CN101497087A - Automatic material-fetching machine for clarifier case formed by stretching - Google Patents
Automatic material-fetching machine for clarifier case formed by stretching Download PDFInfo
- Publication number
- CN101497087A CN101497087A CNA2009101161495A CN200910116149A CN101497087A CN 101497087 A CN101497087 A CN 101497087A CN A2009101161495 A CNA2009101161495 A CN A2009101161495A CN 200910116149 A CN200910116149 A CN 200910116149A CN 101497087 A CN101497087 A CN 101497087A
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- palm
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Abstract
The invention relates to an automatic stretching material taking machine for a filter shell, wherein a stander (2) is provide with a pair of guide rods (22) which are matched with a linear bearing (21); a piston rod of an arm cylinder (1) is connected with hand rest base plates (6a,6) which are connected with an upright plate (4); upper parts of the hand rest base plates are connected with the guide rods (22); the hand rest base plates are provided with a grabbing piece cylinder (20), a wedge block (19), a pair of clamping arms (9) and a tension spring (9a); and the inclined plane of the wedge block is matched with a bearing (13) of the clamping arms (9) to allow the clamping arms (9) and claws thereof to stretch and clamp. When a mechanical arm extends in place, the claws of the clamping arms stretch and clamp a workpiece F to lift the workpiece upward by 25mm, and retract the piston rod, and after the workpiece is in place, the claws stretch and put down the workpiece F. The automatic stretching material taking machine for the filter shell has the advantages of realizing automatic production of the filter shell, improving the production efficiency and preventing accidents at work.
Description
Technical field:
The present invention relates to the auto parts and components production equipment, particularly the filter casing automatic material fetching machine after the stretching.
Background technology:
Filter casing is with flaky metallic material stretch forming under stretching lathe and mould action; in this process; the shell of stretch forming rests on the mould; manually take out with hand; inefficiency not only; also cause industrial accident through regular meeting, this is a unsolved for many years technology difficult problem in the cleaner industry.Extensively retrieve at the problems referred to above, do not find the correlation technique solution as yet.
Summary of the invention:
Purpose of the present invention is exactly a kind of automatic material-fetching machine for clarifier case formed by stretching that provides at the shortcoming of prior art existence.
To achieve these goals, the present invention has adopted following technical scheme:
A kind of automatic material-fetching machine for clarifier case formed by stretching is characterized in that comprising following part:
A, support assembly, by two pairs of linear bearings that are provided with on frame, the frame, and the carriage that frame one side connects is formed.
B, mechanical arm assembly, form by arm cylinder, a pair of guide post and hand rest base plate, the arm cylinder is connected on the frame, each guide post correspondence is connected on the linear bearing on the support and is and is slidingly matched, the piston rod of arm cylinder is connected with the hand rest base plate, connect a vertical riser on the hand rest base plate, riser top is connected with an end of guide post, makes under the effect of arm cylinder that hand rest base plate and guide post are forward and backward to move horizontally;
Wherein the hand rest base plate is the basis of carrying machinery palm assembly and gripper assembly, and guide post guarantees the stability of hand rest base plate motion.
C, machinery palm assembly, form by upper moving plate, lower moving plate and palm cylinder, three guide pillars are set before and after on the hand rest base plate, each guide pillar passes upper moving plate, lower moving plate respectively, be respectively equipped with contour overlapping between upper moving plate, lower moving plate on each guide pillar, upper moving plate, lower moving plate are isolated the framework that forms level altitude, palm cylinder is connected in above the upper moving plate, the cylinder rod of palm cylinder passes upper and lower moving plate, cooperate with the push rod on being arranged on the hand rest base plate, under the effect of palm cylinder, can make machinery palm assembly do upper and lower vertical moving;
D, the gripper assembly, by grabbing the part cylinder, wedge, a pair of tong arm and extension spring are formed, grab the part cylinder and be connected in upper moving plate, one end of lower moving plate, wedge is arranged between upper moving plate and the lower moving plate, and be connected with the piston rod of grabbing the part cylinder, upper moving plate, a pair of pivot pin is set on the lower moving plate, connect a tong arm on each pivot pin respectively with claw, be associated with spring between two tong arms, the both sides of wedge are respectively equipped with the inclined-plane, each inclined-plane respectively with corresponding tong arm on the bearing that is provided with cooperate, when moving horizontally before and after the piston rod of grabbing the part cylinder, cooperating of bearing on inclined-plane by the wedge both sides and the tong arm, and under the effect of extension spring, make tong arm and claw thereof do to open, clamp motion.
According to above-mentioned basic technical scheme, following further technical scheme can be arranged:
Wedge middle part is provided with the oval groove, and the cylinder rod of palm cylinder is provided with axle sleeve and passes upper and lower moving plate, and the axle sleeve oval groove that is arranged in wedge is and is slidingly matched, and its objective is that avoiding wedge to produce rocks, and protection palm cylinder is not damaged.
The claw of each tong arm is associated with rest shoe respectively, is provided with felt pad between rest shoe and the tong arm, and each rest shoe is connected with control device by electric wire, to obtain the electric potential signal of rest shoe.
In addition, on three cylinders among the present invention corresponding position sensor is arranged all, these sensors can change into the signal of telecommunication with the movement position of each branch, and these signals of telecommunication can work whole manipulator for control coefrficient provides the positional information of each branch in an orderly manner.
The invention has the advantages that:
The present invention be directed to the equipment that filter casing is removed automatically after stretch forming, equipment such as it and stretching-machine, feeder are formed a complete production transfer matic, realized the filter casing production automation, enhanced productivity, stop the generation of industrial accident.
Description of drawings:
Fig. 1 is a front view of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is a schematic diagram of getting material during the present invention uses on the production line;
Fig. 4 is the schematic diagram that is discharged to conveyer belt during the present invention uses on the production line.
The specific embodiment:
As shown in Figure 1 and Figure 2, automatic material-fetching machine for clarifier case formed by stretching provided by the invention, mainly by following part:
A, support assembly, by two pairs of linear bearings 21 that are provided with on frame 2, the frame 2, and the carriage 23 that frame 2 one sides connect is formed.
B, mechanical arm assembly, form by arm cylinder 1, a pair of guide post 22, hand rest base plate 6, arm cylinder 1 right-hand member is connected on the inner bearings 3 that are provided with of frame 2, the other end is connected on the bearing 24 below the carriage 23, two guide post 22 apportion both sides correspondences are connected on the linear bearing 21 of support both sides and are and are slidingly matched, and guide post 22 can move horizontally in carriage 23.The piston rod of arm cylinder 1 is connected on the protruding frame 6a in the hand rest base plate, connect a vertical riser 4 with screw on the hand rest base plate, the top of riser 4 is connected with guide post 22 usefulness bolts, hand rest base plate, riser and guide post are connected as a single entity, make under the effect of arm cylinder that hand rest base plate and guide post are forward and backward to move horizontally, the hand rest base plate is by riser and guide post load capacity and keep stable.
C, machinery palm assembly, by upper moving plate 18, lower moving plate 8 and palm cylinder 16 are formed, three guide pillars 5 are set before and after on hand rest base plate 6,7, each guide pillar passes upper moving plate 18 respectively, lower moving plate 8, be respectively equipped with axle sleeve 12 on each guide pillar and contour cover 11 is positioned at upper moving plate 18, between the lower moving plate 8, contour cover 11 is with upper moving plate 18, lower moving plate 8 is isolated the formation certain altitude, palm cylinder 16 is connected in above the upper moving plate 18, the piston rod of palm cylinder 16 is provided with axle sleeve 15 and passes, lower moving plate, cooperate with the push rod 14 that is arranged on hand rest base plate 6 on the piston rod, when the piston rod stretching motion of palm cylinder, can drive upper moving plate 18, lower moving plate 8 is done, sagging translation is moving.
D, the gripper assembly, by grabbing part cylinder 20, wedge 19, a pair of tong arm 9 and extension spring 9a form, grab part cylinder 20 and be connected in upper moving plate 18 with screw respectively, on the lower moving plate 8, wedge 19 is arranged between upper moving plate 18 and the lower moving plate 8, and be connected with the piston rod of grabbing part cylinder 20, a pair of pivot pin 17 is set on upper moving plate 18 and the lower moving plate 8, connect a tong arm 9 on each pivot pin respectively with claw, be associated with spring 9a between two tong arms 9, the both sides of wedge 19 are respectively equipped with the inclined-plane, the middle part is provided with oval groove 19a, the end is provided with open slot 19b, the cylinder rod of palm cylinder 16 is provided with axle sleeve 15 and is arranged in the oval groove and is and is slidingly matched, and one avoids rocking.Each inclined-plane of wedge 19 respectively with corresponding tong arm 9 on the bearing 13 that is provided with cooperate, the open slot 19b of wedge 19 front ends cooperates with the guide pillar 7 of front.When before and after grabbing the piston rod of part cylinder 20, moving horizontally, the cooperating of the bearing 13 on the inclined-plane of the both sides by wedge 19 and the tong arm, and under the effect of extension spring, make tong arm 9 and claw thereof work open, clamp motion.
The claw of each tong arm 9 is associated with the rest shoe 10 of band V-type groove respectively, is provided with felt pad 10a between rest shoe 10 and the tong arm 9, connects with the insulation screw, and each rest shoe is connected with control device by lead, to obtain the electric potential signal of rest shoe.
In design, two rest shoe current potentials are not waited.Because being grabbed part (filter case) is electric conductor, when grabbing the part success, two rest shoe current potentials equate that when grabbing the part failure, two rest shoes still keep the unequal state of current potential.So when grabbing part, whether successfully whether control system just can equate according to the current potential of two rest shoes to judge grabs part.Judge and to grab part whether successful meaning is: when grabbing part when getting nowhere, possibility greatly is that the be not stretched liftout tank of machine of tensioning member ejects mould, that is to say that tensioning member is stuck in mould,, drawing die is damaged at this moment as continuing to send virgin material to stretch.So whether with grabbing part successfully is to judge whether tensioning member is stuck in the mould, determines whether continue the unique foundation of new one-off drawing, so this technology plays the supervision effect to mould protection.
The course of work of the present invention following (in conjunction with Fig. 3, Fig. 4):
1, initialization
After respectively with compressed air, power connection, each one of manipulator is in init state, that is: arm cylinder retraction; Metacarpus falls; Chela unclamps.And prompting: reclaimer is ready, waits for, waits until that always stretching-machine starts, and feeding begins to draw.
2, the course of work
When plate is sent in the stretching-machine mould and during by stretching-machine stretch forming, the up arrival top dead centre of stretching-machine slide block band mould, the liftout tank of stretching-machine ejects counterdie with tensioning member, meanwhile the tablet of stretching-machine also arrives slider position sensor KHS, (KHS is installed on the top dead centre of stretching-machine slide block) with the slide block rising.This moment, KHS sender notice mechanical arm stretched out, mechanical arm is under the effect of arm cylinder, shoot out, when mechanical arm stretches out when putting in place, the center of two rest shoes just in time with wait to grab tensioning member identical (adjusting the front end stop), this moment arm extended position sensor KZC sender, the notice claw can be grabbed part, grab the part cylinder and drive tongue piece retraction, tong arm and rest shoe shrink under the pulling force effect of extension spring, and rest shoe will wait that grabbing part tightly clamps, this moment circuit whether will inquire about two rest shoe current potentials equal, as equating, be called to grab the part success, (grabbing the unsuccessful aftermentioned of part).When grabbing part cylinder retraction when putting in place, grab part sensor KZJ sender, notice palm branch lifts, and the tensioning member that palm branch drives tong arm under the effect of palm cylinder, firmly grasped by rest shoe lifts the 25mm height, make the tensioning member bottom thoroughly leave mould, for tensioning member safety is taken away ready.After metacarpus lifts, sensor KZT sender on the palm cylinder, notice mechanical arm retraction, mechanical arm bounces back rapidly under the effect of arm cylinder and puts in place, the tensioning member that clamped by tong arm, rest shoe this moment just in time is in the top (adjusting the rear portion stop) of the conveyer belt that connects material, be in the position sensor KZS sender at arm cylinder rear portion simultaneously, a: the notice feeder send virgin material, start that slide block and mould are descending to carry out new one-off drawing process, b: the notice metacarpus falls, tong arm unclamps, at this moment tensioning member will drop on the conveyer belt, deliver to subsequent processing by conveyer belt.Reclaimer so far has been finished one and has been got the material cycle, and this moment, the state of each one of manipulator was identical with init state.After every this new stretching was finished, manipulator all will reach the purpose of constantly getting material from multiple above-mentioned action at every turn.
When pickup is unsuccessful, two rest shoe current potentials are unequal, and circuit control system judges that tensioning member is stuck in the mould, and at this moment control system is interrupted normal work tempo at once, the arm cylinder of issuing an order bounces back, shuts the gate of feeder, stretching-machine slide block down immediately, whole production line quits work, and alarm, waits the Hou personnel to fix a breakdown, after fault is got rid of, operating personnel click and reset strongly, and each one of manipulator is from newly being in init state, and whole system can rerun.
More than orderly action be under the monitoring of control circuit, to finish, this circuit adopts digital integrated electronic circuit as core component, circuit has that volume is little, reliability is high, the life-span is long, be convenient to characteristics such as maintenance.(circuit theory narration: slightly).
Claims (3)
1, automatic material-fetching machine for clarifier case formed by stretching is characterized in that comprising following part:
A, support assembly are made up of the carriage (23) that frame (2), the last two pairs of linear bearings (21) that are provided with of frame (2) and frame (2) one sides connect;
B, mechanical arm assembly, form by arm cylinder (1), a pair of guide post (22) and hand rest base plate (6), arm cylinder (1) is connected on the frame (2), each guide post (22) correspondence is connected in linear bearing (21) on the support and goes up and be and be slidingly matched, the piston rod of arm cylinder (1) is connected with the hand rest base plate, connect a vertical riser (4) on the hand rest base plate, riser (4) top is connected with an end of guide post (22), makes hand rest base plate (6) and forward and backward the moving horizontally of guide post (22) under the effect of arm cylinder;
C, machinery palm assembly, by upper moving plate (18), lower moving plate (8) and palm cylinder (16) are formed, before and after hand rest base plate (6) is gone up, three guide pillars (5 are set, 7), each guide pillar passes upper moving plate (18) respectively, lower moving plate (8), be respectively equipped with contour cover (11) on each guide pillar and be positioned at upper moving plate (18), between the lower moving plate (8), with upper moving plate (18), lower moving plate (8) is isolated the framework that forms level altitude, palm cylinder (16) is connected in above the upper moving plate (18), the piston rod of palm cylinder (16) passes, lower moving plate, cooperate with the push rod (14) on being arranged on hand rest base plate (6), under the effect of palm cylinder, machinery palm assembly is done, sagging translation is moving;
D, the gripper assembly, by grabbing part cylinder (20), wedge (19), a pair of tong arm (9) and extension spring (9a) are formed, grab part cylinder (20) and be connected in upper moving plate (18), one end of lower moving plate (8), wedge (19) is arranged between upper moving plate (18) and the lower moving plate (8), and be connected with the piston rod of grabbing part cylinder (20), upper moving plate (18), a pair of pivot pin (17) is set on the lower moving plate (8), connect a tong arm (9) on each pivot pin respectively with claw, be associated with spring (9a) between two tong arms (9), the both sides of wedge (19) are respectively equipped with the inclined-plane, each inclined-plane is gone up the bearing (13) that is provided with corresponding tong arm (9) respectively and is cooperated, when moving horizontally before and after the piston rod of grabbing part cylinder (20), cooperating of bearing (13) on the inclined-plane of the both sides by wedge (19) and the tong arm, and under the effect of extension spring, make tong arm (9) and claw thereof do to open, clamp motion.
2, automatic material-fetching machine for clarifier case formed by stretching according to claim 1, it is characterized in that: wedge (19) middle part is provided with oval groove (19a), the cylinder rod of palm cylinder (16) is provided with axle sleeve (15) and passes upper moving plate and lower moving plate, and axle sleeve (15) the oval groove (19a) that is arranged in wedge (19) is and is slidingly matched.
3, automatic material-fetching machine for clarifier case formed by stretching according to claim 1 and 2, it is characterized in that: the claw of each tong arm (9) is associated with rest shoe (10) respectively, be provided with felt pad (10a) between rest shoe (10) and the tong arm (9), each rest shoe is connected with control device by lead, to obtain the electric potential signal of rest shoe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101161495A CN101497087B (en) | 2009-01-23 | 2009-01-23 | Automatic material-fetching machine for clarifier case formed by stretching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101161495A CN101497087B (en) | 2009-01-23 | 2009-01-23 | Automatic material-fetching machine for clarifier case formed by stretching |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101497087A true CN101497087A (en) | 2009-08-05 |
| CN101497087B CN101497087B (en) | 2010-08-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101161495A Expired - Fee Related CN101497087B (en) | 2009-01-23 | 2009-01-23 | Automatic material-fetching machine for clarifier case formed by stretching |
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| CN (1) | CN101497087B (en) |
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| CN102189541A (en) * | 2010-03-10 | 2011-09-21 | 山东中际电工装备股份有限公司 | Stator clamp manipulator |
| CN102390053A (en) * | 2011-07-09 | 2012-03-28 | 江阴纳尔捷机器人有限公司 | Mechanical hand grip |
| CN102699745A (en) * | 2012-06-01 | 2012-10-03 | 上海大学 | Self-adaptive manipulating arm device for change of positioning center and height of workpiece |
| CN102896550A (en) * | 2012-09-21 | 2013-01-30 | 常州市立威刀具有限公司 | Mechanical automatic feeding and discharging device |
| CN102909287A (en) * | 2011-12-30 | 2013-02-06 | 中山市奥美森自动化设备有限公司 | Pipe fitting clamping mechanism |
| CN103406912A (en) * | 2013-08-15 | 2013-11-27 | 青岛泰众能源技术有限公司 | Clamping device |
| CN103433936A (en) * | 2013-06-23 | 2013-12-11 | 四川海普工控技术有限公司 | Industrial mechanical arm with single-arm rotation clamping function |
| CN103495985A (en) * | 2013-10-24 | 2014-01-08 | 太仓市高泰机械有限公司 | Simple anti-skidding mechanical arm |
| CN103625910A (en) * | 2013-10-26 | 2014-03-12 | 康惠忠 | Novel automatic oxidation line clamping device |
| CN103802122A (en) * | 2014-02-28 | 2014-05-21 | 深圳市华龙精密模具有限公司 | Mechanical arm structure of rib-cutting forming device |
| CN104057273A (en) * | 2014-05-29 | 2014-09-24 | 奉化市宇达高科光电器件有限公司 | Manipulator for automatically assembling optical fiber adapter |
| CN104400379A (en) * | 2014-11-28 | 2015-03-11 | 江阴吉爱倍万达精工有限公司 | Adjustable clamping mechanism of bearing conveying device |
| CN104526708A (en) * | 2014-12-02 | 2015-04-22 | 江阴吉爱倍万达精工有限公司 | Clamping mechanism of bearing conveying device |
| CN104552326A (en) * | 2015-01-26 | 2015-04-29 | 湖北港源电气有限公司 | Mechanical hand device of automated device |
| CN104841845A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Grabbing manipulator for high-temperature workpieces |
| CN104841835A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Griping manipulator for high-temperature forging pieces |
| CN105058407A (en) * | 2015-08-19 | 2015-11-18 | 山西中泰源工业自动化设备有限公司 | Robot gripper for grabbing flow guide shell and rings of water pump |
| CN106426253A (en) * | 2016-11-24 | 2017-02-22 | 上海云线娃娃信息科技有限公司 | Mechanical arm |
| CN107442719A (en) * | 2017-09-25 | 2017-12-08 | 中铁隆昌铁路器材有限公司 | Rotary-type opening and closing supporting mechanism |
| CN107457599A (en) * | 2017-09-19 | 2017-12-12 | 佛山锋顺机械科技有限公司 | A kind of clamping device |
| CN107618873A (en) * | 2017-08-17 | 2018-01-23 | 柳州福能机器人开发有限公司 | Can auto lock mechanical arm |
| CN107803827A (en) * | 2017-11-24 | 2018-03-16 | 中科步思德（洛阳）智控科技有限公司 | A kind of manipulator fixture and double machinery tong |
| CN108001937A (en) * | 2017-12-26 | 2018-05-08 | 重庆捷科隆金属科技有限公司 | Workpiece transfer device for resistance furnace |
| CN109081103A (en) * | 2018-10-09 | 2018-12-25 | 揭阳市腾晟科技咨询有限公司 | A kind of swing arm manipulator |
| CN111452015A (en) * | 2020-05-20 | 2020-07-28 | 海汇集团有限公司 | Novel AGV trolley type assembly robot |
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2009
- 2009-01-23 CN CN2009101161495A patent/CN101497087B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102189541A (en) * | 2010-03-10 | 2011-09-21 | 山东中际电工装备股份有限公司 | Stator clamp manipulator |
| CN102390053A (en) * | 2011-07-09 | 2012-03-28 | 江阴纳尔捷机器人有限公司 | Mechanical hand grip |
| CN102909287B (en) * | 2011-12-30 | 2015-07-22 | 郴州智造科技有限公司 | Pipe fitting clamping mechanism |
| CN102909287A (en) * | 2011-12-30 | 2013-02-06 | 中山市奥美森自动化设备有限公司 | Pipe fitting clamping mechanism |
| CN102699745A (en) * | 2012-06-01 | 2012-10-03 | 上海大学 | Self-adaptive manipulating arm device for change of positioning center and height of workpiece |
| CN102896550A (en) * | 2012-09-21 | 2013-01-30 | 常州市立威刀具有限公司 | Mechanical automatic feeding and discharging device |
| CN103433936A (en) * | 2013-06-23 | 2013-12-11 | 四川海普工控技术有限公司 | Industrial mechanical arm with single-arm rotation clamping function |
| CN103406912A (en) * | 2013-08-15 | 2013-11-27 | 青岛泰众能源技术有限公司 | Clamping device |
| CN103495985A (en) * | 2013-10-24 | 2014-01-08 | 太仓市高泰机械有限公司 | Simple anti-skidding mechanical arm |
| CN103625910B (en) * | 2013-10-26 | 2019-02-12 | 康惠忠 | A kind of oxidation line automatic clamping device |
| CN103625910A (en) * | 2013-10-26 | 2014-03-12 | 康惠忠 | Novel automatic oxidation line clamping device |
| CN103802122A (en) * | 2014-02-28 | 2014-05-21 | 深圳市华龙精密模具有限公司 | Mechanical arm structure of rib-cutting forming device |
| CN104057273A (en) * | 2014-05-29 | 2014-09-24 | 奉化市宇达高科光电器件有限公司 | Manipulator for automatically assembling optical fiber adapter |
| CN104057273B (en) * | 2014-05-29 | 2016-08-24 | 宁波宇达光电股份有限公司 | Fiber adapter Automated assembly mechanical hand |
| CN104400379A (en) * | 2014-11-28 | 2015-03-11 | 江阴吉爱倍万达精工有限公司 | Adjustable clamping mechanism of bearing conveying device |
| CN104526708A (en) * | 2014-12-02 | 2015-04-22 | 江阴吉爱倍万达精工有限公司 | Clamping mechanism of bearing conveying device |
| CN104552326A (en) * | 2015-01-26 | 2015-04-29 | 湖北港源电气有限公司 | Mechanical hand device of automated device |
| CN104841845A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Grabbing manipulator for high-temperature workpieces |
| CN104841835A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Griping manipulator for high-temperature forging pieces |
| CN105058407A (en) * | 2015-08-19 | 2015-11-18 | 山西中泰源工业自动化设备有限公司 | Robot gripper for grabbing flow guide shell and rings of water pump |
| CN106426253A (en) * | 2016-11-24 | 2017-02-22 | 上海云线娃娃信息科技有限公司 | Mechanical arm |
| CN107618873A (en) * | 2017-08-17 | 2018-01-23 | 柳州福能机器人开发有限公司 | Can auto lock mechanical arm |
| CN107618873B (en) * | 2017-08-17 | 2019-05-28 | 柳州福能机器人开发有限公司 | Can automatically lock mechanical arm |
| CN107457599A (en) * | 2017-09-19 | 2017-12-12 | 佛山锋顺机械科技有限公司 | A kind of clamping device |
| CN107442719A (en) * | 2017-09-25 | 2017-12-08 | 中铁隆昌铁路器材有限公司 | Rotary-type opening and closing supporting mechanism |
| CN107803827A (en) * | 2017-11-24 | 2018-03-16 | 中科步思德（洛阳）智控科技有限公司 | A kind of manipulator fixture and double machinery tong |
| CN107803827B (en) * | 2017-11-24 | 2023-08-11 | 中国科学院自动化研究所 | Manipulator clamp and double-station manipulator |
| CN108001937A (en) * | 2017-12-26 | 2018-05-08 | 重庆捷科隆金属科技有限公司 | Workpiece transfer device for resistance furnace |
| CN108001937B (en) * | 2017-12-26 | 2023-08-08 | 重庆捷科隆金属科技有限公司 | Workpiece transfer device for resistance furnace |
| CN109081103A (en) * | 2018-10-09 | 2018-12-25 | 揭阳市腾晟科技咨询有限公司 | A kind of swing arm manipulator |
| CN111452015A (en) * | 2020-05-20 | 2020-07-28 | 海汇集团有限公司 | Novel AGV trolley type assembly robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101497087B (en) | 2010-08-18 |
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