mechanism of automobile welding line |
Publications (2)
| Publication Number | Publication Date |
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| CN113086881A CN113086881A (en) | 2021-07-09 |
| CN113086881B true CN113086881B (en) | 2022-08-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110353286.1A Active CN113086881B (en) | 2021-03-31 | 2021-03-31 | Conveying mechanism of automobile welding line |
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| CN (1) | CN113086881B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115043160A (en) * | 2022-06-21 | 2022-09-13 | 广州明珞装备股份有限公司 | Large-size frame type part conveying system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202148169U (en) * | 2010-11-30 | 2012-02-22 | 中国汽车工业工程公司 | Positioning locker used for lifting frame of two-pillar belt lifting machine |
| CN201952164U (en) * | 2010-12-20 | 2011-08-31 | 大连四达高技术发展有限公司 | Swing link type lifting roller bed |
| CN104576471B (en) * | 2013-10-23 | 2017-07-07 | 沈阳芯源微电子设备有限公司 | A kind of compact matrix needle lifting mechanism |
| CN107686071B (en) * | 2017-06-19 | 2023-08-22 | 库卡机器人(广东)有限公司 | Jacking device for unmanned carrier and unmanned carrier with same |
| CN109533840A (en) * | 2018-12-18 | 2019-03-29 | 安徽双骏智能科技有限公司 | A kind of rolling bed skid transportation system |
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