CN104070642A - A mechanical arm with a balance cylinder - Google Patents
A mechanical arm with a balance cylinder Download PDFInfo
- Publication number
- CN104070642A CN104070642A CN201410351529.8A CN201410351529A CN104070642A CN 104070642 A CN104070642 A CN 104070642A CN 201410351529 A CN201410351529 A CN 201410351529A CN 104070642 A CN104070642 A CN 104070642A
- Authority
- CN
- China
- Prior art keywords
- arm
- balance cylinder
- section
- manipulator
- transmission mechanism
- 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.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 238000001746 injection moulding Methods 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 description 30
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
技术领域 technical field
本发明涉及机械手技术领域，尤其涉及一种带平衡气缸的机械手。 The invention relates to the technical field of manipulators, in particular to a manipulator with a balance cylinder.
背景技术 Background technique
随着计算机和自动化技术的发展，机械手被普遍应用在工业生产中，用来代替人工操作。现有的注塑领域中，注塑机机械手的作用是将注塑好的产品从模具内取出，节约人力、物力，从而可以增加产能，降低成本；而随着机械手技术的发展，业界对机械手的要求也越来越高，机械手的动作需要达到很高的精度，而且运行过程中要稳定、可靠。其中，注塑机机械手第一段移动手臂的重量往往较大，传统的该种注塑机机械手均采用电机驱动其第一段移动手臂上下移动，显然，当第一段移动手臂的重量越大，电机驱动的负载就越大，消耗电能越大，而且电机驱动控制第一段移动手臂上下移动的灵活性不够，工作效果不佳；如采用大功率电机驱动第一段移动手臂，则所使用的电机体积非常大，装配相当不方便。 With the development of computer and automation technology, manipulators are widely used in industrial production to replace manual operations. In the existing injection molding field, the role of the injection molding machine manipulator is to take out the injection molded product from the mold, saving manpower and material resources, thereby increasing production capacity and reducing costs; and with the development of manipulator technology, the industry’s requirements for manipulators are also increasing. Higher and higher, the action of the manipulator needs to achieve high precision, and it must be stable and reliable during operation. Among them, the weight of the first section of the mobile arm of the injection molding machine manipulator is often relatively large. The traditional injection molding machine manipulator uses a motor to drive the first section of the mobile arm to move up and down. Obviously, when the weight of the first section of the mobile arm is greater, the motor The greater the load driven, the greater the power consumption, and the flexibility of the motor drive to control the first section of the mobile arm to move up and down is not enough, and the work effect is not good; if a high-power motor is used to drive the first section of the mobile arm, the motor used The volume is very large and the assembly is quite inconvenient.
发明内容 Contents of the invention
本发明的目的在于针对现有技术的不足提供一种带平衡气缸的机械手，其能够通过气缸平衡第一段移动手臂的自重，从而实现降低传动机构驱动第一段移动手臂的负载，提高传动机构驱动控制第一段移动手臂的灵活性。 The purpose of the present invention is to provide a manipulator with a balance cylinder for the deficiencies of the prior art, which can balance the self-weight of the first section of the moving arm through the cylinder, thereby reducing the load of the transmission mechanism to drive the first section of the movement arm and improving the mechanical strength of the transmission mechanism. The drive controls the flexibility of the first segment to move the arm.
为实现上述目的，本发明的一种带平衡气缸的机械手，包括固定架和第一段移动手臂，第一段移动手臂穿设于该固定架，第一段移动手臂连接有用于驱动第一段移动手臂上下移动的Z轴传动机构，所述固定架安装有平衡气缸，平衡气缸的活塞杆端部穿过该固定架与第一段移动手臂固定连接。 In order to achieve the above object, a manipulator with a balance cylinder of the present invention includes a fixed frame and a first section of the mobile arm, the first section of the mobile arm is passed through the fixed frame, and the first section of the mobile arm is connected with a motor for driving the first section. The Z-axis transmission mechanism for moving the arm up and down, the fixed frame is equipped with a balance cylinder, and the end of the piston rod of the balance cylinder passes through the fixed frame and is fixedly connected with the first section of the mobile arm.
其中，所述Z轴传动机构包括线性滑轨、电机、同步轮和同步带；线性滑轨的导轨沿Ｚ轴安装于第一段移动手臂，线性滑轨的滑块与固定架固定连接，电机安装于固定架，同步轮与电机的主轴驱动连接，同步轮的上下两侧分别设置有一惰轮，同步带绕设于惰轮和同步轮，同步带的两端分别与第一段移动手臂的上下两端固定连接。 Wherein, the Z-axis transmission mechanism includes a linear slide rail, a motor, a synchronous wheel and a synchronous belt; the guide rail of the linear slide rail is installed on the first section of the mobile arm along the Z axis, the slider of the linear slide rail is fixedly connected with the fixed frame, and the motor Installed on the fixed frame, the synchronous wheel is driven and connected with the main shaft of the motor. An idler wheel is arranged on the upper and lower sides of the synchronous wheel, and the synchronous belt is wound around the idler wheel and the synchronous wheel. The upper and lower ends are fixedly connected.
其中，所述线性滑轨有两组，两组线性滑轨平行安装于第一段移动手臂。 Wherein, there are two sets of linear slide rails, and the two sets of linear slide rails are installed in parallel on the first segment of the moving arm.
其中，所述同步带绕设于惰轮和同步轮处呈“Ω”形。 Wherein, the synchronous belt is wound around the idler wheel and the synchronous wheel in an "Ω" shape.
其中，所述第一段移动手臂的底部连接有第二段移动手臂。 Wherein, the bottom of the first section of the moving arm is connected with the second section of the moving arm.
其中，所述第二段移动手臂的底部安装有用于装夹夹具的姿势部。 Wherein, the bottom of the second segment of the moving arm is equipped with a posture part for clamping the fixture.
本发明的有益效果：本发明的一种带平衡气缸的机械手，由于其设置有平衡气缸，且该平衡气缸的活塞杆端部与第一段移动手臂固定连接，当Z轴传动机构驱动第一段移动手臂上下移动时，该平衡气缸的活塞杆跟随Z轴传动机构驱动第一段移动手臂上下移动，从而分担一部分Z轴传动机构驱动第一段移动手臂上下移动的负载。本发明的一种带平衡气缸的机械手，当其应用于注塑机时，适用于驱动控制不同大小质量的第一段移动手臂进行上下移动，由于其设置有平衡气缸，一方面可以降低Z轴传动机构的负载，从而可以节省Z轴传动机构的能耗；另一方面可以确保Z轴传动机构驱动控制第一段移动手臂上下移动时更加灵活自由。 Beneficial effects of the present invention: A manipulator with a balance cylinder of the present invention is provided with a balance cylinder, and the end of the piston rod of the balance cylinder is fixedly connected to the first section of the moving arm. When the Z-axis transmission mechanism drives the first When the first section of the moving arm moves up and down, the piston rod of the balance cylinder drives the first section of the moving arm to move up and down with the Z-axis transmission mechanism, thereby sharing a part of the load that the Z-axis transmission mechanism drives the first section of the mobile arm to move up and down. A manipulator with a balance cylinder of the present invention, when applied to an injection molding machine, is suitable for driving and controlling the first moving arms of different sizes and masses to move up and down. Because it is equipped with a balance cylinder, on the one hand it can reduce the transmission of the Z axis. The load of the mechanism can save the energy consumption of the Z-axis transmission mechanism; on the other hand, it can ensure that the Z-axis transmission mechanism drives and controls the first section of the moving arm to move up and down more flexibly and freely.
附图说明 Description of drawings
图1为本发明的立体结构示意图。 Fig. 1 is a schematic diagram of the three-dimensional structure of the present invention.
图2为本发明的另一立体结构示意图。 Fig. 2 is a schematic diagram of another three-dimensional structure of the present invention.
图3为图1中A处的局部放大示意图。 FIG. 3 is a partially enlarged schematic diagram of A in FIG. 1 .
图4为图2中B处的局部放大示意图。 FIG. 4 is a partially enlarged schematic diagram of the location B in FIG. 2 .
附图标记包括： Reference signs include:
10—固定架 20—第一段移动手臂 30—平衡气缸 10—fixed frame 20—the first section of moving arm 30—balance cylinder
31—活塞杆 41—导轨 42—滑块 31—piston rod 41—guide rail 42—slider
43—电机 44—同步轮 45—同步带 43—motor 44—synchronous wheel 45—synchronous belt
46—惰轮 50—第二段移动手臂 60—姿势部。 46—idler wheel 50—the second segment of the moving arm 60—posture department.
具体实施方式 Detailed ways
以下结合附图对本发明进行详细的描述。 The present invention will be described in detail below in conjunction with the accompanying drawings.
如图1至图4所示，本发明的一种带平衡气缸的机械手，包括固定架10和第一段移动手臂20，第一段移动手臂20穿设于该固定架10，第一段移动手臂20连接有用于驱动第一段移动手臂20上下移动的Z轴传动机构，所述固定架10安装有平衡气缸30，平衡气缸30的活塞杆31端部穿过该固定架10与第一段移动手臂20固定连接。具体的，该机械手可安装于注塑机上，用于夹取移动注塑件或者模具模板，安装方式采用垂直安装，即第一段移动手臂20垂直安装；工作时，第一段移动手臂20端部可设置相应的用于夹持注塑件或者模具模板的夹具，Z轴传动机构用于驱动手臂上下移动，Z轴传动机构即是可实现驱动执行部件上下垂直移动的传动机构，一般采用电机43作为动力源；当所驱动的第一段移动手臂20质量过大时，动力源的负载就越大，所需要消耗的电源就越大，同时，对与控制第一段移动手臂20也更为迟钝；而本技术方案设置的平衡气缸30，将平衡气缸30的活塞杆31的端部与手臂固定连接，当Z轴传动机构驱动第一段移动手臂20上下移动的同时，平衡气缸30也控制活塞杆31上下移动，即分担一部分Z轴传动机构驱动第一段移动手臂20的负载，达到更为平衡的状态，即使得Z轴传动机构控制第一段移动手臂20的上下移动更为自由灵活，结构简单，设计合理。 As shown in Figures 1 to 4, a manipulator with a balance cylinder of the present invention includes a fixed frame 10 and a first section of the moving arm 20, the first section of the moving arm 20 is installed on the fixed frame 10, and the first section moves The arm 20 is connected with a Z-axis transmission mechanism for driving the first section of the moving arm 20 to move up and down. The fixed frame 10 is equipped with a balance cylinder 30, and the end of the piston rod 31 of the balance cylinder 30 passes through the fixed frame 10 and the first section. The mobile arm 20 is fixedly connected. Specifically, the manipulator can be installed on an injection molding machine for clamping and moving injection molding parts or mold templates. The installation method is vertical installation, that is, the first section of the moving arm 20 is installed vertically; when working, the end of the first section of the moving arm 20 Corresponding fixtures for clamping injection molded parts or mold templates can be set. The Z-axis transmission mechanism is used to drive the arm to move up and down. The Z-axis transmission mechanism is the transmission mechanism that can drive the actuator to move up and down vertically. Generally, a motor 43 is used as Power source; when the quality of the first section of the moving arm 20 driven is too large, the load of the power source will be greater, and the power consumption required will be greater. At the same time, the first section of the moving arm 20 will be slower to control; And the balance cylinder 30 that this technical scheme is provided with, the end of the piston rod 31 of balance cylinder 30 is fixedly connected with the arm, when the Z-axis transmission mechanism drives the first segment of the moving arm 20 to move up and down, the balance cylinder 30 also controls the piston rod 31 moves up and down, that is, to share a part of the load of the Z-axis transmission mechanism driving the first section of the mobile arm 20, to achieve a more balanced state, that is, to make the Z-axis transmission mechanism control the up and down movement of the first section of the mobile arm 20 more freely and flexibly. Simple and well designed.
本实施例中，所述Z轴传动机构包括线性滑轨、电机43、同步轮44和同步带45；线性滑轨的导轨41沿Ｚ轴安装于第一段移动手臂20，线性滑轨的滑块42与固定架10固定连接，电机43安装于固定架10，同步轮44与电机43的主轴驱动连接，同步轮44的上下两侧分别设置有一惰轮46，同步带45绕设于惰轮46和同步轮44，同步带45的两端分别与第一段移动手臂20的上下两端固定连接。本技术方案的Z轴传动机构采用线性滑轨的滑块42作为固定件，线性滑轨的导轨41作为移动件的方式设置；具体的，同步带45的两端固定连接于第一段移动手臂20的上下两端，其中，同步带45以绕设于惰轮46→同步轮44→惰轮46的方式设置，同步轮44与电机43的主轴驱动连接，同步带45和同步轮44均设置可以相互咬合的条纹，且电机43固定安装于固定架10属于不移动部件，当启动电机43时，电机43的主轴带动同步轮44转动，由于同步轮44与同步带45之间设置的条纹存在摩擦，即同步带45在同步轮44的正反转，以及绕设于惰轮46的作用下进行上下移动，从而使得第一段移动手臂20上下移动，移动过程平稳，噪音小；其中，惰轮46主要起到改变同步带45转动方向的作用。 In this embodiment, the Z-axis transmission mechanism includes a linear slide rail, a motor 43, a synchronous wheel 44, and a synchronous belt 45; the guide rail 41 of the linear slide rail is installed on the first segment of the moving arm 20 along the Z axis, and the slide rail of the linear slide rail The block 42 is fixedly connected with the fixed frame 10, the motor 43 is mounted on the fixed frame 10, the synchronous wheel 44 is connected with the main shaft drive of the motor 43, an idler wheel 46 is respectively arranged on the upper and lower sides of the synchronous wheel 44, and the synchronous belt 45 is wound around the idler wheel 46 and the synchronous wheel 44, the two ends of the synchronous belt 45 are respectively fixedly connected with the upper and lower ends of the first section of the mobile arm 20. The Z-axis transmission mechanism of the technical solution adopts the slider 42 of the linear slide rail as a fixed part, and the guide rail 41 of the linear slide rail is set as a moving part; specifically, the two ends of the synchronous belt 45 are fixedly connected to the first section of the moving arm The upper and lower ends of 20, wherein the synchronous belt 45 is set in such a way that it is wound around the idler wheel 46 → the synchronous wheel 44 → the idler wheel 46, the synchronous wheel 44 is connected to the main shaft of the motor 43, and the synchronous belt 45 and the synchronous wheel 44 are all provided The stripes that can interlock with each other, and the motor 43 is fixedly installed on the fixed frame 10 is a non-moving part. When the motor 43 is started, the main shaft of the motor 43 drives the synchronous wheel 44 to rotate. Friction, that is, the synchronous belt 45 moves up and down under the positive and negative rotation of the synchronous wheel 44, and is wound around the idler wheel 46, so that the first section of the moving arm 20 moves up and down, the moving process is stable, and the noise is small; wherein, the idler The wheel 46 mainly plays the role of changing the rotation direction of the synchronous belt 45 .
本实施例中，所述线性滑轨有两组，两组线性滑轨平行安装于第一段移动手臂20，其中，Z轴传动机构采用两组线性滑轨平衡安装于第一段移动手臂20的设置，可确保控制第一段移动手臂20以双线性滑轨的导轨41为导向沿Z轴上下移动，移动过程更加平稳，不会出现左右失衡。 In this embodiment, there are two groups of linear slide rails, and the two sets of linear slide rails are installed in parallel on the first section of the mobile arm 20, wherein the Z-axis transmission mechanism adopts two sets of linear slide rails to be balancedly installed on the first section of the mobile arm 20 The setting can ensure that the first segment of the moving arm 20 is controlled to move up and down along the Z axis guided by the guide rail 41 of the bilinear slide rail, and the moving process is more stable without left-right imbalance.
本实施例中，所述同步带45绕设于惰轮46和同步轮44处呈“Ω”形，本技术方案特殊的同步带45绕设同步轮44和惰轮46的设计，可实现当同步轮44转动时，带动同步带45上下移动，从而通过该同步带45带动第一段移动手臂20上下移动，整个Z轴传动机构的设置更加简单，实现Z轴传动的同时效率更高，效果更佳。 In this embodiment, the synchronous belt 45 is wound around the idler wheel 46 and the synchronous wheel 44 in the shape of "Ω". When the synchronous wheel 44 rotates, it drives the synchronous belt 45 to move up and down, thereby driving the first section of the mobile arm 20 to move up and down through the synchronous belt 45. The setting of the entire Z-axis transmission mechanism is simpler, and the efficiency is higher while realizing the Z-axis transmission. better.
具体的，所述第一段移动手臂20的底部连接有第二段移动手臂50，设置的第二段移动手臂50可有效地增加整个机械手Z轴方向的移动行程，使得其在垂直方向的控制范围增大，适用范围更广。 Specifically, the bottom of the first section of the mobile arm 20 is connected with a second section of the mobile arm 50, and the second section of the mobile arm 50 provided can effectively increase the movement stroke of the entire manipulator in the Z-axis direction, so that its control in the vertical direction The scope is enlarged and the scope of application is wider.
更具体的，所述第二段移动手臂50的底部安装有用于装夹夹具的姿势部60，姿势部60用于装夹夹具，夹具可夹取移动注塑件或者模具模板。 More specifically, the bottom of the second section of the moving arm 50 is equipped with a posture part 60 for clamping the fixture. The posture part 60 is used for clamping the fixture, and the fixture can clamp the mobile injection molded part or the mold template.
综上所述可知本发明乃具有以上所述的优良特性，得以令其在制造组装以及使用上，增进以往技术中所未有的效能而具有实用性，成为一极具实用价值的新型产品结构。 In summary, it can be seen that the present invention has the above-mentioned excellent characteristics, which enables it to improve the performance that is unprecedented in the prior art in terms of manufacturing, assembly and use, and has practicality, and becomes a new product structure with great practical value. .
以上内容仅为本发明的较佳实施例，对于本领域的普通技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，本说明书内容不应理解为对本发明的限制。 The above content is only a preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. limits.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410351529.8A CN104070642A (en) | 2014-07-23 | 2014-07-23 | A mechanical arm with a balance cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410351529.8A CN104070642A (en) | 2014-07-23 | 2014-07-23 | A mechanical arm with a balance cylinder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104070642A true CN104070642A (en) | 2014-10-01 |
Family
ID=51592451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410351529.8A Pending CN104070642A (en) | 2014-07-23 | 2014-07-23 | A mechanical arm with a balance cylinder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104070642A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150232A (en) * | 2015-09-28 | 2015-12-16 | 申科谱自动化科技（珠海）有限公司 | Mechanical arm and work head |
| CN107364703A (en) * | 2017-07-28 | 2017-11-21 | 广东恒鑫智能装备股份有限公司 | A kind of transfer tipping arrangement |
| CN107598906A (en) * | 2017-09-20 | 2018-01-19 | 广东拓斯达科技股份有限公司 | A kind of robot to run at high speed |
| CN107696012A (en) * | 2017-09-20 | 2018-02-16 | 广东拓斯达科技股份有限公司 | A kind of robot of equilbrium running |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201592505U (en) * | 2009-12-30 | 2010-09-29 | 中国航天科技集团公司第九研究院第十六研究所 | Manipulator for horizontal injection moulding machine |
| CN202200295U (en) * | 2011-08-03 | 2012-04-25 | 金华凯力特自动化科技有限公司 | Up and down transmission mechanism of manipulator of injection molding machine |
| CN202572405U (en) * | 2011-12-27 | 2012-12-05 | 东莞市威得客自动化科技有限公司 | A transmission structure for the upper and lower segments of the arm |
| CN204054543U (en) * | 2014-07-23 | 2014-12-31 | 广东拓斯达科技股份有限公司 | A kind of manipulator with balance cylinder |
-
2014
- 2014-07-23 CN CN201410351529.8A patent/CN104070642A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201592505U (en) * | 2009-12-30 | 2010-09-29 | 中国航天科技集团公司第九研究院第十六研究所 | Manipulator for horizontal injection moulding machine |
| CN202200295U (en) * | 2011-08-03 | 2012-04-25 | 金华凯力特自动化科技有限公司 | Up and down transmission mechanism of manipulator of injection molding machine |
| CN202572405U (en) * | 2011-12-27 | 2012-12-05 | 东莞市威得客自动化科技有限公司 | A transmission structure for the upper and lower segments of the arm |
| CN204054543U (en) * | 2014-07-23 | 2014-12-31 | 广东拓斯达科技股份有限公司 | A kind of manipulator with balance cylinder |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150232A (en) * | 2015-09-28 | 2015-12-16 | 申科谱自动化科技（珠海）有限公司 | Mechanical arm and work head |
| CN105150232B (en) * | 2015-09-28 | 2019-01-29 | 申科谱自动化科技（珠海）有限公司 | Manipulator and work head |
| CN107364703A (en) * | 2017-07-28 | 2017-11-21 | 广东恒鑫智能装备股份有限公司 | A kind of transfer tipping arrangement |
| CN107598906A (en) * | 2017-09-20 | 2018-01-19 | 广东拓斯达科技股份有限公司 | A kind of robot to run at high speed |
| CN107696012A (en) * | 2017-09-20 | 2018-02-16 | 广东拓斯达科技股份有限公司 | A kind of robot of equilbrium running |
| CN107598906B (en) * | 2017-09-20 | 2024-05-14 | 广东拓斯达科技股份有限公司 | Robot capable of running at high speed |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205132534U (en) | Novel glass carries mechanical hand | |
| CN106584429B (en) | A driven and fixed two-rotation and one-movement parallel mechanism | |
| CN205148328U (en) | High-efficiency dual-arm robot | |
| CN104070642A (en) | A mechanical arm with a balance cylinder | |
| CN201687906U (en) | A toggle pressure transmission mechanism and a press or injection molding machine including the mechanism | |
| CN206154073U (en) | High efficiency polishing machine | |
| CN204054537U (en) | A kind of manipulator being applied to injection machine | |
| CN209582942U (en) | A kind of cabinet rotating transfer equipment | |
| CN103523703A (en) | Pulley automatic turning mechanism | |
| CN108045838A (en) | A kind of touch-screen printing production line | |
| CN204054543U (en) | A kind of manipulator with balance cylinder | |
| CN206484546U (en) | A kind of manipulator lateral adjustment device | |
| CN104723070A (en) | Lining screwing-in position-changing mechanism of sewing machine part assembling machine | |
| CN206241651U (en) | It is a kind of can four speeds movement slide unit structure | |
| CN204109003U (en) | Two telescopic machine mechanical arm | |
| CN207841694U (en) | A kind of surrounding edge paper paving machine | |
| CN204735575U (en) | Refrigerator backplate both sides equipment of bending | |
| CN204546520U (en) | A kind of double driving shafts is with dynamic clamping manipulator | |
| CN205497476U (en) | Four-axis horizontal multi-joint robot | |
| CN204713942U (en) | A kind of linear module | |
| CN104741923B (en) | Lining transposition manipulator of sewing machine part assembler | |
| CN203248647U (en) | Transfer arm | |
| CN209466255U (en) | A kind of vanning robot | |
| CN202825829U (en) | Mechanical arm vertical kinematic pair and mechanical arm | |
| CN203830183U (en) | Carrying and transposition robot in automatic coating line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141001 |
|
| RJ01 | Rejection of invention patent application after publication |