CN104924300A - Air cylinder type five-freedom-degree mechanical arm device - Google Patents
Air cylinder type five-freedom-degree mechanical arm device Download PDFInfo
- Publication number
- CN104924300A CN104924300A CN201510405792.5A CN201510405792A CN104924300A CN 104924300 A CN104924300 A CN 104924300A CN 201510405792 A CN201510405792 A CN 201510405792A CN 104924300 A CN104924300 A CN 104924300A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- assembly
- fixed
- gripping
- body frame
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses an air cylinder type five-freedom-degree mechanical arm device. An up-down movement assembly is vertically arranged in a main frame in a sleeving mode. The top end of the up-down movement assembly penetrates through the main frame to be connected with a front-rear movement assembly so as to drive the front-rear movement assembly to move vertically. A horizontal rotating assembly is horizontally arranged on the main frame and connected with the up-down movement assembly to drive the upper portion of the up-down movement assembly to rotate. One end of the front-rear movement assembly is connected with a clamping mechanism connection support. The clamping mechanism connection support is provided with a clamping horizontal rotating assembly, a clamping assembly and pneumatic grippers, and the clamping horizontal rotating assembly and the clamping assembly are connected with a pneumatic gripper controller to be controlled to be rotated horizontally and opened and closed to achieve clamping. According to the air cylinder type five-freedom-degree mechanical arm device, air cylinder control serves as the core to achieve accurate control over taking and placing of objects in the whole movement process, the device is suitable for the stamping forging process of machining of small copper-aluminum rods, such as valves, pipe fittings and fastening pipes, the defects that in the existing manual feeding and discharging processes, positional deviation and staff fatigue are generated, and errors are generated easily are overcome, and the air cylinder type five-freedom-degree mechanical arm device is automatic, flexible, precise in positioning, high in speed and stable in device temperature feature.
Description
Technical field
The present invention relates to manipulator automatic loading/unloading field, especially relate to a kind of cylinder type Five-degree-of-freedmanipulator manipulator device.
Background technology
At present for the punching press forging process of the copper aluminum component processing such as valve member, pipe fitting, securing member, the artificial operation of feeding and discharging pattern of general employing, operator account for enterprise staff sum significant proportion, and operational risk is higher, and cost of labor maintenance cost is relatively high.Even if automatic loading and unloading manipulator has been gone up by some enterprises, the Electric Machine Control type manipulator that great majority adopt, expensive, maintenance cost is high, brings larger economic pressures to enterprise.Therefore, existingly lack a kind of cylinder type Five-degree-of-freedmanipulator manipulator device being applied to the features such as the having automatically flexibly of the punching press forging process of the copper aluminum component such as valve member, pipe fitting, securing member processing, accurate positioning, speed are quick, device temperature stability of characteristics, the higher demand of manufacturing enterprise cannot be met.
Summary of the invention
In order to improve whole work efficiency and economy, the object of the present invention is to provide a kind of cylinder type Five-degree-of-freedmanipulator manipulator device, have automatically flexibly, the feature such as quick, the device temperature stability of characteristics of accurate positioning, speed, can meet the higher demand of manufacturing enterprise, be the effective way improving the copper aluminum component processing efficiency such as valve member, pipe fitting, securing member.
The technical solution used in the present invention is:
The present invention includes the assembly that moves up and down, horizontal level rotary components, seesaw assembly, gripping horizontally rotates assembly and gripping assembly, the assembly that moves up and down vertically is sleeved in body frame, the assembly top that moves up and down connects through body frame the assembly that seesaws and drives it to move up and down, horizontal level rotary components level is contained on body frame, and connection moves up and down, assembly drives its top to rotate, seesaw one end of assembly connects gripping body connection bracket, gripping body connection bracket is equipped with gripping and horizontally rotates assembly, the gentle pawl of gripping assembly, gripping horizontally rotates assembly and is connected gas pawl controller respectively with gripping assembly it horizontally rotates and folding gripping.
The described assembly that moves up and down comprises the first cylinder, first cylinder is fixed on bottom the first air cylinder fixed plate, first air cylinder fixed plate is fixedly mounted on bottom body frame by four the body frame joint pins be distributed on four corners, and the first cylinder push-rod top is coaxially connected with main shaft bottom through clutch shaft bearing body through body frame; Clutch shaft bearing body is fixedly mounted in body frame by body frame second fixed head and body frame first fixed head, main shaft passes body frame after upwards connecting cam, main shaft adapter sleeve through the second cylinder successively after the second bearing body, second bearing body is fixed on body frame top by body frame the 3rd fixed head, and spindle top fixed cover is in the through hole of top center block; Top center block side is provided with connecting plate, and connecting plate upper end is provided with the 3rd cylinder fixed bar fixed support, is connected with for strengthening the connecting plate triangle riser fixed between connecting plate and the 3rd cylinder fixed bar fixed support.
Described clutch shaft bearing body is multidiameter structure, and the large end overcoat on top has body frame second fixed head, and the small end overcoat of bottom has body frame first fixed head, and body frame second fixed head and body frame first fixed head are arranged in the centre bore bottom body frame respectively.
Described clutch shaft bearing body comprises the spring leaf between two bearings and two bearings, in the large end that two coaxial bearing are contained in multidiameter respectively and small end.
Described horizontal level rotary components comprises the second cylinder, second cylinder level is fixedly mounted in the second cylinder fixed support, second cylinder fixed support upper and lower side is fixed in body frame respectively by fixture under the second cylinder upper fixing element and the second cylinder, the end sleeve of the second cylinder push-rod has for hinged spheroid, spheroid joint pin upper end is coaxially fixedly connected with spheroid, and hinged second cylinder in spheroid joint pin lower end connects the flange end of cam.
The described assembly that seesaws comprises the 3rd cylinder and the 3rd cylinder fixed bar fixed support, 3rd cylinder block is fixedly connected with the 3rd air cylinder fixed plate, 3rd air cylinder fixed plate is fixedly connected with one end of the 3rd cylinder fixed bar, move up and down on the 3rd cylinder fixed bar fixed support of assembly described in the middle part of the 3rd cylinder fixed bar is fixed on, the 3rd cylinder push-rod is fixedly connected with gripping body connection bracket through after the central through hole of the 3rd cylinder fixed bar, gripping fixed head successively.
Described gripping assembly comprises the 5th cylinder, and the 5th cylinder is fixed on the end face of gripping body connection bracket end by four the 5th cylinder joint pins be distributed on four angles respectively, and the 5th cylinder push-rod down and be coaxially connected with gas pawl connector; Gas pawl connector is through being socketed gear after gripping body connection bracket and being connected with gas pawl fixture, and gear is between the gentle pawl fixture of gas pawl connector, and gas pawl fixture both sides install left gas pawl, right gas pawl respectively.
Described gripping horizontally rotates assembly and comprises four-cylinder, four-cylinder is fixed on the side of gripping fixed head, the push rod of four-cylinder is connected through the end of gripping fixed head and gear article, the push rod of four-cylinder is connected in the four-cylinder connecting hole of gear article, gear bar tooth-strip part to be arranged in gear bar gathering sill and to move along gear bar gathering sill, gear article gathering sill is identical with the push rod direction of four-cylinder, and gear bar gathering sill is fixedly connected on bottom gripping body connection bracket; The sidepiece of gear bar is provided with the tooth bar for engaging with gripping component gear.
The beneficial effect that the present invention has compared with background technology:
1, the present invention adopts air cylinder structure, and easily, cost is low, and cost performance is very high for operation, maintenance.
2, have five kinds of cylinder actions in apparatus of the present invention, can move to five kinds of frees degree, flexibility is high.
3, apparatus of the present invention accurate positioning, speed are quick, device temperature stability of characteristics.
Accompanying drawing explanation
Fig. 1 is front elevational schematic of the present invention.
Fig. 2 is the schematic side view of Fig. 1.
Fig. 3 is the schematic top plan view of Fig. 1.
Fig. 4 is gripping body front elevational schematic of the present invention.
Fig. 5 is the schematic side view of Fig. 4.
Fig. 6 is the schematic top plan view of Fig. 4.
Fig. 7 is the partial cutaway schematic of Fig. 2.
In figure: 1. the first cylinder, 2. the first air cylinder fixed plate, 3. body frame joint pin, 4. the first cylinder push-rod, 5. body frame first fixed head, 6. body frame second fixed head, 7. spheroid joint pin, 8. body frame, 10. the second cylinder, 11. clutch shaft bearing bodies, 12. second cylinder connecting bottom boards, 13. second cylinder push-rods, 14. spheroids, 15. main shaft adapter sleeves, 16. second cylinder upper fixing elements, 17. body frames the 3rd fixed head, 18. second bearing bodies, 19. main shafts, 20. connecting plates, 21. connecting plate triangle risers, 22. the 3rd air cylinder fixed plate, 23. the 3rd cylinders, 24. the 3rd cylinder fixed bars, 25. the 3rd cylinder fixed bar fixed supports, 26. gripping fixed heads, 27. four-cylinders, 28. the 3rd cylinder push-rods, 29. top center blocks, fixture under 30. second cylinders, 31. second cylinder fixed supports, 32. gripping body connection brackets, 33. gear bars, 34. gear bar gathering sills, 35. the 5th cylinders, 36. the 5th cylinder joint pins, 37. the 5th cylinder push-rods, 38. gas pawl connectors, 39. gas pawl fixtures, 40. left gas pawls, 41. right gas pawls, 42. gears, 43. the 3rd cylinder connecting holes, 44. four-cylinder connecting holes.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in FIG. 1 to 3, the present invention includes the assembly that moves up and down, horizontal level rotary components, seesaw assembly, gripping horizontally rotates assembly and gripping assembly, the assembly that moves up and down vertically is sleeved in body frame 8, the assembly top that moves up and down connects through body frame 8 assembly that seesaws and drives it to move up and down, horizontal level rotary components level is contained on body frame 8, and connection moves up and down, assembly drives its top to rotate, seesaw one end of assembly connects gripping body connection bracket 32, gripping body connection bracket 32 is equipped with gripping and horizontally rotates assembly, the gentle pawl of gripping assembly, gripping horizontally rotates assembly and is connected gas pawl controller respectively with gripping assembly it horizontally rotates and folding gripping.
As shown in Figure 1, Figure 2, shown in Fig. 7, the assembly that moves up and down comprises the first cylinder 1, first cylinder 1 is fixed on bottom the first air cylinder fixed plate 2, first air cylinder fixed plate 2 is fixedly mounted on bottom body frame 8 by four the body frame joint pins 3 be distributed on four corners, and the first cylinder push-rod 4 top is coaxially connected with main shaft 19 bottom through clutch shaft bearing body 11 through body frame 8; Clutch shaft bearing body 11 is fixedly mounted in body frame 8 by body frame second fixed head 6 and body frame first fixed head 5, main shaft 19 passes body frame 8 after upwards connecting cam 12, main shaft adapter sleeve 15 through the second cylinder successively after the second bearing body 18, second bearing body 18 is fixed on body frame 8 top by body frame the 3rd fixed head 17, and main shaft 19 top fixed cover is in the through hole of top center block 29; Top center block 29 side is provided with connecting plate 20, connecting plate 20 upper end is provided with the 3rd cylinder fixed bar fixed support 25, connecting plate triangle riser 21, two connecting plate triangle risers 21 that both sides between connecting plate 20 and the 3rd cylinder fixed bar fixed support 25 are all connected with for strengthening fixing can ensure sound construction as reinforcement.
Clutch shaft bearing body 11 is multidiameter structure, and the large end overcoat on top has body frame second fixed head 6, and the small end overcoat of bottom has body frame first fixed head 5, and body frame second fixed head 6 and body frame first fixed head 5 are arranged in the centre bore bottom body frame 8 respectively.
Clutch shaft bearing body 11 comprises the spring leaf between two bearings and two bearings, in the large end that two coaxial bearing are contained in multidiameter respectively and small end.
As depicted in figs. 1 and 2, horizontal level rotary components comprises the second cylinder 10, second cylinder 10 level is fixedly mounted in the second cylinder fixed support 31, second cylinder fixed support 31 upper and lower side is fixed in body frame 8 respectively by fixture 30 under the second cylinder upper fixing element 16 and the second cylinder, the end sleeve of the second cylinder push-rod 13 has for hinged spheroid 14, spheroid joint pin 7 upper end is coaxially fixedly connected with spheroid 14, and hinged second cylinder in spheroid joint pin 7 lower end connects the flange end of cam 12; Spheroid 14 is spherical, and the second cylinder push-rod 13 is movable with spheroid 14 junction, and link position resistance is less.
Second cylinder 10 horizontal tilt is installed, and the inclination angle between the second cylinder push-rod 13 and body frame 8 length direction is 5 ~ 10 degree.
As shown in figures 1 and 3, the assembly that seesaws comprises the 3rd cylinder 23 and the 3rd cylinder fixed bar fixed support 25,3rd cylinder 23 cylinder body is fixedly connected with the 3rd air cylinder fixed plate 22,3rd air cylinder fixed plate 22 is fixedly connected with one end of the 3rd cylinder fixed bar 24, move up and down on the 3rd cylinder fixed bar fixed support 25 of assembly described in the middle part of the 3rd cylinder fixed bar 24 is fixed on, the 3rd cylinder push-rod 28 is fixedly connected with gripping body connection bracket 32 through after the central through hole of the 3rd cylinder fixed bar 24, gripping fixed head 26 successively.
In gripping body connection bracket 32, center has the 3rd cylinder connecting hole the 43, three cylinder push-rod 28 and is connected in the 3rd cylinder connecting hole 43 and is threaded.
As shown in Fig. 4 ~ Fig. 6, gripping assembly comprises the 5th cylinder 35,5th cylinder 35 is fixed on the end face of gripping body connection bracket 32 end by four the 5th cylinder joint pins 36 be distributed on four angles respectively, and the 5th cylinder push-rod 37 down and be coaxially connected with gas pawl connector 38; Gas pawl connector 38 is through being socketed gear 42 after gripping body connection bracket 32 and being connected with gas pawl fixture 39, and gear 42 is between the gentle pawl fixture 39 of gas pawl connector 38, and gas pawl fixture 39 both sides install left gas pawl 40, right gas pawl 41 respectively.
As shown in Fig. 1, Fig. 4 ~ Fig. 6, gripping horizontally rotates assembly and comprises four-cylinder 27, four-cylinder 27 is fixed on the side of gripping fixed head 26, the push rod of four-cylinder 27 is connected through the end 33 of gripping fixed head 26 and gear article, the push rod of four-cylinder 27 is connected in the four-cylinder connecting hole 44 of gear articles 33, gear bar 33 tooth-strip part to be arranged in gear bar gathering sill 34 and to move along gear bar gathering sill 34, gear article gathering sill 34 is identical with the push rod direction of four-cylinder 27, and gear bar gathering sill 34 is fixedly connected on bottom gripping body connection bracket 32; The sidepiece of gear bar 33 is provided with the tooth bar for engaging with gripping component gear 42.
Four-cylinder 27 driven gear articles 33 moves back and forth, then is moved back and forth by gear bar 33 driven gear 42, and be up to the standard the object rotated
The specific embodiment of the invention course of work is as follows:
As Fig. 1, shown in Fig. 4, body frame 8 maintains static, can be fixed on work top, first cylinder 1 drives main shaft 19 vertical up-or-down movement by the first cylinder push-rod 4 and clutch shaft bearing body 11, second cylinder 10 is by the second cylinder push-rod 13, spheroid 14, spheroid connecting rod 7 and the second cylinder connecting bottom board 12 drive main shaft adapter sleeve 15 and main shaft 19 horizontal direction to rotate, main shaft 19 drives the 3rd cylinder fixed bar fixed support 25 horizontal direction to rotate, 3rd cylinder fixed bar fixed support 25 drives the 3rd cylinder fixed bar and gripping body connection bracket 32 horizontal direction to rotate, 3rd cylinder 23 drives the side-to-side movement of gripping body connection bracket 32 horizontal level by the 3rd cylinder push-rod 28, four-cylinder 27 is rotated by gear article 33 driven gear 42 horizontal levels, gear 42 drives left gas pawl 40 and right gas pawl 41 horizontal level to rotate by gas pawl fixture 39, 5th cylinder 35 is by the 5th cylinder push-rod 37, the gentle pawl fixture 39 of gas pawl connector 38 controls left gas pawl 40 and right gas pawl 41 moves, 5th cylinder 35 promotes the 5th cylinder push-rod 37, left gas pawl 40 and right gas pawl 41 draw close motion mutually, 5th cylinder 35 pulls the 5th cylinder push-rod 37, left gas pawl 40 and right gas pawl 41 are mutually away from motion.
Thus, present invention achieves the crawl to the various putting position of crawled object and placement, be applicable to the punching press forging process of the copper aluminium small rod processing such as valve member, pipe fitting, securing member, replace traditional artificial operation of feeding and discharging pattern.In summary, the problem such as instant invention overcomes position deviation that existing manual loading and unloading run into, personnel are tired, loading and unloading easily make mistakes, in order to realize quick and precisely picking and placeing small size spare and accessory parts, realize accurate control to whole motion process with cylinder control for core, have automatically flexibly, the technique effect such as accurate positioning, speed are quick, device temperature stability of characteristics.
Claims (8)
1. a cylinder type Five-degree-of-freedmanipulator manipulator device, it is characterized in that: comprise the assembly that moves up and down, horizontal level rotary components, seesaw assembly, gripping horizontally rotates assembly and gripping assembly, the assembly that moves up and down vertically is sleeved in body frame (8), the assembly top that moves up and down connects through body frame (8) assembly that seesaws and drives it to move up and down, horizontal level rotary components level is contained on body frame (8), and connection moves up and down, assembly drives its top to rotate, seesaw assembly one end connect gripping body connection bracket (32), gripping body connection bracket (32) is equipped with gripping and horizontally rotates assembly, the gentle pawl of gripping assembly, gripping horizontally rotates assembly and is connected gas pawl controller respectively with gripping assembly it horizontally rotates and folding gripping.
2. a kind of cylinder type Five-degree-of-freedmanipulator manipulator device according to claim 1, is characterized in that:
The described assembly that moves up and down comprises the first cylinder (1), first cylinder (1) is fixed on the first air cylinder fixed plate (2) bottom, first air cylinder fixed plate (2) is fixedly mounted on body frame (8) bottom by four the body frame joint pins (3) be distributed on four corners, and the first cylinder push-rod (4) top is coaxially connected with main shaft (19) bottom through clutch shaft bearing body (11) through body frame (8); Clutch shaft bearing body (11) is fixedly mounted in body frame (8) by body frame second fixed head (6) and body frame first fixed head (5), main shaft (19) upwards connects cam (12) through the second cylinder successively, main shaft adapter sleeve (15) passes body frame (8) by after the second bearing body (18), second bearing body (18) is fixed on body frame (8) top by body frame the 3rd fixed head (17), and main shaft (19) top fixed cover is in the through hole of top center block (29); Top center block (29) side is provided with connecting plate (20), connecting plate (20) upper end is provided with the 3rd cylinder fixed bar fixed support (25), is connected with for strengthening the connecting plate triangle riser (21) fixed between connecting plate (20) and the 3rd cylinder fixed bar fixed support (25).
3. a kind of cylinder type Five-degree-of-freedmanipulator manipulator device according to claim 2, it is characterized in that: described clutch shaft bearing body (11) is multidiameter structure, the large end overcoat on top has body frame second fixed head (6), the small end overcoat of bottom has body frame first fixed head (5), and body frame second fixed head (6) and body frame first fixed head (5) are arranged in the centre bore of body frame (8) bottom respectively.
4. a kind of cylinder type Five-degree-of-freedmanipulator manipulator device according to claim 2, it is characterized in that: described clutch shaft bearing body (11) comprises the spring leaf between two bearings and two bearings, in the large end that two coaxial bearing are contained in multidiameter respectively and small end.
5. a kind of cylinder type Five-degree-of-freedmanipulator manipulator device according to claim 1, it is characterized in that: described horizontal level rotary components comprises the second cylinder (10), second cylinder (10) level is fixedly mounted in the second cylinder fixed support (31), second cylinder fixed support (31) upper and lower side is fixed in body frame (8) respectively by fixture (30) under the second cylinder upper fixing element (16) and the second cylinder, the end sleeve of the second cylinder push-rod (13) has for hinged spheroid (14), spheroid joint pin (7) upper end is coaxially fixedly connected with spheroid (14), hinged second cylinder in spheroid joint pin (7) lower end connects the flange end of cam (12).
6. a kind of cylinder type Five-degree-of-freedmanipulator manipulator device according to claim 1, it is characterized in that: the described assembly that seesaws comprises the 3rd cylinder (23) and the 3rd cylinder fixed bar fixed support (25), 3rd cylinder (23) cylinder body is fixedly connected with the 3rd air cylinder fixed plate (22), 3rd air cylinder fixed plate (22) is fixedly connected with one end of the 3rd cylinder fixed bar (24), move up and down on the 3rd cylinder fixed bar fixed support (25) of assembly described in the middle part of the 3rd cylinder fixed bar (24) is fixed on, 3rd cylinder push-rod (28) is successively through the central through hole of the 3rd cylinder fixed bar (24), gripping fixed head (26) is fixedly connected with gripping body connection bracket (32) afterwards.
7. a kind of cylinder type Five-degree-of-freedmanipulator manipulator device according to claim 1, it is characterized in that: described gripping assembly comprises the 5th cylinder (35), 5th cylinder (35) is fixed on the end face of gripping body connection bracket (32) end by four the 5th cylinder joint pins (36) be distributed on four angles respectively, and the 5th cylinder push-rod (37) down and be coaxially connected with gas pawl connector (38); Gas pawl connector (38) is socketed gear (42) afterwards through gripping body connection bracket (32) and is connected with gas pawl fixture (39), gear (42) is positioned between the gentle pawl fixture (39) of gas pawl connector (38), and gas pawl fixture (39) both sides install left gas pawl (40), right gas pawl (41) respectively.
8. a kind of cylinder type Five-degree-of-freedmanipulator manipulator device according to claim 1, it is characterized in that: described gripping horizontally rotates assembly and comprises four-cylinder (27), four-cylinder (27) is fixed on the side of gripping fixed head (26), the push rod of four-cylinder (27) is connected through the end (33) of gripping fixed head (26) and gear article, the push rod of four-cylinder (27) is connected in the four-cylinder connecting hole (44) of gear article (33), gear bar (33) tooth-strip part to be arranged in gear bar gathering sill (34) and mobile along gear bar gathering sill (34), gear article gathering sill (34) is identical with the push rod direction of four-cylinder (27), gear bar gathering sill (34) is fixedly connected on gripping body connection bracket (32) bottom, the sidepiece of gear bar (33) is provided with the tooth bar for engaging with gripping component gear (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510405792.5A CN104924300B (en) | 2015-07-09 | 2015-07-09 | Air cylinder type five-freedom-degree mechanical arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510405792.5A CN104924300B (en) | 2015-07-09 | 2015-07-09 | Air cylinder type five-freedom-degree mechanical arm device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104924300A true CN104924300A (en) | 2015-09-23 |
| CN104924300B CN104924300B (en) | 2017-01-18 |
Family
ID=54111881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510405792.5A Active CN104924300B (en) | 2015-07-09 | 2015-07-09 | Air cylinder type five-freedom-degree mechanical arm device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104924300B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965528A (en) * | 2016-06-30 | 2016-09-28 | 殷霄 | Operation mechanism for teaching robot tongs |
| CN107470800A (en) * | 2017-08-04 | 2017-12-15 | 辽宁中蓝电子科技有限公司 | A kind of equipment for automatically removing resistance welding the end of a thread |
| CN109866030A (en) * | 2019-03-01 | 2019-06-11 | 朗快智能科技（杭州）有限公司 | More copper dedicated processing milling machines of narrow valve cock of main shaft multistation |
| CN113758690A (en) * | 2021-06-24 | 2021-12-07 | 神通科技集团股份有限公司 | Glove box damping force detection tool |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0076498A2 (en) * | 1981-10-07 | 1983-04-13 | Messer Griesheim Gmbh | A method controlling an arc welding torch of a welding robot |
| JPS6020207A (en) * | 1983-07-15 | 1985-02-01 | Hitachi Ltd | Method and apparatus for controlling robot |
| CN1307956A (en) * | 2000-06-30 | 2001-08-15 | 佛山市佛山机器人有限公司 | Hand-in-hand demonstration robot |
| CN102765086A (en) * | 2012-07-26 | 2012-11-07 | 江苏尚诚精密模具科技有限公司 | Intelligent robot with stamping and carrying functions |
| CN203210365U (en) * | 2013-04-12 | 2013-09-25 | 珠海许继电气有限公司 | Five-freedom-degree automatic testing manipulator |
| CN203471507U (en) * | 2013-08-30 | 2014-03-12 | 杨贵庭 | Automatic aluminum row loading and unloading manipulator for crystal polishing and grinding system |
| CN104555421A (en) * | 2014-12-31 | 2015-04-29 | 南京信息职业技术学院 | Five-degree of freedom stacking manipulator |
| CN204913897U (en) * | 2015-07-09 | 2015-12-30 | 中国计量学院 | Five degree of freedom manipulator devices on cylinder type |
-
2015
- 2015-07-09 CN CN201510405792.5A patent/CN104924300B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0076498A2 (en) * | 1981-10-07 | 1983-04-13 | Messer Griesheim Gmbh | A method controlling an arc welding torch of a welding robot |
| JPS6020207A (en) * | 1983-07-15 | 1985-02-01 | Hitachi Ltd | Method and apparatus for controlling robot |
| CN1307956A (en) * | 2000-06-30 | 2001-08-15 | 佛山市佛山机器人有限公司 | Hand-in-hand demonstration robot |
| CN102765086A (en) * | 2012-07-26 | 2012-11-07 | 江苏尚诚精密模具科技有限公司 | Intelligent robot with stamping and carrying functions |
| CN203210365U (en) * | 2013-04-12 | 2013-09-25 | 珠海许继电气有限公司 | Five-freedom-degree automatic testing manipulator |
| CN203471507U (en) * | 2013-08-30 | 2014-03-12 | 杨贵庭 | Automatic aluminum row loading and unloading manipulator for crystal polishing and grinding system |
| CN104555421A (en) * | 2014-12-31 | 2015-04-29 | 南京信息职业技术学院 | Five-degree of freedom stacking manipulator |
| CN204913897U (en) * | 2015-07-09 | 2015-12-30 | 中国计量学院 | Five degree of freedom manipulator devices on cylinder type |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965528A (en) * | 2016-06-30 | 2016-09-28 | 殷霄 | Operation mechanism for teaching robot tongs |
| CN107470800A (en) * | 2017-08-04 | 2017-12-15 | 辽宁中蓝电子科技有限公司 | A kind of equipment for automatically removing resistance welding the end of a thread |
| CN109866030A (en) * | 2019-03-01 | 2019-06-11 | 朗快智能科技（杭州）有限公司 | More copper dedicated processing milling machines of narrow valve cock of main shaft multistation |
| CN113758690A (en) * | 2021-06-24 | 2021-12-07 | 神通科技集团股份有限公司 | Glove box damping force detection tool |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104924300B (en) | 2017-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR200484533Y1 (en) | A two-way transfer robot with two rods by parallel principle | |
| CN104924300A (en) | Air cylinder type five-freedom-degree mechanical arm device | |
| CN110000530B (en) | Automatic assembly device and automatic assembly method for railway cantilever assembly | |
| KR101220105B1 (en) | Apparatus for transferring parts of vehicle | |
| CN104401917B (en) | A kind of two-dimentional spacing bottle placer stand arrangement and limit-type spray gun change fixing means | |
| CN103318636B (en) | Multi-specification workpiece collinear conveying center correction device | |
| CN107900662A (en) | Flywheel automatic screwing device | |
| CN105128023A (en) | Mechanical arm | |
| CN103447988A (en) | Self-adaptive flexible supporting and positioning mechanism | |
| CN209140894U (en) | A kind of novel engine cylinder head conveying robot | |
| CN103465129B (en) | A kind of manipulator of crystal polishing system | |
| CN105290777B (en) | Valve assembly all-in-one machine | |
| CN204913897U (en) | Five degree of freedom manipulator devices on cylinder type | |
| CN204123407U (en) | A kind of forcing press Special handling robot | |
| CN105414966A (en) | Automatic assembly equipment of water tank | |
| CN205703191U (en) | A kind of guide rail and the automatic assembly equipment of connecting plate | |
| CN106395358B (en) | The cam link transport establishment of limit switches part kludge | |
| CN105798597B (en) | For bourdon tube in air-conditioning temperature-sensing valve and nut automatic assembling apparatus | |
| CN201353737Y (en) | High-accuracy double-guide bar pneumatic locator device | |
| CN111805191A (en) | Product assembly equipment of island formula structure | |
| CN204771803U (en) | Feeding mechanical arm in numerical control lathe's automation | |
| CN205708814U (en) | The cam link transport establishment of limit switches part kludge | |
| CN116140913A (en) | Automobile part welding clamping device | |
| CN106089133B (en) | A kind of oil pipeline centralising device | |
| CN205466179U (en) | Panel transport automation equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |