CN106040896B - A kind of serial-parallel mirror punching press loading and unloading manipulator - Google Patents
A kind of serial-parallel mirror punching press loading and unloading manipulator Download PDFInfo
- Publication number
- CN106040896B CN106040896B CN201610580526.0A CN201610580526A CN106040896B CN 106040896 B CN106040896 B CN 106040896B CN 201610580526 A CN201610580526 A CN 201610580526A CN 106040896 B CN106040896 B CN 106040896B
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- China
- Prior art keywords
- shaped connecting
- connecting rod
- rotary shaft
- expansion link
- large arm
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
Abstract
A kind of serial-parallel mirror punching press loading and unloading manipulator, it includes pedestal, large arm, middle arm, forearm and terminal-collecting machine, the large arm mainly includes large arm main part and the U-shaped part, the first expansion link and the second expansion link that are connected between pedestal and large arm main part, by the driving of the first and second expansion links, two-dimensional rotary of the large arm relative to pedestal can be achieved；The middle arm uses parallel-crank mechanism, by the driving of the 3rd expansion link, one-dimensional rotation of the arm relative to large arm in can be achieved；The forearm mainly includes the second frame-type part and Double Diamond mechanism, and by the driving of the expansion link of the first servomotor, the 4th and the 5th, the bidimensional that forearm can be achieved relative to middle arm is rotated and one-dimensional movement；The terminal-collecting machine and splined shaft are affixed, and splined member is driven by timing belt component using the second servomotor, so as to drive end terminal-collecting machine, the one-dimensional rotation that terminal-collecting machine can be achieved relative to forearm is moved.Working space of the present invention is big, motion is flexible, big, the adjustable ability of bearing capacity is strong.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of manipulator.
Background technology
Punching press is as a kind of critically important processing method, and its processing efficiency is very high, and application is extremely wide.Punching press is automatic
Metaplasia producing line is the development trend of stamping technology, and loading and unloading manipulator is most important part on automatic stamping production line
One of, the quality of loading and unloading manipulator directly influences the production efficiency of punch process.At present, loading and unloading manipulator is mostly string
It is coupled the manipulator of structure, the manipulator of cascaded structure has the advantages that control is simple, working space is big, it is flexible to move, still, greatly
All there is carrying and the poor defect of adjustable ability.Therefore, the new working space of exploitation is big, motion is flexible, bearing capacity is big,
The strong novel punching loading and unloading manipulator of adjustable ability is particularly important.
The content of the invention
It is an object of the invention to provide a kind of working space is big, motion is flexible, big, the adjustable string of ability by force of bearing capacity
And series-parallel connection punching press loading and unloading manipulator.
The present invention includes pedestal, large arm, middle arm, forearm and terminal-collecting machine, and wherein pedestal is connected with large arm, and large arm connects with middle arm
Connect, middle arm is connected with forearm, and forearm is connected with terminal-collecting machine.The large arm includes large arm main part, U-shaped part, a pair first balls pairs, one
, first expansion link secondary to the second ball and the second expansion link；Wherein one end of large arm main part is stretched by a pair of second ball pairs with first
One end connection of contracting bar and the second expansion link, first and second expansion link is connected by the secondary side with pedestal of the first ball respectively
Connect；The bottom of U-shaped part and pedestal opposite side are rotated by the 6th rotary shaft and be connecteds, the U-shaped part upper end by the 5th rotary shaft and
Large arm main part is connected；By the driving of the first expansion link and the second expansion link, the large arm main part of manipulator can be achieved relative to base
The two-dimensional rotary of seat, and two rotations of the large arm relative to pedestal are mutually perpendicular to, first expansion link and the second expansion link knot
Structure is identical.The middle arm includes the first H-shaped connecting rod, the first frame-type part, the second H-shaped connecting rod and the 3rd expansion link, wherein the first H-shaped
One end of connecting rod is connected by the first rotary shaft with the upper end of the other end of above-mentioned large arm main part, the first H-shaped connecting rod it is another
End is connected by the second rotary shaft with the upper end of the first frame-type part；One end of second H-shaped connecting rod passes through another the first rotary shaft
Be connected with the lower end of the other end of above-mentioned large arm main part, the other end of the second H-shaped connecting rod by another second rotary shaft with
The lower end connection of first frame-type part；One end of 3rd expansion link is connected by the 4th rotary shaft with the middle part of above-mentioned large arm main part,
The other end of 3rd expansion link is connected by the 3rd rotary shaft with the middle part of the second H-shaped connecting rod, passes through the drive of the 3rd expansion link
It is dynamic, one-dimensional rotation of the arm relative to large arm in can be achieved.The forearm is stretched including the first servomotor, the second frame-type part, the 4th
Contracting bar, the 5th expansion link, the 3rd H-shaped connecting rod, the 4th H-shaped connecting rod, the 5th H-shaped connecting rod, the 6th H-shaped connecting rod, the 7th H-shaped connecting rod,
8th H-shaped connecting rod, the 3rd servomotor, splined shaft and spline housing；The wherein fuselage of the first servomotor and above-mentioned first frame-type
The upper end journal stirrup of part is affixed, and the output shaft of first servomotor and the journal stirrup of the second frame-type part upper end are affixed, the first frame-type
The lower end journal stirrup of part is connected with the lower end journal stirrup of the second frame-type part by axle；One end of 3rd H-shaped connecting rod and the 8th H-shaped connecting rod
One end is connected by the 13rd rotary shaft with the middle part of above-mentioned second frame-type part, and the other end of the 3rd H-shaped connecting rod passes through eighth-turn
Moving axis is connected with one end of the 4th H-shaped connecting rod, and the other end of the 8th H-shaped connecting rod passes through another eighth-turn moving axis and the 7th H-shaped
One end connection of connecting rod, the other end of the 4th H-shaped connecting rod is connected by the 9th rotary shaft with one end of the 6th H-shaped connecting rod, the 7th H
The other end of shape connecting rod is connected by another the 9th rotary shaft with one end of the 5th H-shaped connecting rod；Second servomotor and the tenth
One rotary shaft is affixed, and the middle part in the middle part of the 4th H-shaped connecting rod with the 7th H-shaped connecting rod is connected by the 11st rotary shaft, and the 5th H-shaped connects
The other end of the other end of bar and the 6th H-shaped connecting rod is connected by the tenth rotary shaft, and spline housing is passed through in the 11st rotary shaft
Axis hole, and its axial direction relative to the 11st rotary shaft keep be relatively fixed, but its around own axes have one rotate from
By spending, splined shaft is relatively fixed through the axis hole in the tenth rotary shaft, and its axial direction relative to the tenth rotary shaft, but its
There is a rotational freedom around own axes, splined shaft and spline housing are connected by spline fitted, make splined shaft relative to spline
The axial direction of set has an one-movement-freedom-degree；The splined shaft axis, spline housing axis, the axis hole axis in the tenth rotary shaft
It is mutually conllinear with axis hole axis in the 11st rotary shaft；Second servomotor drives spline housing by timing belt component
Rotate, so as to drive end terminal-collecting machine relative to the one-dimensional rotation of forearm by the cooperation of spline housing and splined shaft；4th stretches
One end of bar is connected by the 7th rotary shaft with the top of above-mentioned second frame-type part, and the other end of the 4th expansion link passes through another
Individual 7th rotary shaft is connected with the middle and upper part of above-mentioned 3rd H-shaped connecting rod；One end of 5th expansion link by the 12nd rotary shaft with
The bottom connection of above-mentioned second frame-type part, the other end of the 5th expansion link passes through another the 12nd rotary shaft and the above-mentioned 8th
The middle and lower part connection of H-shaped connecting rod；Driven by the coordination of the 4th expansion link and the 5th expansion link, the stretching motion of forearm can be achieved
With the one-dimensional rotation around 13 rotary shafts.In whole mechanical arm in addition to the 6th rotary shaft is vertically-mounted, remaining is mutually parallel
It is horizontally mounted.
By the driving of the first servomotor, it is forearm around motor shaft institute that forearm, which can be achieved, relative to the one-dimensional rotation of middle arm
Center line rotation, by the driving of the second servomotor, can be achieved terminal-collecting machine around the center where splined shaft in forearm
The one-dimensional rotation of line, using terminal-collecting machine grabbing workpiece, passes through five expansion links and two servo electricity on large arm, middle arm and forearm
Machine drives, and efficient circulation of the workpiece on automatic stamping production line can be achieved.
The present invention has the following advantages that compared with prior art：
Working space is big, motion is flexible, big, the adjustable ability of bearing capacity is strong.
Brief description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is large arm of the present invention and the simplified schematic diagram of middle arm.
Fig. 3 is the simplified schematic diagram of forearm of the present invention.
Fig. 4 is that terminal-collecting machine of the present invention couples schematic diagram with the part of forearm.
Fig. 5 is the tenth rotary shaft of the invention and the 11st rotation shaft structure schematic diagram.
In figure：1. arm, 4. forearms, 5. terminal-collecting machines, 6. workpiece, 7. press, 8,8 ' the first balls of in pedestal, 2. large arm, 3.
Pair, 9. first expansion links, 10. second expansion links, 11,11 ' the second balls of pair, 12. large arm main parts, 13,13 ' first rotary shafts,
14. the first H-shaped connecting rod, 15,15 ' the second rotary shafts of, 16. first frame-type parts, 17. second H-shaped connecting rods, 18. the 3rd rotary shafts,
19. the 3rd expansion link, 20. the 4th rotary shafts, 21. the 5th rotary shafts, 22.U types part, 23. the 6th rotary shafts, 24. first servos
Motor, the rotary shafts of 25,25 ' the 7th, 26. second frame-type parts, 27. the 4th expansion links, 28. the 3rd H-shaped connecting rods, 29,29 ' the 8th
Rotary shaft, 30. the 4th H-shaped connecting rods, 31. second servomotors, the rotary shafts of 32,32 ' the 9th, 33. the 5th H-shaped connecting rods, 34. flowers
Key axle, 35. the tenth rotary shafts, 36. the 6th H-shaped connecting rods, 37. spline housings, 38. the 11st rotary shafts, 39. the 7th H-shaped connecting rods,
40. the 8th H-shaped connecting rod, the rotary shafts of 41,41 ' the 12nd, 42. the 5th expansion links, 43. the 13rd rotary shafts, 44. timing belt groups
Part.
Embodiment
In the serial-parallel mirror punching press loading and unloading manipulator schematic diagram shown in Fig. 1, pedestal 1 is connected with large arm 2, and large arm is with
Arm 3 is connected, and middle arm is connected with forearm 4, and forearm is connected with terminal-collecting machine 5, terminal-collecting machine grabbing workpiece 6, sends into press 7.
As shown in Fig. 2 one end of the large arm main part 12 in the large arm is stretched by a pair of second ball pairs 11,11 ' with first
One end connection of the expansion link 10 of contracting bar 9 and second, first and second expansion link passes through the first ball pair 8,8 ' and pedestal respectively
Side is connected；The bottom of U-shaped part 22 and pedestal opposite side are rotated by the 6th rotary shaft 23 and are connected, and the U-shaped part upper end passes through the
Five rotary shafts 21 are connected with large arm main part；By the driving of the first expansion link and the second expansion link, the large arm of manipulator can be achieved
Main part is relative to the two-dimensional rotary of pedestal, and two rotations of the large arm relative to pedestal are mutually perpendicular to, first expansion link and
Second Telescopic rod structure is identical.One end of the first H-shaped connecting rod 14 in the middle arm passes through the first rotary shaft 13 and above-mentioned large arm
The upper end connection of the other end of main part, the other end of the first H-shaped connecting rod is upper by the second rotary shaft 15 and the first frame-type part
End connection；One end of second H-shaped connecting rod 17 passes through another first rotary shaft 13 ' and the lower end of the other end of above-mentioned large arm main part
Connection, the other end of the second H-shaped connecting rod is coupled by another second rotary shaft 15 ' with the lower end of the first frame-type part 16；The
One end of three expansion links 19 is connected by the 4th rotary shaft 20 with the middle part of above-mentioned large arm main part, the other end of the 3rd expansion link
Be connected by the 3rd rotary shaft 18 with the middle part of the second H-shaped connecting rod, by the driving of the 3rd expansion link, can be achieved in arm relative to
The one-dimensional rotation of large arm.
As shown in Fig. 3, Fig. 4 and Fig. 5, fuselage and the above-mentioned first frame-type part of the first servomotor 24 in the forearm
Upper end journal stirrup is affixed, and the output shaft and the journal stirrup of the upper end of the second frame-type part 26 of first servomotor are affixed, the first frame-type part
Lower end journal stirrup be connected with the lower end journal stirrup of the second frame-type part by rotating shaft；One end of 3rd H-shaped connecting rod 28 and the 8th H-shaped connecting rod
40 one end is connected by the 13rd rotary shaft 43 with the middle part of above-mentioned second frame-type part, and the other end of the 3rd H-shaped connecting rod passes through
Eighth-turn moving axis 29 is connected with one end of the 4th H-shaped connecting rod 30, and the other end of the 8th H-shaped connecting rod passes through another eighth-turn moving axis
29 ' are connected with one end of the 7th H-shaped connecting rod 39, and the other end of the 7th H-shaped connecting rod passes through the 9th rotary shaft 32 and the 5th H-shaped connecting rod
33 one end connection, the other end of the 4th H-shaped connecting rod passes through another the 9th rotary shaft 32 ' and one end of the 6th H-shaped connecting rod 36
Connection；Second servomotor 31 and the 11st rotary shaft 38 are affixed, and the middle part in the middle part of the 4th H-shaped connecting rod with the 7th H-shaped connecting rod leads to
The connection of the 11st rotary shaft is crossed, the other end of the 5th H-shaped connecting rod and the other end of the 6th H-shaped connecting rod are connected by the tenth rotary shaft 35
Connect, spline housing 37 is through the axis hole in the 11st rotary shaft, and its axial direction keeps relative relative to the 11st rotary shaft
It is fixed, but it has a rotational freedom around own axes, and splined shaft 34 passes through the axis hole in the tenth rotary shaft, and its axial direction
Direction is relatively fixed relative to the tenth rotary shaft, but it has a rotational freedom around own axes, and splined shaft and spline housing are logical
Spline fitted connection is crossed, splined shaft is had an one-movement-freedom-degree relative to the axial direction of spline housing；The splined shaft axis,
The axis hole axis on axis hole axis and the 11st rotary shaft on spline housing axis, the tenth rotary shaft is mutually conllinear；Described
Two servomotors drive spline housing to rotate by timing belt component 44, so as to drive end by the cooperation of spline housing and splined shaft
One-dimensional rotation of the terminal-collecting machine relative to forearm；One end of 4th expansion link 27 passes through the 7th rotary shaft 25 and above-mentioned second frame-type part
Top connection, the other end of the 4th expansion link is by another the 7th rotary shaft 25 ' and above-mentioned 3rd H-shaped connecting rod
Portion is connected；One end of 5th expansion link 42 is connected by the 12nd rotary shaft 41 with the bottom of above-mentioned second frame-type part, and the 5th
The other end of expansion link is connected by another the 12nd rotary shaft 41 ' with the middle and lower part of above-mentioned 8th H-shaped connecting rod；Pass through the 4th
The coordination driving of expansion link and the 5th expansion link, can be achieved the stretching motion and the one-dimensional rotation around 13 rotary shafts of forearm.
In whole mechanical arm in addition to the 6th rotary shaft is vertically-mounted, remaining mutually parallel, horizontal installation.
By the driving of the first servomotor, it is forearm around motor shaft institute that forearm, which can be achieved, relative to the one-dimensional rotation of middle arm
Center line rotation, by the driving of the second servomotor, can be achieved terminal-collecting machine around the center where splined shaft in forearm
The one-dimensional rotation of line.Using terminal-collecting machine grabbing workpiece, pass through five expansion links and two servo electricity on large arm, middle arm and forearm
Machine drives, and efficient circulation of the workpiece on automatic stamping production line can be achieved.
Claims (2)
1. a kind of serial-parallel mirror punching press loading and unloading manipulator, it includes pedestal, large arm, middle arm, forearm and terminal-collecting machine, wherein pedestal
It is connected with large arm, large arm is connected with middle arm, middle arm is connected with forearm, and forearm is connected with terminal-collecting machine, the middle arm includes the first H-shaped
Connecting rod, the first frame-type part, the second H-shaped connecting rod and the 3rd expansion link, wherein one end of the first H-shaped connecting rod by the first rotary shaft with
The upper end connection of the other end of the large arm main part of large arm, the other end of the first H-shaped connecting rod passes through the second rotary shaft and the first frame
The upper end connection of type part, one end of the second H-shaped connecting rod passes through another first rotary shaft and the other end of above-mentioned large arm main part
Lower end is connected, and the other end of the second H-shaped connecting rod is connected by another second rotary shaft with the lower end of the first frame-type part, and the 3rd
One end of expansion link is connected by the 4th rotary shaft with the middle part of above-mentioned large arm main part, and the other end of the 3rd expansion link passes through
Three rotary shafts are connected with the middle part of the second H-shaped connecting rod, it is characterised in that：The large arm include large arm main part, U-shaped part, a pair the
One ball pair, secondary a pair of second balls, the first expansion link and the second expansion link, wherein one end of large arm main part passes through a pair of second ball pairs
It is connected with one end of the first expansion link and the second expansion link, first and second expansion link is secondary and pedestal by the first ball respectively
Side is connected, and the bottom of U-shaped part is rotated with pedestal opposite side by the 6th rotary shaft to be connected, and the U-shaped part upper end passes through the 5th turn
Moving axis is connected with large arm main part, and first expansion link and the second Telescopic rod structure are identical；
The forearm includes the first servomotor, the second frame-type part, the 4th expansion link, the 5th expansion link, the 3rd H-shaped connecting rod, the
Four H-shaped connecting rods, the 5th H-shaped connecting rod, the 6th H-shaped connecting rod, the 7th H-shaped connecting rod, the 8th H-shaped connecting rod, the 3rd servomotor, splined shaft
And spline housing, wherein the upper end journal stirrup of the fuselage of the first servomotor and above-mentioned first frame-type part is affixed, the first servo electricity
The output shaft of machine and the journal stirrup of the second frame-type part upper end are affixed, the lower end branch of the lower end journal stirrup of the first frame-type part and the second frame-type part
Ear is connected by rotating shaft, and one end of the 3rd H-shaped connecting rod and one end of the 8th H-shaped connecting rod pass through the 13rd rotary shaft and above-mentioned second
The middle part connection of frame-type part, the other end of the 3rd H-shaped connecting rod is connected by eighth-turn moving axis with one end of the 4th H-shaped connecting rod, the
The other end of eight H-shaped connecting rods is connected by another eighth-turn moving axis with one end of the 7th H-shaped connecting rod, the 4th H-shaped connecting rod it is another
One end is connected by the 9th rotary shaft with one end of the 6th H-shaped connecting rod, and the other end of the 7th H-shaped connecting rod passes through another the 9th turn
Moving axis is connected with one end of the 5th H-shaped connecting rod, and the second servomotor and the 11st rotary shaft are affixed, in the middle part of the 4th H-shaped connecting rod and
The middle part of 7th H-shaped connecting rod is connected by the 11st rotary shaft, the other end of the 5th H-shaped connecting rod and the 6th H-shaped connecting rod it is another
End is connected by the tenth rotary shaft, and spline housing is through the axis hole in the 11st rotary shaft, and its axial direction is relative to the tenth
One rotary shaft is kept being relatively fixed, but it has a rotational freedom around own axes, and splined shaft is passed through in the tenth rotary shaft
Axis hole, and its axial direction is relatively fixed relative to the tenth rotary shaft, but it has a rotational freedom around own axes, flower
Key axle and spline housing are connected by spline fitted, splined shaft is had an one-movement-freedom-degree relative to the axial direction of spline housing；
Axis hole axis on the splined shaft axis, spline housing axis, axis hole axis and the 11st rotary shaft in the tenth rotary shaft is equal
Lie mutually in line；Second servomotor drives spline housing to rotate by timing belt component, so as to pass through spline housing and splined shaft
Cooperation drive end terminal-collecting machine relative to the one-dimensional rotation of forearm, one end of the 4th expansion link by the 7th rotary shaft with it is above-mentioned
The top connection of second frame-type part, the other end of the 4th expansion link is connected by another the 7th rotary shaft and above-mentioned 3rd H-shaped
The middle and upper part connection of bar, one end of the 5th expansion link is connected by the 12nd rotary shaft with the bottom of above-mentioned second frame-type part, should
The other end of 5th expansion link is connected by another the 12nd rotary shaft with the middle and lower part of above-mentioned 8th H-shaped connecting rod.
2. serial-parallel mirror punching press loading and unloading manipulator according to claim 1, it is characterised in that：Except the 6th rotary shaft is vertical
Install outer, remaining rotary shaft mutually install by parallel, horizontal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610580526.0A CN106040896B (en) | 2016-07-22 | 2016-07-22 | A kind of serial-parallel mirror punching press loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610580526.0A CN106040896B (en) | 2016-07-22 | 2016-07-22 | A kind of serial-parallel mirror punching press loading and unloading manipulator |
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| Publication Number | Publication Date |
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| CN106040896A CN106040896A (en) | 2016-10-26 |
| CN106040896B true CN106040896B (en) | 2017-08-25 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108946160A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed transfer robot |
| IT201800009542A1 (en) * | 2018-10-17 | 2020-04-17 | Astes4 Sa | PERFECTED TOOL AND SYSTEM FOR A MANIPULATOR IN SHEET METAL CUTTING CENTERS |
| CN109967642B (en) * | 2019-03-06 | 2022-03-11 | 燕山大学 | Quick feeding and discharging mechanical arm |
| CN112873258B (en) * | 2021-01-08 | 2022-02-11 | 江苏科技大学 | Ball automatic picking mechanical arm |
| CN113715008B (en) * | 2021-08-31 | 2023-01-24 | 杭州电子科技大学 | A exhibition arm structure for underwater detection equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58188523A (en) * | 1982-04-30 | 1983-11-04 | Aida Eng Ltd | Working material feeding device of press |
| JPS61121880A (en) * | 1984-11-19 | 1986-06-09 | 松下電器産業株式会社 | Direct driving type robot |
| JPH03287390A (en) * | 1990-04-03 | 1991-12-18 | Sanritsu Seiki Kk | Hydraulic transfer robot |
| KR100362611B1 (en) * | 2000-12-13 | 2002-11-29 | 삼성전자 주식회사 | Robot and Motor Speed Control Method Thereof |
| JP4232795B2 (en) * | 2005-10-19 | 2009-03-04 | セイコーエプソン株式会社 | Parallel link mechanism and industrial robot |
| CN202428449U (en) * | 2011-12-27 | 2012-09-12 | 燕山大学 | Three-degree-of-freedom series-parallel hybrid heavy load mechanical arm with redundant driving function |
| CN203592483U (en) * | 2013-10-25 | 2014-05-14 | 厦门至慧机器人有限公司 | Four-joint robot palletizer |
| CN204524068U (en) * | 2015-04-03 | 2015-08-05 | 赵文旭 | A kind of cylinder transferring clipper |
| CN204772545U (en) * | 2015-07-08 | 2015-11-18 | 昆山威创精密机械有限公司 | Improvement structure of five manipulators of intelligence |
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- 2016-07-22 CN CN201610580526.0A patent/CN106040896B/en active Active
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