CN105438827B - Chase lifts transportation manipulator - Google Patents
Chase lifts transportation manipulator Download PDFInfo
- Publication number
- CN105438827B CN105438827B CN201511005562.6A CN201511005562A CN105438827B CN 105438827 B CN105438827 B CN 105438827B CN 201511005562 A CN201511005562 A CN 201511005562A CN 105438827 B CN105438827 B CN 105438827B
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- Prior art keywords
- lifting
- traversing
- frame
- sprocket
- crossbeam
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- Expired - Fee Related
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Classifications
-
- 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)
- Manipulator (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
Chase lifts transportation manipulator, it is characterized in that the manipulator includes, hoisting mechanism, transverse-moving mechanism and frame, the frame includes the top-level boxes being made up of top layer crossbeam, 2 contour intermediate transverse girders and the crossbeam pillar being fixedly connected vertical with the corner of top-level boxes, the transverse-moving mechanism and hoisting mechanism are installed in frame, frame can be along cross moving track mechanism linear reciprocating motion, using the direction of motion of the frame in cross moving track mechanism as x-axis direction, the top-level boxes are rectangle frame, 2 intermediate transverse girders connect adjacent crossbeam pillar and parallel with x-axis direction respectively, adjacent beams branch intercolumniation positioned at the frame side vertical with x-axis is only connected by top layer crossbeam.
Description
Technical field
The present invention relates to machinery equipment field, more particularly to a kind of manipulator for being lifted and being transported to chase.
Background technology
In existing scale industrial production, pipelining is realized mostly, after workpiece completes related processing, it is necessary to
It is assembled, and be transported to set put area.Unimate is widely used to the carrying of streamline, work
The occasion such as the loading and unloading of skill equipment and material transfer, but the application of manipulator has some limitations in the prior art,
For some heavy loads, the transhipment of big 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 includes frame, X-axis component, Y
Shaft assembly and Z axis component, it is possible to achieve three axle high precision movements.But its complicated and manipulator rigidity is not strong, it is impossible to turn
Fortune lifts some heavy loads, the material of the big scale of construction.
CN201420369408.1 Chinese patent discloses a kind of gantry manipulator, and the utility model can be realized in stream
The end grabbing workpiece of waterline, is laterally moved to workpiece and puts area, and discharge material.But it uses cylinder to be moved for the offer of lifting assembly
Power, it is difficult to adjust the height of material, and cylinder stroke and bearing capacity are limited.
The CN201510511348.1 of applicant's earlier application discloses a kind of suitable for the defeated of large-scale coiled strip packaging chase
Device is sent, the packaging chase length, width and height are the chase crawl and mode of movement used in 2~3m, this document for by manipulator
The Vierendeel girder at the top of chase is captured, and using guide post mechanism adjustment chase height, and it is used as the whole machine of support by the use of two guide rails
The traversing part of tool mobile phone structure, but do not point out which kind of mode to drive manipulator traversing using in the device, in actual applications
It was found that making needs be driven respectively to the sliding equipment on two guide rails using this kind of structure, equipment cost is improved
While, it is also easy to cause the problem of mechanism is blocked because of the sliding equipment on two guide rails is asynchronous.And the lifting of this application
Device actually needs to be lifted using lead screw guide rails structure, bearing capacity difference, it is necessary to very high installation accuracy, and not impact resistance and
Rock.
For for the transhipment of the conveying chase of large-scale coiled strip automatic packaging streamline, rocking in course of conveying
It is inevitable with impact, but existing manipulator and conveying device are existed that bearing capacity is poor, installation accuracy requires high, no
Impact resistance and the problem of rock, therefore it is big to provide a kind of bearing capacity, it is adaptable to large-scale coiled strip packs the conveying of chase, can be used in
The chase lifting of large-scale chase packaging production line and transportation manipulator and chase conveying device turn into urgently to be resolved hurrily in the prior art
The problem of.
The content of the invention
For weak point present in above-mentioned technology, it is big that the present invention provides a kind of simple in construction, bearing capacity, it is adaptable to big
Type coiled strip packs the conveying of chase, impact resistance and rocks, and can be used in large-scale chase packaging production line chase lifting transhipment mechanical
Hand.
The present invention provides a kind of chase lifting transportation manipulator, it is characterized in that the manipulator includes, hoisting mechanism, traversing
Mechanism and frame.The frame includes top-level boxes, 2 contour intermediate transverse girders and and the top-level boxes being made up of top layer crossbeam 111
The crossbeam pillar that is vertically fixedly connected of corner, the transverse-moving mechanism and hoisting mechanism be installed in frame, and frame can edge
Cross moving track mechanism linear reciprocating motion, using the direction of motion of the frame in cross moving track mechanism as x-axis direction, the top-level boxes
For rectangle frame, 2 intermediate transverse girders connect adjacent crossbeam pillar and parallel with x-axis direction respectively, positioned at the frame vertical with x-axis
The adjacent beams branch intercolumniation of side is only connected by top layer crossbeam
The transverse-moving mechanism includes traversing motor 121, traversing reductor 122 and traversing gear and cross moving track mechanism, institute
Stating cross moving track mechanism includes having sliding block 125, machine on parallel 4 traversing guide rails 126 and traversing rack 123, traversing guide rail
Frame can connect folded plate by L-type and be fixedly connected on top-level boxes by sliding block straight reciprocating motion on traversing guide rail, sliding block
Parallel to x-axis top layer crossbeam and intermediate transverse girder on the outside of, every top layer crossbeam or intermediate transverse girder are at least fixedly connected with two cunnings
The link position of block, the sliding block and top layer crossbeam and intermediate transverse girder is close to beam-end, and the traversing rack is located at frame
Above top-level boxes,
Traversing motor and traversing reductor are fixedly mounted on the top of frame, the power input shaft of traversing reductor 122 with
The power output shaft connection of traversing motor, traversing gear is arranged on the power output shaft of traversing reductor, traversing gear and horizontal stroke
Rack occlusion is moved, drives traversing pinion rotation to drive whole frame along cross moving track mechanism reciprocating linear by traversing motor
Motion.
In the hoisting mechanism, including lifting side plate 138, fastening screw 134, positioning cylinder 133, lifting motor 131, carry
Rise reductor 132, lifting drive sprocket 135, lifting drive chain 136, elevating chain 137, low level sprocket wheel 139.
The lifting motor, lifting speed reducer are installed on frame top with lifting drive sprocket, the lifting motor it is dynamic
Power output shaft is connected with the power input shaft of lifting speed reducer, and the lifting drive sprocket includes coaxial drive sprocket 1351
With high-order sprocket wheel 1352, power output sprocket on the power output shaft of lifting speed reducer by lift drive chain with
The drive sprocket drive connection in drive sprocket is lifted, the high-order sprocket wheel there are four, respectively positioned at four crossbeam branch of frame
On the outside of top end；The low level sprocket wheel also has with 4, below the high-order sprocket wheel and is installed on crossbeam pillar the bottom of close to respectively
The outside at end, described lifting side plate is 2 blocks of upright side plates, respectively positioned at the inner side of the frame side with intermediate transverse girder, fixed
Position cylinder has four, is separately mounted to the alien invasion of every block of lifting side plate, and fastening screw is driven by the cylinder rod of positioning cylinder to be stretched,
And the end of fastening screw is located at the installation site of the interior facade of lifting side plate, positioning cylinder and fastening screw, can make to work as iron
When frame is located in frame, the positioning hanger that four positioning cylinder driving fastening screws can be stretched at the top of chase simultaneously when stretching out
In, the end of lifting side plate close to the crossbeam pillar is also equipped with movable pulley, close to same high-order sprocket wheel with cross beam and upright post,
Elevating chain matching connection is used between movable pulley, low level chain, high-order sprocket wheel can be driven when lifting motor is operated and low
Position sprocket wheel rotates and drives lifting side plate to lift by movable pulley.
The chase lifts transportation manipulator, it is characterized in that the lifting motor and its each 2 of lifting speed reducer, lifting are driven
Movable sprocket also has 2, and each lifting drive sprocket includes coaxial 1 drive sprocket and 2 high-order sprocket wheels, and drive sprocket is located at
In the middle of 2 high-order sprocket wheels, driven and two coaxial high positions by drive sprocket with every lifting motor and its lifting speed reducer
Sprocket wheel, every lifting motor by its lifting speed reducer and 1 drive sprocket using lifting drive chain drive connection, it is and coaxial
Two low level sprocket wheels matching respectively of two high-order sprocket wheels it is also coaxial and be fixed on crossbeam pillar bottom, lifting drive sprocket
Sprocket shaft is located above the frame top top cross-bar parallel with x-axis, and the top-level boxes, which also have, to be used to install traversing motor, horizontal stroke
Move slow down, the web beam 114 of lifting motor lifting speed reducer, the web beam be connected across 2 parallel top layer crossbeams it
Between.
The chase lifting transportation manipulator that the present invention is provided, has the advantages that compared with prior art
1) frame of frame structure is employed, frame has intermediate transverse girder parallel to x-axis direction, and perpendicular to x-axis
Direction is unlimited flame structure, structural strength is improved while simplifying structure, while using flame structure more
It is easy to chase to pass in and out, goes for the chase of height or in the case where transporting identical height chase, machine can be reduced
The total setting height(from bottom) of tool hand；
2) transverse-moving mechanism compared with prior art, is utilized using four guide rails and a rack as cross moving track mechanism
Top layer crossbeam has both added guide rail quantity to improve integrated carrying energy with being connected traversing guide rail on the outside of intermediate transverse girder in frame
Power, is arranged on the outside of mechanism while cross slide way is divided into two layers again, can reduce the mechanism height of manipulator, adapt to higher
The chase of degree；
3) crawl of the hoisting mechanism using the hanger completion of corner at the top of fastening screw and chase to chase, it is firm to capture,
Be difficult to rock, with reference to sprocket wheel hoisting mechanism, can with when chase transhipment when be more difficult to be influenceed with rocking by external impact, from
And the operation of material filling in the case where chase need not be discharged, can be carried out, be conducive to simplifying whole packaging production line
Workflow；
4) in the embodiment of the present invention, the quantity and layout of lifting motor and lifting speed reducer are further optimized, is every
Individual lifting side plate is equipped with one group of lifting motor and lifting speed reducer, it is to avoid lifting side plate two ends lift nonsynchronous problem, together
When due to using anti-shake kinetic force stronger sprocket wheel lifting mechanism, can each be equipped with lifting motor for different lifting side plates, i.e.,
Rationally reduce number of motors, it is asynchronous the problem of bring to turn avoid lifting, at the same also by lifting motor, lifting speed reducer,
Traversing motor, the mounting bracket of traversing reductor improve frame load as the web beam being connected across on top layer crossbeam, further
Ability.
Brief description of the drawings
Fig. 1 lifts the overall structure diagram of transportation manipulator for chase provided in an embodiment of the present invention
Fig. 2 lifts the schematic front view of transportation manipulator for chase provided in an embodiment of the present invention；
Fig. 3 illustrates for the main view of chase lifting transportation manipulator (not including traversing guide rail) provided in an embodiment of the present invention
Figure；
Fig. 4 lifts the schematic top plan view of transportation manipulator for chase provided in an embodiment of the present invention；
Fig. 5 lifts the left view schematic diagram of transportation manipulator for chase provided in an embodiment of the present invention.
In figure：
11st, frame, 111, top layer crossbeam, 112, intermediate transverse girder, 113, crossbeam pillar, 114, web beam；
12nd, transverse-moving mechanism, 121, traversing motor, 122, traversing reductor, 123, traversing rack, 125, sliding block, 126, horizontal
Move guide rail,
13rd, hoisting mechanism, 131, lifting motor, 132, lifting speed reducer, 133, positioning cylinder, 135, lifting drive chain
Wheel, 1351, drive sprocket, 1352, high-order sprocket wheel, 136, lifting drive chain, 137, elevating chain, 138, lifting side plate,
139th, low level sprocket wheel.
Embodiment
For the function of the clearer statement present invention, the invention will be further described below in conjunction with the accompanying drawings.
The chase that the manipulator provided in present embodiment is used to transport is cuboid chase, and its top corner is pacified
Equipped with the hanger for crawl.
The present invention provides a kind of chase lifting transportation manipulator, it is characterized in that the manipulator includes, hoisting mechanism,
Transverse-moving mechanism and frame.The frame include be made up of top layer crossbeam 111 top-level boxes, 2 contour intermediate transverse girders and with top
The crossbeam pillar that the corner of layer frame is vertically fixedly connected, the transverse-moving mechanism and hoisting mechanism are installed in frame, and frame can
With along cross moving track mechanism linear reciprocating motion, using the direction of motion of the frame in cross moving track mechanism as x-axis direction, the top
Layer frame is rectangle frame, and 2 intermediate transverse girders connect adjacent crossbeam pillar and parallel with x-axis direction respectively, positioned at vertical with x-axis
The adjacent beams branch intercolumniation of frame side is only connected by top layer crossbeam
The transverse-moving mechanism includes traversing motor 121, traversing reductor 122 and traversing gear and cross moving track mechanism, institute
Stating cross moving track mechanism includes having sliding block 125, machine on parallel 4 traversing guide rails 126 and traversing rack 123, traversing guide rail
Frame can connect folded plate by L-type and be fixedly connected on top-level boxes by sliding block straight reciprocating motion on traversing guide rail, sliding block
Parallel to x-axis top layer crossbeam and intermediate transverse girder on the outside of, every top layer crossbeam or intermediate transverse girder are at least fixedly connected with two cunnings
The link position of block, the sliding block and top layer crossbeam and intermediate transverse girder is close to beam-end, and the traversing rack is located at frame
Above top-level boxes,
Traversing motor and traversing reductor are fixedly mounted on the top of frame, the power input shaft of traversing reductor 122 with
The power output shaft connection of traversing motor, traversing gear is arranged on the power output shaft of traversing reductor, traversing gear and horizontal stroke
Rack occlusion is moved, drives traversing pinion rotation to drive whole frame along cross moving track mechanism reciprocating linear by traversing motor
Motion.
In the hoisting mechanism, including lifting side plate 138, fastening screw, positioning cylinder 133, lifting motor 131, lifting
Reductor 132, lifting drive sprocket 135, lifting drive chain 136, elevating chain 137, low level sprocket wheel 139.
The lifting motor, lifting speed reducer are installed on frame top with lifting drive sprocket, the lifting motor it is dynamic
Power output shaft is connected with the power input shaft of lifting speed reducer, and the lifting drive sprocket includes coaxial drive sprocket 1351
With high-order sprocket wheel 1352, power output sprocket on the power output shaft of lifting speed reducer by lift drive chain with
The drive sprocket drive connection in drive sprocket is lifted, the high-order sprocket wheel there are four, respectively positioned at four crossbeam branch of frame
On the outside of top end；The low level sprocket wheel also has with 4, below the high-order sprocket wheel and is installed on crossbeam pillar the bottom of close to respectively
The outside at end, described lifting side plate is 2 blocks of upright side plates, respectively positioned at the inner side of the frame side with intermediate transverse girder, fixed
Position cylinder has four, is separately mounted to the alien invasion of every block of lifting side plate, and fastening screw is driven by the cylinder rod of positioning cylinder to be stretched,
And the end of fastening screw is located at the installation site of the interior facade of lifting side plate, positioning cylinder and fastening screw, can make to work as iron
When frame is located in frame, the positioning hanger that four positioning cylinder driving fastening screws can be stretched at the top of chase simultaneously when stretching out
In, the end of lifting side plate close to the crossbeam pillar is also equipped with movable pulley, close to same high-order sprocket wheel with cross beam and upright post,
Elevating chain matching connection is used between movable pulley, low level chain, high-order sprocket wheel can be driven when lifting motor is operated and low
Position sprocket wheel rotates and drives lifting side plate to lift by movable pulley.
Embodiment
Lifting motor described in the present embodiment and its each 2 of lifting speed reducer, lifting drive sprocket also have 2, Mei Gesheng
Dropping drive sprocket includes coaxial 1 drive sprocket and 2 high-order sprocket wheels, and drive sprocket is located in the middle of 2 high-order sprocket wheels, and every
Platform lifting motor and its lifting speed reducer are driven by drive sprocket to be passed through with coaxial two high-order sprocket wheels, every lifting motor
Its lifting speed reducer and 1 drive sprocket are using lifting drive chain drive connection, with coaxial two high-order sprocket wheels difference
The two low level sprocket wheels matched somebody with somebody are also coaxial and are fixed on crossbeam pillar bottom, the sprocket shaft of lifting drive sprocket be located at frame top with
Above the parallel top cross-bar of x-axis, the top-level boxes, which also have, to be used to install traversing motor, traversing deceleration, lifting motor lifting
The web beam 114 of reductor, the web beam is connected across between 2 parallel top layer crossbeams.
The overall structure diagram of chase lifting transportation manipulator is as shown in figure 1, schematic front view such as Fig. 2 described in embodiment
Shown, the schematic front view not including traversing guide rail is as shown in figure 3, schematic top plan view is as shown in figure 4, left view schematic diagram such as Fig. 5
It is shown.
The operation principle for the chase lifting transportation manipulator that the present invention is provided is as follows：
1) crawl lifting chase
Starting traversing motor makes frame be laterally moved to chase starting placement top along traversing guide rail, and starting lifting motor makes positioning
Latch alignment is located at the lifting hanger of corner at the top of chase, starts positioning cylinder, fastening screw is inserted the lifting hanger of chase,
Start lifting motor, predetermined altitude is arrived into chase lifting, the crawl and lifting of chase is completed
2) chase is traversing
Traversing electric motor starting, makes frame drive chase traversing to specified location, needs to start lifting motor further according to technique
Height adjustment is carried out, chase, which is highly adjusted, can carry out material filling process to be packaged to appropriate height；
3) chase resets release
After the process of material to be packaged is loaded in completing to chase, start lifting motor, chase is promoted to predetermined height
Restarting traversing motor after degree makes frame drive chase traversing to chase starting placement top, restarts lifting motor and drops chase
As little as predetermined altitude, finally starts positioning cylinder and extracts fastening screw from the hanger of chase, completes the reset release of chase.
Claims (2)
1. a kind of chase lifts transportation manipulator, it is characterized in that the manipulator includes hoisting mechanism, transverse-moving mechanism and frame, institute
State top-level boxes, 2 contour intermediate transverse girders and fixed company vertical with the corner of top-level boxes that frame includes being made up of top layer crossbeam
The crossbeam pillar connect, the transverse-moving mechanism and hoisting mechanism are installed in frame, and frame can be reciprocal along cross moving track mechanism
Linear motion, using the direction of motion of the frame in cross moving track mechanism as x-axis direction, the top-level boxes are rectangle frame, 2 centres
Crossbeam connects adjacent crossbeam pillar and parallel with x-axis direction respectively, the adjacent beams branch positioned at the frame side vertical with x-axis
Intercolumniation is only connected by top layer crossbeam；
The transverse-moving mechanism includes traversing motor, traversing reductor and traversing gear and cross moving track mechanism, the cross moving track
Mechanism includes having sliding block on parallel 4 traversing guide rails and traversing rack, traversing guide rail, and frame can be by sliding block traversing
Straight reciprocating motion on guide rail, sliding block by L-type connect folded plate be fixedly connected on top-level boxes top layer crossbeam parallel to x-axis and
On the outside of intermediate transverse girder, every top layer crossbeam or intermediate transverse girder are at least fixedly connected with two sliding blocks, the sliding block and top layer crossbeam
Link position is close to top layer beam-end, and the link position of the sliding block and intermediate transverse girder is close to intermediate transverse girder end, the horizontal stroke
The top-level boxes top that rack is located at frame is moved, traversing motor and traversing reductor are fixedly mounted on the top of frame, traversing deceleration
The power input shaft of machine is connected with the power output shaft of traversing motor, and traversing gear is arranged on the power output shaft of traversing reductor
On, traversing gear is engaged with traversing rack, drives traversing pinion rotation to drive whole frame along traversing by traversing motor
Rail mechanism linear reciprocating motion；
In the hoisting mechanism, including lifting side plate, fastening screw, positioning cylinder, lifting motor, lifting speed reducer, lifting drive
Movable sprocket, lifting drive chain, elevating chain, low level sprocket wheel；The lifting motor, lifting speed reducer and lifting drive sprocket peace
Loaded on frame top, the power output shaft of the lifting motor is connected with the power input shaft of lifting speed reducer, the lifting
Drive sprocket includes coaxial drive sprocket and high-order sprocket wheel, the power output on the power output shaft of lifting speed reducer
Sprocket wheel has four by lifting drive chain and the drive sprocket drive connection in lifting drive sprocket, the high-order sprocket wheel, point
Not Wei Yu frame four crossbeam pillar tops on the outside of；The low level sprocket wheel also has with 4, respectively below high-order sprocket wheel
And crossbeam pillar is installed on close to the outside of bottom, described lifting side plate is 2 blocks of upright side plates, respectively positioned at middle horizontal
The inner side of the frame side of beam, positioning cylinder has four, is separately mounted to the alien invasion of every block of lifting side plate, fastening screw is by fixed
The cylinder rod driving of position cylinder is flexible, and the end of fastening screw is located at the interior facade for lifting side plate, positioning cylinder and fastening screw
Installation site, can make when chase is located in frame, four positioning cylinders driving fastening screws can be stretched simultaneously when stretching out
Enter in the positioning hanger at the top of chase, the end of lifting side plate close to the crossbeam pillar is also equipped with movable pulley, close to same
Elevating chain matching connection is used between the high-order sprocket wheel of root cross beam and upright post, movable pulley, low level chain, when lifting motor is operated
High-order sprocket wheel and low level sprocket wheel can be driven to rotate and drive lifting side plate to lift by movable pulley.
2. chase as claimed in claim 1 lifts transportation manipulator, it is characterized in that the lifting motor and its lifting speed reducer each 2
Platform, lifting drive sprocket also has 2, and each lifting drive sprocket includes coaxial 1 drive sprocket and 2 high-order sprocket wheels, main
Movable sprocket is located in the middle of 2 high-order sprocket wheels, with every lifting motor and its lifting speed reducer by drive sprocket drive with it is coaxial
Two high-order sprocket wheels, every lifting motor passes through its lifting speed reducer with 1 drive sprocket using lifting drive chain driving
Connection, the two low level sprocket wheels matched respectively with coaxial two high-order sprocket wheels are also coaxial and are fixed on crossbeam pillar bottom, rise
The sprocket shaft for dropping drive sprocket is located above the frame top top cross-bar parallel with x-axis, and the top-level boxes, which also have, to be used to pacify
Traversing motor, traversing deceleration, the web beam of lifting motor lifting speed reducer are filled, the web beam is connected across parallel 2
Between top layer crossbeam.
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 CN105438827A (en) | 2016-03-30 |
| CN105438827B true 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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| CN (1) | CN105438827B (en) |
Families Citing this family (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 |
| CN109305556B (en) * | 2018-11-19 | 2024-03-29 | 镇江华驰电器有限公司 | Switch cabinet panel conveying 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 |
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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 |
| CN201058766Y (en) * | 2007-07-06 | 2008-05-14 | 吴伟清 | Material feeding apparatus |
| CN102699221A (en) * | 2012-06-19 | 2012-10-03 | 河北工业大学 | Loading and unloading manipulator |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004237412A (en) * | 2003-02-07 | 2004-08-26 | Nke Corp | Picking and placing device |
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2015
- 2015-12-27 CN CN201511005562.6A patent/CN105438827B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3525988A1 (en) * | 1985-07-20 | 1987-01-29 | Seitz Enzinger Noll Masch | Palettising machine for nested articles, especially in a stack |
| CN201058766Y (en) * | 2007-07-06 | 2008-05-14 | 吴伟清 | Material feeding apparatus |
| CN102699221A (en) * | 2012-06-19 | 2012-10-03 | 河北工业大学 | Loading and unloading manipulator |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105438827A (en) | 2016-03-30 |
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