CN104175213A - Intelligent mechanical arm - Google Patents

Intelligent mechanical arm Download PDF

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Publication number
CN104175213A
CN104175213A CN201410391371.7A CN201410391371A CN104175213A CN 104175213 A CN104175213 A CN 104175213A CN 201410391371 A CN201410391371 A CN 201410391371A CN 104175213 A CN104175213 A CN 104175213A
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CN
China
Prior art keywords
mechanical arm
workpiece
electromagnetism
negative pressure
pressure sucker
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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.)
Granted
Application number
CN201410391371.7A
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Chinese (zh)
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CN104175213B (en
Inventor
吴滨
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YICHANG DISEN MACHINERY Co Ltd
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YICHANG DISEN MACHINERY Co Ltd
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Priority to CN201410391371.7A priority Critical patent/CN104175213B/en
Publication of CN104175213A publication Critical patent/CN104175213A/en
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Publication of CN104175213B publication Critical patent/CN104175213B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/005Feeding or manipulating devices specially adapted to grinding machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type

Abstract

The invention relates to an intelligent mechanical arm. According to the intelligent mechanical arm, a mechanical arm moving along a horizontal guide rail is arranged on a crossbeam; a lifting guide rail is arranged on the mechanical arm; an air cylinder is mounted on the mechanical arm, and is used for driving an electromagnetic or negative-pressure sucking disc to lift along the lifting guide rail; the electromagnetic or negative-pressure sucking disc is connected with the air cylinder in a sliding manner; a spring used for buffering is arranged between the electromagnetic or negative-pressure sucking disc and the air cylinder. The intelligent mechanical arm adopts the manner of the air cylinder driven lifting matched with the spring used for buffering, so that the structure of the mechanical arm, in particular to the control mode, is simplified, operation precision can be controlled simply through the upper limiting point and the lower limiting point of the air cylinder, and the control difficulty is greatly simplified; by the adoption of the spring buffering manner, the height position of the machine is not needed to be accurately controlled; in the optional scheme, horizontal driving of the mechanical arm is realized by adopting a synchronous belt, and the manner that the synchronous belt is fixed while a driving wheel moves is particularly adopted, so that the cost of the device is reduced.

Description

Puma manipulator
Technical field
The present invention relates to manipulator field, particularly a kind of puma manipulator of simplifying existing machinery hand control complexity.
Background technology
In truncated cone-shaped batch workpiece process, enterprise staff demand is large, and working environment Cha ﹑ labour intensity is high conventionally, and workman can not multi-machine operation.In the course of the work, because material thickness differs, finished product requires strict, to employee quality, requires also high.In today of economic and scientific and technological high speed development, traditional grinding machine is more and more not suitable with extensive modern production.
Chinese patent literature CN 102328251 A, disclose a kind of Intelligent horizontal shaft truncated cone surface grinding machine, comprise grinder bed, workbench, and a side of workbench is provided with turn-over rig, automatic measuring thickness device, workpiece and bench clean device and workpiece bank bit; The top of workbench, turn-over rig and workpiece bank bit is provided with manipulator.A kind of Intelligent horizontal shaft truncated cone surface grinding machine provided by the invention, by the turn-over rig, automatic measuring thickness device and the manipulator that arrange, has realized the two sides without artificial interference ground automation precessing saw sheet matrix, has improved greatly production efficiency.And because each step is by programme-control, also reduced human error, improved the quality of workpiece.But this grinder structure is comparatively complicated, especially the structure of manipulator, adopt the mode that leading screw drives to need more employing servomotor, the height of controlling manipulator also needs more sensor, more sensor also makes control system more complicated, easily occurs the maloperation causing because of Sensor failures.And the mode speed that adopts leading screw to drive is slower.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of puma manipulator, can significantly simplify the structure of manipulator, further, and simplified control system, the probability of reduction maloperation.Improve the speed of service, reduce holistic cost.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of puma manipulator, crossbeam is provided with along the mechanical arm of horizontal guide rail action, mechanical arm is provided with riser guide, cylinder is arranged on mechanical arm, between electromagnetism or negative pressure sucker and cylinder, be connected, air cylinder driven electromagnetism or negative pressure sucker, along riser guide lifting, are provided with the spring for cushioning between electromagnetism or negative pressure sucker and cylinder.
In optional scheme, be provided with the Timing Belt of arranging along horizontal guide rail on crossbeam, the two ends of Timing Belt are fixedly mounted on the two ends of crossbeam;
Mechanical arm is slidably mounted on horizontal guide rail, and mechanical arm is provided with the synchronous pulley with Timing Belt engagement, and synchronous pulley is connected with the manipulator servomotor being fixedly mounted on mechanical arm.
In preferred scheme, in the both sides of synchronous pulley, be provided with straining pulley, straining pulley is positioned at the opposite side that Timing Belt is relative with synchronous pulley, so that the cornerite between synchronous pulley and Timing Belt increases.
In optional scheme, be provided with tooth bar on crossbeam, mechanical arm is slidably mounted on horizontal guide rail, and mechanical arm is provided with and tooth bar meshed gears, and gear is connected with the manipulator servomotor being fixedly mounted on mechanical arm.
In optional scheme, be provided with ball screw framework on crossbeam, mechanical arm is slidably mounted on horizontal guide rail, and mechanical arm is connected with the nut piece of ball screw framework, and hard-wired servomotor is fixedly connected with the leading screw part of ball screw framework.
In preferred scheme, below mechanical arm, be provided with workpiece guide rod, when air cylinder driven electromagnetism or negative pressure sucker are positioned at limes superiors point, the distance of the lower surface of electromagnetism or negative pressure sucker and workpiece guide rod upper surface, be greater than the thickness of a workpiece, be less than the thickness of two workpiece.
In preferred scheme, the cushion stroke of described spring is more than or equal to the integral thickness of the actual stacking workpiece of workpiece guide rod.
In preferred scheme, electromagnetism or negative pressure sucker are provided with the sensor of induction workpiece.
In preferred scheme, described sensor is mechanical type contact switch, giant magnetoresistance non-contact switch or optoelectronic switch.
In preferred scheme, described sensor is connected with control device, by control device according to the crawl of the signal controlling electromagnetism of sensor or negative pressure sucker with put down action, and the lifting action of control cylinder.
A kind of puma manipulator provided by the invention, air cylinder driven lifting is set and also coordinates the mode of the spring for cushioning, simplified the structure of mechanical arm, especially simplified control mode, only need to carry out control action precision by the high-low limit point of cylinder, significantly simplified control difficulty.By adopting the mode of spring buffer, thereby without accurately controlling mechanical height and position.In optional scheme, the horizontal drive of mechanical arm adopts Timing Belt, has especially adopted Timing Belt to fix, and the mode of driving wheel motion, has reduced the cost of equipment.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is structural representation of the present invention.
Fig. 2 is Timing Belt and synchronous pulley annexation schematic top plan view in the present invention.
Fig. 3 is overall structure schematic diagram of the present invention.
In figure: crossbeam 1, horizontal guide rail 2, Timing Belt 3, straining pulley 4, synchronous pulley 5, manipulator servomotor 6, riser guide 7, thickness detection apparatus 8, lifting ball-screw 9, pressing plate 10, cylinder 11, magnechuck 12, emery wheel 13, electrical control cubicles 14, workbench 15, table feed servomotor 16, flip-arm 17, rotary cylinder 18, ball screw for feeding 19, cleaning manipulator 20, finished product seat 21, emery wheel lifting servomotor 22, central control board 23, work piece platform 24, workpiece guide rod 25, working station indicator 26, spring 27.
The specific embodiment
Embodiment 1:
In Fig. 1~2, a kind of puma manipulator, crossbeam 1 is provided with along the mechanical arm of horizontal guide rail 2 actions, mechanical arm is provided with riser guide 7, cylinder 11 is arranged on mechanical arm, between electromagnetism or negative pressure sucker 12 and cylinder 11, be slidably connected, cylinder 11 drives electromagnetism or negative pressure sucker 12 along riser guide 7 liftings, is provided with the spring 27 for cushioning between electromagnetism or negative pressure sucker 12 and cylinder 11.When the piston rod of cylinder 11 stretches out, drive electromagnetism or negative pressure sucker 12 descending, if now electromagnetism or negative pressure sucker 12 are encountered obstacle, workpiece for example, spring 27 shrinks, and realizes buffering.Avoid hard contact damage electromagnetism or negative pressure sucker 12.The benefit that spring 27 is set is, without high-precision lifting position sensor is additionally set, only needs to arrange the piston rod that contact-making switch can be realized control cylinder 11, thereby controls the lifting of electromagnetism or negative pressure sucker 12.In preferred scheme, the cushion stroke of described spring 27 is more than or equal to the integral thickness of the actual stacking workpiece 26 of workpiece guide rod 25.Structure thus, even if contact-making switch damages, because the existence of spring can not cause the damage of electromagnetism or negative pressure sucker 12 yet.
In optional scheme, be provided with the Timing Belt 3 of arranging along horizontal guide rail 2 on crossbeam 1, the two ends of Timing Belt 3 are fixedly mounted on the two ends of crossbeam 1;
Mechanical arm is slidably mounted on horizontal guide rail 2, and mechanical arm is provided with the synchronous pulley 5 with Timing Belt 3 engagements, and synchronous pulley 5 is connected with the manipulator servomotor 6 being fixedly mounted on mechanical arm.Structure, has simplified drive mechanism thus, is convenient to install, and wherein Timing Belt 3 adopts polyurethane synchronous belt conventionally, processes very convenient.And synchronous pulley 5 and straining pulley 4 also can adopt the processing in enormous quantities of being convenient to of polyurethane or nylon material, reduce costs.
Preferred scheme, as in Fig. 2, is provided with straining pulley 4 in the both sides of synchronous pulley 5, and straining pulley 4 is positioned at the opposite side that Timing Belt 3 is relative with synchronous pulley 5, so that the cornerite between synchronous pulley 5 and Timing Belt 3 increases.Structure, can improve control accuracy thus, preferred, and straining pulley 4 regulates along the above-below direction in Fig. 2, so that installation and removal.
In optional scheme, on crossbeam 1, be provided with tooth bar, mechanical arm is slidably mounted on horizontal guide rail 2, and mechanical arm is provided with and tooth bar meshed gears, and gear is connected with the manipulator servomotor 6 being fixedly mounted on mechanical arm.Structure, realizes accurate control fast thus.Not shown.
In optional scheme, on crossbeam 1, be provided with ball screw framework, mechanical arm is slidably mounted on horizontal guide rail 2, and mechanical arm is connected with the nut piece of ball screw framework, and hard-wired servomotor is fixedly connected with the leading screw part of ball screw framework.Structure, realizes accurately and controlling thus.Not shown.
Preferred scheme is as in Fig. 1, below mechanical arm, be provided with workpiece guide rod 25, when cylinder 11 drives electromagnetism or negative pressure sucker 12 to be positioned at limes superiors point, the distance of the lower surface of electromagnetism or negative pressure sucker 12 and workpiece guide rod 25 upper surfaces, be greater than the thickness of a workpiece, be less than the thickness of two workpiece.Structure thus, for the crawled workpiece quantity of ingenious restriction.In this example, workpiece guide rod 25 also can be stopped the structure of workpiece by other, plate for example, substitute.
In preferred scheme, electromagnetism or negative pressure sucker 12 are provided with the sensor of induction workpiece.Structure, to provide stop control signal in mechanical arm decline process, and provides electromagnetism or negative pressure sucker 12 to start the signal of action thus.
In preferred scheme, described sensor is mechanical type contact switch, giant magnetoresistance non-contact switch or optoelectronic switch.Can select dissimilar sensor according to different occasions.
In preferred scheme, described sensor is connected with control device, by control device according to the crawl of the signal controlling electromagnetism of sensor or negative pressure sucker 12 with put down action, and the lifting action of control cylinder 11.
Embodiment 2:
For further illustrating advantage of the present invention, especially exemplified by going out an example that manipulator of the present invention is applied to grinding machine, so that understand the present invention.
In Fig. 3, a kind of Split type intelligent grinding machine, comprise crossbeam 1, crossbeam 1 is provided with along the mechanical arm of horizontal guide rail 2 actions, crossbeam 1 below is provided with work piece platform 24, thickness detection apparatus 8, flip-arm 17 and workbench 15 successively, and workbench 15 is provided with the motor that drives its rotation, and workbench assembly is connected with the nut piece of ball screw for feeding 19, table feed servomotor 16 is connected with the leading screw part of ball-screw 19, realizes the feeding of workbench 15.In workbench 15 1 sides, be also provided with cleaning manipulator 20, for cleaning workpiece and workbench 15, above workbench 15, be provided with the sheet devices of having blown, for destroying the moisture film of surface of the work, make workpiece separated with workbench 15 surfaces.In work piece platform 24, be provided with workpiece guide rod 25, preferred, in work piece platform 24 1 sides, be also provided with finished product seat 21, for temporary finished product, or omit finished product seat 21, by the direct discharging of manipulator 20 to hopper.
Preferably, adopt Split type structure, crossbeam 1, mechanical arm, work piece platform 24, finished product seat 21, thickness detection apparatus 8, flip-arm 17 and workbench 15 integral body are a part, and grinding machine is another part.The emery wheel 13 of grinding machine is positioned at the oblique upper of workbench 15, emery wheel 13 is connected with drive motors with main shaft, whole emery wheel assembly is connected with the nut piece in lifting ball-screw 9, leading screw part in lifting ball-screw 9 is arranged in the frame of grinding machine, emery wheel lifting servomotor 22 drives the rotation of leading screw part, to realize the lifting of emery wheel assembly.Adopt split type structure, can make full use of existing grinding machine, reduce user's use cost.Further, crossbeam and mechanical arm assembly also can adopt Split type structure with the assembly of workbench 15, to utilize existing workbench 15 assemblies.
The present invention, before and after the grinding of workpiece, utilizes the 806 pairs of thickness of workpiece of detection head in thickness detection apparatus 8 to measure, and obtains saw blade thickness of workpiece value, and calculates based on this grinding parameter and control grinding flow process; Utilize the manipulator of independent PLC control, realize the automatic loading/unloading of saw blade workpiece; The electrical control cubicles 14 being equipped with and central control board 23 have been realized the full-automatic grinding processing of workpiece.Workpiece grinding and manipulator loading and unloading parallel running, realized full-automatic loading and unloading, workpiece turn-over, bench clean.The moving Ce Liang ﹑ classification of workpiece material Hou Du ﹑ finished product thickness Zi.Automatically control the amount of feeding of grinding machine and workbench 15.
The present invention has 5 stations.By 1 central control system, carry out center control.1 displacement detecting measuring system is carried out thickness measure.By 1 water treatment mechanism, complete cooling cleaning.
The present invention has not only saved a large amount of process times, and workpiece grinding process is full-automatic; Realized the target of high efficiency, high accuracy, easy to operate, environmental protection.
In Fig. 2, mechanical arm is provided with riser guide 7, and cylinder 11 is arranged on mechanical arm, drives electromagnetism or negative pressure sucker 12 along riser guide 7 liftings, electromagnetism or negative pressure sucker 12 are slidably connected with cylinder 11, between electromagnetism or negative pressure sucker 12 and cylinder 11, be provided with the spring 27 for cushioning, when the piston rod of cylinder 11 stretches out completely, drive electromagnetism or negative pressure sucker 12 descending, if now electromagnetism or negative pressure sucker 12 are encountered obstacle, workpiece for example, spring 27 shrinks, and realizes buffering.
Preferred as in Fig. 1, when cylinder 11 driving electromagnetism or negative pressure sucker 12 are positioned at limes superiors point, the distance of the lower surface of electromagnetism or negative pressure sucker sucker 12 and workpiece guide rod 25 upper surfaces, is greater than the thickness of a workpiece 26, is less than the thickness of two workpiece.Structure, guarantees that each can pick up a workpiece thus, and unnecessary workpiece can be stopped and fall by the upper end of workpiece guide rod 25.When described electromagnetism or negative pressure sucker 12 are positioned at limes superiors point, the position, lower surface of electromagnetism or negative pressure sucker 12, concordant in the horizontal direction with the operating position of thickness detection apparatus 8, flip-arm 17 and workbench 15.So that the electromagnetism on mechanical arm or negative pressure sucker 12 while being positioned at limes superiors point, can being transported to workpiece translational motion thickness detection apparatus 8 and carrying out thickness detection; To flip-arm 17, carry out workpiece turn-over and carry out workpiece grinding to workbench 15.
The cushion stroke of described spring 27 is more than or equal to the integral thickness of the actual stacking workpiece 26 of workpiece guide rod 25.Structure thus, so that mechanical arm is without controlling electromagnetism or the each descending height of negative pressure sucker 12, as long as make the position of cylinder 11 in limit inferior point, electromagnetism or negative pressure sucker 12, under the control of time delay touching switch, can pick up the workpiece of arbitrary height on workpiece guide rod 25.Simplify thus control difficulty, also avoided after the touching switch damage on electromagnetism or negative pressure sucker 12, caused electromagnetism or negative pressure sucker 12 to damage.Coordinate cylinder 11 to be positioned at the position of limes superiors point and the height of workpiece guide rod 25, guarantee that each can pick up a workpiece.
On crossbeam 1, be provided with the Timing Belt 3 of arranging along horizontal guide rail 2, the two ends of Timing Belt 3 are fixedly mounted on the two ends of crossbeam 1;
Mechanical arm is slidably mounted on horizontal guide rail 2, and mechanical arm is provided with the synchronous pulley 5 with Timing Belt 3 engagements, and synchronous pulley 5 is connected with the manipulator servomotor 6 being fixedly mounted on mechanical arm.Structure, simplifies the structure thus, has reduced cost.Especially compare with gear, rack drives mode, because the length of Timing Belt 3 is convenient to cut out, and batch production cost is also lower, therefore can reduce use cost.Compare with screw-nut body, outside processing reduces costs, can also improve the speed of service.
In the both sides of synchronous pulley 5, be provided with straining pulley 4, straining pulley 4 is positioned at the opposite side that Timing Belt 3 is relative with synchronous pulley 5, so that the cornerite between synchronous pulley 5 and Timing Belt 3 increases.Preferred as in Fig. 3, the position of straining pulley 4 be can upper and lower adjusting, so that adjustment and dismantling.

Claims (10)

1. a puma manipulator, it is characterized in that: crossbeam (1) is provided with along the mechanical arm of horizontal guide rail (2) action, mechanical arm is provided with riser guide (7), cylinder (11) is arranged on mechanical arm, between electromagnetism or negative pressure sucker (12) and cylinder (11), be connected, cylinder (11) drives electromagnetism or negative pressure sucker (12) along riser guide (7) lifting, is provided with the spring (27) for cushioning between electromagnetism or negative pressure sucker (12) and cylinder (11).
2. a kind of puma manipulator according to claim 1, is characterized in that: on crossbeam (1), be provided with the Timing Belt (3) of arranging along horizontal guide rail (2), the two ends of Timing Belt (3) are fixedly mounted on the two ends of crossbeam (1);
It is upper that mechanical arm is slidably mounted on horizontal guide rail (2), and mechanical arm is provided with the synchronous pulley (5) with Timing Belt (3) engagement, and synchronous pulley (5) is connected with the manipulator servomotor (6) being fixedly mounted on mechanical arm.
3. a kind of puma manipulator according to claim 2, it is characterized in that: in the both sides of synchronous pulley (5), be provided with straining pulley (4), straining pulley (4) is positioned at the opposite side that Timing Belt (3) is relative with synchronous pulley (5), so that the cornerite between synchronous pulley (5) and Timing Belt (3) increases.
4. a kind of puma manipulator according to claim 1, it is characterized in that: on crossbeam (1), be provided with tooth bar, mechanical arm is slidably mounted on horizontal guide rail (2), mechanical arm is provided with and tooth bar meshed gears, and gear is connected with the manipulator servomotor (6) being fixedly mounted on mechanical arm.
5. a kind of puma manipulator according to claim 1, it is characterized in that: on crossbeam (1), be provided with ball screw framework, mechanical arm is slidably mounted on horizontal guide rail (2), mechanical arm is connected with the nut piece of ball screw framework, and hard-wired servomotor is fixedly connected with the leading screw part of ball screw framework.
6. a kind of puma manipulator according to claim 1, it is characterized in that: below mechanical arm, be provided with workpiece guide rod (25), when cylinder (11) drives electromagnetism or negative pressure sucker (12) to be positioned at limes superiors point, the distance of the lower surface of electromagnetism or negative pressure sucker (12) and workpiece guide rod (25) upper surface, be greater than the thickness of a workpiece (26), be less than the thickness of two workpiece.
7. a kind of puma manipulator according to claim 1, is characterized in that: the cushion stroke of described spring (27) is more than or equal to the integral thickness of the actual stacking workpiece of workpiece guide rod (25) (26).
8. a kind of puma manipulator according to claim 1, is characterized in that: electromagnetism or negative pressure sucker (12) are provided with the sensor of induction workpiece.
9. a kind of puma manipulator according to claim 8, is characterized in that: described sensor is mechanical type contact switch, giant magnetoresistance non-contact switch or optoelectronic switch.
10. a kind of puma manipulator according to claim 8, it is characterized in that: described sensor is connected with control device, by control device according to the crawl of the signal controlling electromagnetism of sensor or negative pressure sucker (12) with put down action, and the lifting action of control cylinder (11).
CN201410391371.7A 2014-08-11 2014-08-11 Puma manipulator Active CN104175213B (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104626096A (en) * 2015-02-15 2015-05-20 苏州鸿普精密模具有限公司 Servo feeding and shifting manipulator for automobile condenser chemical cleaning machines
CN108032008A (en) * 2017-12-05 2018-05-15 淮海工学院 A kind of feeding manipulator with spot welding intensity detection
CN108172103A (en) * 2018-01-30 2018-06-15 江苏理工学院 A kind of experiment device for teaching based on four axis robots
CN109292447A (en) * 2018-09-30 2019-02-01 深圳格兰达智能装备股份有限公司 Charging tray catching robot

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CN2719511Y (en) * 2004-07-21 2005-08-24 刘洪� Manipulator
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CN102328251A (en) * 2011-09-29 2012-01-25 黑旋风锯业股份有限公司 Intelligent surface grinding machine with horizontal spindle and rotary table
CN202155878U (en) * 2011-06-21 2012-03-07 东莞丰裕电机有限公司 Automatic unloading manipulator
CN202540075U (en) * 2012-04-27 2012-11-21 宜昌迪森机械有限公司 Intelligent grinder machining system
CN203993517U (en) * 2014-08-11 2014-12-10 宜昌迪森智能科技有限公司 Puma manipulator

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Publication number Priority date Publication date Assignee Title
CN2719511Y (en) * 2004-07-21 2005-08-24 刘洪� Manipulator
CN101934573A (en) * 2009-07-02 2011-01-05 中日龙(襄樊)机电技术开发有限公司 Memory adsorption hardware fitting
CN202155878U (en) * 2011-06-21 2012-03-07 东莞丰裕电机有限公司 Automatic unloading manipulator
CN102328251A (en) * 2011-09-29 2012-01-25 黑旋风锯业股份有限公司 Intelligent surface grinding machine with horizontal spindle and rotary table
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104626096A (en) * 2015-02-15 2015-05-20 苏州鸿普精密模具有限公司 Servo feeding and shifting manipulator for automobile condenser chemical cleaning machines
CN108032008A (en) * 2017-12-05 2018-05-15 淮海工学院 A kind of feeding manipulator with spot welding intensity detection
CN108032008B (en) * 2017-12-05 2019-08-09 淮海工学院 A kind of feeding manipulator with spot welding intensity detection function
CN108172103A (en) * 2018-01-30 2018-06-15 江苏理工学院 A kind of experiment device for teaching based on four axis robots
CN109292447A (en) * 2018-09-30 2019-02-01 深圳格兰达智能装备股份有限公司 Charging tray catching robot

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