CN107414579A - A kind of manipulator and material fetching device - Google Patents
A kind of manipulator and material fetching device Download PDFInfo
- Publication number
- CN107414579A CN107414579A CN201710827800.4A CN201710827800A CN107414579A CN 107414579 A CN107414579 A CN 107414579A CN 201710827800 A CN201710827800 A CN 201710827800A CN 107414579 A CN107414579 A CN 107414579A
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- CN
- China
- Prior art keywords
- fetching device
- manipulator
- clamping jaw
- paw
- fixed support
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/008—Catching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Abstract
The present invention provides a kind of manipulator and material fetching device, the manipulator includes connecting bracket, fixed support, at least one first fetching device and at least one second fetching device, fixed support is connected with connecting bracket, and fixed support can be rotated around with connecting bracket junction, set in support bracket fastened two opposite side surfaces and pick and place the fetching device of article first in the first direction, and the fetching device of article second is picked and placeed in a second direction, so, two or more times can be carried out in once capturing goes material or blanking action, and in once capturing, the alternating of two or more times processes can also be carried out, the crawl number of material can be effectively reduced in one cycle operation, not only loading and unloading speed is fast, production efficiency can also be effectively improved, reduce cost.
Description
Technical field
The present invention relates to industrial robot field, more particularly to manipulator and material fetching device.
Background technology
With the raising of industrial automatization, manufacturing gradually turns to automation and intellectuality by labor-intensive,
Increasing enterprise replaces traditional manual labor using industrial robot, and this transformation is while labor strength is reduced
Production efficiency and product quality are substantially increased, and production cost can also be reduced.The material especially used on streamline
Robot is picked and placeed, is widely used in the every field of manufacturing, wherein, material, which picks and places robot, to be a kind of collection crawl, carries
With pile up the automation equipment that is integrated.
In automobile manufacturing process, for braking clamp body as the important component in brake system of car, demand is very big,
In order to improve production capacity, expand market share amount, ensure product quality and uniformity, robot is picked and placeed using material more and more
Automatic loading/unloading is carried out, but the production process of braking clamp body is various, in same Digit Control Machine Tool, a braking clamp body
Also there is multiple tracks difference manufacturing procedure.And existing material picks and places robot, once capture in can only once be gone material or
Blanking action, therefore, a material, which picks and places robot, needs multi-pass operation to complete one cycle operation, not only loading and unloading speed
Degree is slow, and low production efficiency, and sets multiple materials to pick and place if robot coordinates and complete one cycle operation, cost compared with
Height, and the probability to break down is also of a relatively high.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of manipulator and material fetching device, solves existing material and pick and place
Robot needs multi-pass operation to complete one cycle operation, and not only loading and unloading speed is slow, and the problem of low production efficiency.
The embodiment of the present invention provides a kind of manipulator, and the manipulator includes connecting bracket, fixed support, at least one the
One fetching device and at least one second fetching device, the first end of the connecting bracket are connected to the machinery of material fetching device
Arm, the second end of the connecting bracket are connected with the fixed support, and the fixed support can be around the connecting bracket
Second end rotates, and first fetching device and second fetching device are located at relative on the fixed support two respectively
Side, first fetching device pick and place article in the first direction, and second fetching device picks and places article in a second direction.
The embodiment of the present invention also provides a kind of material fetching device, and the material fetching device includes manipulator, the machine
Tool hand includes connecting bracket, fixed support, at least one first fetching device and at least one second fetching device, the connection
The first end of support is connected to the mechanical arm of material fetching device, and the second end and the fixed support of the connecting bracket connect
Connect, and the fixed support can rotate around the second end of the connecting bracket, first fetching device and described second pick and place
Device is located at two sides relative on the fixed support respectively, and first fetching device picks and places article in the first direction,
Second fetching device picks and places article in a second direction.
Manipulator and material fetching device provided in an embodiment of the present invention, the manipulator include connecting bracket, fixed branch
Frame, at least one first fetching device and at least one second fetching device, fixed support are connected with connecting bracket, and fixed
Support can be rotated around with connecting bracket junction, set in support bracket fastened two opposite side surfaces and picked and placeed in the first direction
The fetching device of article first, and the fetching device of article second is picked and placeed in a second direction, so, it can be carried out in once capturing
Two or more times go material or blanking action, and in once capturing, can also carry out two or more times works
The alternating of sequence, the crawl number of material can be effectively reduced in one cycle operation, not only loading and unloading speed is fast, can also have
Effect improves production efficiency, reduces cost.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, needed for being described below to the embodiment of the present invention
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention,
For those of ordinary skill in the art, without having to pay creative labor, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the material fetching device working state schematic representation that a preferred embodiment of the present invention provides；
Fig. 2 is the enlarged drawing shown in II in Fig. 1；
Fig. 3 is the side view of manipulator shown in Fig. 2.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Please refer to Fig. 1, Fig. 1 is the material fetching device working condition signal that a preferred embodiment of the present invention provides
Figure.As shown in figure 1, material fetching device 100 provided in an embodiment of the present invention is used for and device for transporting objects 200, turning device
300 and 400 common cooperating of Digit Control Machine Tool, realize the transmission and processing of material.The device for transporting objects 200 is used for will not
The material of processing is transported to the position that the material fetching device 100 can capture, and will be captured in the material fetching device 100
Completion of processing material be placed on the device for transporting objects 200 after, the material of completion of processing is transported to next place.
The material fetching device 100, which is used to deliver to material crawl in the Digit Control Machine Tool 400, to be processed, and is additionally operable to process
The device for transporting objects 200 is delivered in complete material crawl.The turning device 300 is used to be overturn material, to enter
Row processing.The Digit Control Machine Tool 400 is used to be processed material.
The material fetching device 100 includes frame 10 and manipulator 20, and the manipulator 20 is connected with the frame 10,
And in the device for transporting objects 200, the turning device 300 and the number under the control of the mechanical arm in the frame 10
Moved between control lathe 400, to realize picking and placeing and carrying for material.
The frame 10 includes two total support frames 11 being oppositely arranged, horizontal shore 12 and vertical support frame 13, institute
State total support frame 11 include crossbeam 111 and with the support column 112 for supporting the crossbeam 111 and being connected with the crossbeam 111,
The horizontal shore 12 is connected between two crossbeams 111 being oppositely arranged, the vertical support frame 13 and the water
The flat vertical connection of support frame 12, tracks are provided with the crossbeam 111 so that are arranged on the horizontal shore 12
Mechanical structure can with the horizontal shore 12 along the tracks on the crossbeam 111 on the X of first level direction
Moved, tracks are also equipped with the horizontal shore 12 so that the machine being arranged in the vertical support frame 13
Tool structure can with the vertical support frame 13 along the tracks on the horizontal shore 12 on the second horizontal direction Y
Moved, tracks are also equipped with the vertical support frame 13 so that the machine being arranged in the vertical support frame 13
Tool mechanism can be moved along the tracks in the vertical support frame 13 on the 3rd vertical direction Z.This embodiment party
In formula, the crossbeam 111, the horizontal shore 12, the vertical support frame 13, the crossbeam 111, the level are arranged at
Support frame 12 and tracks in the vertical support frame 13 and mechanical structure collectively constitute the material fetching device 100
Mechanical arm, and the mechanical arm of the material fetching device 100 is moved in three dimensions.
It is the frame and mechanical arm that material fetching device is formd in the form of the truss of gantry in present embodiment, but
It is not limited thereto, in other embodiments, the manipulator of material fetching device can also be articulated robot human arm.
It is the enlarged drawing in Fig. 1 shown in II please refer to Fig. 2 and Fig. 3, Fig. 2, Fig. 3 is manipulator shown in Fig. 2
Side view.As shown in Figures 2 and 3, the manipulator 20 picks and places including connecting bracket 21, fixed support 22, at least one first
Device 23, at least one fetching device 24, the first tumbler 25 and the second tumbler 26.The first of the connecting bracket 21
End is connected to the mechanical arm of the material fetching device 100, specifically, the first end of the connecting bracket 21 be connected to it is described
Mechanical structure in vertical support frame 13, and drive the manipulator 20 with the vertical support frame 13 mechanical structure along institute
The tracks stated in vertical support frame 13 are moved on the 3rd vertical direction Z, and then with the material fetching device
100 mechanical arm can be moved in three dimensions.
Second end of the connecting bracket 21 is connected with the fixed support 22, and the fixed support 22 can be around described
Second end of connecting bracket 21 rotates, and first fetching device 23 and second fetching device 24 are located at the fixation respectively
Two relative sides on support 22, first fetching device 23 can pick and place article in the first direction, and described second picks and places dress
Article can be picked and placeed in a second direction by putting 24.
First tumbler 25 is located at the second end of the connecting bracket 21 and the support of fixed support 22, described
The fixing end of first tumbler 25 is fixed on the second end of the connecting bracket 21, the turning end of first tumbler 25
It is connected with the fixed support 22, the fixed support 22 is under the driving of first tumbler 25, the fixed support
22 can be in the fixed support 22 rotation with surface vertical with the connecting bracket 21, and then drives and be fixed on the fixed branch
First fetching device 23 and second fetching device 24 on frame 22 is in the fixed support 22 and the connecting bracket
21 vertical rotation with surface, to carry out replacing of fetching device type etc..
Second tumbler 26 is fixed on the fixed support 22, and the fixation of second tumbler 26
End is fixed on the one side that first fetching device 23 is provided with the fixed support 22, and second tumbler 26 turns
Moved end is connected with first fetching device 23, first fetching device 23 under the driving of second tumbler 26,
Can be in the parallel rotation with surface in the side with being provided with first fetching device 23 on the fixed support 22, so as to reach
Adjust the factors such as crawl position, crawl angle and the crawl direction of first fetching device 23.
In present embodiment, first tumbler 25 and second tumbler 26 are rotary cylinder, but simultaneously
This is not limited to, in other embodiments, first tumbler 25 and second tumbler 26 can also be them
He can drive the drive device that the fixed support 22 and first fetching device 24 are rotated.
Specifically, the fixed support 22 includes 221, two the first side walls 222 of mainboard, second sidewall 223 and supporting plate
224, the first side wall 222 and the second sidewall 223 are located on two sides relative on the mainboard 221 respectively, and two
The individual the first side wall 222 is separately fixed at the opposite end of the mainboard 221, and the turning end of first tumbler 25 connects
It is connected on one of them described the first side wall 222.The section of two the first side walls 222 and the mainboard 221 surrounds jointly
One U-shaped, the fixing end of second tumbler 26 are fixed on the mainboard 221, so that described second rotates dress
26 sections for being fixed on the described two the first side walls 222 and the mainboard 221 are put to surround jointly in a U-shaped structure, and
The turning end of second tumbler 26 is stretched out from the opening of the U-shaped structure in besieged city, and with first fetching device 24
Connection, to drive first fetching device 24 to rotate.
The second sidewall 223 is located in the one side of the mainboard 221 close to middle position, the second sidewall 223
It is fixed on the mainboard 221, the other end relative with connecting one end of the mainboard 221 and institute in the second sidewall 223
State supporting plate 224 to connect, the supporting plate 224 be arranged in parallel with the mainboard 221.
First fetching device 23 includes the first paw 231 and the second paw 232, first paw 231 and described
One end of second paw 232 is connected on the fixed support 22, and first paw 231 and second paw
232 are oppositely arranged, and the second end of first paw 231 and the second end of second paw 232 relative can be opened or close
Close to realize picking and placeing for article.Thing is clamped on second end of at least one of first paw 231 and second paw 232
The position of product is provided with location division.
In present embodiment, the position of article is clamped on the second end of first paw 231 and second paw 232
It is provided with location division.
Further, first fetching device 23 includes horizontal drive apparatus 233, and the horizontal drive apparatus 233 connects
It is connected on the fixed support 22, the drive end of the horizontal drive apparatus 233 first end with first paw 231 respectively
And the first end connection of second paw 232, first paw 231 and second paw 232 pass through the horizontal drive
Dynamic device 233 is connected on the fixed support 22, and first paw 231 and second paw 232 can be in the water
Horizontal movement in opposite direction under the driving of flat drive device, to realize the crawl of material.
Specifically, the horizontal drive apparatus 233 is connected with the turning end of second tumbler 26, and then pass through institute
The second tumbler 26 is stated to be connected with the fixed support 22.
Second fetching device 24 includes the first clamping jaw 241, the second clamping jaw 242 and locating dowel 243, first clamping jaw
241st, second clamping jaw 242 and the locating dowel 243 are connected on the fixed support 22, and the of first clamping jaw 241
The first end of one end and second clamping jaw 242 connect, and it is telescopic be connected with the fixed support 22, specifically, described
The first end of first clamping jaw 241 and the connection of the first end of second clamping jaw 242, and to perpendicular with the direction that the two is connected
Direction extends to form a connecting portion for being in T fonts, and the jag of the connecting portion for the T fonts for passing through formation is connected to the fixation
On support 22.
Second end of first clamping jaw 241 parallel to the plane perpendicular with the telescopic direction of first clamping jaw 241,
Second end of second clamping jaw 242 is parallel to the plane perpendicular with the telescopic direction of second clamping jaw 242, and described first
Clamping jaw 241 and second clamping jaw 242 can stretch to realize picking and placeing for article in the same direction.The locating dowel 243 is fixed on
On the fixed support 22, and correspondingly between first clamping jaw 241 and second clamping jaw 242.
Second fetching device 24 includes vertical drive device 244, and the vertical drive device 244 is fixed on described solid
With being provided with two relative sides of first fetching device 23 and second fetching device 24 on fixed rack 22
On adjacent side, the vertical drive end of drive device 244 and the first end of first clamping jaw 241 and second folder
The first end connection of pawl 242, specifically, the jag of the drive end and the connecting portion of T fonts of the vertical drive device 244 connects
Connect, so as to drive first clamping jaw 241 and second clamping jaw 242 to be stretched, first clamping jaw 241 and described second
Vertical drive device 244 is telescopic is connected with the fixed support 22 by described for clamping jaw 242.
In this embodiment party, one end of first clamping jaw 241 and one end of second clamping jaw 242 are connected together,
And same vertical drive device 244 is commonly connected to, but be not limited thereto, in other embodiment party, first clamping jaw 241
One end and one end of second clamping jaw 242 can also be not connected to, and first clamping jaw 241 and second clamping jaw
242 are connected in two different vertical drive devices, flexible to realize.
Specifically, the vertical drive device 244 is fixed on the second sidewall 223 towards the side of the connecting bracket 21
On face, the drive end of the vertical drive device 244 towards the direction of the supporting plate 224, and with first clamping jaw 241
First end and the connection of the first end of second clamping jaw 242, to drive first clamping jaw 241 and second clamping jaw 242 to exist
Vertical direction moves.Vertical connection between the first end and the second end of first clamping jaw 241 and second clamping jaw 242, and
The L-type of three-dimensional, the second end and the branch of first clamping jaw 241 and second clamping jaw 242 are bent into three dimensions
Fagging 224 is parallel, by material be clamped in first clamping jaw 241 the second end and second clamping jaw 242 the second end with
Between the book supporting plate 224.The locating dowel 243 is fixed in the supporting plate 224, and for positioned at described and described
Spring is arranged with locating dowel 243, when clamping material, material can be enclosed on of the first clamping jaw 241 in the locating dowel 243
Between two ends and the second end of second clamping jaw 242, and in the clamping of first clamping jaw 241 and second clamping jaw 242
Lower compression spring, so as to reach the purpose of clamping material.
In present embodiment, the quantity of first fetching device 23 and second fetching device 24 is 2, and institute
The quantity for stating the vertical drive device 244 in the second fetching device 24 is also 2, and each vertical drive device connects with a clamping jaw
Connect.
When material is controlled level support frame 12 and vertical support when the material fetching device 100 carries out loading and unloading
Frame 13 moves on first level direction X, the second horizontal direction Y and the 3rd vertical direction Z respectively, so as to control the manipulator
20 move in three dimensions, when the manipulator 20 moves on the feeding line of device for transporting objects 200 braking that lie horizontally
Directly over caliper, the rear manipulator 20, which is vertically lowered, in place moves to braking clamp body position, first fetching device 23
The first paw 231 and the second paw 232 are opened to capture braking clamp body to be processed, transport braking clamp body to be processed after crawl
The Working position being sent in the Digit Control Machine Tool 400, the braking clamp body that another first fetching device 23 will process for the first time
Capture out, braking clamp body to be processed is placed on machining position by first fetching device 23 for capturing braking clamp body to be processed
Put.
After completing above-mentioned action, the manipulator 20 is controlled to move at the turning device 300 outside lathe, opening is grabbed
First fetching device 23 for completing the braking clamp body of processing for the first time is taken, the braking clamp body for completing processing for the first time is put down
It is placed on the station to be flipped of the turning device 300, first tumbler 25 works, by the second of the manipulator 20
Fetching device 24 is turned on station turning, and the second fetching device 24 crawl needs the braking clamp body of second of processing, so
After control the manipulator 20 to run to machine tooling position, by the control of first tumbler 25, crawl, which is had, to be needed
Carry out the braking clamp body of second of processing second fetching device 24 be turned to corresponding on processing stations, another the
Two fetching devices 24 capture the braking clamp body of second of processing of completion on processing stations, then capture progress in need and add for the second time
One the second fetching device 24 of the braking clamp body of work puts down the braking clamp body for needing to carry out second of processing, the manipulator 20
The position of the turning device 300 is moved to, the clamping jaw of another the second fetching device 24 unclamps, and will complete second of processing
Braking clamp body is placed on station turning.
After completing above-mentioned action, by rotating, the crawl of the first fetching device 23 is completed after overturning, the completion second that lie horizontally
The braking clamp body of secondary processing, and after moving to device for transporting objects 200 with the manipulator 20, the braking clamp body that will be machined
It is placed on the blanking pipeline of device for transporting objects 200.Said process so is repeated, you can realize automatic loading/unloading.
In present embodiment, illustrated using automobile brake disc braking clamp body as material, but be not limited thereto, at it
In his embodiment, material can also be the part that other needs are processed.
Manipulator and material fetching device provided in an embodiment of the present invention, the manipulator include connecting bracket, fixed branch
Frame, at least one first fetching device and at least one second fetching device, fixed support are connected with connecting bracket, and fixed
Support can be rotated around with connecting bracket junction, set in support bracket fastened two opposite side surfaces and picked and placeed in the first direction
The fetching device of article first, and the fetching device of article second is picked and placeed in a second direction, so, it can be carried out in once capturing
Two or more times go material or blanking action, and in once capturing, can also carry out two or more times works
The alternating of sequence, the crawl number of material can be effectively reduced in one cycle operation, not only loading and unloading speed is fast, can also have
Effect improves production efficiency, reduces cost.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of manipulator, it is characterised in that the manipulator picks and places including connecting bracket, fixed support, at least one first
Device and at least one second fetching device, the first end of the connecting bracket are connected to the mechanical arm of material fetching device,
Second end of the connecting bracket is connected with the fixed support, and the fixed support can be around the second end of the connecting bracket
Rotating, first fetching device and second fetching device are located at two sides relative on the fixed support respectively,
First fetching device picks and places article in the first direction, and second fetching device picks and places article in a second direction.
2. manipulator as claimed in claim 1, it is characterised in that the manipulator includes the first tumbler, and described first
The fixing end of tumbler is fixed on the second end of the connecting bracket, turning end and the fixation of first tumbler
Support connects, and the fixed support is under the driving of first tumbler, in the fixed support and the connecting bracket
Vertical rotation with surface.
3. manipulator as claimed in claim 1, it is characterised in that first fetching device includes the first paw and second-hand
The first end of pawl, the first end of first paw and second paw is connected on the fixed support, and described
First paw is oppositely arranged with second paw, and the second end of the second end of first paw and second paw can phase
To opening or closing to realize that article picks and places.
4. manipulator as claimed in claim 3, it is characterised in that first fetching device includes horizontal drive apparatus, institute
Horizontal drive apparatus is stated to be fixed on the fixed support, the drive end of the horizontal drive apparatus respectively with first paw
First end and second paw first end connection, first paw and second paw fill in the horizontal drive
Horizontal movement in opposite direction under the driving put.
5. manipulator as claimed in claim 4, it is characterised in that the manipulator includes the second tumbler, and described second
The fixing end of tumbler, which is fixed on, to be provided with the fixed support in the one side of first fetching device, described second turn
The turning end of dynamic device is connected with the horizontal drive apparatus.
6. manipulator as claimed in claim 3, it is characterised in that at least one of first paw and second paw
The second end on clamp article end set have location division.
7. manipulator as claimed in claim 1, it is characterised in that second fetching device includes the first clamping jaw and the second folder
The first end connection of pawl, the first end of first clamping jaw and second clamping jaw, and telescopic it is connected to the fixed branch
On frame, the second end of first clamping jaw is parallel to the plane perpendicular with the telescopic direction of first clamping jaw, and described second
Second end of clamping jaw is parallel to the plane perpendicular with the telescopic direction of second clamping jaw, first clamping jaw and described second
Clamping jaw can stretch to realize picking and placeing for article in the same direction.
8. manipulator as claimed in claim 7, it is characterised in that second fetching device includes being fixed on the fixed branch
Locating dowel on frame, the locating dowel is between first clamping jaw and second clamping jaw.
9. manipulator as claimed in claim 7, it is characterised in that second fetching device includes vertical drive device, institute
State vertical drive device to be fixed on side adjacent with two relative sides on the fixed support, the vertical drive
The drive end of dynamic device is connected with the first end of first clamping jaw and the first end of second clamping jaw.
10. a kind of material fetching device, it is characterised in that the material fetching device is included such as any one of claim 1 to 9
Described manipulator.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710827800.4A CN107414579B (en) | 2017-09-14 | 2017-09-14 | A kind of manipulator and material fetching device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710827800.4A CN107414579B (en) | 2017-09-14 | 2017-09-14 | A kind of manipulator and material fetching device |
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| CN107414579A true CN107414579A (en) | 2017-12-01 |
| CN107414579B CN107414579B (en) | 2019-08-09 |
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| CN201710827800.4A Active CN107414579B (en) | 2017-09-14 | 2017-09-14 | A kind of manipulator and material fetching device |
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| CN110682148A (en) * | 2019-09-16 | 2020-01-14 | 常山亚瑞轴承有限公司 | Automatic stripping device |
| CN115972223A (en) * | 2022-12-26 | 2023-04-18 | 江苏齐天铁塔制造有限公司 | Trial assembly robot |
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| CN104400268A (en) * | 2014-11-10 | 2015-03-11 | 深圳市鹏煜威科技有限公司 | Casing feeding and discharging mechanism |
| CN106475840A (en) * | 2016-11-17 | 2017-03-08 | 广州鑫南数控科技有限公司 | A kind of four axle robot of upside-down mounting and product processing method |
| CN206185898U (en) * | 2016-11-17 | 2017-05-24 | 广州鑫南数控科技有限公司 | Pay -off magic chuck for joint robot |
| CN106736220A (en) * | 2017-02-16 | 2017-05-31 | 珠海格力智能装备有限公司 | Oil Heater clamp device, oil Heater pick and place material robot and oil Heater welding equipment |
| CN107150248A (en) * | 2017-04-25 | 2017-09-12 | 广东天机工业智能系统有限公司 | Manipulator |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110682148A (en) * | 2019-09-16 | 2020-01-14 | 常山亚瑞轴承有限公司 | Automatic stripping device |
| CN110682148B (en) * | 2019-09-16 | 2021-02-09 | 常山亚瑞轴承有限公司 | Automatic stripping device |
| CN110561177A (en) * | 2019-10-10 | 2019-12-13 | 浙江大学台州研究院 | Double-station feeding manipulator |
| CN115972223A (en) * | 2022-12-26 | 2023-04-18 | 江苏齐天铁塔制造有限公司 | Trial assembly robot |
| CN115972223B (en) * | 2022-12-26 | 2024-01-26 | 江苏齐天铁塔制造有限公司 | Trial assembly robot |
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