CN105127825A - Two-arm type full-automatic feeding and discharging device - Google Patents
Two-arm type full-automatic feeding and discharging device Download PDFInfo
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- CN105127825A CN105127825A CN201410232431.0A CN201410232431A CN105127825A CN 105127825 A CN105127825 A CN 105127825A CN 201410232431 A CN201410232431 A CN 201410232431A CN 105127825 A CN105127825 A CN 105127825A
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Abstract
The invention relates to a two-arm type full-automatic feeding and discharging device. The two-arm type full-automatic feeding and discharging device mainly comprises a two-arm type automatic mechanical arm mechanism and a material case automatic conveying mechanism. The two-arm type full-automatic feeding and discharging device is characterized in that the two-arm type automatic mechanical arm mechanism is composed of a pneumatic clamping jaw, mechanical arms, a motor, a mechanical arm rack and the like, and a two-mechanical-arm structure is achieved. The two mechanical arms are driven by the motor to synchronously move, and the pneumatic clamping jaw is driven by the motor to move, so that vertical movement of the mechanical arms and grabbing and placing of parts are achieved, and the feeding motion and the discharging motion of the parts are executed; and the material case automatic conveying mechanism is mainly composed of material cases, a material case conveying rack, a lifting air cylinder, a Y-direction motor, a gear and rack transmission assembly, a lifting guide rail and the like. Through the effects of the lifting air cylinder, the Y-direction motor and the gear and rack transmission assembly, synchronous movement and in-sequence conversion of the case to work, the feeding case and the discharging case are achieved, so that the full-automatic feeding and discharging function in the production process is achieved, the feeding and discharging time of the parts is greatly shortened, the production efficiency is improved, and the two-arm type full-automatic feeding and discharging device is particularly suitable for automatic machining of the large-batch parts.
Description
Art
The present invention relates to a kind of full-automatic handling equipment, be specially a kind of double-arm full-automatic handling equipment.
Background technology
Along with the progress of human society, science and technology also obtain unprecedented raising, machine building industry have also been obtained significant progress as the basic activity promoting national overall national strength, the simple production of handicraft workshop formula has been instead of in the extensive use of various types of manufacturing equipment completely, wherein especially the application of numerical control manufacturing equipment becomes increasingly extensively and generally, so not only can enhance productivity, also the labour intensity of practitioner is alleviated greatly, also improve the crudy of product greatly simultaneously, but this is a beginning of industrial automation, along with the continuous lifting of machine building industry automaticity, the machining that before a lot of, dependence manually completes progressively is replaced by robot, particularly single arm type manipulator is in the extensive use in digital control processing field, the automatic loading/unloading of process is made to become possibility, but single arm type manipulator also has its limitation, as can not be completed multiple action simultaneously, can not simultaneously blowing and feeding, have impact on beat etc., meanwhile, still there is a lot of artificial link in feed supplement process in existing automatic loading and unloading device, does not expect the automatic transport link of frame, have impact to the raising of automaticity and production efficiency.
Summary of the invention
For above-mentioned situation, the invention provides a kind of double-arm full-automatic handling equipment, it is compounded with material frame automatic delivering mechanism and double-arm automatic manipulator, and two manipulators can perform the loading and unloading action of part simultaneously respectively, substantially reduce the time of part loading and unloading, enhance productivity; Meanwhile, material frame automatic delivering mechanism can realize expecting according to machine process movement and the accurate location of frame automatically, and feeding terminate after material loading frame automatically transfer blanking frame to; In process, part material frame to be processed only need be placed on carriage by operator, is unloaded by manufactured part material frame, achieve full-automatic feeding, discharge function, improve efficiency, also reduce cost from carriage.By the flexible connected of this automatic loading and unloading device and machining center,------processing---clears up---blanking---cleaning fixture---the automatic repetitive cycling of the manufacturing procedures such as second time material loading in clamping to achieve part from material loading, reduce cost of labor and management cost to greatest extent, also improve part crudy greatly, specification manufacturing procedure, achieve the seamless link of multi-step process, improve production efficiency.Along with the develop rapidly of society, the continuous progress of science and technology, thisly integrates automation, intellectuality, flexibility, again can in conjunction with the feature of manufacturing industry own, and the development model of solution enterprise practical problem has become the inexorable trend of development of modern industry.
For achieving the above object, the technical solution adopted in the present invention is: double-arm full-automatic handling equipment mainly comprises double-arm automatic manipulator mechanism, material frame automatic delivering mechanism two large divisions.Double-arm automatic manipulator mechanism forms to tooth bar, Z2 direction guiding rail to transmission mechanism, X to slide, X direction guiding rail, Pneumatic clamping jaw II, mechanical arm frame, Z1 direction guiding rail, Z-direction gear, X to electric machine assembly, Z2 mechanical arm, Z2 to transmission mechanism, Z2 electric machine assembly, X to transmission mechanism, X primarily of Pneumatic clamping jaw I, Z1 mechanical arm, Z1 electric machine assembly, Z1.Material frame automatic delivering mechanism is by expecting that frame, lower margin, material frame carry frame, lift cylinder, roll wheel assembly, fixed head, locating piece, movable plate, Y-direction line slideway, Y-direction slide, Y-direction motor and rack pinion assembly, riser guide to form.
In material frame automatic delivering mechanism, material frame is driven by movable plate, and fixed head is located; Movable plate and fixed head drive by lift cylinder and do elevating movement along both sides riser guide, and Y-direction (transverse direction) motion of movable plate is realized by Y-direction motor and rack pinion assembly, adopts Y-direction line slideway guiding.The direction of motion of double-arm automatic manipulator mechanism is divided into X to (longitudinal direction) and Z1 (vertical I), Z2 (vertical II) three directions, wherein X has come to gearing and X direction guiding rail to moving through X to electric machine assembly, X, and its effect is that the entirety realizing dual-arm robot vertically moves; Z1, Z2 complete to transmission mechanism, Z2 to transmission mechanism, Z1 direction guiding rail, Z2 direction guiding rail to motion respectively by Z1 electric machine assembly, Z2 electric machine assembly, Z1, realize the catenary motion of manipulator I, manipulator II respectively.Pneumatic clamping jaw I, Pneumatic clamping jaw II is separately installed with in the bottom of Z1 mechanical arm, Z2 mechanical arm, by X to motion and Z1, Z2 to motion, realize manipulator I part to be processed is taken out from material loading frame and is transferred to Working position, manipulator II processing parts to be taken out from Working position and is transferred to blanking frame, thus realize the full-automatic loading and unloading function of process.
Accompanying drawing explanation
Fig. 1 is double-arm full-automatic handling equipment front view.
Fig. 2 is double-arm full-automatic handling equipment left view.
Fig. 3 is double-arm full-automatic handling equipment top view.
Fig. 4 is double-arm full-automatic charging & discharging machine device (removing double-arm automatic manipulator mechanism) left view.
In figure: 1, Pneumatic clamping jaw I; 2, Z1 mechanical arm; 3, Z1 electric machine assembly; 4, Z1 is to transmission mechanism; 5, X is to electric machine assembly; 6, Z2 mechanical arm; 7, Z2 is to transmission mechanism; 8, Z2 electric machine assembly; 9, X is to transmission mechanism; 10, X is to slide; 11, X direction guiding rail; 12, Pneumatic clamping jaw II; 13, mechanical arm frame; 14, frame is expected; 15, Z1 direction guiding rail; 16, Z-direction gear; 17, X is to tooth bar; 18, Z2 direction guiding rail; 19, lower margin; 20, frame conveying frame is expected; 21, lift cylinder I; 22, riser guide I; 23, roll wheel assembly; 24, fixed head; 25, locating piece; 26, movable plate; 27, Y-direction line slideway; 28, Y-direction slide; 29, Y-direction motor and rack pinion assembly; 30, riser guide II; 31, lift cylinder II.
Specific embodiments
Pneumatic clamping jaw I1 is fixedly mounted on the below of Z1 mechanical arm 2, and Z1 mechanical arm 2 is fixedly connected with Z1 direction guiding rail 15, and the slide block of Z1 direction guiding rail 15 is fixedly mounted on X on left back of slide 10, and Z1 mechanical arm 2 can be moved up and down to slide 10 relative to X; Z1 electric machine assembly 3 is fixedly mounted on X on left front of slide 10, and Z1 is fixedly mounted on Z1 mechanical arm 2 to the tooth bar in transmission mechanism 4, and Z1 is fixedly connected on the output shaft of Z1 electric machine assembly 3 to the gear in transmission mechanism 4; X is fixedly mounted in mechanical arm frame 13 to electric machine assembly 5; Z2 is fixedly mounted on Z2 mechanical arm 6 to the tooth bar in transmission mechanism 7, and Z2 is fixedly connected on the output shaft of Z2 electric machine assembly 8 to the gear in transmission mechanism 7; Z2 electric machine assembly 8 is fixedly mounted on X on right front of slide 10; Z2 direction guiding rail 18 is fixedly mounted on Z2 mechanical arm 6, and the slide block of Z2 direction guiding rail 18 is fixedly mounted on X on right back of slide 10, and Z2 mechanical arm 6 can be moved up and down to slide 10 relative to X; X is fixedly connected on the output shaft of X to electric machine assembly 5 to the gear of transmission mechanism 9, and X is fixedly mounted on the slide block of X direction guiding rail 11 to slide 10, and X direction guiding rail 11 is fixedly mounted in mechanical arm frame 13, and X can be moved relative to mechanical arm frame 13 to slide 10; Pneumatic clamping jaw II12 is fixedly mounted on Z2 mechanical arm 6; Mechanical arm frame 13 is fixedly mounted on ground; Wherein, Pneumatic clamping jaw I1, Z1 mechanical arm 2, Z1 form a manipulator I to transmission mechanism 4, Z1 direction guiding rail 15, and Z2 mechanical arm 6, Z2 form another manipulator II to transmission mechanism 7, Pneumatic clamping jaw II12, Z2 direction guiding rail 18.More than form double-arm automatic manipulator mechanism.
Lower margin 19 is arranged on ground, and material frame conveying frame 20 is fixedly mounted on lower margin 19, forms a basic platform; Lift cylinder I21 is arranged in material frame conveying frame 20 medial cradle, and its piston rod and fixed head 24 are fixedly connected; Riser guide I22 is arranged on the medial surface of material frame carriage 20, and slide block and the fixed head 24 of riser guide I22 are fixedly connected, and fixed head 24 can be moved up and down relative to material frame conveying frame 20; Several roll wheel assemblies 23 point two row is fixedly installed in material frame conveying frame 20; Several material frames 14 are positioned on roll wheel assembly 23, and spacing by locating piece 25 respectively; Several locating pieces 25 are equidistantly arranged on fixed head 24; Top with and the movable plate 26 of the equidistant dentation fixed block in material frame 14 interval be fixedly mounted on the slide block of riser guide II30, Y-direction line slideway 27 is fixedly mounted in material frame conveying frame 20, Y-direction slide 28 is arranged on the slide block of Y-direction line slideway 27, Y-direction motor and rack and pinion assembly 29 are arranged on expects that the side of frame 20 carried by frame, and the tooth bar in its transmission component and Y-direction slide 28 are fixedly connected; Riser guide II30 is fixedly mounted on Y-direction slide 28, and lift cylinder II31 is fixedly mounted on Y-direction slide 28, and its piston rod and movable plate 26 are fixedly connected.More than constitute material frame automatic delivering mechanism.
By X, the orthogonal relation of Y-direction kinematic axis, mechanical arm frame 13 strides across material frame conveying frame 20 and is in vertical positional relationship.
During work, by programme-control, after part machines, Z1 electric machine assembly 3 drives Z1 mechanical arm 2 to decline along Z1 direction guiding rail 15 together with Pneumatic clamping jaw I1 by Z1 to transmission mechanism 4, capture processing parts, rise to assigned position again, meanwhile, platen moves to the below of manipulator I, by identical mode, Z2 electric machine assembly 8 driving device hand II declines, and is placed on Working table clamp, then rises to assigned position by part to be processed; X drives X to transmission mechanism 9 to electric machine assembly 5, drives X back to move to directly over material frame 14 to slide 10 together with manipulator I, manipulator II.Z1 electric machine assembly 3, Z2 electric machine assembly 8 respectively driving device hand I, manipulator II decline, complete manipulator I respectively and processing parts is placed blanking frame, the action that new part to be processed takes out from material loading frame by manipulator II, and rise to assigned position, then X drives X to transmission mechanism 9 to electric machine assembly 5 again, drive X to move near Working position to slide 10 wait for together with manipulator I, manipulator II, complete a loading and unloading do action.
After material loading frame material loading terminates, send signal, lift cylinder II31 drives movable plate 26 to rise and sticks into the space between material frame 14, and lift cylinder I21 drives fixed head 24 to move down the location exited material frame 14 together with locating piece 25, then, Y-direction motor and rack pinion assembly 29 drive Y-direction slide 28 together with movable plate 26, promote all material frames 14 and move forward a spacing, lift cylinder I21 drives fixed head 24 rise together with locating piece 25 and stick into the space between pan feeding frame 14, after material frame 14 is positioned, lift cylinder II31 drives movable plate 26 decline to exit the space of expecting between frame 14, complete a defective material frame 14 and move circulation, now, former blanking frame moves forward to enter treats discharge position, former material loading frame advanced in unison changes new blanking frame into, follow-up part frame to be processed synchronously follows up the material loading frame becoming new.
Claims (4)
1. a double-arm full-automatic handling equipment, primarily of double-arm automatic manipulator mechanism and material frame automatic delivering mechanism two parts composition, it is characterized in that: Pneumatic clamping jaw I is fixedly mounted on the below of Z1 mechanical arm, Z1 mechanical arm is fixedly connected with Z1 direction guiding rail, the slide block of Z1 direction guiding rail is fixedly mounted on X on left back of slide, and Z1 mechanical arm can be moved up and down to slide relative to X; Z1 electric machine assembly is fixedly mounted on X on left front of slide, and Z1 is fixedly mounted on Z1 mechanical arm to the tooth bar in transmission mechanism, and Z1 is fixedly connected on the output shaft of Z1 electric machine assembly to the gear in transmission mechanism; X is fixedly mounted in mechanical arm frame to electric machine assembly; Z2 is fixedly mounted on Z2 mechanical arm to the tooth bar in transmission mechanism, and Z2 is fixedly connected on the output shaft of Z2 electric machine assembly to the gear in transmission mechanism; Z2 electric machine assembly is fixedly mounted on X on right front of slide; Z2 direction guiding rail is fixedly mounted on Z2 mechanical arm, and the slide block of Z2 direction guiding rail is fixedly mounted on X on right back of slide, and Z2 mechanical arm can be moved up and down to slide relative to X; X is fixedly connected on the output shaft of X to electric machine assembly to the gear of transmission mechanism, and X is fixedly mounted on the slide block of X direction guiding rail to slide, and X direction guiding rail is fixedly mounted in mechanical arm frame, makes X can relative to mechanical arm machine frame movement to slide; Pneumatic clamping jaw II is fixedly mounted on Z2 mechanical arm; Mechanical arm frame is fixedly mounted on ground; Wherein, Pneumatic clamping jaw I, Z1 mechanical arm, Z1 form a manipulator I to transmission mechanism, Z1 direction guiding rail, and Z2 mechanical arm, Z2 form another manipulator II to transmission mechanism, Pneumatic clamping jaw II, Z2 direction guiding rail.More than form double-arm automatic manipulator mechanism.Lower margin is arranged on ground, and material frame conveying frame is fixedly mounted on lower margin, forms a basic platform; Lift cylinder I is arranged in material frame conveying frame medial cradle, and its piston rod and fixed head are fixedly connected; Riser guide I is arranged on the medial surface of material frame carriage, and slide block and the fixed head of riser guide I are fixedly connected, and fixed head can be moved up and down relative to material frame conveying frame; Several roll wheel assemblies divide two rows to be fixedly installed in material frame conveying frame; Several material frames are positioned on roll wheel assembly, and spacing by locating piece respectively; Several locating pieces are equidistantly arranged on fixed head; Top with and the movable plate of the equidistant dentation fixed block in material frame interval be fixedly mounted on the slide block of riser guide II, Y-direction line slideway is fixedly mounted in material frame conveying frame, Y-direction slide is arranged on the slide block of Y-direction line slideway, Y-direction motor and rack and pinion assembly are arranged on expects that the side of frame carried by frame, and the tooth bar in its transmission component and Y-direction slide are fixedly connected; Riser guide II is fixedly mounted on Y-direction slide, and lift cylinder II is fixedly mounted on Y-direction slide, and its piston rod and movable plate are fixedly connected.More than constitute material frame automatic delivering mechanism.By X, the orthogonal relation of Y-direction kinematic axis, mechanical arm frame strides across material frame conveying frame and is in vertical positional relationship.
2. double-arm full-automatic handling equipment according to claim 1, its feature is being: the structure of double-arm automatic manipulator mechanism is the below that Pneumatic clamping jaw I is fixedly mounted on Z1 mechanical arm, Z1 mechanical arm is fixedly connected with Z1 direction guiding rail, the slide block of Z1 direction guiding rail is fixedly mounted on X on left back of slide, and Z1 mechanical arm can be moved up and down to slide relative to X; Z1 electric machine assembly is fixedly mounted on X on left front of slide, and Z1 is fixedly mounted on Z1 mechanical arm to the tooth bar in transmission mechanism, and Z1 is fixedly connected on the output shaft of Z1 electric machine assembly to the gear in transmission mechanism; X is fixedly mounted in mechanical arm frame to electric machine assembly; Z2 is fixedly mounted on Z2 mechanical arm to the tooth bar in transmission mechanism, and Z2 is fixedly connected on the output shaft of Z2 electric machine assembly to the gear in transmission mechanism; Z2 electric machine assembly is fixedly mounted on X on right front of slide; Z2 direction guiding rail is fixedly mounted on Z2 mechanical arm, and the slide block of Z2 direction guiding rail is fixedly mounted on X on right back of slide, and Z2 mechanical arm can be moved up and down to slide relative to X; X is fixedly connected on the output shaft of X to electric machine assembly to the gear of transmission mechanism, and X is fixedly mounted on the slide block of X direction guiding rail to slide, and X direction guiding rail is fixedly mounted in mechanical arm frame, makes X can relative to mechanical arm machine frame movement to slide; Pneumatic clamping jaw II is fixedly mounted on Z2 mechanical arm; Mechanical arm frame is fixedly mounted on ground.
3. double-arm full-automatic handling equipment according to claim 1, is characterized in that: the structure of material frame automatic delivering mechanism is that lower margin is arranged on ground, and material frame conveying frame is fixedly mounted on lower margin, forms a basic platform; Lift cylinder I is arranged in material frame conveying frame medial cradle, and its piston rod and fixed head are fixedly connected; Riser guide I is arranged on the medial surface of material frame carriage, and slide block and the fixed head of riser guide I are fixedly connected, and fixed head can be moved up and down relative to material frame conveying frame; Several roll wheel assemblies divide two rows to be fixedly installed in material frame conveying frame; Several material frames are positioned on roll wheel assembly, and spacing by locating piece respectively; Several locating pieces are equidistantly arranged on fixed head; Top with and the movable plate of the equidistant dentation fixed block in material frame interval be fixedly mounted on the slide block of riser guide II, Y-direction line slideway is fixedly mounted in material frame conveying frame, Y-direction slide is arranged on the slide block of Y-direction line slideway, Y-direction motor and rack and pinion assembly are arranged on expects that the side of frame carried by frame, and the tooth bar in its transmission component and Y-direction slide are fixedly connected; Riser guide II is fixedly mounted on Y-direction slide, and lift cylinder II is fixedly mounted on Y-direction slide, and its piston rod and movable plate are fixedly connected.
4. double-arm full-automatic handling equipment according to claim 1, is characterized in that: by X, the orthogonal relation of Y-direction kinematic axis, and mechanical arm frame strides across material frame conveying frame and is in vertical positional relationship.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410232431.0A CN105127825A (en) | 2014-05-29 | 2014-05-29 | Two-arm type full-automatic feeding and discharging device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410232431.0A CN105127825A (en) | 2014-05-29 | 2014-05-29 | Two-arm type full-automatic feeding and discharging device |
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| CN105127825A true CN105127825A (en) | 2015-12-09 |
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| CN201410232431.0A Pending CN105127825A (en) | 2014-05-29 | 2014-05-29 | Two-arm type full-automatic feeding and discharging device |
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| CN105710872A (en) * | 2016-04-20 | 2016-06-29 | 苏州鸿普精密模具有限公司 | Bundling transposition manipulator for power strip cable bundling machine |
| CN105798692A (en) * | 2016-04-27 | 2016-07-27 | 中国科学院自动化研究所 | Contact pin type automatic feeding and positioning device |
| CN106081619A (en) * | 2016-06-08 | 2016-11-09 | 东莞市小智人机器人有限公司 | A kind of fully automatic loading and unloading equipment for fine carving machine |
| CN106078759A (en) * | 2016-07-04 | 2016-11-09 | 成都西菱动力科技股份有限公司 | A kind of portal frame type arm-and-hand system |
| CN108526974A (en) * | 2018-04-24 | 2018-09-14 | 赵华勇 | A kind of shaft CNC milling machine automatic loading and unloading device |
| CN108557454A (en) * | 2018-05-02 | 2018-09-21 | 无锡诚石轴承有限公司 | Bearing line material discharging machine device |
| CN108746468A (en) * | 2018-05-30 | 2018-11-06 | 李勤华 | A kind of loud speaker T iron cold-heading feeding device modified form material retractable device |
| CN108858138A (en) * | 2018-06-15 | 2018-11-23 | 广州启帆工业机器人有限公司 | Production line with multiple double-arm manipulator loading and unloading |
| CN108857538A (en) * | 2018-06-15 | 2018-11-23 | 广州启帆工业机器人有限公司 | Double-arm manipulator for loading and unloading |
| CN109048450A (en) * | 2018-07-18 | 2018-12-21 | 昆明理工大学 | A kind of automatic loading unloading device of digital controlled lathe |
| CN109092781A (en) * | 2018-07-27 | 2018-12-28 | 杨定娟 | Full-automatic and cleaning method |
| CN109176119A (en) * | 2018-10-01 | 2019-01-11 | 深圳市奥德斯智能科技有限公司 | A kind of arm-and-hand system of spray head machining tool automatic loading/unloading |
| CN110480669A (en) * | 2019-08-28 | 2019-11-22 | 北京工业大学 | Automobile shock absorber automatic production line 3D body feeding manipulator |
| CN110626797A (en) * | 2019-09-27 | 2019-12-31 | 苏州竹日精密机械有限公司 | A Fixed Angle Feeding Manipulator Mechanism |
| CN113000867A (en) * | 2021-03-15 | 2021-06-22 | 钟选菊 | Workpiece loading and unloading device of numerical control lathe and using method thereof |
| CN116100092A (en) * | 2023-04-13 | 2023-05-12 | 常州宇拓工业装备有限公司 | Automatic feeding and discharging equipment for gear milling machine |
| CN117619919A (en) * | 2023-12-15 | 2024-03-01 | 广州众山精密科技有限公司 | A kind of stretching tooling and control method |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710872A (en) * | 2016-04-20 | 2016-06-29 | 苏州鸿普精密模具有限公司 | Bundling transposition manipulator for power strip cable bundling machine |
| CN105798692A (en) * | 2016-04-27 | 2016-07-27 | 中国科学院自动化研究所 | Contact pin type automatic feeding and positioning device |
| CN105798692B (en) * | 2016-04-27 | 2017-10-27 | 中国科学院自动化研究所 | Contact pin type automatic charging positioner |
| CN106081619A (en) * | 2016-06-08 | 2016-11-09 | 东莞市小智人机器人有限公司 | A kind of fully automatic loading and unloading equipment for fine carving machine |
| CN106078759A (en) * | 2016-07-04 | 2016-11-09 | 成都西菱动力科技股份有限公司 | A kind of portal frame type arm-and-hand system |
| CN108526974A (en) * | 2018-04-24 | 2018-09-14 | 赵华勇 | A kind of shaft CNC milling machine automatic loading and unloading device |
| CN108557454B (en) * | 2018-05-02 | 2023-09-15 | 无锡诚石轴承有限公司 | Bearing wire-connection discharging machine device |
| CN108557454A (en) * | 2018-05-02 | 2018-09-21 | 无锡诚石轴承有限公司 | Bearing line material discharging machine device |
| CN108746468A (en) * | 2018-05-30 | 2018-11-06 | 李勤华 | A kind of loud speaker T iron cold-heading feeding device modified form material retractable device |
| CN108858138A (en) * | 2018-06-15 | 2018-11-23 | 广州启帆工业机器人有限公司 | Production line with multiple double-arm manipulator loading and unloading |
| CN108857538A (en) * | 2018-06-15 | 2018-11-23 | 广州启帆工业机器人有限公司 | Double-arm manipulator for loading and unloading |
| CN109048450A (en) * | 2018-07-18 | 2018-12-21 | 昆明理工大学 | A kind of automatic loading unloading device of digital controlled lathe |
| CN109092781A (en) * | 2018-07-27 | 2018-12-28 | 杨定娟 | Full-automatic and cleaning method |
| CN109176119A (en) * | 2018-10-01 | 2019-01-11 | 深圳市奥德斯智能科技有限公司 | A kind of arm-and-hand system of spray head machining tool automatic loading/unloading |
| CN109176119B (en) * | 2018-10-01 | 2023-10-31 | 深圳市奥德斯智能科技有限公司 | A manipulator system for automatic loading and unloading of nozzle processing machine tools |
| CN110480669A (en) * | 2019-08-28 | 2019-11-22 | 北京工业大学 | Automobile shock absorber automatic production line 3D body feeding manipulator |
| CN110626797A (en) * | 2019-09-27 | 2019-12-31 | 苏州竹日精密机械有限公司 | A Fixed Angle Feeding Manipulator Mechanism |
| CN113000867A (en) * | 2021-03-15 | 2021-06-22 | 钟选菊 | Workpiece loading and unloading device of numerical control lathe and using method thereof |
| CN116100092A (en) * | 2023-04-13 | 2023-05-12 | 常州宇拓工业装备有限公司 | Automatic feeding and discharging equipment for gear milling machine |
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