CN107650117A - Five axle door shape manipulators and its operating method - Google Patents
Five axle door shape manipulators and its operating method Download PDFInfo
- Publication number
- CN107650117A CN107650117A CN201610592297.4A CN201610592297A CN107650117A CN 107650117 A CN107650117 A CN 107650117A CN 201610592297 A CN201610592297 A CN 201610592297A CN 107650117 A CN107650117 A CN 107650117A
- Authority
- CN
- China
- Prior art keywords
- block
- moving block
- workpiece
- clamping device
- moving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000011017 operating method Methods 0.000 title claims abstract description 12
- 210000000078 claw Anatomy 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000012790 confirmation Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple 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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention is a kind of five axle door shape manipulators and its operating method, and the five axles door shape manipulator includes two columns, a fixed block, one first shifting block, one second shifting block, one first moving block, one second moving block and a clamping device；Just feeding, charging and the action of feeding again are carried out with the five axles door shape manipulator, and then reduces the area taken when manipulator is arranged in pairs or groups with work table, and reduces the activity duration, while increases the security used.
Description
Technical field
The invention mainly relates to a kind of mechanical arm and its operating method applied to machining equipment, one is referred in particular to
Five axle door shape manipulators of kind and its operating method.
Background technology
The development of manipulator is more and more extensive now, can facilitate the replacement after the work pieces process on machine-tool, reduces
Manpower simultaneously increases security, and the manipulator of general factory application be an independent equipment and located at machine-tool and platform for placing material it
Between, the scope of activities of manipulator is larger, and the working range of manipulator cannot typically allow people close to prevent danger, therefore the machine
Tool hand, the machine-tool and the work area shared by the platform for placing material are big, and when occupied area is bigger, the extending range of the manipulator is got over
Greatly, the activity duration of manipulator will be longer, if in order to avoid the quantity of this situation increase manipulator, except shared by increase
Area, can also greatly improve operating cost.
The content of the invention
Therefore, it is an object of the invention to provide a kind of area that can be reduced and be taken when manipulator and machine-tool are arranged in pairs or groups,
And reduce the activity duration, increase the security used, so improve the use value of manipulator five axle door shape manipulators and
Its operating method.
To reach above-mentioned purpose, the present invention provides a kind of five axle door shape manipulators, wherein, the five axles door shape manipulator includes
There are two columns, a fixed block, one first to move block, one second shifting block, one first moving block, one second moving block and a clamping to fill
Put；The bottom surface of the fixed block connects two columns respectively at the both ends of the fixed block；The first shifting block is in elongated, and this first
It is horizontally disposed to move block, and the first shifting block and fixed block are in 90 degree of angles, and the first shifting block can be along the top surface phase of fixed block
The fixed block is laterally and longitudinally movably located on the fixed block；The second shifting block is in elongated, and the second shifting block is vertically to set
Put, and the second shifting block is located at one end of the first shifting block in which can vertically move；One end of first moving block can be rotatably arranged in
The bottom of the second shifting block；Second moving block can be rotatably arranged in one of side of first moving block, and second turn
Bottom end of the motion block close to first moving block；The clamping device on second moving block different from first moving block
The one side of rotation connection, the clamping device include a dividing plate and two clamping jaws, and the dividing plate includes four edge surfaces and both sides
Face, an edge surface of the dividing plate is different from the one side being rotatablely connected with first moving block on second moving block, and this two
Clamping jaw is respectively arranged on the two sides of the dividing plate.
Five axles door shape manipulator as described above, wherein, this second move block bottom close to second move block bottom surface its
In an edge extend downwardly a straight panel, towards the horizontal-extending flat board of first moving block, this first is rotated for the bottom of the straight panel
The bottom of block can be rotationally connected with the top surface of the flat board.
Present invention also offers a kind of operating method of five axles door shape manipulator, wherein, the behaviour of the five axles door shape manipulator
Include the following steps as method：
Step a：A kind of five axle door shape manipulators are provided, the five axles door shape manipulator includes two columns, a fixed block, one
First moves block, one second shifting block, one first moving block, one second moving block and a clamping device；
Step b：First feeding：It is relatively fixed block longitudinal direction and transverse shifting first moves block to the work to be gripped of workpiece placement station
Above part, and the clamping jaw of clamping device is directed at workpiece to be gripped, move down the second shifting block, meanwhile, rotate this first turn
Motion block and the second moving block of rotation, rotate clamping device, and at least one clamping jaw in clamping device is clamped workpiece, clamp
After device clamping workpiece, the second shifting block is moved up；
Step c：Charging：Mobile first moves above block a to work table, moves down the second shifting block, at the same rotate this
One moving block and the second moving block, make the piece-holder area of the clamping jaw alignment work board for accompanying workpiece of clamping device, relatively
Direction movement first of the fixed block to piece-holder area moves block, after clamping jaw is put the workpiece in the piece-holder area of work table,
The claw of clamping jaw is opened to decontrol workpiece, is relatively fixed opposite direction movement first of the block to piece-holder area and is moved block, and to moving up
Dynamic second moves block；And
Step d：Feeding again：After the completion of work pieces process, mobile first moves above block to the workpiece of work table, moves down
Second moves block, meanwhile, first moving block is rotated with rotating the second moving block, is rotated clamping device, is made at least one clamping jaw
Workpiece is clamped, opposite direction movement first of the block to piece-holder area is relatively fixed and moves block, clamping jaw is clipped workpiece toward work table
Piece-holder area outside it is mobile after, move up the second shifting block.
The operating method of five axles door shape manipulator as described above, wherein, in step b and step d, in clamping workpiece
When, the clamping jaw of the clamping device folds claw and first touches workpiece, confirms the folder of the clamping device after clip position
Pawl clamps to the workpiece again.
By above-mentioned technological means, the accessible effect of the present invention is：
1. because of column and first moving block, second moving the cooperation of block, occupancy can be reduced during the five axles door shape manipulator use
Area, the first shifting block, the second shifting block, the first moving block, the second moving block and clamping device directly run above board, work
Compared with the confirmation on without worrying dangerous property, can also being worked close to board when making personnel near board.
2. the five axles door shape manipulator reduces working range, when can shorten operation compared with an independent manipulator
Between, and then operating cost is reduced, more and then improve the value that uses of manipulator.
Brief description of the drawings
The following drawings is only intended to, in doing schematic illustration and explanation to the present invention, not delimit the scope of the invention.Wherein：
Fig. 1 is the stereo appearance figure of present pre-ferred embodiments.
Fig. 2 is the schematic diagram that present pre-ferred embodiments implement state.
Fig. 3 is the schematic diagram that present pre-ferred embodiments implement state.
Fig. 4 is the sectional perspective enlarged diagram that present pre-ferred embodiments implement state.
Fig. 5 is the schematic diagram that present pre-ferred embodiments implement state.
Fig. 6 is the schematic diagram that present pre-ferred embodiments implement state.
Fig. 7 is the schematic diagram of the implementation state of present pre-ferred embodiments clamping workpiece.
Subelement drawing reference numeral explanation：
The fixed block of 10 column 20
30 first move the lower part of block 32
34 upper parts 40 second move block
The flat board of 42 straight panel 44
The moving block of 50 first moving block 60 second
The dividing plate of 70 clamping device 72
74 clamping jaws
Embodiment
In order to understand the technical characteristic and practical effect of the present invention in detail, and can come according to the content of specification real
Apply, further with preferred embodiment as shown in drawings, describe in detail as after：
The present invention is a kind of five axle door shape manipulators, and its preferred embodiment is referred to shown in Fig. 1, its include two columns 10,
One fixed block 20, one first moves block 30, one second shifting block 40, one first moving block 50, one second moving block 60 and a clamping and filled
70 are put, connects two columns 10 at the bottom surface two close end of the fixed block 20 respectively, the first shifting block 30 is in elongated, the first shifting block 30
To be horizontally disposed with and being in 90 degree of angles with fixed block 20, the first shifting block 30 can include a lower part 32 and one and be located at bottom
The upper part 34 divided above 32, the bottom surface of lower part 32 can be set along the top surface of fixed block 20 with respect to the transverse shifting of fixed block 20
In on the fixed block 20, the bottom surface of the upper part 34 is located in lower part 32 in which can be vertically moved along the top surface of lower part 32, its
In, the axial direction of fixed block 20 is that laterally, the axial direction of the first shifting block 30 is longitudinal direction, and the second shifting block 40 is in elongated, the second shifting block
40 is are vertically arranged and vertically movable located at first one end for moving block 30, it is preferable that the bottom of the second shifting block 40
A straight panel 42 is extended downwardly close to a wherein edge for the bottom surface of the second shifting block 40, the lower horizontal extension one of the straight panel 42 is flat
Plate 44, the top of the first moving block 50 are rotatably arranged in the bottom of the second shifting block 40, and the bottom of first moving block 50 can
The top surface of the flat board 44 is rotationally connected with, first moving block 50 can be because of the second shifting straight panel 42 of block 40 and matching somebody with somebody for flat board 44
Close support and less easily in rotate when stress damage, it is preferable that the flat board 44 towards first moving block 50, and this first
The bottom of moving block 50 is rotatablely arranged at the top surface of the flat board 44, and second moving block 60 is rotatably arranged in this first turn
One of side of motion block 50 and close to the bottom end of the first moving block 50, the clamping device 70 is located at second moving block 60
On different from the one side being rotatablely connected with first moving block 50, i.e. the first moving block 50 is on second moving block 60, and the
One moving block 50 is located at the both sides of the second moving block 60 with clamping device 70 respectively, the clamping device 70 include a dividing plate 72 with
Two clamping jaws 74, the dividing plate 72 include four edge surfaces and two sides, and an edge surface of the dividing plate 72 is located at second moving block
Different from the one side being rotatablely connected with first moving block 50 on 60, i.e., dividing plate 72 is on second moving block 60, and dividing plate 72
It is located at the both sides of the second moving block 60 respectively with the first moving block 50, two clamping jaw 74 is respectively arranged on the two sides of the dividing plate 72,
Because the second moving block 60 and the clamping device 70 are connected on first moving block 50, therefore the rotation process of the first moving block 50
The middle straight panel 42 that can be limited to the second shifting block 40, and limit first moving block 50 only can make 100 with respect to the second shifting block 40
80 degree of rotation.
Refer to shown in Fig. 2 to Fig. 7, the preferable operating method of the five axles door shape manipulator of the invention, under it includes
Row step：
Step a：A kind of five axle door shape manipulators are provided, it includes two columns 10, a fixed block 20, one first moves block
30th, one second block 40, one first moving block 50, one second moving block 60 and a clamping device 70 are moved, such as Fig. 2, the fixed block 20
Fixed cross over is arranged at workpiece placement station 80 and the top of work table 82；
Step b：First feeding：As Fig. 2 and Fig. 3, relative with fixed block 20 first move block 30 with making longitudinal direction and transverse shifting
The top of workpiece 90 to be gripped of workpiece placement station 80 is moved to, and clamping jaw 74 is directed at workpiece 90 to be gripped, second moves block 40
Move down such as Fig. 4, meanwhile, such as Fig. 5 and Fig. 6, first moving block 50 is rotated and rotated with the second moving block 60, makes clamping device
70 rotation and clamping jaw 74 clamp workpiece 90, such as Fig. 7, it is preferable that two clamping jaws 74 of the clamping device 70 move when can be different, its
In a clamping jaw 74 claw can be folded to clamp workpiece 90 when will clamp, another clamping jaw 74 maintains the shape that claw opens
State, can also two clamping jaws 74 be simultaneously clamp position, it is another it is preferred that in clamping workpiece 90, the clamping device 70
Clamping jaw 74 folds claw and first touches workpiece 90, confirms that the clamping jaw 74 of clip position rear clamping device 70 presss from both sides to workpiece 90 again
Hold, to clamp workpiece 90 safely, the clamping workpiece of clamping device 70 is after 90s, and the second shifting block 40 moves up；
Step c：Charging：First shifting block 30 shifts to the top of work table 82, and the second shifting block 40 moves down, at the same this
One moving block 50 rotates with the second moving block 60, by the alignment work board 82 of clamping jaw 74 for accompanying workpiece 90 of clamping device 70
Piece-holder area, be relatively fixed direction from block 20 to (entrance) piece-holder area movement first move block 30, make clamping jaw 74 by work
After part 90 is put into the piece-holder area of work table 82, clamping jaw 74 opens claw and decontrols workpiece 90, is relatively fixed block 20 toward workpiece
The opposite direction movement first of clamp area moves block 30, i.e., moves first to the direction for exiting piece-holder area and move block 30, second moves block
40 move up；And
Step d：Feeding again：After workpiece 90 machines, the first shifting block 30 moves to the top of workpiece 90 of work table 82, the
Two shifting blocks 40 move down, meanwhile, first moving block 50 rotates and is rotated with the second moving block 60 and rotate clamping device 70,
The clamping jaw 74 of the clamping device 70 folds claw and first touches workpiece 90, confirms that the clamping jaw 74 of clip position rear clamping device 70 is right again
Workpiece 90 is clamped, and at least one clamping jaw 74 is clamped workpiece 90, is relatively fixed block 20 to the opposite direction in piece-holder area
Mobile first moves block 30, i.e., moves first to the direction for exiting piece-holder area and move block 30, clamping jaw 74 is clipped workpiece 90 toward work
Make movement outside the piece-holder area of board 82, the second shifting block 40 is moved up, and placement location of workpiece 90 etc. can be selected subsequently to walk
Rapid design.
Summary, the fixed block 20, which is fixed to cross over, is arranged at workpiece placement station 80 and the top of work table 82, and first
Move the shifting of block 30, second block 40, the first moving block 50, the second moving block 60 and be connected at the fixed block 20, work with clamping device 70
It is mainly attached in board in the moving range of fixed block 20, the area taken when so can save use, staff to make scope
Compared with the confirmation on without worrying dangerous property, can also being worked close to board when near, and block is moved by fixed block 20, first
30th, second move the cooperation of block 40, the first moving block 50, the second moving block 60 and clamping device 70, and can do multiple directions with
The clamping workpiece 90 of multiple angles, the activity duration for integrally comparing an independent manipulator more shorten, and can reach reduction and make
The purpose of industry cost and increase safety in utilization, use value is further improved, and be beneficial to promote the use of.
The schematical embodiment of the present invention is the foregoing is only, is not limited to the scope of the present invention.It is any
One of ordinary skill in the art, made equivalent variations are with repairing on the premise of the design of the present invention and principle is not departed from
Change, the scope of protection of the invention all should be belonged to.
Claims (4)
- A kind of 1. five axle door shape manipulators, it is characterised in that the five axles door shape manipulator include two columns, a fixed block, One first moves block, one second shifting block, one first moving block, one second moving block and a clamping device；The bottom surface of the fixed block Two columns are connected respectively at the both ends of the fixed block；The first shifting block is in elongated, and the first shifting block is water It is flat to set, and the first shifting block and the fixed block are in 90 degree of angles, described first moves block can be along the top of the fixed block The relatively described fixed block in face is laterally and longitudinally movably on the fixed block；Described second moves block in elongated, and described second Block is moved to be vertically arranged, and the second shifting block is located at described first one end for moving block in which can vertically move；Described first rotates One end of block can be rotatably arranged in the described second bottom for moving block；Second moving block can be rotatably arranged in described first and rotate One of side of block, and second moving block is close to the bottom end of first moving block；The clamping device is located at Include a dividing plate different from the one side being rotatablely connected with first moving block, the clamping device on second moving block With two clamping jaws, the dividing plate includes four edge surfaces and two sides, and an edge surface of the dividing plate is located at described second On moving block the both sides of the dividing plate are respectively arranged on different from the one side being rotatablely connected with first moving block, two clamping jaws Face.
- 2. five axles door shape manipulator according to claim 1, it is characterised in that described second moves the bottom of block close to described A wherein edge for the bottom surface of second shifting block extends downwardly a straight panel, and the bottom of the straight panel is horizontal towards first moving block Extend a flat board, the bottom of first moving block can be rotationally connected with the top surface of the flat board.
- A kind of 3. operating method of five axles door shape manipulator, it is characterised in that the operating method bag of the five axles door shape manipulator Contain the following steps：Step a：There is provided a kind of five axle door shape manipulators, the five axles door shape manipulator includes two columns, a fixed block, one the One moves block, one second shifting block, one first moving block, one second moving block and a clamping device；Step b：First feeding：The first shifting block is waited to grip to workpiece placement station described in relatively described fixed block longitudinal direction and transverse shifting Workpiece above, and the clamping jaw of the clamping device is directed at the workpiece to be gripped, move down described second and move block, together When, rotate first moving block and rotate second moving block, rotate the clamping device, and make the clamping device In at least one clamping jaw clamp the workpiece, after workpiece described in the gripping apparatus grips, move up described second Move block；Step c：Charging：Mobile described first moves above block a to work table, moves down described second and moves block, rotates simultaneously First moving block and second moving block, make described in the clamping jaw for accompanying the workpiece alignment of the clamping device The piece-holder area of work table, block is moved relative to direction movement described first of the fixed block to the piece-holder area, is made After the workpiece is put into the piece-holder area of the work table by the clamping jaw, the claw of the clamping jaw is opened to decontrol The workpiece, block is moved relative to opposite direction movement described first of the fixed block to the piece-holder area, and move up institute State the second shifting block；AndStep d：Feeding again：After the completion of the work pieces process, mobile described first moves block to the workpiece of the work table Top, move down described second and move block, meanwhile, rotate first moving block and rotate second moving block, make described Clamping device rotates, and at least one clamping jaw is clamped the workpiece, and relatively described fixed block is to the piece-holder area Opposite direction movement described first moves block, the clamping jaw is clipped the workpiece to outside the piece-holder area of the work table After movement, move up described second and move block.
- 4. the operating method of five axles door shape manipulator according to claim 3, it is characterised in that in the step b and institute State in step d, when clamping the workpiece, the clamping jaw of the clamping device folds the claw and first touches the work Part, the clamping jaw of the clamping device clamps to the workpiece again after confirming clip position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610592297.4A CN107650117A (en) | 2016-07-26 | 2016-07-26 | Five axle door shape manipulators and its operating method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610592297.4A CN107650117A (en) | 2016-07-26 | 2016-07-26 | Five axle door shape manipulators and its operating method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107650117A true CN107650117A (en) | 2018-02-02 |
Family
ID=61126953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610592297.4A Pending CN107650117A (en) | 2016-07-26 | 2016-07-26 | Five axle door shape manipulators and its operating method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107650117A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053065A (en) * | 2019-04-25 | 2019-07-26 | 徐佳斌 | Workpiece transportation manipulator for water pump manufacture assembly |
| CN111824759A (en) * | 2020-07-10 | 2020-10-27 | 西安交通大学 | Grabbing platform based on assembly line |
| CN113715006A (en) * | 2021-08-19 | 2021-11-30 | 苏州华兴源创科技股份有限公司 | Driving method of mechanical arm |
| CN114074301A (en) * | 2021-11-19 | 2022-02-22 | 安徽晋煤中能化工股份有限公司 | Machining base for motor maintenance and machining and using method thereof |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0114096A1 (en) * | 1983-01-13 | 1984-07-25 | Western Electric Company, Incorporated | Robotic arm |
| EP0210974A1 (en) * | 1985-07-25 | 1987-02-04 | Alfred Winter | Industrial robot |
| US4832563A (en) * | 1986-08-06 | 1989-05-23 | Fibro Gmbh | Portal system |
| DE19822765A1 (en) * | 1998-05-20 | 1999-12-02 | Wasserthal Stella | Handling device |
| CN101108483A (en) * | 2006-07-20 | 2008-01-23 | 发那科株式会社 | Arm structure of industrial robot |
| CN203062796U (en) * | 2012-12-28 | 2013-07-17 | 浙江跃岭股份有限公司 | Safe and efficient double-clamping-head piece |
| CN103662821A (en) * | 2012-08-31 | 2014-03-26 | 鸿富锦精密工业（深圳）有限公司 | Carrying device |
| CN203993881U (en) * | 2014-06-18 | 2014-12-10 | 宁波伟立机器人科技有限公司 | A kind of novel five degree of freedom manipulator |
| CN104589133A (en) * | 2013-10-30 | 2015-05-06 | 富豪机电股份有限公司 | Door type automatic material taking device |
| CN104589142A (en) * | 2013-10-30 | 2015-05-06 | 富豪机电股份有限公司 | Double-side door type automatic material taking device |
| CN205835315U (en) * | 2016-07-26 | 2016-12-28 | 易立威机电股份有限公司 | Five axle door shape mechanical hands |
-
2016
- 2016-07-26 CN CN201610592297.4A patent/CN107650117A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0114096A1 (en) * | 1983-01-13 | 1984-07-25 | Western Electric Company, Incorporated | Robotic arm |
| EP0210974A1 (en) * | 1985-07-25 | 1987-02-04 | Alfred Winter | Industrial robot |
| US4832563A (en) * | 1986-08-06 | 1989-05-23 | Fibro Gmbh | Portal system |
| DE19822765A1 (en) * | 1998-05-20 | 1999-12-02 | Wasserthal Stella | Handling device |
| CN101108483A (en) * | 2006-07-20 | 2008-01-23 | 发那科株式会社 | Arm structure of industrial robot |
| CN103662821A (en) * | 2012-08-31 | 2014-03-26 | 鸿富锦精密工业（深圳）有限公司 | Carrying device |
| CN203062796U (en) * | 2012-12-28 | 2013-07-17 | 浙江跃岭股份有限公司 | Safe and efficient double-clamping-head piece |
| CN104589133A (en) * | 2013-10-30 | 2015-05-06 | 富豪机电股份有限公司 | Door type automatic material taking device |
| CN104589142A (en) * | 2013-10-30 | 2015-05-06 | 富豪机电股份有限公司 | Double-side door type automatic material taking device |
| CN203993881U (en) * | 2014-06-18 | 2014-12-10 | 宁波伟立机器人科技有限公司 | A kind of novel five degree of freedom manipulator |
| CN205835315U (en) * | 2016-07-26 | 2016-12-28 | 易立威机电股份有限公司 | Five axle door shape mechanical hands |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053065A (en) * | 2019-04-25 | 2019-07-26 | 徐佳斌 | Workpiece transportation manipulator for water pump manufacture assembly |
| CN111824759A (en) * | 2020-07-10 | 2020-10-27 | 西安交通大学 | Grabbing platform based on assembly line |
| CN113715006A (en) * | 2021-08-19 | 2021-11-30 | 苏州华兴源创科技股份有限公司 | Driving method of mechanical arm |
| CN114074301A (en) * | 2021-11-19 | 2022-02-22 | 安徽晋煤中能化工股份有限公司 | Machining base for motor maintenance and machining and using method thereof |
| CN114074301B (en) * | 2021-11-19 | 2023-10-20 | 安徽晋煤中能化工股份有限公司 | Machining base for motor maintenance and machining and application method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107650117A (en) | Five axle door shape manipulators and its operating method | |
| JP5423441B2 (en) | Work system, robot apparatus, and manufacturing method of machine product | |
| CN104647489B (en) | Automatic nailing machine for compound bodies | |
| CN103862213B (en) | The weld clamp device of building hoist standard knot square frame | |
| KR20170140243A (en) | Bending machine | |
| CN106346337A (en) | Automatic grinding device and method thereof | |
| CN104150248B (en) | Intelligence gets paper machine | |
| CN205835315U (en) | Five axle door shape mechanical hands | |
| CN104589434B (en) | A kind of compound mass automatic nailing machine clamping turnover mechanism | |
| CN105537430B (en) | A kind of steel cable process equipment | |
| ITBO20090406A1 (en) | MACHINE FOR PROCESSING WOOD OR SIMILAR COMPONENTS | |
| CN208019690U (en) | Supporter tapered sleeve bimodulus jig equipment | |
| CN206561416U (en) | A kind of Novel machine frame type mechanical arm | |
| CN207402348U (en) | A kind of automatic welding equipment of carrying machine people | |
| CN109396926A (en) | A kind of twin shaft movable type clamping jaw | |
| TWM532357U (en) | Five-axes gantry robotic manipulator | |
| TWI727961B (en) | Five-axis portal manipulator | |
| CN107486618B (en) | Spot welding device | |
| JP7358616B2 (en) | Transfer method, operating system and bending device configured for the purpose | |
| CN105142346B (en) | A kind of printed wiring board drilling machine automatic loading and unloading system | |
| CN105661885B (en) | Handle mechanism and its upper and lower handle method above and below full-automatic optical, mechanical and electronic integration numerical control | |
| CN210937885U (en) | Clamp for welding robot | |
| CN107598456A (en) | A kind of automatic welding equipment of carrying machine people | |
| CN210360459U (en) | Multi-station tool clamp | |
| CN207155120U (en) | A kind of multi-vehicle-type Flexible Main spells switching device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180202 |