CN107378935A - The four quick taking mechanical hands of orientation multi-angle - Google Patents
The four quick taking mechanical hands of orientation multi-angle Download PDFInfo
- Publication number
- CN107378935A CN107378935A CN201710776477.2A CN201710776477A CN107378935A CN 107378935 A CN107378935 A CN 107378935A CN 201710776477 A CN201710776477 A CN 201710776477A CN 107378935 A CN107378935 A CN 107378935A
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- axis
- drive mechanism
- timing belt
- pulling
- angle
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- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 230000000712 assembly Effects 0.000 claims description 39
- 238000000429 assembly Methods 0.000 claims description 39
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 4
- 230000001939 inductive effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of four quick taking mechanical hands of orientation multi-angle, it include frame, electronic box, positioned at Z-direction it is horizontal walk guiding mechanism, the pulling mechanism positioned at X-direction and the manipulator positioned at Y direction.The present invention realizes multi-angle, multi-faceted motor performance, product is carried out the action of complexity, and moving range increases, and improves the popularity of operating efficiency and application market；The fit system of drive belt is improved simultaneously, is reduced the processing request degree to part, is significantly improved the cooperation crack conditions of belt.
Description
Technical field
The invention belongs to manipulator to take thing equipment, and in particular to a kind of four quick taking mechanical hands of orientation multi-angle, is used for
Automatic crawl injecting products, lathe loading and unloading, take thing carrying etc..
Background technology
Manipulator is to develop swift and violent high-tech automation equipment in recent years, and it is one important point of industrial robot
Branch.Manipulator is mainly made up of operation machine (body), controller, driver and detection means, is that a kind of may be programmed automatically controls
Apery operating process, can be completed in three dimensions it is various repeat operations operations, improve production efficiency and product quality, change
Kind labour plays an important role.
In traditional type manipulator market, it is horizontal walk manipulator occupy more than 80 the percent of manipulator, generally with coordinate
Form structure occurs, and operation free degree limitation is very big (working range is smaller).Because most type of drive is driven to belt
Main, in mechanical mechanism cooperation, being extremely difficult to high accuracy again coordinates its normal belt, causes belt fracture phenomenon to be seen repeatly not
It is fresh, so as to cause production accident.
The content of the invention
In order to overcome drawbacks described above, the present invention provides a kind of four quick taking mechanical hands of orientation multi-angle, realize multi-angle,
Multi-faceted motor performance, product is carried out the action of complexity, moving range increase, improve operating efficiency and application market
Popularity；Improve the fit system of drive belt simultaneously, reduce the processing request degree to part, make the cooperation crack conditions of belt
Significantly improve.
To achieve the above object, the technical solution adopted in the present invention is as follows：
The four quick taking mechanical hands of orientation multi-angle, it include frame, electronic box, positioned at Z-direction it is horizontal walk guiding mechanism,
Pulling mechanism positioned at X-direction and the manipulator positioned at Y direction；
It is described it is horizontal walk guiding mechanism include the crossbeam in the frame, the Z axis on crossbeam to slide assemblies, Z axis to
Drive mechanism and X axis drive mechanism；
The pulling mechanism includes pulling beam, the X-axis line slide assemblies and Y-axis on pulling beam positioned at X axis
Drive mechanism；
Tie-beam of the manipulator including Y-axis, the Y-axis slide assemblies on tie-beam, it is fixed on Y-axis cunning
Move the arm segment on component and be connected to the pickup hand of arm segment lower end；
The Z axis is connected to drive mechanism with Z axis to slide assemblies, and is Z axis to slide assemblies in the Z-axis direction past
Multiple motion provides power；The X axis drive mechanism is connected with X-axis line slide assemblies, and for X-axis line slide assemblies in X-axis side
Upward reciprocating motion provides power；The Y-axis drive mechanism is connected with Y-axis slide assemblies, and is existed for Y-axis slide assemblies
Reciprocating motion in Y direction provides power.
As further scheme, Z axis of the present invention to slide assemblies include be fixed on crossbeam a pair it is mutual
Parallel Z axis to linear slide rail, be located in one of Z axis on the inside of linear slide rail and with Z axis to the parallel rack of linear slide rail,
Z axis is slidably connected to the first sliding block of linear slide rail and the Z axis being fixed on the first sliding block to sliding seat, the X axis
Drive mechanism is connected to Z axis on sliding seat；The Z axis includes the first servomotor, the first variable speed electric motors, particularly to drive mechanism, connected
The travelling gear being connected on the first variable speed electric motors, particularly output shaft, the travelling gear engage with the rack.
As further scheme, X axis drive mechanism of the present invention includes being fixed on Z axis to drawing on sliding seat
Pull out connecting seat, the second servomotor, the second variable speed electric motors, particularly, the first timing belt driving with the second variable speed electric motors, particularly output axis connection
Wheel；The X-axis line slide assemblies include a pair of X axis linear tracks on the pulling beam, are slidably connected at X axis linear rails
Second sliding block in road, the X axis sliding seat being fixed on the second sliding block, the Y-axis drive mechanism are fixed on X axis sliding seat
On；The first timing belt driving wheel is located on pulling connecting seat, is provided at both ends with the first belt pulley in the pulling beam, and first
The first timing belt is wound with belt pulley, first timing belt is wound on the first timing belt driving wheel in pulling connecting seat
On；Second sliding block is fixed on the first timing belt.
As further scheme, Y-axis slide assemblies of the present invention include a pair of Y-axis on tie-beam
Linear track, the 3rd sliding block for being slidably connected at Y-axis linear track, the arm sliding seat being fixed on the 3rd sliding block, it is described
Arm segment is fixed on arm sliding seat.
As further scheme, Y-axis drive mechanism of the present invention, which includes Y-axis drive mechanism, to be included being fixed on drawing
Pull out connecting seat, the 3rd servomotor, the 3rd variable speed electric motors, particularly, the second timing belt with the 3rd variable speed electric motors, particularly output axis connection on beam
The second timing belt driving wheel is located on connecting seat described in driving wheel, is provided at both ends with the second belt pulley in the tie-beam, and second
The second timing belt is wound with belt pulley, second timing belt is wound on the second timing belt driving wheel in pulling connecting seat
On；3rd sliding block is fixed on the second timing belt driving wheel.
As further scheme, arm segment of the present invention includes arm section bar and is arranged on arm section bar lower end
Corner connecting plate, the pickup hand includes servomotor and the tool adpting flange that is connected with the servomotor.
As further scheme, pickup hand of the present invention also include be with servomotor play outside motor cover
Plate.
As further scheme, Z axis of the present invention is to drive mechanism, X axis drive mechanism, Y-axis drive mechanism
Include inductive switch.
As further scheme, electronic box of the present invention includes electronic box shell, three in electronic box shell axially
Master control borad and the power switch being arranged on electronic box shell, the three axial master control borad is respectively with Z axis to drive mechanism, X-axis
To drive mechanism, the connection of Y-axis drive mechanism.
As further scheme, bottom of the frame of the present invention is provided with collet.
Mutually this prior art, the beneficial effects of the present invention are：
1. multi-angle quick taking mechanical hand in four orientation of the present invention is with the design of traditional servo coordinate axle construction
For main body, but the limitation of the free degree is spanned, realize multi-angle, multi-faceted motor performance, product is carried out complexity
Action, moving range increase, substantially increase the popularity of operating efficiency and application market
2. the four orientation of the present invention quick taking mechanical hand of multi-angle improves the fit system of drive belt, reduce
To the processing request degree of part, significantly improve the cooperation crack conditions of belt；
3. the AC axles of the quick taking mechanical hand design simple type of four orientation multi-angles described in invention, make structure
It is simpler, production cost is saved, it is easy to assembly, the advantages that handling ease.
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the quick taking mechanical hand of four orientation of the present invention multi-angle；
Fig. 2 be it is of the present invention it is horizontal walk guiding mechanism disassembled form figure；
Fig. 3 is the disassembled form figure of pulling mechanism of the present invention；
Fig. 4 is the disassembled form figure of manipulator of the present invention；
Fig. 5 is the pickup hand portion disassembled form figure of manipulator of the present invention；
Fig. 6 is the disassembled form figure of the described electronic box of invention；
Wherein, each reference is：1st, frame；2nd, electronic box；21st, electronic box shell；22nd, three axial master control borad；23rd, power supply is opened
Close；3rd, it is horizontal walk guiding mechanism；31st, crossbeam；32nd, Z axis is to slide assemblies；321st, Z axis is to linear slide rail；322nd, rack；323rd,
One sliding block；324th, Z axis is to sliding seat；33rd, Z axis is to drive mechanism；331st, the first servomotor；332nd, the first variable speed electric motors, particularly；
333rd, travelling gear；34th, X axis drive mechanism；341st, pulling connecting seat；342nd, the second servomotor；343rd, the second speed change electricity
Machine；344th, the first timing belt driving wheel；4th, pulling mechanism；41st, pulling beam；411st, the first timing belt；42nd, X-axis line slide assemblies；
421st, X axis linear track；422nd, the second sliding block；423rd, X axis sliding seat；43rd, Y-axis drive mechanism；431st, connecting seat；432、
3rd servomotor；433rd, the 3rd variable speed electric motors, particularly；434th, the second timing belt driving wheel；5th, manipulator；51st, tie-beam；511st,
Two timing belts；52nd, Y-axis slide assemblies；521st, Y-axis linear track；522nd, the 3rd sliding block；523rd, arm sliding seat；53rd, hand
Arm section；531st, arm section bar；532nd, corner connecting plate；54th, pickup hand；541st, servomotor；542nd, tool adpting flange；
543rd, motor cover plate；6th, collet.
Embodiment
As shown in figs 1 to 6, the four quick taking mechanical hand of orientation multi-angle, it includes frame 1, electronic box 2, positioned at Z axis side
To it is horizontal walk guiding mechanism 3, the pulling mechanism 4 positioned at X-direction and the manipulator 5 positioned at Y direction；
It is described it is horizontal walk guiding mechanism 3 include the crossbeam 31 in the frame, the Z axis on crossbeam 31 to slide assemblies
32nd, Z axis is to drive mechanism 33 and X axis drive mechanism 34；
The pulling mechanism 4 includes pulling beam 41, the X-axis line slide assemblies 42 on pulling beam 41 positioned at X axis
And Y-axis drive mechanism 43；
Tie-beam 51 of the manipulator 5 including Y-axis, the Y-axis slide assemblies 52 on tie-beam 51, it is fixed on
Arm segment 53 on Y-axis slide assemblies 52 and the pickup hand 54 for being connected to the lower end of arm segment 53；
The Z axis is connected 32 to drive mechanism 33 and Z axis to slide assemblies, and for Z axis to slide assemblies 32 in Z-direction
On reciprocating motion provide power；The X axis drive mechanism 34 is connected with X-axis line slide assemblies 42, and is X-axis line Slide Group
The reciprocating motion of part 42 in the X-axis direction provides power；The Y-axis drive mechanism 43 is connected with Y-axis slide assemblies 52, and is
The reciprocating motion of Y-axis slide assemblies 52 in the Y-axis direction provides power.
As shown in Fig. 2 as further scheme, Z axis of the present invention includes being fixed on crossbeam to slide assemblies 32
A pair on 31 Z axis being parallel to each other to linear slide rail 321, be located in one of Z axis to the inner side of linear slide rail 321 and and Z axis
To the parallel rack 322 of linear slide rail 321, Z axis is slidably connected to the first sliding block 323 of linear slide rail 321 and is fixed on
For Z axis on first sliding block 323 to sliding seat 324, the X axis drive mechanism 34 is connected to Z axis on sliding seat 324；The Z
Axial actuating mechanism 33 includes the first servomotor 331, the first variable speed electric motors, particularly 332, is connected to the output shaft of the first variable speed electric motors, particularly 331
On travelling gear 333, the travelling gear 333 engages with the rack 322.By it is horizontal walk guiding mechanism in Z axis to cunning
Dynamic component and Z axis play a part of forward-reverse to slide assemblies, and horizontal nutating gear of being in luck engages with the rack drives it
Relative motion, connected from Z axis to the first sliding block of linear slide rail is corresponding, power resources are that the first servomotor matches somebody with somebody corresponding first
Reducing motor.
As shown in Figure 2 and Figure 3, as further scheme, X axis drive mechanism 34 of the present invention includes being fixed on Z
Pulling connecting seat 341, the second servomotor 342, the second variable speed electric motors, particularly 343 and the second variable speed electric motors, particularly to slide axially on seat 324
First timing belt driving wheel 344 of 342 output axis connections；The X-axis line slide assemblies 42 include one on pulling beam 41
To X axis linear track 421, it is slidably connected at the second sliding block 422 of X axis linear track 421, is fixed on the second sliding block 422
On X axis sliding seat 423, the Y-axis drive mechanism 43 is fixed on X axis sliding seat 423；The first timing belt driving
Wheel 344 is provided at both ends with the first belt pulley, is wound with the first belt pulley on pulling connecting seat 341 in the pulling beam 41
First timing belt, first timing belt 411 are wound in pulling connecting seat 341 344 on the first timing belt driving wheel；Institute
The second sliding block 422 is stated to be fixed on the first timing belt 411.Pulling is made by the X axis drive mechanism and X-axis line slide assemblies
Mechanism moves left and right in X-axis, and pulling campaign drives its relative motion by the first timing belt driving wheel and the first timing belt, by X
Axial linear track and the corresponding connection of the second sliding block, power resources are that the second servomotor matches somebody with somebody corresponding second reducing motors.Draw
The stroke of drawing machine structure can determine according to actual use situation.
As shown in figure 4, as further scheme, Y-axis slide assemblies 52 of the present invention include being located at tie-beam
A pair of Y-axis linear tracks 521 on 51, the 3rd sliding block 522 being slidably connected on Y-axis linear track 521, it is fixed on
Arm sliding seat 523 on three sliding blocks 522, the arm segment fix 53 on arm sliding seat 523.
As shown in figure 3, as further scheme, Y-axis drive mechanism 43 of the present invention includes being fixed on pulling beam
Connecting seat 431, the 3rd servomotor 432, the 3rd variable speed electric motors, particularly 433 and the 3rd variable speed electric motors, particularly 433 on 41 export axis connection
Second timing belt driving wheel 434 is located on connecting seat 431 described in second timing belt driving wheel 434, both ends in the tie-beam 51
The second belt pulley is provided with, the second timing belt 511 is wound with the second belt pulley, second timing belt 511 is in connecting seat 431
It is wound on 434 on the second timing belt driving wheel；3rd sliding block 522 is fixed on the second timing belt driving wheel 434.Machinery
The arm segment of hand be it is double cut section bar belt drive relative motions, the speed of service is twice of actuating speed, it is relative slide be according to
By the 3rd sliding block and the linear motion of Y-axis linear track, it is that the 3rd servomotor matches somebody with somebody phase to drive the power resources above and below arm
The 3rd reducing motor answered.
As shown in figure 4, as further scheme, arm segment 53 of the present invention includes arm section bar 531 and set
The corner connecting plate 532 in the lower end of arm section bar 531 is put, the pickup hand 54 is electric including servomotor 541 and with the servo
The tool adpting flange 542 that machine 541 connects.As shown in figure 5, further including two pickup hands in the present invention, two take
It is hinged by AC axles between part hand.Arm segment is as the final executable portion of end prod, it is desirable to and it is of a relatively high, it is this
The simple type AC axles of design just with the corresponding harmonic wave reducing motor machine of two flange part assemblings of A and C and servomotor, are avoided leading to
Normal AC axles are with the belt transmission of complexity, the problems such as stress is unstable.
In order to prevent servomotor to be contaminated by dust, as further scheme, pickup hand 54 of the present invention also wraps
Include for servomotor play 541 outside motor cover plate 543.
As further scheme, Z axis of the present invention is to drive mechanism, X axis drive mechanism, Y-axis drive mechanism
Include inductive switch.
As further scheme, electronic box 2 of the present invention includes electronic box shell 21, three in electronic box shell 21
Axial master control borad 22 and the power switch 23 being arranged on electronic box shell 21, the three axial master control borad 22 respectively with Z axis to
Drive mechanism 33, X axis drive mechanism 34, Y-axis drive mechanism connection 44.As further scheme, machine of the present invention
Frame bottom is provided with collet.The electronic box can be screwed installed in it is horizontal walk guiding mechanism crossbeam on, can also be arranged on
On collet, electronic box part is the assembly of all electrical equipment original papers.
As further scheme, bottom of the frame of the present invention is provided with collet 6.
Above-mentioned embodiment is only the preferred embodiment of the present invention, it is impossible to the scope of protection of the invention is limited with this,
The change and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed scope.
Claims (10)
1. the four quick taking mechanical hands of orientation multi-angle, it is characterised in that it include frame, electronic box, positioned at Z-direction it is horizontal walk
Guiding mechanism, the pulling mechanism positioned at X-direction and the manipulator positioned at Y direction；
It is described it is horizontal walk guiding mechanism include the crossbeam in the frame, the Z axis on crossbeam to slide assemblies, Z axis to driving
Mechanism and X axis drive mechanism；
The pulling mechanism includes pulling beam, the X-axis line slide assemblies on pulling beam and the Y-axis driving positioned at X axis
Mechanism；
Tie-beam of the manipulator including Y-axis, the Y-axis slide assemblies on tie-beam, it is fixed on Y-axis Slide Group
Arm segment on part and the pickup hand for being connected to arm segment lower end；
The Z axis is connected to drive mechanism with Z axis to slide assemblies, and is reciprocal fortune of the Z axis to slide assemblies in the Z-axis direction
It is dynamic that power is provided；The X axis drive mechanism is connected with X-axis line slide assemblies, and for X-axis line slide assemblies in the X-axis direction
Reciprocating motion provide power；The Y-axis drive mechanism is connected with Y-axis slide assemblies, and for Y-axis slide assemblies in Y-axis
Reciprocating motion on direction provides power.
2. the quick taking mechanical hand of four orientation according to claim 1 multi-angle, it is characterised in that the Z axis is to slip
Component include a pair of Z axis being parallel to each other being fixed on crossbeam to linear slide rail, be located in one of Z axis into linear slide rail
Side and with Z axis to the parallel rack of linear slide rail, be slidably connected at Z axis to the first sliding block of linear slide rail and be fixed on first
For Z axis on sliding block to sliding seat, the X axis drive mechanism is connected to Z axis on sliding seat；The Z axis is to drive mechanism bag
Include the first servomotor, the first variable speed electric motors, particularly, the travelling gear being connected on the first variable speed electric motors, particularly output shaft, the travelling gear
Engaged with the rack.
3. the quick taking mechanical hand of four orientation according to claim 2 multi-angle, it is characterised in that the X axis driving
Mechanism includes being fixed on Z axis to the pulling connecting seat on sliding seat, the second servomotor, the second variable speed electric motors, particularly and the second speed change
First timing belt driving wheel of motor output shaft connection；The X-axis line slide assemblies include a pair of X axis on pulling beam
Linear track, the second sliding block for being slidably connected at X axis linear track, the X axis sliding seat being fixed on the second sliding block, it is described
Y-axis drive mechanism is fixed on X axis sliding seat；The first timing belt driving wheel is located on pulling connecting seat, the pulling
The first belt pulley is provided at both ends with beam, the first timing belt is wound with the first belt pulley, first timing belt connects in pulling
It is wound in seat on the first timing belt driving wheel；Second sliding block is fixed on the first timing belt.
4. the quick taking mechanical hand of four orientation according to claim 3 multi-angle, it is characterised in that the Y-axis is slided
Component includes a pair of Y-axis linear tracks on the tie-beam, the 3rd sliding block for being slidably connected at Y-axis linear track, solid
The arm sliding seat being scheduled on the 3rd sliding block, the arm segment are fixed on arm sliding seat.
5. the quick taking mechanical hand of four orientation according to claim 4 multi-angle, it is characterised in that the Y-axis driving machine
Structure include Y-axis drive mechanism include being fixed on connecting seat on pulling beam, the 3rd servomotor, the 3rd variable speed electric motors, particularly, with the
Three variable speed electric motors, particularlies export the second timing belt driving wheel of axis connection, and the second timing belt driving wheel is located on connecting seat, described
The second belt pulley is provided at both ends with tie-beam, the second timing belt is wound with the second belt pulley, second timing belt is in pulling
It is wound in connecting seat on the second timing belt driving wheel；3rd sliding block is fixed on the second timing belt driving wheel.
6. the quick taking mechanical hand of four orientation according to claim 5 multi-angle, it is characterised in that the arm part subpackage
Include arm section bar and be arranged on the corner connecting plate of arm section bar lower end, the pickup hand include servomotor and with the servo
The tool adpting flange of motor connection.
7. the quick taking mechanical hand of four orientation according to claim 6 multi-angle, it is characterised in that the pickup hand also wraps
Include for servomotor play outside motor cover plate.
8. the quick taking mechanical hand of four orientation according to claim 1 multi-angle, it is characterised in that the Z axis is to driving
Mechanism, X axis drive mechanism, Y-axis drive mechanism include inductive switch.
9. the four quick taking mechanical hands of orientation multi-angle according to claim any one of 1-8, it is characterised in that the electricity
Case includes electronic box shell, the three axial master control borads in electronic box shell and the power switch being arranged on electronic box shell, institute
Three axial master control borads are stated to be connected to drive mechanism, X axis drive mechanism, Y-axis drive mechanism with Z axis respectively.
10. the quick taking mechanical hand of four orientation according to claim 9 multi-angle, it is characterised in that the bottom of the frame
It is provided with collet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710776477.2A CN107378935A (en) | 2017-08-31 | 2017-08-31 | The four quick taking mechanical hands of orientation multi-angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710776477.2A CN107378935A (en) | 2017-08-31 | 2017-08-31 | The four quick taking mechanical hands of orientation multi-angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107378935A true CN107378935A (en) | 2017-11-24 |
Family
ID=60347769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710776477.2A Pending CN107378935A (en) | 2017-08-31 | 2017-08-31 | The four quick taking mechanical hands of orientation multi-angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107378935A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108160899A (en) * | 2018-01-04 | 2018-06-15 | 无锡职业技术学院 | Fully automatic feeding, blanking rotation riveting equipment |
| CN114260887A (en) * | 2022-01-21 | 2022-04-01 | 太原福莱瑞达物流设备科技有限公司 | Four-shaft fork picking manipulator |
| CN118372233A (en) * | 2024-06-27 | 2024-07-23 | 苏州邦器生物技术有限公司 | Multifunctional material transferring mechanical arm |
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| CN103831680A (en) * | 2014-02-17 | 2014-06-04 | 广州恒微机电设备有限公司 | Full-automatic horizontal surface grinding machine mechanical arm |
| CN204019533U (en) * | 2014-08-02 | 2014-12-17 | 温岭市圣方工具有限公司 | Material taking/feeding manipulator |
| CN207344591U (en) * | 2017-08-31 | 2018-05-11 | 深圳市杨森工业机器人股份有限公司 | The four quick taking mechanical hands of orientation multi-angle |
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2017
- 2017-08-31 CN CN201710776477.2A patent/CN107378935A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103831680A (en) * | 2014-02-17 | 2014-06-04 | 广州恒微机电设备有限公司 | Full-automatic horizontal surface grinding machine mechanical arm |
| CN204019533U (en) * | 2014-08-02 | 2014-12-17 | 温岭市圣方工具有限公司 | Material taking/feeding manipulator |
| CN207344591U (en) * | 2017-08-31 | 2018-05-11 | 深圳市杨森工业机器人股份有限公司 | The four quick taking mechanical hands of orientation multi-angle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108160899A (en) * | 2018-01-04 | 2018-06-15 | 无锡职业技术学院 | Fully automatic feeding, blanking rotation riveting equipment |
| CN114260887A (en) * | 2022-01-21 | 2022-04-01 | 太原福莱瑞达物流设备科技有限公司 | Four-shaft fork picking manipulator |
| CN118372233A (en) * | 2024-06-27 | 2024-07-23 | 苏州邦器生物技术有限公司 | Multifunctional material transferring mechanical arm |
| CN118372233B (en) * | 2024-06-27 | 2024-10-29 | 苏州邦器生物技术有限公司 | Multifunctional material transferring mechanical arm |
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Application publication date: 20171124 |