CN105438827A - Lifting transferring manipulator for iron frame - Google Patents
Lifting transferring manipulator for iron frame Download PDFInfo
- Publication number
- CN105438827A CN105438827A CN201511005562.6A CN201511005562A CN105438827A CN 105438827 A CN105438827 A CN 105438827A CN 201511005562 A CN201511005562 A CN 201511005562A CN 105438827 A CN105438827 A CN 105438827A
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- lifting
- frame
- traversing
- sprocket
- drive sprocket
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
- Manipulator (AREA)
Abstract
A lifting transferring manipulator for an iron frame is characterized by comprising lifting mechanisms, a transverse moving mechanism and a rack, wherein the rack comprises a top frame which is composed of top cross beams, two middle cross beams which have the same height, and cross beam supporting columns which are vertically fixedly connected to four corners of the top frame; the transverse moving mechanism and the lifting mechanisms are both mounted on the rack; the rack can linearly reciprocate along a transverse moving track mechanism; the direction of the rack moving on the transverse moving track mechanism is treated as an x-axis direction; the top frame is a rectangular frame; the two middle cross beams are correspondingly connected to the adjacent cross beam supporting columns and are parallel to the x-axis direction; the adjacent cross beam supporting columns positioned on the side surface, vertical to an x axis, of the rack, are only connected through the top cross beams.
Description
Technical field
The present invention relates to technical field of mechanical equipment, particularly relate to a kind of manipulator for promoting chase and transporting.
Background technology
In existing large-scale industrial is produced, mostly achieve pipelining, after workpiece completes relevant processing, need to assemble it, and be transported to set put district.Unimate has been widely used in the occasions such as the carrying of conveyor line, the loading and unloading of process equipment and material transfer, but the application of manipulator has some limitations in prior art, for the transhipment of some heavy loads, large scale of construction material, standard machinery hand can not act on this well.
CN201520060139.5 discloses a kind of high precision truss-like gantry manipulator.It comprises frame, X-axis assembly, Y-axis assembly and Z axis assembly, can realize three axle high precision movement.But its complex structure and the rigidity of manipulator are strong, the material promoting some heavy loads, the large scale of construction cannot be transported.
The Chinese patent of CN201420369408.1 discloses a kind of gantry manipulator, should
utility modelthe end grabbing workpiece at conveyor line can be realized, traversingly put district to workpiece, and discharge material.But what it adopted cylinder to be lifting assembly provides power, be difficult to the height adjusting material, and cylinder stroke and load-carrying capacity are all limited.
The CN201510511348.1 of applicant's earlier application discloses a kind of feedway being applicable to large-scale coiled strip packaging chase, these packaging chase length, width and height are 2 ~ 3m, the chase adopted in this file captures and mode of movement is the Vierendeel girder being captured chase top by manipulator, and utilize guide post mechanism to adjust chase height, and utilize two guide rails as supporting the traversing parts of whole manipulator mechanism, but it is traversing not point out to adopt which kind of mode driving device hand in this device, we find in actual applications, adopt this kind of structure that needs are driven the slide mechanism on two guide rails respectively, while improve equipment cost, also easily because the asynchronous problem causing mechanism to block of slide mechanism on two guide rails.And in fact the bont of this application needs to adopt lead screw guide rails structure to promote, bearing capacity is poor, needs very high setting accuracy, and not shock-resistant with rock.
Conveying chase for large-scale coiled strip automatic packaging conveyor line is transported, in course of conveying rock and impact is inevitable, but existing manipulator and feedway all also exist bearing capacity difference, setting accuracy requires problem that is high, not shock-resistant and that rock, therefore provide a kind of bearing capacity large, be applicable to the conveying of large-scale coiled strip packaging chase, the chase that can be used in large-scale chase packaging production line promotes and transportation manipulator and chase feedway become problem demanding prompt solution in prior art.
Summary of the invention
For the weak point existed in above-mentioned technology, the invention provides that a kind of structure is simple, bearing capacity is large, be applicable to the conveying of large-scale coiled strip packaging chase, shock-resistant and rock, can be used in large-scale chase packaging production line
chase promotes transportation manipulator.
The invention provides one
chase promotes transportation manipulator, it is characterized in that described manipulator comprises, lift system, transverse-moving mechanism and frame.Described frame comprises the top-level boxes be made up of top layer crossbeam 111,2 contour intermediate transverse girders and the crossbeam pillar that be fixedly connected with vertical with the corner of top-level boxes, described transverse-moving mechanism and lift system are installed in frame, frame can along cross moving track mechanism linear reciprocating motion, with the sense of motion of frame in cross moving track mechanism for x-axis direction, described top-level boxes is rectangle frame, article 2, intermediate transverse girder connects adjacent crossbeam pillar and parallel with x-axis direction respectively, and the adjacent beams being positioned at the frame side vertical with x-axis is propped up intercolumniation and is only connected by top layer crossbeam
Described transverse-moving mechanism comprises traversing motor 121, traversing reductor 122 and sideslip gear and cross moving track mechanism, described cross moving track mechanism comprises 4 parallel traversing guide rails 126 and traversing tooth bar 123, traversing guide rail has slide block 125, frame can by slide block straight reciprocating motion on traversing guide rail, and slide block connects flap by L-type and is fixedly connected on top-level boxes
?outside the top layer crossbeam being parallel to x-axis and intermediate transverse girder, every root top layer crossbeam or intermediate transverse girder are at least fixedly connected with two slide blocks, the connection location of described slide block and top layer crossbeam and intermediate transverse girder is close to beam-end, and described traversing tooth bar is positioned at above the top-level boxes of frame
Traversing motor and traversing reductor are fixedly mounted on the top of frame, the power input shaft of traversing reductor 122 is connected with the power take-off shaft of traversing motor, sideslip gear is arranged on the power take-off shaft of traversing reductor, sideslip gear is engaged with traversing tooth bar, drives sideslip gear to rotate whole frame can be driven along cross moving track mechanism linear reciprocating motion by traversing motor.
In described lift system, comprise and promote side plate 138, fastening screw 134, positioning cylinder 133, lifting motor 131, lifting speed reducer 132, lifting drive sprocket 135, lifting chain drive-belt 136, elevating chain 137, low level sprocket wheel 139.
Described lifting motor, lifting speed reducer and lifting drive sprocket are installed on frame top, the power take-off shaft of described lifting motor is connected with the power input shaft of lifting speed reducer, described lifting drive sprocket comprises coaxial drive sprocket 1351 and high-order sprocket wheel 1352, be arranged on power output sprocket on the power take-off shaft of lifting speed reducer to be driven with the drive sprocket be elevated in drive sprocket by lifting chain drive-belt and be connected, described high-order sprocket wheel has four, outside four the crossbeam pillar tops laying respectively at frame, described low level sprocket wheel also has and has 4, to lay respectively at below high-order sprocket wheel and to be installed on the outside of crossbeam pillar close to bottom, described lifting side plate is 2 blocks of upright side plates, lay respectively at the inner side of the frame side with intermediate transverse girder, positioning cylinder has four, be arranged on the alien invasion that every block promotes side plate respectively, fastening screw drives flexible by the cylinder bar of positioning cylinder, and the end of fastening screw is positioned at the facade promoting side plate, the installation site of positioning cylinder and fastening screw, can make when chase is arranged in frame, four positioning cylinders can stretch in the location hanger at chase top when driving fastening screw to stretch out simultaneously, described lifting side plate is also provided with movable pulley close to the end of crossbeam pillar, near the same high-order sprocket wheel with cross beam and upright post, movable pulley, elevating chain matching connection is adopted between low level chain, high-order sprocket wheel and low level sprocket rotation can be driven when lifting motor operates and driven by movable pulley and promote side plate lifting.
Described
chase promotes transportation manipulator, it is characterized in that described lifting motor and each 2 of lifting speed reducer thereof, lifting drive sprocket also has 2, each lifting drive sprocket comprises 1 coaxial drive sprocket and 2 high-order sprocket wheels, drive sprocket is positioned in the middle of 2 high-order sprocket wheels, driven and coaxial two high-order sprocket wheels by drive sprocket with every platform lifting motor and lifting speed reducer thereof, every platform lifting motor is adopted by its lifting speed reducer and 1 drive sprocket and is elevated chain drive-belt and drives and be connected, two the low level sprocket wheels mated respectively with coaxial two high-order sprocket wheels are also coaxial and be fixed on crossbeam pillar bottom, the sprocket shaft of lifting drive sprocket is positioned at above the frame top top cross-bar parallel with x-axis, described top-level boxes also has for installing traversing motor, traversing deceleration, the deep beam 114 of lifting motor lifting speed reducer, described deep beam is connected across between 2 parallel top layer crossbeams.
Provided by the invention
chase promotes transportation manipulator, compared with prior art there is following beneficial effect
1) have employed the frame of framed structure, frame has intermediate transverse girder being parallel to x-axis direction, and be unlimited flame structure perpendicular to x-axis direction, structural strength is improved while simplifying the structure, adopt flame structure to be more convenient to chase turnover simultaneously, go for more high altitude chase or when transport phase co-altitude chase, the total setting height(from bottom) of manipulator can be reduced;
2) transverse-moving mechanism adopts four guide rails and a tooth bar as cross moving track mechanism, compared with prior art, to utilize in frame top layer crossbeam and outside intermediate transverse girder, be connected traversing guide rail, both added guide rail quantity thus improved integrated carrying ability, again cross slide way is divided into simultaneously and is two-layerly arranged in outside mechanism, the mechanism height of manipulator can be reduced, adapt to the chase of more high altitude;
3) hanger of lift system employing fastening screw and corner, chase top completes the crawl to chase, it is firm to capture, not easily rock, in conjunction with sprocket wheel lift system, can time chase be not more subject to external impact and the impact of rocking when transporting, thus when not needing release chase, the operation of material filling can be carried out, be conducive to the workflow simplifying whole packaging production line;
4) in the embodiment of the present invention, optimize quantity and the layout of lifting motor and lifting speed reducer further, be each lifting side plate and be equipped with one group of lifting motor and lifting speed reducer, avoid lifting side plate two ends and promote nonsynchronous problem, simultaneously owing to adopting the stronger sprocket wheel lifting mechanism of anti-shake kinetic force, lifting motor can be equipped with separately for different lifting side plates, namely rationally number of motors is decreased, turn avoid and promote the asynchronous problem brought, simultaneously also by lifting motor, lifting speed reducer, traversing motor, the erecting frame of traversing reductor is as the deep beam be connected across on top layer crossbeam, further raising frame load-carrying capacity.
Accompanying drawing explanation
fig. 1for the embodiment of the present invention provides
chase promote transportation manipulatorintegral structure signal
figure
fig. 2for the embodiment of the present invention provides
chase promote transportation manipulatormaster look signal
figure;
fig. 3for the embodiment of the present invention provides
chase promote transportation manipulatorthe master of (not comprising traversing guide rail) looks signal
figure;
fig. 4for the embodiment of the present invention provides
chase promote transportation manipulatoroverlook signal
figure;
fig. 5for the embodiment of the present invention provides
chase promote transportation manipulatora left side look signal
figure.
in figure:
11, frame, 111, top layer crossbeam, 112, intermediate transverse girder, 113, crossbeam pillar, 114, deep beam;
12, transverse-moving mechanism, 121, traversing motor, 122, traversing reductor, 123, traversing tooth bar, 125, slide block, 126, traversing guide rail,
13, lift system, 131, lifting motor, 132, lifting speed reducer, 133, positioning cylinder, 135, drive sprocket is elevated, 1351, drive sprocket, 1352, high-order sprocket wheel, 136, lifting chain drive-belt, 137, elevating chain, 138, promote side plate, 139, low level sprocket wheel.
Detailed description of the invention
In order to clearer statement basis
inventionfunction, below in conjunction with
accompanying drawingto this
inventionbe further described.
The manipulator provided in this detailed description of the invention is cuboid chase for the chase transported, and its corner, top is all provided with the hanger for capturing.
The invention provides one
chase promotes transportation manipulator, it is characterized in that described manipulator comprises, lift system, transverse-moving mechanism and frame.Described frame comprises the top-level boxes be made up of top layer crossbeam 111,2 contour intermediate transverse girders and the crossbeam pillar that be fixedly connected with vertical with the corner of top-level boxes, described transverse-moving mechanism and lift system are installed in frame, frame can along cross moving track mechanism linear reciprocating motion, with the sense of motion of frame in cross moving track mechanism for x-axis direction, described top-level boxes is rectangle frame, article 2, intermediate transverse girder connects adjacent crossbeam pillar and parallel with x-axis direction respectively, and the adjacent beams being positioned at the frame side vertical with x-axis is propped up intercolumniation and is only connected by top layer crossbeam
Described transverse-moving mechanism comprises traversing motor 121, traversing reductor 122 and sideslip gear and cross moving track mechanism, described cross moving track mechanism comprises 4 parallel traversing guide rails 126 and traversing tooth bar 123, traversing guide rail has slide block 125, frame can by slide block straight reciprocating motion on traversing guide rail, and slide block connects flap by L-type and is fixedly connected on top-level boxes
?outside the top layer crossbeam being parallel to x-axis and intermediate transverse girder, every root top layer crossbeam or intermediate transverse girder are at least fixedly connected with two slide blocks, the connection location of described slide block and top layer crossbeam and intermediate transverse girder is close to beam-end, and described traversing tooth bar is positioned at above the top-level boxes of frame
Traversing motor and traversing reductor are fixedly mounted on the top of frame, the power input shaft of traversing reductor 122 is connected with the power take-off shaft of traversing motor, sideslip gear is arranged on the power take-off shaft of traversing reductor, sideslip gear is engaged with traversing tooth bar, drives sideslip gear to rotate whole frame can be driven along cross moving track mechanism linear reciprocating motion by traversing motor.
In described lift system, comprise and promote side plate 138, fastening screw, positioning cylinder 133, lifting motor 131, lifting speed reducer 132, lifting drive sprocket 135, lifting chain drive-belt 136, elevating chain 137, low level sprocket wheel 139.
Described lifting motor, lifting speed reducer and lifting drive sprocket are installed on frame top, the power take-off shaft of described lifting motor is connected with the power input shaft of lifting speed reducer, described lifting drive sprocket comprises coaxial drive sprocket 1351 and high-order sprocket wheel 1352, be arranged on power output sprocket on the power take-off shaft of lifting speed reducer to be driven with the drive sprocket be elevated in drive sprocket by lifting chain drive-belt and be connected, described high-order sprocket wheel has four, outside four the crossbeam pillar tops laying respectively at frame, described low level sprocket wheel also has and has 4, to lay respectively at below high-order sprocket wheel and to be installed on the outside of crossbeam pillar close to bottom, described lifting side plate is 2 blocks of upright side plates, lay respectively at the inner side of the frame side with intermediate transverse girder, positioning cylinder has four, be arranged on the alien invasion that every block promotes side plate respectively, fastening screw drives flexible by the cylinder bar of positioning cylinder, and the end of fastening screw is positioned at the facade promoting side plate, the installation site of positioning cylinder and fastening screw, can make when chase is arranged in frame, four positioning cylinders can stretch in the location hanger at chase top when driving fastening screw to stretch out simultaneously, described lifting side plate is also provided with movable pulley close to the end of crossbeam pillar, near the same high-order sprocket wheel with cross beam and upright post, movable pulley, elevating chain matching connection is adopted between low level chain, high-order sprocket wheel and low level sprocket rotation can be driven when lifting motor operates and driven by movable pulley and promote side plate lifting.
Embodiment
Lifting motor described in the present embodiment and each 2 of lifting speed reducer thereof, lifting drive sprocket also has 2, each lifting drive sprocket comprises 1 coaxial drive sprocket and 2 high-order sprocket wheels, drive sprocket is positioned in the middle of 2 high-order sprocket wheels, driven and coaxial two high-order sprocket wheels by drive sprocket with every platform lifting motor and lifting speed reducer thereof, every platform lifting motor is adopted by its lifting speed reducer and 1 drive sprocket and is elevated chain drive-belt and drives and be connected, two the low level sprocket wheels mated respectively with coaxial two high-order sprocket wheels are also coaxial and be fixed on crossbeam pillar bottom, the sprocket shaft of lifting drive sprocket is positioned at above the frame top top cross-bar parallel with x-axis, described top-level boxes also has for installing traversing motor, traversing deceleration, the deep beam 114 of lifting motor lifting speed reducer, described deep beam is connected across between 2 parallel top layer crossbeams.
Described in embodiment
chase promotes transportation manipulatorintegral structure signal
figure is as Fig. 1shown in, master looks signal
figure is as Fig. 2shown in, the master not comprising traversing guide rail looks signal
figure is as Fig. 3shown in, overlook signal
figure is as Fig. 4shown in, signal is looked on a left side
figure is as Fig. 5shown in.
Provided by the invention
chase promotes transportation manipulatorprinciple of work as follows:
1) lifting chase is captured
Starting traversing motor makes frame traversing to the initial placement top of chase along traversing guide rail, starting lifting motor makes fastening screw aim at the lifting hanger being positioned at corner, chase top, start positioning cylinder, fastening screw is made to insert the lifting hanger of chase, start lifting motor, chase is risen to predetermined altitude, completes crawl and the lifting of chase
2) chase is traversing
Traversing electric motor starting, makes frame drive chase traversing to assigned address, then needs startup lifting motor to carry out height adjustment according to technique, can carry out material filling operation to be packaged by after chase height adjustment to suitable height;
3) chase resets and discharges
After completing in chase the operation of loading material to be packaged, start lifting motor, restarting traversing motor after chase being promoted to predetermined altitude makes frame drive chase traversing to the initial placement top of chase, restart lifting motor and chase is reduced to predetermined altitude, finally start positioning cylinder fastening screw is extracted from the hanger of chase, complete the reset release of chase.
Claims (2)
1. a chase promotes transportation manipulator, it is characterized in that described manipulator comprises, lift system, transverse-moving mechanism and frame, described frame comprises the top-level boxes be made up of top layer crossbeam, article 2, contour intermediate transverse girder and the crossbeam pillar that be fixedly connected with vertical with the corner of top-level boxes, described transverse-moving mechanism and lift system are installed in frame, frame can along cross moving track mechanism linear reciprocating motion, with the sense of motion of frame in cross moving track mechanism for x-axis direction, described top-level boxes is rectangle frame, article 2, intermediate transverse girder connects adjacent crossbeam pillar and parallel with x-axis direction respectively, the adjacent beams being positioned at the frame side vertical with x-axis is propped up intercolumniation and is only connected by top layer crossbeam,
Described transverse-moving mechanism comprises traversing motor, traversing reductor and sideslip gear and cross moving track mechanism, described cross moving track mechanism comprises 4 parallel traversing guide rails and traversing tooth bar, traversing guide rail has slide block, frame can by slide block straight reciprocating motion on traversing guide rail, slide block by L-type connect flap be fixedly connected on top-level boxes the top layer crossbeam being parallel to x-axis and intermediate transverse girder outside, every root top layer crossbeam or intermediate transverse girder are at least fixedly connected with two slide blocks, the connection location of described slide block and top layer crossbeam and intermediate transverse girder is close to beam-end, described traversing tooth bar is positioned at above the top-level boxes of frame, traversing motor and traversing reductor are fixedly mounted on the top of frame, the power input shaft of traversing reductor is connected with the power take-off shaft of traversing motor, sideslip gear is arranged on the power take-off shaft of traversing reductor, sideslip gear is engaged with traversing tooth bar, driving sideslip gear to rotate by traversing motor can drive whole frame along cross moving track mechanism linear reciprocating motion,
In described lift system, comprise and promote side plate, fastening screw, positioning cylinder, lifting motor, lifting speed reducer, lifting drive sprocket, lifting chain drive-belt, elevating chain, low level sprocket wheel, described lifting motor, lifting speed reducer and lifting drive sprocket are installed on frame top, the power take-off shaft of described lifting motor is connected with the power input shaft of lifting speed reducer, described lifting drive sprocket comprises coaxial drive sprocket and high-order sprocket wheel, be arranged on power output sprocket on the power take-off shaft of lifting speed reducer to be driven with the drive sprocket be elevated in drive sprocket by lifting chain drive-belt and be connected, described high-order sprocket wheel has four, outside four the crossbeam pillar tops laying respectively at frame, described low level sprocket wheel also has and has 4, to lay respectively at below high-order sprocket wheel and to be installed on the outside of crossbeam pillar close to bottom, described lifting side plate is 2 blocks of upright side plates, lay respectively at the inner side of the frame side with intermediate transverse girder, positioning cylinder has four, be arranged on the alien invasion that every block promotes side plate respectively, fastening screw drives flexible by the cylinder bar of positioning cylinder, and the end of fastening screw is positioned at the facade promoting side plate, the installation site of positioning cylinder and fastening screw, can make when chase is arranged in frame, four positioning cylinders can stretch in the location hanger at chase top when driving fastening screw to stretch out simultaneously, described lifting side plate is also provided with movable pulley close to the end of crossbeam pillar, near the same high-order sprocket wheel with cross beam and upright post, movable pulley, elevating chain matching connection is adopted between low level chain, high-order sprocket wheel and low level sprocket rotation can be driven when lifting motor operates and driven by movable pulley and promote side plate lifting.
2. chase promotes transportation manipulator as claimed in claim 1, it is characterized in that described lifting motor and each 2 of lifting speed reducer thereof, lifting drive sprocket also has 2, each lifting drive sprocket comprises 1 coaxial drive sprocket and 2 high-order sprocket wheels, drive sprocket is positioned in the middle of 2 high-order sprocket wheels, driven and coaxial two high-order sprocket wheels by drive sprocket with every platform lifting motor and lifting speed reducer thereof, every platform lifting motor is adopted by its lifting speed reducer and 1 drive sprocket and is elevated chain drive-belt and drives and be connected, two the low level sprocket wheels mated respectively with coaxial two high-order sprocket wheels are also coaxial and be fixed on crossbeam pillar bottom, the sprocket shaft of lifting drive sprocket is positioned at above the frame top top cross-bar parallel with x-axis, described top-level boxes also has for installing traversing motor, traversing deceleration, the deep beam of lifting motor lifting speed reducer, described deep beam is connected across between 2 parallel top layer crossbeams.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511005562.6A CN105438827B (en) | 2015-12-27 | 2015-12-27 | Chase lifts transportation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511005562.6A CN105438827B (en) | 2015-12-27 | 2015-12-27 | Chase lifts transportation manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105438827A true CN105438827A (en) | 2016-03-30 |
| CN105438827B CN105438827B (en) | 2017-10-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511005562.6A Expired - Fee Related CN105438827B (en) | 2015-12-27 | 2015-12-27 | Chase lifts transportation manipulator |
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| Country | Link |
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| CN (1) | CN105438827B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903540A (en) * | 2017-04-20 | 2017-06-30 | 南通国盛智能科技集团股份有限公司 | The intermediate equilibria drive device that a kind of crown-block type gantry machining center is laterally driven |
| CN109305556A (en) * | 2018-11-19 | 2019-02-05 | 镇江华驰电器有限公司 | A kind of switch cabinet panel transport device |
| CN109987370A (en) * | 2019-05-15 | 2019-07-09 | 徐州工程学院 | A kind of automatic access cargo mechanical device |
| CN110171185A (en) * | 2019-07-12 | 2019-08-27 | 福建扬诚机械有限公司 | A kind of ornamental stone heat-insulating integral board assembly line |
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| CN102699225A (en) * | 2012-06-19 | 2012-10-03 | 河北工业大学 | Loading and unloading manipulator for machining aluminum frame assembly |
| CN102922505A (en) * | 2012-10-27 | 2013-02-13 | 河北工业大学 | Mechanical arm for capturing and moving products |
| CN205204238U (en) * | 2015-12-27 | 2016-05-04 | 河北工业大学 | Chase promotes transports manipulator |
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| DE3525988A1 (en) * | 1985-07-20 | 1987-01-29 | Seitz Enzinger Noll Masch | Palettising machine for nested articles, especially in a stack |
| JP2004237412A (en) * | 2003-02-07 | 2004-08-26 | Nke Corp | Picking and placing device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903540A (en) * | 2017-04-20 | 2017-06-30 | 南通国盛智能科技集团股份有限公司 | The intermediate equilibria drive device that a kind of crown-block type gantry machining center is laterally driven |
| CN109305556A (en) * | 2018-11-19 | 2019-02-05 | 镇江华驰电器有限公司 | A kind of switch cabinet panel transport device |
| CN109305556B (en) * | 2018-11-19 | 2024-03-29 | 镇江华驰电器有限公司 | Switch cabinet panel conveying device |
| CN109987370A (en) * | 2019-05-15 | 2019-07-09 | 徐州工程学院 | A kind of automatic access cargo mechanical device |
| CN109987370B (en) * | 2019-05-15 | 2023-08-29 | 徐州工程学院 | Automatic goods storing and taking mechanical device |
| CN110171185A (en) * | 2019-07-12 | 2019-08-27 | 福建扬诚机械有限公司 | A kind of ornamental stone heat-insulating integral board assembly line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105438827B (en) | 2017-10-20 |
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