CN107415179B - A kind of injection molding machine auxiliary manipulator of more actuating stations - Google Patents
A kind of injection molding machine auxiliary manipulator of more actuating stations Download PDFInfo
- Publication number
- CN107415179B CN107415179B CN201710732674.4A CN201710732674A CN107415179B CN 107415179 B CN107415179 B CN 107415179B CN 201710732674 A CN201710732674 A CN 201710732674A CN 107415179 B CN107415179 B CN 107415179B
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- China
- Prior art keywords
- axis
- girder
- arm
- axis arm
- fixing seat
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
-
- 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
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C2045/4266—Robot grippers movable along three orthogonal axes
Abstract
The invention discloses a kind of injection molding machine auxiliary manipulators of more actuating stations in injection molding machine auxiliary apparatus field, including pedestal, girder, auxiliary girder, Z axis arm, control cabinet, auxiliary girder driving box, drag chain；Z axis arm is removably mounted on one end of girder；Z axis arm further includes removably and slidably installing Z axis arm fixation seat on girder, can matching with Z axis arm driving box；The manipulator further includes X-axis arm, Y-axis arm；Wherein X-axis arm includes for X-axis arm driving box providing driving force, being mounted on girder, further includes X-axis feeding fixture for lateral feeding, being removably mounted on X-axis arm actuating station；Wherein Y-axis arm includes for Y-axis driving box providing driving force, being mounted on auxiliary girder, further includes Y-axis feeding fixture for lateral feeding, being removably mounted on Y-axis arm actuating station；A tractor serves several purposes is realized, use scope is expanded.
Description
Technical field
The present invention relates to injection molding machines to assist apparatus field, in particular to a kind of injection molding machine auxiliary manipulator of more actuating stations.
Background technique
Auxiliary manipulator has become essential a part in injection molding machine production process.In the prior art, it is horizontal walk machine
Tool hand includes pedestal, girder, auxiliary girder, Z axis arm, control cabinet, auxiliary girder driving box, drag chain；The Z axis arm includes for controlling
The 4th flexible pulling cylinder of arm further includes driving for Z axis arm providing driving force, being slidably mounted on auxiliary girder
Dynamic case；Using this kind design it is horizontal walk manipulator can only from top take out moulding, can not be side-draw；Only one arm, is difficult
It is simultaneously two injection molding machine feedings；Certainly also it is not easy to realize that the cooperation assistance of concerned process steps operates.
Summary of the invention
The object of the present invention is to provide a kind of injection molding machine auxiliary manipulators of more actuating stations, to realize a tractor serves several purposes, expand
Use scope.
The object of the present invention is achieved like this: a kind of injection molding machine auxiliary manipulator of more actuating stations, including pedestal, master
Beam, auxiliary girder, Z axis arm, control cabinet, auxiliary girder driving box, drag chain；Above-mentioned girder is fixedly mounted in pedestal upper end；Above-mentioned auxiliary girder
It is slidably mounted in girder upper end, and is mutually perpendicular to girder；Wherein Z axis arm includes the 4 to stretch for controlling arm
Pulling cylinder further includes the wherein Z axis hand for Z axis arm driving box providing driving force, being slidably mounted on auxiliary girder
Arm is removably mounted on one end of girder, and close to control cabinet；Z axis arm further includes that removably and slidably installation is led
Z axis arm fixation seat on beam, being matched with Z axis arm driving box；The manipulator further includes being slidably mounted in master
The X-axis arm of beam lower end surface further includes the Y-axis arm for being slidably mounted in auxiliary girder side；Wherein X-axis arm includes for mentioning
It further include for lateral feeding, removably for driving force, the X-axis arm driving box that is slidably mounted on girder
It is mounted on the X-axis feeding fixture of X-axis arm actuating station；Wherein Y-axis arm include for provide driving force, be slidably mounted on pair
Y-axis driving box on beam further includes Y-axis extracting jaw for lateral feeding, being removably mounted on Y-axis arm actuating station
Tool.
Above-mentioned X-axis feeding fixture includes the X-axis clamp base for being removably mounted on X-axis arm actuating station, further includes peace
Activity fixing seat in X-axis clamp base, can sliding along X-axis clamp base length direction, further includes that both ends are pacified respectively
First pulling cylinder in X-axis clamp base and activity fixing seat, for controlling activity fixing seat sliding trace, is also wrapped
It includes for annular chuck clamping moulding, being mounted in activity fixing seat.
Above-mentioned annular chuck includes be distributed, ring shaped air-cushion for clamping moulding, ring structure along its inside；When
When ring shaped air-cushion is inflated, above-mentioned ring shaped air-cushion fits with moulding, clamps moulding；When ring shaped air-cushion is deflated, above-mentioned ring
Shape air cushion and moulding separate, and unclamp moulding.
Above-mentioned Y-axis feeding fixture includes the Y-axis clamp base for being removably mounted on Y-axis arm actuating station, further includes peace
Fixing seat in Y-axis clamp base, can sliding along Y-axis clamp base length direction, further includes that both ends are separately mounted to Y
Second pulling cylinder in axis clamp base and fixing seat, for controlling fixing seat sliding trace further includes for clamping note
Plastic, the square clamp that is mounted in fixing seat.
Above-mentioned square clamp includes six roots of sensation connecting rod；Connecting rod is combined into the frame of a matrix pattern, and each of frame
Point of intersection is all rotatably connected；On the same diagonal line of frame, outermost two point of intersection are respectively equipped with a driving lever, and
One of driving lever is mounted in fixing seat；In matrix pattern frame the every side in four rectangular insides be designed with a strip,
Play anti-skidding and anti-scratch rubber pad；Above-mentioned square clamp further includes that one end is mounted in the fixing seat, other end and oneself
Third pulling cylinder being fixedly connected by end driving lever, for controlling square clamp deformation clamping moulding.
Above-mentioned Z axis arm fixation seat is equipped with the groove for being coupled, and two sides are equipped with symmetrical axis hole in groove；
Z axis arm driving box is equipped with the convex block for being coupled；Convex block two sides are equipped with telescopic, symmetrical movable axis；Convex block
Inside is equipped with for controlling movable axis flexible electromagnet and reset spring；Above-mentioned groove corresponds to each other and cooperates with bump position
Installation, axis hole are corresponded to each other and are coupled with movable shaft position.
Above-mentioned X-axis arm, Y-axis arm, Z axis arm not only can Parallel Control, but also can series control.
Above-mentioned auxiliary girder driving box, X-axis arm driving box are slided on girder with the kind of drive of rack-and-pinion；Above-mentioned Y-axis
Arm driving box, Z axis arm driving box are slided on auxiliary girder with the kind of drive of rack-and-pinion.
Compared with prior art, the beneficial effects of the present invention are: X-axis arm, Y-axis hand are additionally arranged on girder and auxiliary girder
Arm, and two arms can carry out feeding to two injection molding machines simultaneously to realize with Parallel Control；Equipped with detachable Z axis hand
Arm so that the equipment also have the function of it is common it is horizontal walk manipulator；Three arms not only can Parallel Control, but also can series control, make
Three arms can cooperate co-production；It is achieved that a tractor serves several purposes, expands use scope.
In order to keep square clamp operation simpler, more stable；Above-mentioned third pulling cylinder and two driving levers are in same
On diagonal line, and the diagonal line is perpendicular to fixing seat.
In order to keep arm convenient for disassembly and assembly；Above-mentioned Z axis arm be equipped with it is detachable, for drawing and protecting outside line
With the drag chain of pipeline.
In order to realize the diversification control of arm；Above-mentioned X-axis arm, Y-axis arm, Z axis arm not only can Parallel Control, but also can
Series control.
In order to keep the more stable of arm operation, precision higher；Above-mentioned auxiliary girder driving box, X-axis arm driving box are with gear teeth
The kind of drive of item is slided on girder；Above-mentioned Y-axis arm driving box, Z axis arm driving box are with the kind of drive of rack-and-pinion
It is slided on auxiliary girder.
Detailed description of the invention
Fig. 1 is main view of the invention.
Fig. 2 is top view of the invention.
Fig. 3 is the left view and main view of X-axis feeding fixture of the present invention.
Fig. 4 is main view, right view and the top view of Y-axis feeding fixture of the present invention.
Fig. 5 is the fiting relation figure of Z axis arm fixation seat of the present invention and Z axis arm driving box.
Wherein, 1 pedestal, 2 girders, 3 auxiliary girders, 4 control cabinets, 5 auxiliary girder driving box, 6 X-axis arms, the driving of 61 X-axis arms
Case, 62 X-axis feeding fixtures, 621 X-axis clamp bases, 622 annular chucks, 623 first pulling cylinders, 624 activity fixing seats, 7
Y-axis arm, 71 Y-axis arm driving box, 72 Y-axis feeding fixtures, 721 Y-axis clamp bases, 722 second pulling cylinders, 723 is solid
Reservation, 724 square clamps, 7241 connecting rods, 7242 rubber pads, 7243 driving levers, 7244 third pulling cylinders, 8 Z axis arms, 81
Z axis arm driving box, 811 movable axis, 812 reset springs, 813 electromagnet, 814 convex blocks, 82 Z axis arm fixation seats, 821 is recessed
Slot, 822 axis holes, 83 the 4th pulling cylinders, 9 drag chains.
Specific embodiment
As shown in Figs. 1-5, a kind of injection molding machine auxiliary manipulator of more actuating stations, including pedestal 1, girder 2, auxiliary girder 3, Z axis
Arm 8, control cabinet 4, auxiliary girder driving box 5, drag chain 9；Above-mentioned girder 2 is fixedly mounted in 1 upper end of pedestal；Above-mentioned auxiliary girder 3 can be slided
It is mounted on 2 upper end of girder dynamicly, and is mutually perpendicular to girder 2；Wherein Z axis arm 8 includes the 4 to stretch for controlling arm
Pulling cylinder 83, further include for Z axis arm driving box 81 providing driving force, being slidably mounted on auxiliary girder 3, it is above-mentioned
Z axis arm 8 is removably mounted on one end of girder 2, and close to control cabinet 4；Z axis arm 8 further includes that removably and can slide
Z axis arm fixation seat 82 on girder 2, can matching with Z axis arm driving box 81 is installed dynamicly；The manipulator further includes can
It is slidably mounted on the X-axis arm 6 of 2 lower end surface of girder, further includes the Y-axis arm 7 for being slidably mounted in 3 side of auxiliary girder；Its
Middle X-axis arm 6 includes for X-axis arm driving box 61 providing driving force, being slidably mounted on girder 2, further includes being used for
Lateral feeding, the X-axis feeding fixture 62 that is removably mounted on 6 actuating station of X-axis arm；Wherein Y-axis arm 7 includes for mentioning
It further include for lateral feeding, detachable for driving force, the Y-axis arm driving box 71 that is slidably mounted on auxiliary girder 3
Ground is mounted on the Y-axis feeding fixture 72 of 7 actuating station of Y-axis arm.
Above-mentioned X-axis feeding fixture 62 includes the X-axis clamp base 621 for being removably mounted on 6 actuating station of X-axis arm, also
Including being mounted on activity fixing seat 624 in X-axis clamp base 621, can sliding along 621 length direction of X-axis clamp base, also
Including both ends be separately mounted to it is in X-axis clamp base 621 and activity fixing seat 624, for control activity fixing seat 624 slide
First pulling cylinder 623 of track further includes for annular chuck clamping moulding, being mounted in activity fixing seat 624
622。
Above-mentioned annular chuck 622 includes be distributed, ring shaped air-cushion for clamping moulding, ring structure along its inside
6221；When ring shaped air-cushion 6221 is inflated, above-mentioned ring shaped air-cushion 6221 fits with moulding, clamps moulding；When annular gas
When pad 6221 is deflated, above-mentioned ring shaped air-cushion 6221 is separated with moulding, unclamps moulding.
Above-mentioned Y-axis feeding fixture 72 includes the Y-axis clamp base 721 for being removably mounted on 7 actuating station of Y-axis arm, also
Including being mounted on fixing seat 723 in Y-axis clamp base 721, can sliding along 721 length direction of Y-axis clamp base, further include
Both ends be separately mounted to it is in Y-axis clamp base 721 and fixing seat 723, draw for controlling the second of 723 sliding trace of fixing seat
Cylinder 722 is pulled out, further includes for square clamp 724 clamping moulding, being mounted in fixing seat 723.
Above-mentioned square clamp 724 includes six roots of sensation connecting rod 7241；Connecting rod 7241 is combined into the frame of a matrix pattern, and
Each point of intersection of frame is to be rotatably connected；On the same diagonal line of frame, outermost two point of intersection are respectively equipped with
One driving lever 7243, and one of driving lever 7243 is mounted in fixing seat 723；Four rectangular insides are every in matrix pattern frame
While be designed with a strip, play anti-skidding and anti-scratch rubber pad 7242；Above-mentioned square clamp 724 further includes one end
Be mounted on it is that in the fixing seat 723, other end is fixedly connected with free end driving lever 7243, for control square clamp 724 deform
Clamp the third pulling cylinder 7244 of moulding.
Above-mentioned third pulling cylinder 7244 and two driving levers 7243 are on same diagonal line, and the diagonal line perpendicular to
Fixing seat 723.
Above-mentioned Z axis arm fixation seat 82 is equipped with groove 821 for being coupled, and two sides are equipped with pair in groove 821
The axis hole 822 of title；Z axis arm driving box 81 is equipped with the convex block 814 for being coupled；814 two sides of convex block are equipped with scalable
, symmetrical movable axis 811；It is equipped with inside convex block 814 for controlling movable axis 811 flexible electromagnet 813 and reset spring
812；Groove 821 is corresponded to each other and is coupled with 814 position of convex block, and axis hole 822 corresponds to each other and matches with 811 position of movable axis
Close installation.
Above-mentioned Z axis arm 8 is equipped with drag chain 9 detachable, for drawing and protecting outside line and pipeline.
Above-mentioned X-axis arm 6, Y-axis arm 7, Z axis arm 8 not only can Parallel Control, but also can series control.
Above-mentioned auxiliary girder driving box 5, X-axis arm driving box 61 are slided on girder 2 with the kind of drive of rack-and-pinion；Y-axis
Arm driving box 71, Z axis arm driving box 81 are slided on auxiliary girder 3 with the kind of drive of rack-and-pinion.
Working principle is as follows: control cabinet 4 starts, and X-axis arm driving box 61 drives X-axis arm 6 to stretch out, X-axis feeding fixture
62 protrude into mold, and annular chuck 622 is directed at moulding, and the work of the first pulling cylinder 623 drives annular chuck 622 to entangle note
Molding machine, the inflation of ring shaped air-cushion 6221 clamp moulding, and the former route of X-axis feeding fixture 62 returns later, and ring shaped air-cushion 6221 is deflated,
Moulding is unclamped, feeding is completed；Y-axis arm driving box 71 drives Y-axis arm 7 to stretch out, and Y-axis feeding fixture 72 protrudes into mold,
Square clamp 724 is directed at moulding, and the work of the second pulling cylinder 722 drives square clamp 724 to entangle moulding, third pulling
Cylinder 7244 is shunk, and square clamp 724 clamps moulding, and the former route of Y-axis feeding fixture 72 returns later, third pulling cylinder
7244 restore, and square clamp 724 unclamps moulding, complete feeding；When need to use Z axis arm 8, control cabinet 4 controls electromagnet 813
Work, in 811 retraction convex block 814 of movable axis, auxiliary girder driving box 5 is mobile to control cabinet 4 until convex block 814 and groove 821 cooperate,
Electromagnet 813 is disconnected, movable axis 811 protrudes into axis hole 822, has then been correspondingly connected with route, gas circuit, drag chain 9, that is, Z axis can be used
Arm 8.
The present invention is not limited to the above embodiments, on the basis of technical solution disclosed by the invention, the skill of this field
For art personnel according to disclosed technology contents, one can be made to some of which technical characteristic by not needing creative labor
A little replacements and deformation, these replacements and deformation are within the scope of the invention.
Claims (8)
1. a kind of injection molding machine auxiliary manipulator of more actuating stations, including pedestal (1), girder (2), auxiliary girder (3), Z axis arm (8),
Control cabinet (4), auxiliary girder driving box (5), drag chain (9)；The girder (2) is fixedly mounted in pedestal (1) upper end；The auxiliary girder
(3) it is slidably mounted in girder (2) upper end, and is mutually perpendicular to girder (2)；The Z axis arm (8) includes for controlling hand
The 4th flexible pulling cylinder (83) of arm, further includes for Z axis providing driving force, being slidably mounted on auxiliary girder (3)
Arm driving box (81), it is characterised in that: the Z axis arm (8) is removably mounted on one end of girder (2), and close to control
Case (4) processed；The Z axis arm (8) further include removably and slidably install girder (2) on, can be driven with Z axis arm
The Z axis arm fixation seat (82) that case (81) matches；The manipulator further includes the X for being slidably mounted in girder (2) lower end surface
Axis arm (6) further includes the Y-axis arm (7) for being slidably mounted in auxiliary girder (3) side；The X-axis arm (6) includes being used for
X-axis arm driving box (61) providing driving force, being slidably mounted on girder (2), further includes for lateral feeding, removable
It is mounted on the X-axis feeding fixture (62) of X-axis arm (6) actuating station with unloading；The Y-axis arm (7) includes for providing driving force
, the Y-axis arm driving box (71) being slidably mounted on auxiliary girder (3), further include it is for lateral feeding, removably pacify
Mounted in the Y-axis feeding fixture (72) of Y-axis arm (7) actuating station.
2. a kind of injection molding machine auxiliary manipulator of more actuating stations according to claim 1, it is characterised in that: the X-axis takes
Material clamp (62) includes the X-axis clamp base (621) for being removably mounted on X-axis arm (6) actuating station, further includes being mounted on X
It is in axis clamp base (621), can along X-axis clamp base (621) length direction slide activity fixing seat (624), further include
Both ends are separately mounted in X-axis clamp base (621) and activity fixing seat (624), sliding for controlling activity fixing seat (624)
First pulling cylinder (623) of dynamic rail mark further includes for ring clamping moulding, being mounted on activity fixing seat (624)
Clevis head (622).
3. a kind of injection molding machine auxiliary manipulator of more actuating stations according to claim 2, it is characterised in that: the marmon clamp
Head (622) include along its inside be distributed, for clamping moulding, ring structure ring shaped air-cushion (6221).
4. a kind of injection molding machine auxiliary manipulator of more actuating stations according to claim 1, it is characterised in that: the Y-axis takes
Material clamp (72) includes the Y-axis clamp base (721) for being removably mounted on Y-axis arm (7) actuating station, further includes being mounted on Y
Fixing seat (723) in axis clamp base (721), can sliding along Y-axis clamp base (721) length direction, further includes both ends
Be separately mounted to it is in Y-axis clamp base (721) and fixing seat (723), for controlling fixing seat (723) sliding trace second
Pulling cylinder (722) further includes for square clamp (724) clamping moulding, being mounted on fixing seat (723).
5. a kind of injection molding machine auxiliary manipulator of more actuating stations according to claim 4, it is characterised in that: the rectangular folder
Head (724) includes six roots of sensation connecting rod (7241)；The connecting rod (7241) is combined into the frame of a matrix pattern, and frame is every
A point of intersection is all rotatably connected；Two point of intersection on the same diagonal line of frame, outermost are respectively equipped with one
Driving lever (7243), and one of driving lever (7243) is mounted on fixing seat (723)；In the matrix pattern frame four it is rectangular
The every side in inside be designed with a strip, play anti-skidding and anti-scratch rubber pad (7242)；The square clamp (724)
Further include one end be mounted on it is that on fixing seat (723), the other end is fixedly connected with free end driving lever (7243), for controlling party
The third pulling cylinder (7244) of clevis head (724) deformation clamping moulding.
6. a kind of injection molding machine auxiliary manipulator of more actuating stations according to claim 5, it is characterised in that: the third is drawn
It pulls out cylinder (7244) and two driving levers (7243) is on same diagonal line, and the diagonal line is perpendicular to fixing seat (723).
7. a kind of injection molding machine auxiliary manipulator of more actuating stations according to claim 1, it is characterised in that: the Z axis hand
Arm fixing seat (82) is equipped with the groove (821) for being coupled, and groove (821) interior two sides are equipped with symmetrical axis hole
(822)；The Z axis arm driving box (81) is equipped with the convex block (814) for being coupled；Convex block (814) two sides are set
There is telescopic, symmetrical movable axis (811)；It is equipped with inside the convex block (814) for controlling movable axis (811) flexible electricity
Magnet (813) and reset spring (812)；The groove (821) corresponds to each other and is coupled, axis hole with convex block (814) position
(822) it corresponds to each other and is coupled with movable axis (811) position.
8. a kind of injection molding machine auxiliary manipulator of more actuating stations according to claim 1, it is characterised in that: the Z axis hand
Arm (8) is equipped with drag chain (9) detachable, for drawing and protecting outside line and pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710732674.4A CN107415179B (en) | 2017-08-24 | 2017-08-24 | A kind of injection molding machine auxiliary manipulator of more actuating stations |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710732674.4A CN107415179B (en) | 2017-08-24 | 2017-08-24 | A kind of injection molding machine auxiliary manipulator of more actuating stations |
Publications (2)
| Publication Number | Publication Date |
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| CN107415179A CN107415179A (en) | 2017-12-01 |
| CN107415179B true CN107415179B (en) | 2019-05-21 |
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| CN201710732674.4A Active CN107415179B (en) | 2017-08-24 | 2017-08-24 | A kind of injection molding machine auxiliary manipulator of more actuating stations |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109352643A (en) * | 2018-12-21 | 2019-02-19 | 英诺维尔智能科技（苏州）有限公司 | A kind of four axis robot of compact |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006192593A (en) * | 2005-01-11 | 2006-07-27 | Fanuc Ltd | Molded product ejector and molding machine |
| CN204604816U (en) * | 2015-03-31 | 2015-09-02 | 宁波伟立机器人科技有限公司 | A kind of across axis robot |
| CN105563476A (en) * | 2015-06-17 | 2016-05-11 | 浙江理工大学 | Three-freedom-degree mechanical arm |
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