CN106494882A - Transfer line - Google Patents
Transfer line Download PDFInfo
- Publication number
- CN106494882A CN106494882A CN201611264342.XA CN201611264342A CN106494882A CN 106494882 A CN106494882 A CN 106494882A CN 201611264342 A CN201611264342 A CN 201611264342A CN 106494882 A CN106494882 A CN 106494882A
- Authority
- CN
- China
- Prior art keywords
- driving
- splined shaft
- spline housing
- workpiece
- nut
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
Abstract
The invention discloses transfer line, including tool；Bin, including the first placement section for placing for workpiece；And for workpiece is transferred to the manipulator on tool from the first placement section of bin；Wherein, the manipulator includes Mobile base；The first driving means moved along a straight line for driving Mobile base to do；Swing seat；The second driving means for being arranged on Mobile base and being used for driving swing seat to rotate；The 3rd driving means in the swing seat, including spline housing, for drive spline housing drive mechanism that spline housing rotates, by with spline housing synchronous axial system and can relative spline housing move along its axis in the way of the splined shaft being inserted in spline housing, the nut being sleeved on splined shaft and nut drive mechanism for driving nut rotation；The splined shaft constitutes worm drive with nut screw connection；And the workpiece fetching device being connected with splined shaft.Workpiece is transferred manually without the need for operating personnel, can improve security.
Description
Technical field
The present invention relates to a kind of transfer line.
Background technology
At present, in workpiece process, often need operating personnel that workpiece to be processed is transferred to tool from bin manually
On, then process workpiece again on tool.But in batch processes, operating personnel manually by Workpiece transfer to tool,
Usually easily contact with the cutter arrangement above tool, so as to be susceptible to security incident, far from meeting industrial requirement.
Content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the invention to provide a kind of transfer line, which passes through rationally setting
Workpiece can be transferred on tool by manipulator from the first placement section of bin, so as to without the need for operating personnel manually by workpiece from material
Frame is transferred to tool, can improve security.
For solving the above problems, the technical solution adopted in the present invention is as follows：
Transfer line, including：
Tool；
Bin, including the first placement section for placing for workpiece；
And for workpiece is transferred to the manipulator on tool from the first placement section of bin；
Wherein, the manipulator includes：
Mobile base；
The first driving means moved along a straight line for driving Mobile base to do；
Swing seat；
The second driving means on Mobile base, are driven with swing seat and are connected, and are used for driving swing seat to rotate；
The 3rd driving means in swing seat, drive including spline housing, the spline housing for driving spline housing to rotate
Motivation structure, by with spline housing synchronous axial system and can relative spline housing move along its axis in the way of be inserted into spline in spline housing
Axle, the nut being sleeved on splined shaft and the nut drive mechanism for driving nut rotation；The splined shaft is in vertically to set
Put；The splined shaft constitutes worm drive with nut screw connection；
And the workpiece fetching device being connected with splined shaft.
The inserting groove embedded for workpiece is provided with first placement section.
The bin also includes positioned at the first placement section side and the second placement section for placing for workpiece；The manipulator
It is additionally operable to be transferred on the second placement section of bin workpiece from tool.
The spline housing is rotatably mounted in swing seat；The spline housing drive mechanism includes the first driving wheel, machine
Body be fixed in swing seat and for drive the first motor that the first driving wheel rotates and spline housing connection the first driven pulley,
And the first conveyer belt being set around on the first driving wheel and the first driven pulley；The nut is rotatably mounted to swing seat
On；The nut drive mechanism includes that the second driving wheel, body are fixed in swing seat and rotate for the second driving wheel of drive
The second motor and nut connection the second driven pulley and be set around on the second driving wheel and the second driven pulley second biography
Send band.
First driving means include drain pan, the 3rd driving wheel being articulated in drain pan, rotate for the 3rd driving wheel of driving
The 3rd motor, the 3rd driven pulley being articulated in drain pan and around the 3rd be located on the 3rd driving wheel and the 3rd driven pulley
Conveyer belt；The Mobile base is connected with the 3rd conveyer belt；The first driving means also include being connected and being used for cover lid with drain pan
Outer cover outside drain pan；The Mobile base is movably set on outer cover, and is provided with the roller for rolling cooperation with drain pan.
Second driving means are motor.
The vacuum slot that the workpiece fetching device is included the connecting seat being connected with splined shaft, is fixed on connecting seat；Institute
The absorption of workpieces end for stating vacuum slot is arranged down.
The splined shaft and nut screw connection constitute rolling spiral drive with by the straight line for being converted into splined shaft of nut
Motion.
Spline housing cooperatively forms ball spline pair with splined shaft.
The direction of motion of the Mobile base and the central axis upright of splined shaft；Second driving means are used for band movable pendulum
Dynamic seat is rotated around vertical axis；The vertical axis and the centerline axis parallel of splined shaft, and mutually stagger.
Compared to existing technology, the beneficial effects of the present invention is：
In the course of the work, nut rotation is driven by nut drive mechanism, splined shaft can be driven to move along a straight line, with band
Part fetching device of starting building moves along a straight line；And spline housing, nut is driven by using spline housing drive mechanism, nut drive mechanism
Synchronously rotate, splined shaft can be driven to rotate, to drive workpiece fetching device to rotate；And, when using, can also pass through first
Driving means drive Mobile base to move along a straight line together with swing seat, the 3rd driving means, workpiece fetching device, and can pass through second
Driving means drive swing seat to rotate to drive the 3rd driving means to rotate together with workpiece fetching device, thus, the present invention passes through
Rationally manipulator is set, workpiece fetching device can be driven to move along a straight line, rotate, be convenient to pick and place workpiece, can be by workpiece from material
First placement section of frame is transferred on tool, so as to workpiece is transferred to tool from bin manually without the need for operating personnel, can be improved
Security.
Description of the drawings
Fig. 1 is the structural representation of the present invention；
Structural representations of the Fig. 2 for manipulator；
Fig. 3 is the structural representation of the 3rd driving means；
Structural representations of the Fig. 4 for first driving means；
Explosive views of the Fig. 5 for first driving means；
Sectional views of the Fig. 6 for first driving means；
Structural representations of the Fig. 7 for Mobile base；
Structural representations of the Fig. 8 for bin；
Wherein, 100, first driving means；110th, drain pan；111st, base；112nd, front side board；113rd, back side panel；114th, left
Side plate；115th, right plate；120th, the 3rd driving wheel；130th, the 3rd motor；140th, the 3rd driven pulley；150th, outer cover；151st, top board；
152nd, left plate；153rd, right panel；200th, Mobile base；201st, the second cavity；202nd, outer transverse slat；203rd, outer panel；204th, inner horizontal plate；
205th, interior plate；206th, the first cavity；207th, roller；300th, swing seat；400th, the second driving means；500th, the 3rd dress is driven
Put；520th, spline housing；530th, spline housing drive mechanism；531st, the first driving wheel；532nd, the first motor；533rd, the first driven pulley；
540th, splined shaft；550th, nut；560th, nut drive mechanism；561st, the second driving wheel；562nd, the second motor；563rd, second is driven
Wheel；600th, workpiece fetching device；610th, connecting seat；620th, vacuum slot；630th, air nozzle；700th, tool；800th, bin；810、
First placement section；820th, the second placement section；830th, inserting groove.
Specific embodiment
Below, in conjunction with accompanying drawing and specific embodiment, the present invention is described further：
Such as Fig. 1-8, transfer line, including：
Tool 700；
Bin 800, including the first placement section 810 for placing for workpiece；
And for workpiece is transferred to the manipulator on tool 700 from the first placement section 810 of bin 800；
Wherein, the manipulator includes：
Mobile base 200；
The first driving means 100 moved along a straight line for driving Mobile base 200 to do；
Swing seat 300；
The second driving means 400 on Mobile base 200, are driven with swing seat 300 and are connected, and are swung for driving
Seat 300 is rotated；
The 3rd driving means 500 in swing seat 300, including spline housing 520, are used for driving 520 turns of spline housing
Dynamic spline housing drive mechanism 530, with 520 synchronous axial system of spline housing and can the side that moves along its axis of relative spline housing 520
Splined shaft 540 that formula is inserted in spline housing 520, the nut 550 being sleeved on splined shaft 540 and for driving nut 550
The nut drive mechanism 560 of rotation；The splined shaft 540 is in be vertically arranged；The splined shaft 540 coordinates composition with nut 550
Worm drive；
And the workpiece fetching device 600 being connected with splined shaft 540.
In the course of the work, robot work, extracts workpiece using workpiece fetching device 600 from the first placement section 810, it
Afterwards, robot work drives workpiece to be moved on tool 700, now, and workpiece fetching device 600 discharges workpiece, so as to can be by work
Part is transferred on tool 700 from the first placement section 810 of bin 800.And when using, by using spline housing drive mechanism
530th, nut drive mechanism 560 drives spline housing 520, nut 550 to synchronously rotate, and splined shaft 540 can be driven to rotate, to drive
Workpiece fetching device 600 is rotated；And stop operating in spline housing 520, and 550 turns of nut is driven by nut drive mechanism 560
When dynamic, worm drive are constituted as splined shaft 540 is coordinated with nut 550, so that the rotation of nut 550 are converted into splined shaft
540 linear motion, to drive splined shaft 540 to move along a straight line, so as to drive workpiece fetching device 600 to move along a straight line, and,
Also Mobile base 200 can be driven to pick and place dress together with swing seat 300, the 3rd driving means 500, workpiece by first driving means 100
Put 600 to move along a straight line, and swing seat 300 can be driven to rotate to drive the 3rd driving means by the second driving means 400
500th, workpiece fetching device 600 is rotated, thus, the present invention can drive workpiece fetching device 600 to do by rationally arranging manipulator
Workpiece, to be convenient to pick and place workpiece, can be transferred to tool 700 from the first placement section 810 of bin 800 by linear motion, rotation
On, so as to workpiece is transferred to tool from bin manually without the need for operating personnel, security can be improved.
Preferably, the bin 800 also includes positioned at 810 side of the first placement section and the second placement for placing for workpiece
Portion 820；The manipulator is additionally operable to be transferred on the second placement section 820 of bin 800 workpiece from tool 700, and treats workpiece
After machining, workpiece is transferred on the second placement section 820 from tool 700 by using the manipulator, so as to using same
One manipulator carries out feeding and blanking, and carries out blanking without the need in addition configuration equipment, escapable cost.
Specifically, it is disposed with each along vertical direction on first placement section 810, the second placement section 820 multiple
For the embedded inserting groove 830 of workpiece.Specifically, first placement section 810, the second placement section 820 include gripper shoe；Described
The wherein side of gripper shoe is provided with the first locating part for extending upward, and opposite side is provided with the second locating part for extending upward；
The first embedded recess of multiple confession workpiece wherein side is disposed with along vertical direction on first locating part, described the
It is disposed with along vertical direction on two locating parts and corresponds with the plurality of first recess and embedded for workpiece opposite side
Multiple second recess；Second recess is in be oppositely arranged with corresponding first recess, and the second recess is recessed with corresponding first
The inserting groove 830 is formed between position.And first placement section 810, the second placement section 820 are by adopting said structure, can
Make structure relatively simple, can effective reduces cost.
Preferably, the central axis upright of the direction of motion of the Mobile base 200 and splined shaft 540, so that Mobile base
200 is to move in the horizontal direction；Second driving means 400 are used for driving swing seat 300 to rotate around vertical axis；Described
Vertical axis and the centerline axis parallel of splined shaft 540, and mutually stagger.And pass through using above-mentioned setting, workpiece can be driven to take
Put device 600 vertically, horizontal direction linear motion, and can drive workpiece fetching device 600 around not coaxial line rotate, with
Further improve and use flexibility.
Preferably, the spline housing 520 is rotatably mounted in swing seat 300；The spline housing drive mechanism 530 is wrapped
Include the first motor that the first driving wheel 531, body is fixed in swing seat 300 and rotates for drive the first driving wheel 531
532 and spline housing 520 connection the first driven pulley 533 and be set around on the first driving wheel 531 and the first driven pulley 533
First conveyer belt.And when using, the first motor 532 works, and the first driving wheel 531 can be driven to rotate, to transmit by first
Band drives the first driven pulley 533 to rotate together with spline housing 520.And spline housing drive mechanism 530 is by adopting said structure, can be square
It is easy to assemble.
The nut 550 is rotatably mounted in swing seat 300；The nut drive mechanism 560 includes second actively
The second motor 562 and nut 550 that wheel 561, body is fixed in swing seat 300 and rotates for drive the second driving wheel 561
Second driven pulley 563 and the second conveyer belt being set around on the second driving wheel 561 and the second driven pulley 563 of connection.And
During use, the second motor 562 works, and the second driving wheel 561 can be driven to rotate, to drive the second driven pulley by the second conveyer belt
563 rotate together with nut 550.And nut drive mechanism 560 can be convenient to assemble by adopting said structure.
Preferably, first driving means 100 include drain pan 110, the 3rd driving wheel 120 being articulated in drain pan 110, are used for
The 3rd motor 130 for driving the 3rd driving wheel 120 to rotate, the 3rd driven pulley 140 being articulated in drain pan 110 and around being located at
The 3rd conveyer belt on 3rd driving wheel 120 and the 3rd driven pulley 140；The Mobile base 200 is connected with the 3rd conveyer belt.Make
Used time, the 3rd motor 130 work, and the 3rd driving wheel 120 can be driven to rotate, so as to drive Mobile base by the 3rd conveyer belt
200 movements.
The first driving means 100 also include the outer cover 150 for being connected with drain pan 110 and being placed on for cover outside drain pan 110；
The Mobile base 200 is movably set on outer cover 150, and is provided with the roller 207 for rolling cooperation with drain pan 110.The present invention passes through
It is placed on outside drain pan 110 using the cover of outer cover 150, the 3rd driving wheel 120, the 3rd driven pulley 140 can be avoided to be directly exposed to outer, can be subtracted
Few extraneous granule dust falls on the 3rd driving wheel 120, the 3rd driven pulley 140, to reduce the granule dust in the external world to the 3rd
Driving wheel 120, the corrosiveness of the 3rd driven pulley 140, so that extend the use of the 3rd driving wheel 120, the 3rd driven pulley 140
Life-span；And, it is rolling friction between Mobile base 200 and drain pan 110, Mobile base 200, the abrasion of drain pan 110 can be reduced, to prolong
Its service life long.
Specifically, the drain pan 110 includes base 111, front side board 112 and back side panel 113；The left side of the base 111
The left plate 114 for extending upward is provided with, right side is provided with the right plate 115 for extending upward；The front side board 112 is arranged on bottom
The front end of seat 111, and front end respectively with left plate 114, the front end of right plate 115 be connected；The back side panel 113 is arranged on bottom
The rear end of seat 111, and rear end respectively with left plate 114, the rear end of right plate 115 be connected；Fix the front end of the outer cover 150
On the front side board 112 of drain pan 110, rear end is fixed on the back side panel 113 of drain pan 110；The outer cover 150 is included positioned at drain pan
Top board 151 above in the of 110；The left side of the top board 151 is provided with the left plate 152 extended down and outside drain pan 110, right side
It is provided with the right panel 153 extended down and outside drain pan 110；Between the top surface of the top board 151 and left plate 114, top board
It is equipped between 151 and the top surface of right plate 115, between left plate 152 and left plate 114, between right panel 153 and right plate 115
Gap.And pass through to adopt said structure, cover lid can be played a part of while, be also convenient to assemble.
Specifically, the top surface of the front end of the top board 151 and front side board 112 is mutually by patch, the top surface of rear end and back side panel 113
Mutually by patch；Mutually by patch, the left surface of rear end and back side panel 113 is mutually leaned on the left surface of the front end of the left plate 152 and front side board 112
Patch；, mutually by patch, the right flank of rear end and back side panel 113 is mutually by pasting for the right flank of the front end of the right panel 153 and front side board 112.
And pass through to adopt said structure, can further improve assembling convenience.
Preferably, Mobile base 200 includes outer transverse slat 202 above top board 151, is respectively provided with outer transverse slat 202
The left and right sides and extend down two outer panels 203, the first contiguous block, the second contiguous block, be located at top board 151 below inner horizontal plate
204 and it is separately positioned on the left and right sides of inner horizontal plate 204 two interior plates 205 that extend down；The inner horizontal plate 204 with
Two interior plate 205 surrounds the first cavity 206 worn for drain pan 110；The left side of first contiguous block be located at outer transverse slat
The lower end connection of the outer panel 203 on the left of in the of 202, right side is connected with the lower end of the interior plate 205 being located on the left of inner horizontal plate 204；The
The right side of two contiguous blocks is connected with the lower end of the outer panel 203 being located on the right side of outer transverse slat 202, and left side is right with positioned at inner horizontal plate 204
The lower end connection of the interior plate 205 of side；The outer transverse slat 202, two outer panels 203, the first contiguous block, the second contiguous block, in two
Side plate 205 and inner horizontal plate 204 surround the second cavity 201 worn for outer cover 150；The roller 207 is articulated in inner horizontal plate 204
On.And on the basis of rationally drain pan 110, outer cover 150 are set, then by Mobile base 200 is adopted said structure, make out of doors
Used time can reduce, can even avoid rainwater from entering in base 111.
Wherein, second driving means 400 are motor.Certainly, in addition, second driving means 400
Combination or other devices of rotary cylinder, straight line cylinder and rack and pinion can be also adopted, as long as swing seat 300 can be driven
Rotate.
Preferably, the workpiece fetching device 600 is included the connecting seat 610 being connected with splined shaft 540, is fixed on connecting seat
Vacuum slot 620 on 610, the absorption of workpieces end of the vacuum slot 620 are arranged down, use when, vacuum slot 620 with
The mode of vacuum suction draws workpiece.Certainly, in addition to using above-mentioned part, the workpiece fetching device 600 can also be adopted
Air-actuated jaw, magnechuck etc..But workpiece fetching device 600 is applicable to not using connecting seat 610 and vacuum slot 620
The workpiece of similar shape, and the workpiece suitable for unlike materials such as glass, metals, so that expand its scope of application.
Preferably, air nozzle 630 is further fixed on the connecting seat 610, to discharge workpiece to controlling in vacuum slot 620
When on tool 700, the coolant on tool 700 can be blown open first with air nozzle 630, the positioning of workpiece be made with reducing coolant
Into impact.
Preferably, the nut 550 adopts ball-type nut 550, so that the splined shaft 540 coordinates structure with nut 550
Into rolling spiral drive (namely splined shaft 540 cooperatively forms ball wire bar pair with nut 550), splined shaft 540 can be reduced
Abrasion, extends the service life of splined shaft 540.
Certainly, in addition to that mentioned above, the splined shaft 540 coordinates composition worm drive with nut 550, also directly can utilize
The external screw thread of splined shaft 540 can be converted into splined shaft with the rotation for cooperating so that nut 550 of the internal thread of nut 550
540 linear motion, it is, form slip screw transmission.But coordinate composition to roll on the splined shaft 540 and nut 550
Worm drive, are the optimal case of the present invention, can reduce the abrasion of splined shaft 540.
Preferably, the spline housing 520 adopts ball-type spline housing 520, so that spline housing 520 is coordinated with splined shaft 540
Ball spline pair is formed, to reduce the abrasion of splined shaft 540, further extends the service life of splined shaft 540.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
Corresponding change and deformation, and all these change and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (10)
1. transfer line, it is characterised in that；Including：
Tool；
Bin, including the first placement section for placing for workpiece；
And for workpiece is transferred to the manipulator on tool from the first placement section of bin；
Wherein, the manipulator includes：
Mobile base；
The first driving means moved along a straight line for driving Mobile base to do；
Swing seat；
The second driving means on Mobile base, are driven with swing seat and are connected, and are used for driving swing seat to rotate；
The 3rd driving means in swing seat, including spline housing, the spline housing driving machine for driving spline housing to rotate
Structure, by with spline housing synchronous axial system and can relative spline housing move along its axis in the way of be inserted into splined shaft in spline housing,
The nut being sleeved on splined shaft and the nut drive mechanism for driving nut rotation；The splined shaft is in be vertically arranged；
The splined shaft constitutes worm drive with nut screw connection；
And the workpiece fetching device being connected with splined shaft.
2. transfer line as claimed in claim 1, it is characterised in that；It is provided with first placement section and inserts for workpiece is embedded
Tankage.
3. transfer line as claimed in claim 1, it is characterised in that；The bin also includes positioned at the first placement section side and is used for
For the second placement section that workpiece is placed；The manipulator is additionally operable to be transferred on the second placement section of bin workpiece from tool.
4. transfer line as claimed in claim 1, it is characterised in that；The spline housing is rotatably mounted in swing seat；Institute
State spline housing drive mechanism include the first driving wheel, body be fixed in swing seat and for drive that the first driving wheel rotates the
First driven pulley and the first transmission being set around on the first driving wheel and the first driven pulley of one motor and spline housing connection
Band；The nut is rotatably mounted in swing seat；The nut drive mechanism includes that the second driving wheel, body are fixed on pendulum
On dynamic seat and for driving the second driven pulley of the second motor that the second driving wheel rotates and nut connection and be set around the
The second conveyer belt on two driving wheels and the second driven pulley.
5. transfer line as claimed in claim 1, it is characterised in that；First driving means include drain pan, are articulated in drain pan
3rd driving wheel, the 3rd motor for driving the rotation of the 3rd driving wheel, the 3rd driven pulley being articulated in drain pan and winding
The 3rd conveyer belt on the 3rd driving wheel and the 3rd driven pulley；The Mobile base is connected with the 3rd conveyer belt；Described first drives
Dynamic device also includes the outer cover for being connected with drain pan and being placed on for cover outside drain pan；The Mobile base is movably set on outer cover, and
Being provided with, the roller for coordinating is rolled with drain pan.
6. transfer line as claimed in claim 1, it is characterised in that；Second driving means are motor.
7. transfer line as claimed in claim 1, it is characterised in that；The workpiece fetching device includes the company being connected with splined shaft
Joint chair, the vacuum slot being fixed on connecting seat；The absorption of workpieces end of the vacuum slot is arranged down.
8. transfer line as claimed in claim 1, it is characterised in that；The splined shaft constitutes rolling spiral drive with nut screw connection
With by the linear motion for being converted into splined shaft of nut.
9. transfer line as claimed in claim 1, it is characterised in that；Spline housing cooperatively forms ball spline pair with splined shaft.
10. transfer line as claimed in claim 1, it is characterised in that；The direction of motion of the Mobile base and the center of splined shaft
Axis is vertical；Second driving means are used for driving swing seat to rotate around vertical axis；The vertical axis and splined shaft
Centerline axis parallel, and mutually stagger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611264342.XA CN106494882B (en) | 2016-12-31 | 2016-12-31 | Transfer line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611264342.XA CN106494882B (en) | 2016-12-31 | 2016-12-31 | Transfer line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106494882A true CN106494882A (en) | 2017-03-15 |
| CN106494882B CN106494882B (en) | 2019-09-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611264342.XA Active CN106494882B (en) | 2016-12-31 | 2016-12-31 | Transfer line |
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| Country | Link |
|---|---|
| CN (1) | CN106494882B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319450A (en) * | 2018-09-30 | 2019-02-12 | 苏州富强科技有限公司 | A kind of full-automatic materials and parts transfer device |
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| CN204471377U (en) * | 2015-01-17 | 2015-07-15 | 深圳威特尔自动化科技有限公司 | A kind of balance manipulator |
| CN205271996U (en) * | 2015-11-03 | 2016-06-01 | 深圳市福士工业科技有限公司 | Novel ZR axle subassembly of many joints of level manipulator |
| CN206511639U (en) * | 2016-12-31 | 2017-09-22 | 深圳大宇精雕科技有限公司 | Transfer line |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319450A (en) * | 2018-09-30 | 2019-02-12 | 苏州富强科技有限公司 | A kind of full-automatic materials and parts transfer device |
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| CN106494882B (en) | 2019-09-13 |
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