CN104607992A - Automatic mechanical arm - Google Patents
Automatic mechanical arm Download PDFInfo
- Publication number
- CN104607992A CN104607992A CN201510035568.1A CN201510035568A CN104607992A CN 104607992 A CN104607992 A CN 104607992A CN 201510035568 A CN201510035568 A CN 201510035568A CN 104607992 A CN104607992 A CN 104607992A
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- CN
- China
- Prior art keywords
- mechanical arm
- cylinder
- automatic mechanical
- servo motor
- clamping fixture
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2707/00—Automatic supply or removal of metal workpieces
- B23Q2707/02—Drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Feeding Of Workpieces (AREA)
Abstract
The invention belongs to the technical field of mechanical arm, and relates to an automatic mechanical arm specifically. The automatic mechanical arm comprises a rack (100), a servo motor (300) is arranged on the rack (100), a mechanical arm (200) is arranged on the rack (100), and the mechanical arm (200) conducts concertina movement driven by the servo motor (300). A fixture holder (500) is arranged at the end of the mechanical arm (200), and a feeding fixture (501) and a reclaiming fixture (502) are arranged on the fixture holder (500). A first cylinder (202) and a second cylinder (203) are arranged on the mechanical arm (200), the first cylinder (202) is used for controlling the rotation of the fixture holder (500), and the second cylinder (203) is used for controlling the horizontal moving of the fixture holder (500). The fixture holder of the mechanical arm can rotate driven by the cylinder, and the translocation of an intermittence between the feeding fixture and the reclaiming fixture is controlled correspondingly, perform bodied that needs processing and the processed elements are clamped respectively, the corresponding processing is conducted, the automatic material clamping, the feeding and reclaiming are achieved, and manual labor is replaced greatly.
Description
Technical field
The present invention relates to manipulator arm art, relate to a kind of automatic mechanical arm in particular.
Background technology
Mechanical arm is the automated machine device obtaining at present most broad practice in robot technical field, can see its figure in fields such as industry manufacture, therapeutic treatment, entertainment service, military affairs, semiconductor manufacturing and space probations.Although their form is had nothing in common with each other, they have a common feature, can accept instruction exactly, accurately navigate to three-dimensional (or two dimension) spatially certain and a bit carry out operation.For field of machining, because the self structure otherness of the facilities such as lathe, machining center, grinding machine and planer is larger, and mechanical arm limits by own structure, very immature in the application of machined field mechanical arm, therefore, prior art is the Special feeding equipment of the formulation of numerically controlled lathe or machining center, fixedly mounted by professional, and to be fixed on lathe or machining center etc. by manually taking, to process, deliver to feature position by artificial to be removed by the part processed again afterwards.This traditional manual work's mode, high to the requirement of operating personnel, and manual operation efficiency is low, cost is high and easily security incident occurs.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of can the mechanical arm of automatic operation, manual operation can be substituted completely, enhance productivity greatly.
The present invention for solving the problems of the technologies described above adopted technical scheme is: a kind of automatic mechanical arm, comprise frame, frame is provided with servo motor, described frame is also provided with mechanical arm, described mechanical arm stretching motion under the drive of described servo motor, clamping fixture seat is provided with in the end of described mechanical arm, described clamping fixture seat is provided with feed clamp and feeding fixture, the second cylinder that the first cylinder that described mechanical arm is also provided with the described clamping fixture seat rotation of control moves horizontally with the described clamping fixture seat of control.
For a kind of automatic mechanical arm in the present invention, as the optional scheme of one, described mechanical arm is provided with tooth bar, described frame is also provided with the gear that engage with described tooth bar, the gear described in described servo motor drives rotates.
For a kind of automatic mechanical arm in the present invention, as the further improvement for frame, described frame comprises main of base, elevating bracket, lifting column and work, described elevating bracket is arranged on described base, described lifting column is liftable to be arranged on described elevating bracket, main of described work is arranged on described lifting column, and described mechanical arm and described servo motor are all arranged on the main platform of described work.
For a kind of automatic mechanical arm in the present invention, as further setting, be also provided with movable pulley and feet at described base bottom.
For a kind of automatic mechanical arm in the present invention, as further setting, described frame is also provided with pay-off, described pay-off is involving vibrations dish, hopper, pusher cylinder and feeding track also, described feeding track one end is positioned at described vibrating disk, the other end is arranged in described hopper, and described pusher cylinder is positioned at described hopper place, and the blank in described hopper is pushed into described feed clamp.
For a kind of automatic mechanical arm above-mentioned in the present invention, as further setting, be greater than the level height of described hopper from the level height of described vibrating disk, make the blank in described vibrating disk under self gravitation effect, described hopper can be entered into by described feeding track.
For a kind of automatic mechanical arm in the present invention, as further setting, described automatic mechanical arm also comprises control system, be respectively equipped with the first inductive switch and the second inductive switch in the end of described mechanical arm, be provided with induction contactor at described mechanical arm near one end of described clamping fixture seat.
For a kind of automatic mechanical arm in the present invention, as further setting, described frame is also provided with motor bearing, described servo motor is fixed on described motor bearing.
For a kind of automatic mechanical arm in the present invention, as further setting, slide rail is provided with near the end of described clamping fixture seat at described mechanical arm, described clamping fixture seat is fixed on described slide rail by the first described cylinder, and the second described cylinder controls the first cylinder and slides on described slide rail.
For a kind of automatic mechanical arm in the present invention, as further setting, described frame is also provided with the reductor of the conveying rotating speed for regulating and controlling described servo motor.
A kind of automatic mechanical arm of the present invention is used to have following beneficial effect: because the automatic mechanical arm in the present invention is provided with the mechanical arm of scalable motion in frame, rely on the stretching motion of servo motor controller mechanical arm, and clamping fixture seat is set in the end of mechanical arm, clamping fixture seat arranges feed clamp and feeding fixture, be respectively used to gripping and blank to be processed be sent to the parts that specific position and gripping processed it is taken off from lathe and sends, in the present invention, the clamping fixture seat of mechanical arm can rotate under the effect of cylinder, the change position of corresponding control feed clamp and feeding fixture interval, the blank that gripping is to be processed respectively and the element processed, process accordingly, achieve automation material folding, feeding and feeding, can be good at substituting manually, carry out lathe, machining center, the feeding of the machinery such as grinding machine, reclaiming process, and ultrahigh in efficiency, can 24 hours not discontinuous operations, and personnel's industrial accident can greatly be reduced.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of automatic mechanical arm of the present invention;
Fig. 2 is the structural representation of a kind of automatic mechanical arm of the present invention when using on engine lathe;
Fig. 3 is the structural representation of a kind of automatic mechanical arm of the present invention when using in general-purpose machining center.
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
A kind of automatic mechanical arm (hereinafter referred to as mechanical arm), as shown in Figure 1, comprise frame 100, frame 100 in the present invention is made up of four parts, is respectively base 101, elevating bracket 102, lifting column 103 and works main 104, wherein, elevating bracket 102 is fixed on base 101, lifting column 103 is arranged in elevating bracket 102, and along elevating bracket 102 height up and down, can work and be fixed on the top of lifting column 103 for main 104.In order to can better movable mechanical arm, movable pulley 105 and feet 106 can also be set in the bottom of base 101, feet 106 liftable or/can be cocked, frame 100 can be moved by movable pulley 105, until correct position, again feet 106 is pulled off, mechanical arm is fixed on the ground.
Work main 104 is provided with mechanical arm 200 and servo motor 300, mechanical arm 200 can at the stretching motion on main 104 that works, for this, a slide rail (not indicating in figure) can be set in work main 104, mechanical arm 200 is arranged in slide rail, make its telescopic moving in slide rail, and on mechanical arm 200, be fixedly installed a tooth bar 201, a gear (not indicating in figure) that engage with tooth bar 201 is set on the output shaft of servo motor 300 simultaneously, by rotating and reverse of servo motor 300, band carry-over bar 201 stretching motion.Servo motor 300 can also fill reductor 400, control the output speed of servo motor 300, avoid the rotating speed of servo motor 300 too fast, wayward, or occur other accident; Work main 104 arranges a motor bearing 301, and servo motor 300 and reductor 400 are all fixed on above motor bearing 301.
The mode of the stretching motion of the mode control cincture motivation mechanical arm 200 that above-mentioned servo motor 300 is engaged by wheel and rack 201, can also be realized by other existing control mode, such as, adopt the mode of cylinder or oil cylinder pushing to realize the stretching motion of mechanical arm 200, repeat no longer one by one at this.
Clamping fixture seat 500 is provided with in one end of mechanical arm 200, in the present invention, clamping fixture seat 500 is preferably arranged to cylindrical, and be rotatably fixed on mechanical arm 200, feed clamp 501 and feeding fixture 502 are housed respectively at its two ends, in use, feed clamp 501 is by blank gripping and will deliver in lathe or machining center by blank along with stretching out of mechanical arm 200, feeding fixture 502 by lathe or machining center processing after workpiece take out, and along with mechanical arm 200 contraction by processing after workpiece shift out.
In order to realize the rotation of clamping fixture seat 500, and the material folding of feed clamp 501 and feeding fixture 502, reclaiming process, between clamping fixture seat 500 and mechanical arm 200, control cylinder is housed, be specially, first cylinder 202 and the second cylinder 203 is installed in the end of mechanical arm 200, and clamping fixture seat 500 is fixed on the first cylinder 202 by rotating shaft 503, and by rail structure, the first cylinder 202 is slidably fixed on the end of mechanical arm 200, the spinning movement of clamping fixture seat 500 is controlled by the first cylinder 202, the horizontal direction being controlled clamping fixture seat 500 by the second cylinder 203 moves left and right, when clamping fixture seat 500 is along with after the elongation of mechanical arm 200 enters into lathe or machining center, second cylinder 203 controls clamping fixture seat 500 horizontal direction and moves, can near the frock clamp of lathe or machining center, thus the blank processed is taken off, first cylinder 202 controls clamping fixture seat 500 and rotates, it is made to rotate 180 degree, blank to be processed is delivered to the frock place of lathe or machining center, mechanical arm 200 exits afterwards, lathe or machining center can start processing, so constantly circulation, automation material loading and blanking can be realized.
The present invention is directed to annular blank part to be processed and make clamping fixture seat 500 and feed clamp 501, feeding fixture 502, as shown in fig. 1, clamping fixture seat 500 is cylindrical, the feed clamp 501 and the feeding fixture 502 that are positioned at the two ends of clamping fixture seat 500 are the circular of split, they all can opening and closing under Pneumatic pressure power effect, thus are picked up by the blank of ring-type or put down.Certainly, also need the blank of other shape of gripping, such as, when strip or major axis shape blank, the amendment of respective shapes can be carried out to clamping fixture seat 500 and feed clamp 501, feeding fixture 502 according to actual needs.
The present invention is also provided with control system, control the operation of servo motor 300 and the first cylinder 202, second cylinder 203, can according to the running parameter of the working time, frequency etc. of the lathe in production process or machining center concrete setting servo motor 300, first cylinder 202, second cylinder 203 etc.In the course of work of servo motor 300, mechanical arm 200 realizes telescopic process with its rotation, in its telescopic process, the accident causing mechanical arm 200 to exceed its original stroke that breaks down to prevent control system occurs, mechanical arm 200 is provided with inductive switch, be specially: be provided with the first inductive switch 204 in one end of mechanical arm 200, be provided with the second inductive switch 205 at its other end.Under normal operating condition, first inductive switch 204 and the second inductive switch 205 do not work, when the fault of control system generation small probability, first inductive switch 204 and the second inductive switch 205 are as safeguard procedures, prevent the inertia of mechanical arm 200 from causing it to collide lathe or other device, occur security incident.Its specific works principle is: under mechanical arm 200 normal operating condition, first inductive switch 204 and the second inductive switch 205 do not work, when control system breaks down, first inductive switch 204 and the second inductive switch 205 stretch along with the motional inertia of mechanical arm 200, in this telescopic process, because mechanical arm 200 has departed from the restriction of servo motor 300, just run location bound when it normally works can be surmounted, now, first inductive switch 204 or the second inductive switch 205 just can through induction contactors 206, thus send signal to induction contactor 206, reaction is provided to control system after induction contactor 206 receives this signal, by circuit integrity power-off.And, also in the below of the end of mechanical arm 200, cushion pad can be installed, prevent mechanical arm 200 rear generation hard collision out of control further.
Fig. 2 is the structural representation of a kind of automatic mechanical arm of the present invention when using on engine lathe, as shown in the figure, on the side of lathe 800, automatic mechanical arm 1000 is set, to ensure during installation that the clamping fixture seat of automatic mechanical arm 1000 can extend into the frock clamp place of lathe 800, and, when its mechanical arm shrinks, clamping fixture seat can be positioned at the outside of lathe 800, conveyer belt 700 is also provided with near the side of automatic mechanical arm 1000 at lathe 800, after mechanical arm exits lathe 800, instrument good for lathe process takes out and is placed on conveyer belt 700 by the clamping fixture seat above it from lathe, collected by conveyer belt 700, be delivered to the position of specifying.
Fig. 3 is the structural representation of a kind of automatic mechanical arm of the present invention when using in general-purpose machining center, with applications similar on lathe, namely automatic mechanical arm 1000 is installed at the work in-process heart 900 place, same, the side of the work in-process heart 900 is wanted to be provided with conveyer belt 700, make the clamping fixture seat on mechanical arm by workpiece holding finished in machining center after-contraction out, place it on conveyer belt 700 to the top of conveyer belt 700, unification is delivered to the position of specifying.
A kind of automatic mechanical arm of the present invention is also provided with pay-off 600, involving vibrations dish 601, hopper 602, pusher cylinder 603 and feeding track 604, for to mechanical arm carry blank to be processed in the lathe that is suitable for or machining center, pay-off 600 is arranged in work main 104, when mechanical arm works, blank to be processed is placed in vibrating disk 601, and enter hopper 602 through feeding track 604, pusher cylinder 603 is arranged on hopper 602 side, when blank to be processed from vibrating disk 601 after entering into hopper 602 in feeding track 604, blank to be processed in hopper 602 is shifted onto feed clamp 501 place of clamping fixture seat 500 by pusher cylinder 603, by feed clamp 501, the frock clamp being sent to lathe or machining center after blank gripping is processed.
The course of work of the present invention is, the control circuit of this mechanical arm control system and the circuit connected in series of lathe computer, lathe computer provides signal, when lathe launch computer, the door of lathe is opened, and the circuit synchronization of mechanical arm of the present invention starts, and mechanical arm 200 moves to lathe spindle center, after predeterminated position (feed clamp 501 is consistent with the computer lathe alignment of shafts)
A. blanking flow process in computer lathe: be with feeding fixture 502 (computer lathe major axes orientation) movement to the right by the second cylinder 203, after workpiece (main shaft unclamps by the control program on computer lathe) on gripping main shaft, feeding fixture 502 is toward being moved horizontally to desired location in the other direction;
B. material loading flow process in computer lathe: feeding fixture 502 and feed clamp 501 are with clockwise 180 degree of action rotate (direction is exchanged) and locate by the first cylinder 202; Feed clamp 501 is to being with feed clamp 501 (lathe spindle direction) movement to the right by the second cylinder 203, workpiece is sent in computer lathe main shaft fixture, computer lathe main shaft clamp workpiece subsequently, robot feed clamp 501 pine folder, feed clamp 501 drives toward being moved horizontally to desired location in the other direction from the first cylinder 202;
C. process workpiece to send outside: the mechanical arm 200 of mechanical arm drives backward (computer lathe outdoors) to move to predeterminated position (computer lathe door is closed simultaneously, and procedure starts and complies with default formula to be processed automatically) by servo motor 300 subsequently; Feeding fixture 502 and feed clamp 501 are driven by the second cylinder 203 and are rotated counterclockwise 90 degree, feeding fixture 502 pine folder, and workpiece falls into the conveyer belt be arranged on below fixture automatically,
D. Automatic-feeding end feeding flow process: feeding fixture 502 and feed clamp 501 drive dextrorotation to turn 90 degrees by the second cylinder 203, feed clamp 501 is driven from the first cylinder 202 and moves toward hopper 602 direction, after predeterminated position, workpiece in hopper 602 pushes in feed clamp 501 by pusher cylinder 603, feed clamp 501 is by Workpiece clamping, drive toward moving to default restraining position (automatically increasing new workpiece by vibrating disk 601 in hopper 602) in the other direction from the second cylinder 203 again, feed clamp 501 and feeding fixture 502 are with by the first cylinder 202 and are rotated counterclockwise (feeding fixture 502 and feed clamp 501 position are exchanged), computer lathe processes unit one back door and opens, and flow process circulates according to a-b-c-d
This first flow process is idle loop unprocessed workpiece, and second circulation starts formal converted products.
Machining center or grinding machine, metal-planing machine, gear shaving machine etc., when with the use of this robot, only need do and be adjusted by fixture etc. accordingly.
The part cylinder of a kind of automatic mechanical arm of the present invention is not limited to pneumatic tool, can be substituted by hydraulic tool; Fixture can be determined according to the form of processing work, such as the instrument of long-shaft type, gear type or abnormal shape, can make its corresponding fixture and use, and pay-off is done corresponding improvement.
By reference to the accompanying drawings the specific embodiment of the present invention is explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken that those skilled in the art possess, can also makes a variety of changes under the prerequisite not departing from present inventive concept.
Claims (10)
1. an automatic mechanical arm, comprise frame (100), frame (100) is provided with servo motor (300), it is characterized in that: in described frame (100), be also provided with mechanical arm (200), described mechanical arm (200) stretching motion under the drive of described servo motor (300), clamping fixture seat (500) is provided with in the end of described mechanical arm (200), described clamping fixture seat (500) is provided with feed clamp (501) and feeding fixture (502), described mechanical arm (200) is also provided with the second cylinder (203) controlling described clamping fixture seat (500) the first cylinder (202) of rotating and the described clamping fixture seat of control (500) and move horizontally.
2. a kind of automatic mechanical arm according to claim 1, it is characterized in that: on described mechanical arm (200), be provided with tooth bar (201), described frame (100) is also provided with the gear that engage with described tooth bar (201), and the gear described in described servo motor (300) drives rotates.
3. a kind of automatic mechanical arm according to claim 1, it is characterized in that: described frame (100) comprises base (101), elevating bracket (102), lifting column (103) and work main (104), described elevating bracket (102) is arranged on described base (101), described lifting column (103) is liftable to be arranged on described elevating bracket (102), main of described work (104) is arranged on described lifting column (103), described mechanical arm (200) and described servo motor (300) are all arranged in main of described work (104).
4. a kind of automatic mechanical arm according to claim 3, is characterized in that: be also provided with movable pulley (105) and feet (106) in described base (101) bottom.
5. a kind of automatic mechanical arm according to claim 1 or 3, it is characterized in that: in described frame (100), be also provided with pay-off (600), involving vibrations dish (601) gone back by described pay-off (600), hopper (602), pusher cylinder (603) and feeding track (604), described feeding track (604) one end is positioned at described vibrating disk (601), the other end is arranged in described hopper (602), described pusher cylinder (603) is positioned at described hopper (602) place, blank in described hopper (602) is pushed into described feed clamp (501).
6. a kind of automatic mechanical arm according to claim 5, it is characterized in that: the level height being greater than described hopper (602) from the level height of described vibrating disk (601), make the blank in described vibrating disk (601) under self gravitation effect, described hopper (602) can be entered into by described feeding track (604).
7. a kind of automatic mechanical arm according to claim 1, it is characterized in that: described automatic mechanical arm also comprises control system, be respectively equipped with the first inductive switch (204) and the second inductive switch (205) in the end of described mechanical arm (200), be provided with induction contactor (206) at described mechanical arm (200) near one end of described clamping fixture seat (500).
8. a kind of automatic mechanical arm according to claim 1, it is characterized in that: in described frame (100), be also provided with motor bearing (301), described servo motor (300) is fixed on described motor bearing (301).
9. a kind of automatic mechanical arm according to claim 1, it is characterized in that: be provided with slide rail at described mechanical arm (200) near the end of described clamping fixture seat (500), described clamping fixture seat (500) is fixed on described slide rail by described the first cylinder (202), and described the second cylinder (203) controls the first cylinder (202) and slides on described slide rail.
10. a kind of automatic mechanical arm according to claim 1, is characterized in that: the reductor (400) being also provided with the conveying rotating speed for regulating and controlling described servo motor (300) in described frame (100).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510035568.1A CN104607992B (en) | 2015-01-23 | 2015-01-23 | Automatic mechanical arm |
| PCT/CN2015/071596 WO2016115747A1 (en) | 2015-01-23 | 2015-01-27 | Automated mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510035568.1A CN104607992B (en) | 2015-01-23 | 2015-01-23 | Automatic mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104607992A true CN104607992A (en) | 2015-05-13 |
| CN104607992B CN104607992B (en) | 2017-03-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510035568.1A Active CN104607992B (en) | 2015-01-23 | 2015-01-23 | Automatic mechanical arm |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104607992B (en) |
| WO (1) | WO2016115747A1 (en) |
Cited By (6)
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| CN104999327A (en) * | 2015-07-01 | 2015-10-28 | 绍兴文理学院 | Automatic loading/unloading manipulator of numerical control lathe |
| CN105437204A (en) * | 2015-12-17 | 2016-03-30 | 佛山市新鹏机器人技术有限公司 | Manipulator-loaded AGV trolley |
| CN106553098A (en) * | 2016-11-24 | 2017-04-05 | 贵州兴富祥立健机械有限公司 | Automatic material grasping mechanical hand |
| CN106807834A (en) * | 2017-02-07 | 2017-06-09 | 王君礼 | It is provided with the forging equipment and three forging methods of forging forming product of three forging and stamping position |
| CN106994618A (en) * | 2017-05-15 | 2017-08-01 | 无锡市高创精密机械有限公司 | Copper sheet automatic charging machine |
| CN109520721A (en) * | 2018-12-29 | 2019-03-26 | 浙江方德机器人系统技术有限公司 | A kind of motor pressure worm screw and performance test apparatus |
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| WO2016115747A1 (en) | 2016-07-28 |
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