CN106514639B - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- CN106514639B CN106514639B CN201611264343.4A CN201611264343A CN106514639B CN 106514639 B CN106514639 B CN 106514639B CN 201611264343 A CN201611264343 A CN 201611264343A CN 106514639 B CN106514639 B CN 106514639B
- Authority
- CN
- China
- Prior art keywords
- driving
- nut
- spline housing
- splined shaft
- bottom case
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
Abstract
The invention discloses manipulators, including Mobile base；First driving device for driving Mobile base to move in a straight line；Swing seat；It is mounted on the second driving device on Mobile base and for driving swing seat to rotate；The third driving device being mounted in swing seat, including spline housing, the spline housing driving mechanism for driving spline housing to rotate, by the splined shaft for rotating synchronously with spline housing and being inserted into spline housing in a manner of being moved along its axis relative to spline housing, the nut being sleeved on splined shaft and nut driving mechanism for driving nut rotation；The splined shaft and nut cooperation constitute worm drive；And the workpiece fetching device with spline axis connection.The present invention can drive splined shaft to move in a straight line, rotate, to meet different motion demand.
Description
Technical field
The present invention relates to a kind of manipulators.
Background technique
Currently, manipulator generally comprises axis body, the workpiece fetching device that connect with axis body, with axis body drives the gas being connected
Cylinder can extract workpiece by workpiece fetching device at work from extraneous lifting seat, then by cylinder drive axis body,
Workpiece fetching device moves linearly together with workpiece thereon to predetermined position, then discharges workpiece.But due in existing manipulator
It is only capable of that axis body is driven to move in a straight line, and in actual use, it is desirable to which axis body can also be driven to be rotated, with can
Axis body is driven to move in a straight line or rotate according to different demands, thus, existing manipulator is far from meeting people's demand.
Summary of the invention
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide a kind of manipulators, by driving third
Dynamic device can drive splined shaft to do directly using spline housing, the combination design of spline housing driving mechanism, nut, nut driving mechanism
Line movement, can also drive splined shaft to rotate, to meet different motion demand.
To solve the above problems, the technical solution adopted in the present invention is as follows:
Manipulator, comprising:
Mobile base；
First driving device for driving Mobile base to move in a straight line；
Swing seat；
It is mounted on the second driving device on Mobile base and for driving swing seat to rotate；
The third driving device being mounted in swing seat, the spline housing including spline housing, for driving spline housing to rotate drive
Motivation structure, by with spline housing rotate synchronously and can opposite spline housing move along its axis in a manner of be inserted into spline in spline housing
Axis, the nut being sleeved on splined shaft and the nut driving mechanism for driving nut to rotate；The splined shaft is matched with nut
It closes and constitutes worm drive；
And the workpiece fetching device with spline axis connection.
The spline housing is rotatably mounted in swing seat；The spline housing driving mechanism includes the first driving wheel, machine
Body is fixed in swing seat and the first motor for driving the rotation of the first driving wheel, the first driven wheel being connect with spline housing,
And it is set around the first conveyer belt on the first driving wheel and the first driven wheel.
The nut is rotatably mounted in swing seat；The nut driving mechanism is solid including the second driving wheel, body
Be scheduled in swing seat and the second motor for driving the rotation of the second driving wheel, the second driven wheel being connect with nut and around
The second conveyer belt on the second driving wheel and the second driven wheel.
First driving device includes bottom case, the third driving wheel being articulated in bottom case, for driving third driving wheel to rotate
Third motor, the third driven wheel being articulated in bottom case and the third being wound around on third driving wheel and third driven wheel
Conveyer belt；The Mobile base and third transmit band connection.
The first driving device further includes that the cover is connect and be used for bottom case in the outer cover outside bottom case；The Mobile base is living
It is dynamic to be sheathed on outer cover, and it is equipped with the idler wheel that cooperation is rolled with bottom case.
Second driving device is driving motor.
The workpiece fetching device includes and the attachment base of spline axis connection, the vacuum slot being fixed on attachment base；Institute
The absorption of workpieces end for stating vacuum slot is arranged downward.
The splined shaft and nut cooperation constitute rolling spiral drive with by the straight line for being converted into splined shaft of nut
Movement.
Spline housing and splined shaft cooperatively form ball spline pair.
The direction of motion of the Mobile base and the central axis upright of splined shaft；Second driving device is used for band movable pendulum
Seat is moved around a pivot axis；The centerline axis parallel of the pivot center and splined shaft, and mutually stagger.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is by driving third driving device using spline housing, spline housing driving mechanism, splined shaft, nut, nut
The combination of motivation structure designs, and when in use, drives nut rotation by nut driving mechanism, splined shaft can be driven to do straight line fortune
It is dynamic, and by driving spline housing, nut to synchronously rotate using spline housing driving mechanism, nut driving mechanism, spline can be driven
Axis rotation, thus, different motion demand can be met；Moreover, can also by first driving device drive Mobile base together with swing seat,
Third driving device, workpiece fetching device move in a straight line, and can drive swing seat rotation to drive by the second driving device
Third driving device is rotated together with workpiece fetching device, so that using flexible can be improved, and can expand its scope of application.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of third driving device；
Fig. 3 is the structural schematic diagram of first driving device；
Fig. 4 is the explosive view of first driving device；
Fig. 5 is the cross-sectional view of first driving device；
Fig. 6 is the structural schematic diagram of Mobile base；
Wherein, 100, first driving device；110, bottom case；111, pedestal；112, front side board；113, back side panel；114, left
Side plate；115, right side plate；120, third driving wheel；130, third motor；140, third driven wheel；150, outer cover；151, top plate；
152, left plate；153, right panel；200, Mobile base；201, the second cavity；202, outer transverse slat；203, outer panel；204, inner horizontal plate；
205, interior plate；206, the first cavity；207, idler wheel；300, swing seat；400, the second driving device；500, third driving dress
It sets；520, spline housing；530, spline housing driving mechanism；531, the first driving wheel；532, first motor；533, the first driven wheel；
540, splined shaft；550, nut；560, nut driving mechanism；561, the second driving wheel；562, the second motor；563, second is driven
Wheel；600, workpiece fetching device；610, attachment base；620, vacuum slot；630, air nozzle.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention:
Such as Fig. 1-6, manipulator, comprising:
Mobile base 200；
First driving device 100 for driving Mobile base 200 to move in a straight line；
Swing seat 300；
It is mounted on the second driving device 400 on Mobile base 200 and for driving swing seat 300 to rotate；
The third driving device 500 being mounted in swing seat 300, including spline housing 520, for driving 520 turns of spline housing
Dynamic spline housing driving mechanism 530, to be rotated synchronously with spline housing 520 and can the side that moves along its axis of opposite spline housing 520
Splined shaft 540 that formula is inserted into spline housing 520, the nut 550 being sleeved on splined shaft 540 and for driving nut 550
The nut driving mechanism 560 of rotation；The splined shaft 540 constitutes worm drive with the cooperation of nut 550；
And the workpiece fetching device 600 being connect with splined shaft 540.
When in use, by driving spline housing 520, nut using spline housing driving mechanism 530, nut driving mechanism 560
550 synchronously rotate, and splined shaft 540 can be driven to rotate, to drive workpiece fetching device 600 to rotate；And stop in spline housing 520
When rotating, and driving nut 550 to rotate by nut driving mechanism 560, spiral shell is constituted since splined shaft 540 cooperates with nut 550
Rotation transmission, so as to by the linear motion for being converted into splined shaft 540 of nut 550, to drive 540 straight line of splined shaft fortune
It is dynamic, so that workpiece fetching device 600 be driven to move in a straight line；Thus, the present invention is by using spline for third driving device 500
The combination design of set 520, spline housing driving mechanism 530, splined shaft 540, nut 550, nut driving mechanism 560, can drive flower
Key axis 540 is moved in a straight line or is rotated, can meet different motion demand.And in actual use, it can also be driven by first
Dynamic device 100 drives Mobile base 200 to do straight line fortune together with swing seat 300, third driving device 500, workpiece fetching device 600
It is dynamic, and the rotation of swing seat 300 can be driven to drive third driving device 500, workpiece fetching device by the second driving device 400
600 rotations, so that using flexible can be improved, and can expand its scope of application.
Preferably, the central axis upright of the direction of motion of the Mobile base 200 and splined shaft 540；Second driving
Device 400 is for driving swing seat 300 around a pivot axis；The central axis of the pivot center and splined shaft 540 is flat
Row, and mutually stagger.And by using above-mentioned setting, workpiece fetching device 600 can be driven along orthogonal two rectilinear direction
Movement, and workpiece fetching device 600 can be driven to rotate around not coaxial line, to further increase using flexible.Specifically, described
The axis direction of splined shaft 540 is consistent with vertical direction, so that splined shaft 540 can be together with workpiece fetching device 600 along vertical
Direction moves up and down.
Preferably, the spline housing 520 is rotatably mounted in swing seat 300；The spline housing driving mechanism 530 is wrapped
Include the first driving wheel 531, body is fixed on the first motor in swing seat 300 and being used to that the first driving wheel 531 to be driven to rotate
532, it the first driven wheel 533 for being connect with spline housing 520 and is set around on the first driving wheel 531 and the first driven wheel 533
First conveyer belt.And when in use, first motor 532 works, and the first driving wheel 531 can be driven to rotate, to pass through the first transmission
Band drives the first driven wheel 533 to rotate together with spline housing 520.And spline housing driving mechanism 530 is by using above structure, it can be square
Convenient for assembly.
The nut 550 is rotatably mounted in swing seat 300；The nut driving mechanism 560 includes the second active
Wheel 561, body are fixed on the second motor 562 and nut 550 in swing seat 300 and for driving the second driving wheel 561 to rotate
Second driven wheel 563 of connection and the second conveyer belt being set around on the second driving wheel 561 and the second driven wheel 563.And
In use, the second motor 562 works, the second driving wheel 561 can be driven to rotate, to drive the second driven wheel by the second conveyer belt
563 rotate together with nut 550.And nut driving mechanism 560 can be convenient to assemble by using above structure.
Preferably, first driving device 100 includes bottom case 110, the third driving wheel 120 being articulated in bottom case 110, is used for
It the driving third driving wheel 120 third motor 130 rotated, the third driven wheel 140 that is articulated in bottom case 110 and is wound around
Third conveyer belt on third driving wheel 120 and third driven wheel 140；The Mobile base 200 transmits band connection with third.Make
Used time, third motor 130 work, and third driving wheel 120 can be driven to rotate, so as to drive Mobile base by third conveyer belt
200 is mobile.
The first driving device 100 further includes connecting with bottom case 110 and for the cover in the outer cover 150 outside bottom case 110；
The Mobile base 200 is movably set on outer cover 150, and is equipped with the idler wheel 207 that cooperation is rolled with bottom case 110.The present invention passes through
Using 150 the cover of outer cover in outside bottom case 110, avoidable third driving wheel 120, third driven wheel 140 can subtract outside being directly exposed to
Few extraneous granule dust falls in third driving wheel 120, on third driven wheel 140, to reduce extraneous granule dust to third
The corrosiveness of driving wheel 120, third driven wheel 140, so as to extend the use of third driving wheel 120, third driven wheel 140
Service life；Moreover, being rolling friction between Mobile base 200 and bottom case 110, the abrasion of Mobile base 200, bottom case 110 can be reduced, to prolong
Its long service life.
Specifically, the bottom case 110 includes pedestal 111, front side board 112 and back side panel 113；The left side of the pedestal 111
It is provided with the left plate 114 extended upward, right side is provided with the right side plate 115 extended upward；The front side board 112 is arranged the bottom of at
The front end of seat 111, and connect respectively with the front end of the front end of left plate 114, right side plate 115；The back side panel 113 is arranged the bottom of at
The rear end of seat 111, and connect respectively with the rear end of the rear end of left plate 114, right side plate 115；The front end of the outer cover 150 is fixed
On the front side board 112 of bottom case 110, rear end is fixed on the back side panel 113 of bottom case 110；The outer cover 150 includes being located at bottom case
The top plate 151 of 110 tops；The left side of the top plate 151 is provided with the left plate 152 for extending downward and being located at outside bottom case 110, right side
It is provided with the right panel 153 for extending downward and being located at outside bottom case 110；Between the top plate 151 and the top surface of left plate 114, top plate
It is equipped between 151 and the top surface of right side plate 115, between left plate 152 and left plate 114, between right panel 153 and right side plate 115
Gap.And by using above structure, the cover can be played the role of simultaneously, be also convenient to assemble.
Specifically, the top surface of the front end of the top plate 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, rear end and the left side of back side panel 113 are mutually leaned on for the left side of the front end of the left plate 152 and front side board 112
Patch；The right side of the front end of the right panel 153 and front side board 112 is mutually by patch, and the right side of rear end and back side panel 113 is mutually by pasting.
And by using above structure, it can further improve assembly convenience.
Preferably, Mobile base 200 includes the outer transverse slat 202 for being located at 151 top of top plate, is respectively set in outer transverse slat 202
The left and right sides and two outer panels 203 extended downward, the first link block, the second link block, the inner horizontal plate positioned at 151 lower section of top plate
204 and two interior plates 205 that are separately positioned on the left and right sides of inner horizontal plate 204 and extend downward；The inner horizontal plate 204 with
Two interior plate 205 surrounds the first cavity 206 worn for bottom case 110；The left side of first link block be located at outer transverse slat
The lower end connection of the outer panel 203 in 202 left sides, right side are connect with the lower end for the interior plate 205 for being located at 204 left side of inner horizontal plate；The
The right side of two link blocks connect with the lower end for the outer panel 203 for being located at 202 right side of outer transverse slat, left side be located at 204 right side of inner horizontal plate
The lower end of the interior plate 205 of side connects；The outer transverse slat 202, two outer panels 203, the first link block, the second link block, in two
Side plate 205 surrounds the second cavity 201 worn for outer cover 150 with inner horizontal plate 204；The idler wheel 207 is articulated in inner horizontal plate 204
On.And on the basis of rationally setting bottom case 110, outer cover 150, then by using the above structure, making Mobile base 200 outdoors
Used time can be reduced, even avoidable rainwater enters in pedestal 111.
Wherein, second driving device 400 is driving motor.Certainly, in addition to this, second driving device 400
Other devices such as rotary cylinder also can be used, as long as swing seat 300 can be driven to rotate.
Preferably, the workpiece fetching device 600 includes the attachment base 610 connecting with splined shaft 540, is fixed on attachment base
The absorption of workpieces end of vacuum slot 620 on 610, the vacuum slot 620 is arranged downward, when in use, vacuum slot 620
Workpiece is drawn by way of vacuum suction in absorption of workpieces end.Certainly, other than using above-mentioned component, the workpiece picks and places dress
Setting 600 also can be used air-actuated jaw, magnechuck etc..But workpiece fetching device 600 is used into attachment base 610 and vacuum slot
620, it is applicable to workpiece of different shapes, and be suitable for the workpiece of the unlike materials such as glass, metal, is applicable in so as to expand it
Range.
Preferably, it is further fixed on air nozzle 630 on the attachment base 610, to discharge workpiece to outer in vacuum slot 620
When on boundary's jig, the coolant liquid on jig can be blown open first with air nozzle 630, be caused with reducing coolant liquid to the positioning of workpiece
It influences.
Preferably, the nut 550 uses ball-type nut 550, so that the splined shaft 540 and nut 550 cooperate structure
At rolling spiral drive (namely splined shaft 540 and nut 550 cooperatively forms ball wire bar pair), 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 constitutes worm drive with the cooperation of nut 550, can also directly utilize
The rotation for cooperating so that nut 550 of the internal screw thread of the external screw thread and nut 550 of splined shaft 540 can be converted into splined shaft
540 linear motion, it is, forming slip screw transmission.But the splined shaft 540 is constituted with the cooperation of nut 550 and is rolled
Worm drive are optimal case of the invention, can reduce the abrasion of splined shaft 540.
Preferably, the spline housing 520 uses ball-type spline housing 520, so that spline housing 520 and splined shaft 540 cooperate
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 can make various other according to the above description of the technical scheme and ideas
Corresponding change and deformation, and all these changes and deformation all should belong to the protection scope of the claims in the present invention
Within.
Claims (9)
1. manipulator, it is characterised in that；Include:
Mobile base；
First driving device for driving Mobile base to move in a straight line；
Swing seat；
It is mounted on the second driving device on Mobile base and for driving swing seat to rotate；
The third driving device being mounted in swing seat, including spline housing, the spline housing driving machine for driving spline housing to rotate
Structure, by with spline housing rotate synchronously and can opposite spline housing move along its axis in a manner of be inserted into splined shaft in spline housing,
The nut being sleeved on splined shaft and the nut driving mechanism for driving nut to rotate；The splined shaft and nut cooperate
Constitute worm drive；
And the workpiece fetching device with spline axis connection；
The first driving device includes bottom case and connect with the bottom case and be used for the cover in the outer cover outside bottom case；The movement
Seat is movably set on the outer cover, and is equipped with the idler wheel that cooperation is rolled with the bottom case；The outer cover includes being located at the bottom
Top plate above shell；The left plate for extending downward and being located at outside the bottom case is provided on the left of the top plate, right side is provided with court
Lower extension and the right panel being located at outside the bottom case；
The Mobile base includes outer transverse slat above the top plate, the left and right sides for being separately positioned on the outer transverse slat and court
Two outer panels and the first link block of lower extension, the second link block, the inner horizontal plate below top plate and it is separately positioned on institute
Two interior plates stating the left and right sides of inner horizontal plate and extending downward；The inner horizontal plate and two interior plates are surrounded for the bottom case
The first cavity worn；The left side of first link block is connect with the lower end for the outer panel being located on the left of the outer transverse slat, right
Side is connect with the lower end for the interior plate being located on the left of the inner horizontal plate；The right side of second link block be located on the right side of the outer transverse slat
Outer panel lower end connection, left side is connect with the lower end of the interior plate on the right side of the inner horizontal plate.
2. manipulator as described in claim 1, it is characterised in that；The spline housing is rotatably mounted in swing seat；Institute
Stating spline housing driving mechanism includes that the first driving wheel, body are fixed in swing seat and for driving the rotation of the first driving wheel
One motor, the first driven wheel being connect with spline housing and the first transmission being set around on the first driving wheel and the first driven wheel
Band.
3. manipulator as described in claim 1, it is characterised in that；The nut is rotatably mounted in swing seat；It is described
Nut driving mechanism includes that the second driving wheel, body are fixed in swing seat and the second driving wheel rotates second electric for driving
Machine, the second driven wheel being connect with nut and the second conveyer belt being set around on the second driving wheel and the second driven wheel.
4. manipulator as described in claim 1, it is characterised in that；First driving device includes bottom case, is articulated in bottom case
Third driving wheel, the third motor for driving third driving wheel to rotate, the third driven wheel being articulated in bottom case and winding
Third conveyer belt on third driving wheel and third driven wheel；The Mobile base and third transmit band connection.
5. manipulator as described in claim 1, it is characterised in that；Second driving device is driving motor.
6. manipulator as described in claim 1, it is characterised in that；The workpiece fetching device includes the company with spline axis connection
Joint chair, the vacuum slot being fixed on attachment base；The absorption of workpieces end of the vacuum slot is arranged downward.
7. manipulator as described in claim 1, it is characterised in that；The splined shaft and nut cooperation constitute rolling spiral drive
With by the linear motion for being converted into splined shaft of nut.
8. manipulator as described in claim 1, it is characterised in that；Spline housing and splined shaft cooperatively form ball spline pair.
9. manipulator as described in claim 1, it is characterised in that；The direction of motion of the Mobile base and the central axis of splined shaft
Line is vertical；Second driving device is for driving swing seat around a pivot axis；The pivot center and splined shaft
Centerline axis parallel, and mutually stagger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611264343.4A CN106514639B (en) | 2016-12-31 | 2016-12-31 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611264343.4A CN106514639B (en) | 2016-12-31 | 2016-12-31 | Manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106514639A CN106514639A (en) | 2017-03-22 |
| CN106514639B true CN106514639B (en) | 2019-09-13 |
Family
ID=58335997
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611264343.4A Active CN106514639B (en) | 2016-12-31 | 2016-12-31 | Manipulator |
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| CN (1) | CN106514639B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106947842B (en) * | 2017-04-18 | 2019-03-08 | 温州职业技术学院 | Leather surface scrapes colloid system |
| CN207329719U (en) * | 2017-05-18 | 2018-05-08 | 北京华沁智联科技有限公司 | Manipulator |
| CN108298290A (en) * | 2017-12-09 | 2018-07-20 | 安徽省光明粮油工业有限公司 | A kind of automatic Filtting device |
| CN108357921B (en) * | 2018-01-25 | 2019-09-06 | 江苏理工学院 | A kind of eccentric wheel feed device |
| CN110316560A (en) * | 2018-03-30 | 2019-10-11 | 广州米贺智能科技有限公司 | A kind of automatic feeder |
| CN109292445A (en) * | 2018-09-20 | 2019-02-01 | 苏州龙雨电子设备有限公司 | A kind of bottle body quickly rotates and jacking apparatus |
| CN109397322A (en) * | 2018-12-12 | 2019-03-01 | 深圳市瓦力自动化有限公司 | A kind of manipulator picks and places the structure and control method of work head |
| CN109986550A (en) * | 2019-05-16 | 2019-07-09 | 凌龙智能(深圳)科技有限公司 | Rotating transfer feed device |
| CN110255206A (en) * | 2019-07-12 | 2019-09-20 | 海盐百步建材有限公司 | A kind of automatic stacking code fetus device of environment-friendly type concrete building materials |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5279309A (en) * | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
| DE102005015623A1 (en) * | 2005-04-06 | 2006-10-12 | Rovema Verpackungsmaschinen Gmbh | Device for gripping and releasing boxes or bags to a cardboard packaging box for a packing machine comprises a drive arranged on a gripping arm for rotating a gripping head about a vertical axis |
| CN201333694Y (en) * | 2009-01-09 | 2009-10-28 | 芜湖奥托自动化设备有限公司 | Novel mechanical handling device |
| CN202726919U (en) * | 2012-05-30 | 2013-02-13 | 深圳大宇精雕科技有限公司 | Double-head manipulator |
| CN204322070U (en) * | 2014-11-13 | 2015-05-13 | 深圳大宇精雕科技有限公司 | Parallel articulated robot |
| CN104440906B (en) * | 2014-11-24 | 2016-06-01 | 东莞市智赢智能装备有限公司 | Production line system high-speed robot |
| CN204382271U (en) * | 2014-12-30 | 2015-06-10 | 深圳大宇精雕科技有限公司 | Manipulator |
| CN204525485U (en) * | 2015-01-21 | 2015-08-05 | 深圳大宇精雕科技有限公司 | A kind of new mechanical arm |
| 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 |
| CN206366999U (en) * | 2016-12-31 | 2017-08-01 | 深圳大宇精雕科技有限公司 | Manipulator |
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- 2016-12-31 CN CN201611264343.4A patent/CN106514639B/en active Active
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|---|---|
| CN106514639A (en) | 2017-03-22 |
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