CN104647339B - Manipulator - Google Patents

Manipulator Download PDF

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Publication number
CN104647339B
CN104647339B CN201510054145.4A CN201510054145A CN104647339B CN 104647339 B CN104647339 B CN 104647339B CN 201510054145 A CN201510054145 A CN 201510054145A CN 104647339 B CN104647339 B CN 104647339B
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CN
China
Prior art keywords
drive
cylinder
support
crawl
brake
Prior art date
Application number
CN201510054145.4A
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Chinese (zh)
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CN104647339A (en
Inventor
黄浩
Original Assignee
合肥恺文重工机械有限公司
Priority date (The priority date 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 date listed.)
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Priority to CN201510054145.4A priority Critical patent/CN104647339B/en
Publication of CN104647339A publication Critical patent/CN104647339A/en
Application granted granted Critical
Publication of CN104647339B publication Critical patent/CN104647339B/en

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Abstract

The invention discloses a kind of manipulator, including frame, controlling organization, drive mechanism and grasping mechanism, one end of the drive mechanism is arranged in the frame, the other end of the drive mechanism extends to the direction away from the frame, the grasping mechanism is arranged on the elongated end of the drive mechanism, the grasping mechanism has the structure of crawl and release, and the grasping mechanism is positioned and shifted by adjusting the drive mechanism by the controlling organization.Beneficial effects of the present invention are:Grasping mechanism is driven to be circumferentially rotated relative to frame by circumferential drive mechanism, and the first brake apparatus is set to carry out fast positioning to its turned position, grasping mechanism is driven to be moved relative to frame in radial by radial drive mechanism, and radial motion fast positioning of second brake apparatus to drive mechanism is set, grasping mechanism is pin-pointed to job position.

Description

Manipulator
Technical field
The present invention relates to mechanical equipment technical field, and in particular to a kind of manipulator.
Background technology
21 century photovoltaic industry is turned out a prestigious institution, and causes polysilicon raw materials demand to rise sharply, and this is to production of polysilicon enterprise Production efficiency propose higher requirement.
Polysilicon finished product rod, it is necessary to which silicon rod is taken out out of reacting furnace is transported to packing shop crushing packing after coming out of the stove, because It is general all in 300KG-350KG or so for the single silicon rod weight of finished product, and appearance is the cylinder U-shape structure to stand upside down, length All more than 1.8 meters, it can not manually pick up, the most of production of polysilicon enterprise in the whole world is carrying out the U-shaped rod of polysilicon finished product at present Following 2 kinds of methods are used when removing operation:First, having been eradicated with crane by silicon rod is whole, then broken car is transported to by transport vehicle Between crushed, but the method operating efficiency is extremely low, and the characteristic of silicon rod is highly brittle, is very easy to during choosing disconnected Split, cause the later stage to be difficult to clean up.It is divided into several bulks second, breaking silicon rod into pieces directly on reduction furnace, regathers transport to broken Broken workshop, but post-rift silicon rod falls on reduction furnace panel and is easy to damage body of heater, is caused to manufacturing enterprise very big Economic loss, and when artificially collecting broken silicon material, secondary pollution can be caused to silicon rod.
2 kinds of the above tears rod method open and is both needed to more people while assists operation, causes enterprises production efficiency low, and production cost is high, The market competitiveness is low.Therefore need a kind of polysilicon simple to operate, that production efficiency is high, production cost is low is special to tear rod machinery open Hand.
The content of the invention
It is existing to overcome it is an object of the invention to provide a kind of manipulator simple to operate, production efficiency is high, production cost is low There are technology above shortcomings.
The purpose of the present invention is achieved through the following technical solutions:
A kind of manipulator, including frame, controlling organization, drive mechanism and grasping mechanism, one end peace of the drive mechanism In the frame, the other end of the drive mechanism extends to the direction away from the frame, the grasping mechanism installation In the elongated end of the drive mechanism, the grasping mechanism has the structure of crawl and release, and the controlling organization passes through regulation The grasping mechanism is positioned and shifted by the drive mechanism.
Further, the frame is the support column being vertically arranged, and the bottom of the support column is fixedly connected with level and set The support frame put, walking mechanism and supporting mechanism are installed on support frame as described above, wherein:
The walking mechanism includes walking wheel, hoofing part mechanism and walking steering mechanism, the control of the hoofing part mechanism End processed is electrically connected with the controlling organization, described to walk to take turns the bottom that terrain clearance is adjustably mounted at the walking mechanism, The hoofing part mechanism passes through the walking steering mechanism and controlled by walking the walking of manipulator described in wheel drive described in driving The direction of travel of the manipulator;
The supporting mechanism is arranged on the edge of support frame as described above, and the supporting mechanism includes adjustable of collapsing length End is supportted, the collapsing length by adjusting the support end makes the telescopic end prop up ground so as to supporting support frame as described above.
Further, the drive mechanism includes drive component, circumferential drive mechanism and radial drive mechanism, the circumference The control terminal of the control terminal of drive mechanism and the radial drive mechanism is electrically connected with wherein with the controlling organization:
The drive component is cantilever beam structure;
The drive component is connected by the circumferential drive mechanism with the gantry rotation, and its revolute pair is level Face, the drive component is driven around the gantry rotation by circumferential drive mechanism;
The drive component is extended by the radial drive assembly along the direction closer and farther from the frame.
Further, the grasping mechanism includes crawl drive mechanism and grabbing assembly, the control of the crawl drive mechanism End processed and the controlling organization are electrically connected with, the crawl drive mechanism drive the grabbing assembly capture/discharge workpiece.
Further, the grasping mechanism also includes grabbing assembly switching mechanism, the control of the grabbing assembly switching mechanism End processed is electrically connected with the controlling organization, and the grabbing assembly switching mechanism drives the grabbing assembly upset, in favor of grabbing Take/discharge workpiece.
Further, it is provided with the drive mechanism and brakes the first brake apparatus that the circumferential drive mechanism rotates;
The second brake apparatus for braking the radial drive mechanism motion is installed in the drive mechanism;
The 3rd brake apparatus for braking the grabbing assembly switching mechanism upset is installed on the grasping mechanism;
The control terminal of first brake apparatus, the control terminal of second brake apparatus and the 3rd brake apparatus Control terminal is electrically connected with the controlling organization.
Further, the first cylinder is installed, the walking mechanism vertically can slidably pacify on support frame as described above On support frame as described above, and it slides and driven by first cylinder;
The radial drive mechanism includes the second cylinder, and second cylinder is arranged in the frame, second gas The output end of cylinder drives the drive component to be rotated around the top of the frame in perpendicular, is located at the drive so as to regulation The radial position of the grasping mechanism of the elongated end of motivation structure;
The grabbing assembly switching mechanism is the 3rd cylinder, and the 3rd cylinder is arranged on the grasping mechanism, described The output end of 3rd cylinder drives the grabbing assembly upset;
The frame has a hollow accommodating chamber, and air accumulator, the air inlet of first cylinder are provided with the accommodating chamber Mouth, the air inlet of second cylinder connect with the air inlet of the 3rd cylinder respectively at the air accumulator.
Preferably, the controlling organization is arranged in the frame, and the manipulator also includes remote control, the remote control It is connected with the controlling organization radio communication.
Beneficial effects of the present invention are:
Drive grasping mechanism to be circumferentially rotated relative to frame by circumferential drive mechanism, and the first brake apparatus pair is set Its turned position carries out fast positioning, drives grasping mechanism to be moved relative to frame in radial by radial drive mechanism, and set Radial motion fast positioning of second brake apparatus to drive mechanism is put, grasping mechanism is pin-pointed to job position;Pass through Walking mechanism makes the position of the invention for being moved to convenient working;Stability during operation of the present invention is improved by supporting mechanism;If Counterweight is put, improves the stability that the present invention is run;Grabbing assembly switching mechanism is set, drives the grabbing assembly to overturn, with profit In crawl/release workpiece so that adjustable angle when grabbing assembly crawl, transfer and release workpiece;Air accumulator is set, prevents first The source of the gas of cylinder, the second cylinder and the 3rd cylinder surprisingly be cut off caused by damage cylinder phenomenon, extend the present invention make With the life-span, the gas in air accumulator can maintain the present invention to carry out short time work.
Brief description of the drawings
Fig. 1 is the front view of the present invention;
Fig. 2 is the left view of the present invention;
Fig. 3 is the top view of the present invention;
Fig. 4 is the dimensional structure diagram of the present invention;
Fig. 5 is Fig. 4 region Z partial enlarged drawing.
In figure:1st, running motor;2nd, support column;3rd, the first brake apparatus;4th, jacking cylinder;5th, counterweight;6th, main boom beam; 7th, secondary cantilever beam;8th, oblique pull beam;9th, tumble cylinder;10th, controlling organization;11st, cylinder is captured;12nd, handgrip;13rd, lifting beam.
Embodiment
Preferred embodiment
As Figure 1-Figure 5, a kind of manipulator, including frame, controlling organization 10, drive mechanism and grasping mechanism, it is described One end of drive mechanism is arranged in the frame, and the other end of the drive mechanism extends to the direction away from the frame, The grasping mechanism is arranged on the elongated end of the drive mechanism, and the grasping mechanism has the structure of crawl and release, described The grasping mechanism is positioned and shifted by adjusting the drive mechanism by controlling organization 10.
The frame is the support column 2 being vertically arranged, and the bottom of the support column 2 is fixedly connected with horizontally disposed support Frame, walking mechanism 1 and supporting mechanism are installed on support frame as described above, wherein:
The walking mechanism 1 includes walking wheel, hoofing part mechanism and walking steering mechanism, the control of the hoofing part mechanism End processed is electrically connected with the controlling organization 10, described to walk to take turns the bottom that terrain clearance is adjustably mounted at the walking mechanism 1 Portion, the hoofing part mechanism pass through the walking steering mechanism by walking the walking of manipulator described in wheel drive described in driving Control the direction of travel of the manipulator;
The supporting mechanism is arranged on the edge of support frame as described above, and the supporting mechanism includes adjustable of collapsing length End is supportted, the collapsing length by adjusting the support end makes the telescopic end prop up ground so as to supporting support frame as described above.
The edge of support frame as described above bottom is rotatably connected to castor, walking mode of the invention can select manual mode or Drive pattern.It is as follows from manual mode operation principle:Castor is set to rotate the row so as to realizing the present invention by people's Manual push-pull Walk, while the operation handle for extending support frame as described above is set in the front end of support frame as described above, realized by the operation to handle Control to direction of travel of the present invention;It is as follows from the operation principle of drive pattern:The walking mechanism 1 and support frame as described above branch Frame is provided with the first cylinder, and the fixing end of the first cylinder is fixed on support frame as described above, the output end driving walking of the first cylinder Mechanism 1 moves downward and will walk wheel load earthward, and the first cylinder continues effect until the castor for being arranged on away wheel both sides is complete Ground location is lifted off entirely, motor operations can be now controlled by controlling organization 10, motor drives wheel to rotate, so that of the invention Under the driving of motor walking without manpower, while and pass through steering mechanism control the present invention direction of travel, you can this is sent out Bright to navigate to suitable position, the steering mechanism under drive pattern can use and can also be adopted with manual mode identical steering mechanism With the steering mechanism with power-assisted.The controlling organization 10 is arranged on the position of convenient working and job safety, such as:It is arranged on branch On support, i.e., support frame is arranged to job platform.
The drive mechanism includes drive component, circumferential drive mechanism and radial drive mechanism, the circumferential drive mechanism Control terminal and the control terminal of the radial drive mechanism be electrically connected with wherein with the controlling organization 10:The drive component For cantilever beam structure;The drive component is connected by the circumferential drive mechanism with the gantry rotation, and its revolute pair For horizontal plane, the drive component is driven around the gantry rotation by circumferential drive mechanism;The drive component passes through described Radial drive assembly extends along the direction closer and farther from the frame.
The support column 2 being vertically arranged includes the first support column and the second support column of rotation connection, wherein, the first support column Root be fixed on support frame, the top of the root of the second support column and the first support column is rotatablely connected, and the first support Rotation connection between post and the second support column is driven by circumferential drive mechanism, and circumferential drive mechanism can select electro-motor, The control terminal of electro-motor is electrically connected with controlling organization 10, and electro-motor can be achieved by the operation to controlling organization 10 Rotate, so as to driving the rotation of the second support column, so that the drive mechanism circumferential movement at the top of the second support column, is realized The circumferential movement of drive mechanism, the first brake apparatus 3 include the first circumferential brake apparatus, and the first circumferential brake apparatus is arranged on the Between one support column and the second support column, to the rotation brake hard to the second support column, the first circumferential brake apparatus is preferred For joint brake gear.
Drive mechanism includes the main boom beam 6, the first changeover mechanism, the secondary cantilever beam 7 that are sequentially connected, and the one of main boom beam 6 End is rotatablely connected with the top of the second support column, and its revolute pair is perpendicular, the other end of main boom beam 6 and first turn Connection mechanism is rotatablely connected, and its revolute pair is perpendicular;It is also equipped with pushing up between first changeover mechanism and the second support column Beam 13 is risen, and lifting beam 13 be arranged in parallel with main boom beam 6, and one end of lifting beam 13 and the top of the second support column are hinged, The other end of lifting beam 13 is hinged with the first changeover mechanism, and the jacking cylinder 4 being vertically arranged is provided with the second support column, jacking The output end of cylinder 4 jacks up lifting beam 13 upwards, so as to making the first changeover mechanism to be rotated in perpendicular, passes through first turn Connection mechanism rotates in perpendicular, and the first changeover mechanism can be achieved within the specific limits along close/remote second support column Direction is adjusted, so as to realize the adjustment of drive mechanism radially.
Because cantilever beam structure is unstable, and cantilever beam weight is larger plus the weight of grabbing workpiece, now can be by master Cantilever beam 6 or lifting beam 13 it is oppositely extending go out the second support column formed counterweight installation end, counterweight installation end installation counterweight 5 ensure The stabilization and safety of manipulator operation.Changeover mechanism includes housing and tumbler, wherein housing and main boom beam 6 and lifting beam 13 Connection, tumbler is connected with the housing into rotation, and revolute pair is horizontal plane, and one end of tumbler and secondary cantilever beam 7 is fixed Connection, the other end of secondary cantilever beam 7 are fixedly connected with the second changeover mechanism, and grasping mechanism passes through the second changeover mechanism and secondary cantilever One end rotation connection that beam 7 stretches out, and its revolute pair is horizontal plane, and the first brake apparatus 3 includes the second circumferential braking Device and the 3rd circumferential brake apparatus, the second circumferential brake apparatus is arranged on the first changeover mechanism, to secondary cantilever beam 7 Circumferential movement fast positioning, the 3rd circumferential brake apparatus be arranged on the second changeover mechanism on, to grasping mechanism around secondary cantilever The circumferential movement fast positioning of the elongated end of beam 7.
The oblique pull beam 8 of adjustable in length is also equipped with the housing of the first changeover mechanism and the secondary support of cantilever beam 7, can be incited somebody to action Most of weight of cantilever beam and grasping mechanism is imported on the second support column.Preferably, the length adjustment mode of oblique pull beam 8 is adopted Adjusted with leading screw, can adjustment length as needed.
The grasping mechanism includes crawl drive mechanism and grabbing assembly, the control terminal of the crawl drive mechanism with it is described Controlling organization 10 is electrically connected with, the crawl drive mechanism drive the grabbing assembly capture/discharge workpiece.
Grabbing assembly includes crawl bar, and the one end for capturing bar is fixedly connected with the turning end of the second changeover mechanism, captures bar The other end be rotatably connected to crawl support, capture and crawl cylinder 11 and grabbing assembly be installed on support, crawl cylinder 11 Control terminal is electrically connected with controlling organization 10, and crawl cylinder 11 is by driving the closure of grabbing assembly and opening so as to capturing and releasing Put workpiece.Grabbing assembly switching mechanism includes tumble cylinder 9, to overturn crawl support, the control terminal of tumble cylinder 9 and control Mechanism 10 is electrically connected with, to meet a variety of placements to workpiece or crawl angle, wherein, the fixing end of tumble cylinder 9 is fixed On crawl bar, the output end driving crawl support of tumble cylinder 9 rotates around crawl support with capturing the rotation connection end of bar, borrows So that the upset of support will be captured, in order to accurately control the flip angle of tumble cylinder 9 also to install gyroscope on turnover bracket To monitor the flip angle of turnover bracket, the wherein signal output part of gyroscope is electrically connected with controlling organization 10.
Grabbing assembly relative to the position-adjustable for capturing support is arranged on crawl support, it is preferred that grabbing assembly For handgrip 12.The opening and closing of handgrip 12 are driven so as to discharging and gripping workpiece by capturing cylinder 11.
Motor or manual mode, the rotation of same first changeover mechanism and the second changeover mechanism can be selected in circumferential drive mechanism Rotation can be selected motor driving or manual mode, when from motor when, the control terminal of motor electrically connects with controlling organization 10 Connect.
It is provided with the drive mechanism and brakes the first brake apparatus 3 that the circumferential drive mechanism rotates;The driving The second brake apparatus for braking the radial drive mechanism motion is installed in mechanism;Braking institute is installed on the grasping mechanism State the 3rd brake apparatus of grabbing assembly switching mechanism upset;The control terminal of first brake apparatus 3, the second braking dress The control terminal and the control terminal of the 3rd brake apparatus put are electrically connected with the controlling organization 10.
First cylinder is installed, the walking mechanism 1 can vertically be slidably mounted on described on support frame as described above On support frame, and it slides and driven by first cylinder;The radial drive mechanism includes the second cylinder, second gas Cylinder is arranged in the frame, and the output end of second cylinder drives the drive component around the top of the frame vertical Rotation with surface, the radial position of the grasping mechanism so as to adjusting the elongated end positioned at the drive mechanism;The grabbing assembly Switching mechanism is the 3rd cylinder, and the 3rd cylinder is arranged on the grasping mechanism, the output end driving of the 3rd cylinder The grabbing assembly upset;The frame has a hollow accommodating chamber, and air accumulator, first gas are provided with the accommodating chamber The air inlet of cylinder, the air inlet of second cylinder connect with the air inlet of the 3rd cylinder respectively at the air accumulator.Institute Controlling organization 10 is stated in the frame, the manipulator also includes remote control, the remote control and the controlling organization 10 radio communications connect.
When tearing rod operation open using present invention progress polysilicon, efficiently:Tearing a stove silicon rod open only needs one-time positioning, is moved between stove logical Cross air motor progress;Quickly:Tearing rod speed open can be soon to 40 seconds/rod, and 24 rod reduction furnaces, which have been torn open, only to be needed 30 minutes or so;36 rods are also Former stove, which has been torn open, only to be needed 45 minutes or so.Cleaning:Silicon rod contact position uses tungsten-cobalt alloy and poly- second tetrafluoro, it is ensured that silicon rod is pollution-free; It is convenient:1--2 people's push-botton operation, it is simple and convenient, it is foldable to reduce parking space during the idleness of equipment.Safety:Manipulator is multiple excellent Change design, while configure and lose gas, fault-operation protection, it is ensured that safe operation.

Claims (1)

  1. A kind of 1. manipulator, it is characterised in that including frame, controlling organization, drive mechanism and grasping mechanism, the drive mechanism One end be arranged in the frame, the other end of the drive mechanism extends to the direction away from the frame, the crawl Mechanism is arranged on the elongated end of the drive mechanism, and the grasping mechanism has the structure of crawl and release, the controlling organization The grasping mechanism is positioned and shifted by adjusting the drive mechanism;
    The frame is the support column being vertically arranged, and the support column includes the first support column and the second support of rotation connection Post, the bottom of the support column are fixedly connected with horizontally disposed support frame, walking mechanism and branch are provided with support frame as described above Support mechanism, wherein:
    The walking mechanism includes walking wheel, hoofing part mechanism and walking steering mechanism, the control terminal of the hoofing part mechanism It is electrically connected with the controlling organization, it is described to walk to take turns the bottom that terrain clearance is adjustably mounted at the walking mechanism, it is described Hoofing part mechanism is by walking the walking of manipulator described in wheel drive described in driving, by described in walking steering mechanism control The direction of travel of manipulator;The walking mode of the manipulator is divided into manual mode and drive pattern;
    The supporting mechanism is arranged on the edge of support frame as described above, and the supporting mechanism includes the adjustable support of collapsing length End, the collapsing length by adjusting the support end make the support end prop up ground so as to supporting support frame as described above;
    The drive mechanism includes drive component, circumferential drive mechanism and radial drive mechanism, the control of the circumferential drive mechanism The control terminal of end processed and the radial drive mechanism is electrically connected with the controlling organization, wherein:
    The drive component is cantilever beam structure;
    The drive component is connected by the circumferential drive mechanism with the gantry rotation, and its revolute pair is horizontal plane, The drive component is driven around the gantry rotation by circumferential drive mechanism;
    The drive component is extended by the radial drive assembly along the direction closer and farther from the frame;The driving machine It is provided with structure and brakes the first circumferential brake apparatus that the circumferential drive mechanism rotates;
    The second brake apparatus for braking the radial drive mechanism motion is installed in the drive mechanism;
    The grasping mechanism also includes grabbing assembly switching mechanism, and the braking grabbing assembly is provided with the grasping mechanism and is turned over 3rd brake apparatus of rotation mechanism upset;
    First brake apparatus includes the described first circumferential brake apparatus, the second circumferential brake apparatus and the 3rd circumferential brake apparatus; The control terminal of the control terminal of first brake apparatus, the control terminal of second brake apparatus and the 3rd brake apparatus is equal It is electrically connected with the controlling organization;The first circumferential brake apparatus is arranged on first support column and second support Between post, to the rotation brake hard to second support column, the first circumferential brake apparatus is joint brake gear; The second circumferential brake apparatus is arranged on the first changeover mechanism, to the circumferential movement fast positioning to secondary cantilever beam;Institute The 3rd circumferential brake apparatus is stated on the second changeover mechanism, to the circumference to grasping mechanism around the elongated end of secondary cantilever beam Move fast positioning;
    The drive pattern of the circumferential drive mechanism is divided into motor drive pattern and manual drive mode, first changeover mechanism Rotation and second changeover mechanism rotation can rely on motor driving or manual actuation;
    The grasping mechanism includes crawl drive mechanism and grabbing assembly, the control terminal of the crawl drive mechanism and the control Mechanism is electrically connected with, the crawl drive mechanism drive the grabbing assembly capture/discharge workpiece;
    The grabbing assembly includes crawl bar, and one end of the crawl bar and the turning end of second changeover mechanism are fixed and connected Connect, the other end of the crawl bar is rotatably connected to crawl support, and crawl cylinder is provided with the crawl support and described is grabbed Component is taken, the control terminal of the crawl cylinder is electrically connected with the controlling organization, and the crawl cylinder described in driving by grabbing Take the closure of component and open so as to capturing and discharging workpiece;
    The grabbing assembly relative to the position-adjustable for capturing support is arranged on crawl support, and the grabbing assembly is to grab Hand, the manipulator drive the opening and closing of handgrip so as to discharging and gripping workpiece by capturing cylinder;
    The control terminal of the grabbing assembly switching mechanism is electrically connected with the controlling organization, and the grabbing assembly switching mechanism drives The dynamic grabbing assembly upset, in favor of crawl/release workpiece, the grabbing assembly switching mechanism drives the grabbing assembly to turn over Turn;The gyroscope for monitoring and accurately controlling the flip angle of the crawl support, wherein gyro are installed on the crawl support The signal output part of instrument is electrically connected with controlling organization;
    First cylinder is installed, the walking mechanism can vertically be slidably mounted on support frame as described above on support frame as described above On, and it slides and driven by first cylinder;
    The radial drive mechanism includes the second cylinder, and second cylinder is arranged in the frame, second cylinder Output end drives the drive component to be rotated around the top of the frame in perpendicular, is located at the driving machine so as to regulation The radial position of the grasping mechanism of the elongated end of structure;
    The grabbing assembly switching mechanism is the 3rd cylinder, and the 3rd cylinder is arranged on the grasping mechanism, the described 3rd The output end of cylinder drives the grabbing assembly upset;
    The frame has a hollow accommodating chamber, and air accumulator, the air inlet of first cylinder, institute are provided with the accommodating chamber The air inlet for stating the second cylinder connects with the air inlet of the 3rd cylinder respectively at the air accumulator;
    The controlling organization is arranged in the frame, and the manipulator also includes remote control, the remote control and the control Mechanism radio communication connection.
CN201510054145.4A 2015-02-02 2015-02-02 Manipulator CN104647339B (en)

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Application Number Priority Date Filing Date Title
CN201510054145.4A CN104647339B (en) 2015-02-02 2015-02-02 Manipulator

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CN201510054145.4A CN104647339B (en) 2015-02-02 2015-02-02 Manipulator

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CN104647339B true CN104647339B (en) 2017-11-28

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107555170A (en) * 2017-09-22 2018-01-09 苏州昌田机械设备制造有限公司 A kind of semi-automatic method for carrying of Work transfer apparatus
CN107555169A (en) * 2017-09-22 2018-01-09 苏州昌田机械设备制造有限公司 A kind of semi-automatic Work transfer apparatus
CN107572250B (en) * 2017-09-22 2020-09-04 苏州昌田机械设备制造有限公司 Working method of automatic shifting mechanical arm
CN108436344A (en) * 2017-12-12 2018-08-24 安徽维力拓网络科技有限公司 A kind of automobile chair frame welding manipulator
CN108817889A (en) * 2018-06-26 2018-11-16 芜湖优能自动化设备有限公司 A kind of machinery valve body assembly line automatic catching robot
CN110722544B (en) * 2019-11-13 2020-10-30 惠安县崇武镇洛妤茶具商行 Automatic snatch manipulator

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SU1333567A1 (en) * 1984-12-28 1987-08-30 Центральное Экспериментальное Конструкторское Бюро Комплексной Механизации И Автоматизации В Строительстве Manipulator
SU1546408A1 (en) * 1987-07-08 1990-02-28 Опытное Производственно-Техническое Объединение Рыбной Промышленности "Техрыбпром" Balanced manipulator
CN201711970U (en) * 2010-05-31 2011-01-19 盐城市三祥机械设备有限公司 Pressure control power assisting manipulator
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Denomination of invention: Method and manipulator for quickly replacting sprue of tundish for conticaster

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Pledgee: Anhui Feidong Rural Commercial Bank Co., Ltd. Shop Branch

Pledgor: HEFEI KIWI HEAVY MACHINERY CO., LTD.

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Denomination of invention: Method and manipulator for quickly replacting sprue of tundish for conticaster

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Granted publication date: 20171128

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Denomination of invention: manipulator

Effective date of registration: 20201225

Granted publication date: 20171128

Pledgee: China Construction Bank Co.,Ltd. Hefei Chengdong sub branch

Pledgor: HEFEI KIWI HEAVY MACHINERY Co.,Ltd.

Registration number: Y2020980009965