CN107662200A - It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application - Google Patents

It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application Download PDF

Info

Publication number
CN107662200A
CN107662200A CN201711084830.7A CN201711084830A CN107662200A CN 107662200 A CN107662200 A CN 107662200A CN 201711084830 A CN201711084830 A CN 201711084830A CN 107662200 A CN107662200 A CN 107662200A
Authority
CN
China
Prior art keywords
arm
sprocket
motor
sprocket wheel
forearm
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
Application number
CN201711084830.7A
Other languages
Chinese (zh)
Inventor
周军
高新彪
周民法
张成梁
皇攀凌
高元飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong Alexander Intelligent Technology Co Ltd
Shandong Xu Kun Lighting Appliance Co Ltd
Shandong University
Original Assignee
Shandong Alexander Intelligent Technology Co Ltd
Shandong Xu Kun Lighting Appliance Co Ltd
Shandong University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shandong Alexander Intelligent Technology Co Ltd, Shandong Xu Kun Lighting Appliance Co Ltd, Shandong University filed Critical Shandong Alexander Intelligent Technology Co Ltd
Priority to CN201711084830.7A priority Critical patent/CN107662200A/en
Publication of CN107662200A publication Critical patent/CN107662200A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators

Abstract

The present invention relates to a kind of suitable for four axis robot devices of high temperature with high dust environment and its application, including from bottom to top set gradually base, revolving bed, large arm, forearm and manipulator;Revolving bed is located on base and the driving rotation of the first motor by being arranged on base, large arm bottom is connected with revolving bed and the second motor by being arranged on revolving bed drives rotation; forearm bottom is connected with large arm top and the driving of the 3rd motor by being arranged on revolving bed rotates, and manipulator is connected with forearm top and the driving rotation of the 4th motor by being arranged in large arm.This four axis robot device uses chain drive, and to the working environment better tolerance of high temperature with high dust, maintaining is convenient, ensure that the reliability that manipulator works long hours.And there are four frees degree, flexible movements, arm exhibition is longer, and operative radius is big, can adjust movement posture according to production requirement, advantageously reduce production cost, reduction in the numbers of seconds, improve product quality.

Description

It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application
Technical field
The present invention relates to a kind of suitable for four axis robot devices of high temperature with high dust environment and its application, more particularly to one Manipulator of the kind for the special high temperature with high dust environment of glassware machining production line, belongs to manipulator technical field.
Background technology
Glassware production line will be realized puts conveyer belt to carry out in next step by the glassware pickup after the demoulding The operation of technological process, generally there are two methods, one kind is manually to carry operation using clamp, and one kind is manipulator automatic transporting Operation.Because working environment is severe, labor intensity is big, and manual operation efficiency is low, and cost of labor is high, therefore manual operation is only applicable Small lot in small processing workshop produces, and is not suitable for the large-scale continuous productive process of enterprise.
It is picked up using manipulator and puts operation, if Authorization Notice No. is CN202781155U utility model patent institute A kind of disclosed highly effective and safe robot device for being used to transmit glassware, is CN103395063A patents of invention with notification number A kind of disclosed convertible full-automatic mechanical hand suitable for Production Line for Making Pressed Glassware.Such scheme have it is certain not Foot, as the former is influenceed by cylinder self character, action impact is big, and velocity of displacement is uncontrollable, directly affects the reliability of pickup, And there is certain potential safety hazard in it;Otherwise the latter's reversal rate when being operated can not can throw away vessel very much soon, this is straight Connect the operating efficiency that have impact on manipulator;Both manipulator degrees-of-freedoms are few, very flexible, and radius of action is small to limit streamline Arrangement.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of four axis robots suitable for high temperature with high dust environment and filled Put.
The present invention also provides a kind of method of work of above-mentioned four axis robot devices suitable for high temperature with high dust environment.
Technical scheme is as follows:
A kind of four axis robot devices suitable for high temperature with high dust environment, including from bottom to top set gradually base, return Swivel base, large arm, forearm and manipulator;Revolving bed is located on base and the driving rotation of the first motor by being arranged on base, Large arm bottom is connected with revolving bed and the driving rotation of the second motor by being arranged on revolving bed, forearm bottom and large arm top Connect and the driving rotation of the 3rd motor by being arranged on revolving bed, manipulator are connected with forearm top and by being arranged on greatly The 4th motor driving rotation on arm.
Preferably, the base is a cylinder, and the first motor is installed in cylinder and by the first decelerator with returning Swivel base bottom driving connects.
Preferably, the revolving bed upper surface is relatively set with two risers, and large arm bottom is located between two risers, the Two motors are arranged on riser side and are connected by the second decelerator with large arm bottom.
Preferably, the 3rd motor be arranged on riser opposite side and by the 3rd decelerator and be arranged in large arm the One chain gear transmission connects, and is provided with the second sprocket wheel in the forearm and the second sprocket wheel is fixedly connected with forearm bottom, the first sprocket wheel It is connected with the second sprocket wheel by chain drive.
Preferably, the center of first sprocket wheel is provided with the first sprocket shaft to stretch out, and first sprocket shaft one end is run through It is connected behind large arm bottom with the 3rd decelerator, the other end is connected by bearing with large arm bottom.
Preferably, the center of second sprocket wheel is provided with the second sprocket shaft to stretch out, and the second sprocket shaft runs through forearm Both ends at the top of large arm with being connected behind bottom, and the second sprocket shaft is fixedly connected with forearm bottom.
Preferably, the 4th motor is arranged in large arm, and the 4th motor is by the 4th decelerator and is arranged in large arm The connection of the 3rd chain gear transmission, forearm bottom and top be respectively arranged with the 4th sprocket wheel and the 5th sprocket wheel, and the 4th sprocket wheel is arranged on On second sprocket shaft;The center of 5th sprocket wheel is provided with the 3rd sprocket shaft that stretches out, the both ends of the 3rd sprocket shaft respectively with it is small Connection and the 3rd sprocket shaft is also fixedly connected with manipulator at the top of arm, between the 3rd sprocket wheel and the 4th sprocket wheel, the 4th sprocket wheel and the Pass through chain drive respectively between five sprocket wheels.
Preferably, by bearing with being connected at the top of large arm, the 4th sprocket wheel is pacified by bearing at the both ends of second sprocket shaft On the second sprocket shaft.
Preferably, first sprocket wheel, the second sprocket wheel, the 3rd sprocket wheel, the 5th sprocket wheel are simple chainwheel, the 4th chain Take turns as duplex chain wheel.
Preferably, the both ends of the 3rd sprocket shaft are connected by bearing with forearm top.
A kind of method of work of four axis robot devices suitable for high temperature with high dust environment, comprises the following steps:
During operation, by starting the first motor, the first motor operation driving revolving bed rotates on base;By starting the Two motors, the second motor operation drive large arm to be rotated around the first sprocket shaft;By starting the 3rd motor, the 3rd motor operation drives First sprocket shaft rotates, and the first sprocket shaft rotates by the sprocket shaft of chain-driving second, and the second sprocket shaft drives while rotation Forearm rotates around the second sprocket shaft;By starting the 4th motor, the 4th motor operation drives the 3rd sprocket wheel to rotate, and the 3rd sprocket wheel is borrowed The sprocket wheel of chain-driving the 4th is helped to rotate, the 4th sprocket wheel rotates by the sprocket shaft of chain-driving the 3rd, and the 3rd sprocket shaft rotates same When driving mechanical hand rotate.
The beneficial effects of the present invention are:
1. the motor of a four axis robot device install concentratedly base, revolving bed, large arm bottom, reduce manipulator Center of gravity, alleviate manipulator actuating station weight, reduce the load of motor, reduce idle work consumption.
2. a four axis robot device uses chain drive, to the working environment better tolerance of high temperature with high dust, safeguard and protect It is convenient to support, and ensure that the reliability that manipulator works long hours.
3. a four axis robot device has four frees degree, flexible movements, arm exhibition is longer, and operative radius is big, can basis Production requirement adjusts movement posture, advantageously reduces production cost, reduction in the numbers of seconds, improves product quality, improves production efficiency, Mitigate labor strength.
4. four axis robot apparatus structures of the invention are simple, reliable operation, operating speed is fast, maintainability is good, can be in high temperature Using glassware is picked and placeed in the particular surroundings of high dust, in addition the invention is not limited in glassware produces, also can use Target object is picked up in other high temperature with high dust production environments and puts operation, is had a wide range of application.
Brief description of the drawings
Fig. 1 is the overall structure diagram of four axis robot devices of the invention;
Fig. 2 is the internal structure schematic diagram of four axis robot devices of the invention;
Wherein:1st, base;2nd, revolving bed;3rd, large arm;4th, forearm;5th, manipulator;6th, the first motor;7th, the second motor;8、 3rd motor;9th, the 4th motor;10th, the first decelerator;11st, the second decelerator;12nd, the 3rd decelerator;13rd, the 4th decelerator; 14th, the first sprocket wheel;15th, chain;16th, the second sprocket wheel;17th, the 3rd sprocket wheel;18th, chain;19th, the 4th sprocket wheel;20th, chain;21st, Five sprocket wheels;22nd, riser.
Embodiment
The present invention will be further described by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1:
As depicted in figs. 1 and 2, the present embodiment provides a kind of four axis robot devices suitable for high temperature with high dust environment, Including from bottom to top setting gradually base 1, revolving bed 2, large arm 3, forearm 4 and manipulator 5;Revolving bed 2 is located on base 1 and led to The the first motor 6 driving rotation being arranged on base 1 is crossed, the bottom of large arm 3 is connected with revolving bed 2 and by being arranged on revolving bed 2 On the driving rotation of the second motor 7, be connected at the top of the bottom of forearm 4 and large arm 3 and the 3rd motor by being arranged on revolving bed 2 8 driving rotations, manipulator 5 is connected with the top of forearm 4 and the driving of the 4th motor 9 by being arranged in large arm 3 rotates.
Wherein, base 1 is a cylinder, and the first motor 6 is installed on cylindrical cavity and is connected with the first decelerator 10, the The output shaft of one speed reducer 10 is directly connected with the bottom driving of revolving bed 2.The power of first motor 6 output passes through the first decelerator Driving revolving bed 2 rotates after 10 decelerations, realizes the waist action of four axis robots of the invention.
The profile of revolving bed 2 is a cylinder, and two risers 22, the bottom position of large arm 3 have been mounted opposite in the upper surface of revolving bed 2 Between two risers 22, the second motor 7 is arranged on riser side and is connected by the second decelerator 11 with the bottom of large arm 3, the The output shaft of two decelerators 11 is directly rigidly connected with large arm bottom outside, and the second motor 7 is directly driven by the second decelerator 11 Dynamic large arm 3 rotates.
3rd motor 8 is arranged on riser opposite side and the drive shaft of the 3rd motor 8 enters inside large arm through riser, large arm It is connected with the 3rd decelerator 12 being arranged on inside large arm, the 3rd decelerator 12 and the first sprocket wheel 14 being arranged in large arm It is connected by the first sprocket shaft, the first sprocket wheel 14 is structure as a whole with the first sprocket shaft, and the other end of the first sprocket shaft leads to Bearing is crossed to be connected with the bottom of large arm 3 (large arm bottom is provided with the bearing block for being used for installing bearing);The second sprocket wheel is provided with forearm 4 16 and second sprocket wheel 16 be fixedly connected with the bottom of forearm 4, the first sprocket wheel 14 is connected with the second sprocket wheel 16 by chain 15.
The center of second sprocket wheel 16 is provided with the second sprocket shaft to stretch out, and the second sprocket shaft runs through two behind the bottom of forearm 4 End is connected by bearing with the top of large arm and (is provided with corresponding bearing block at the top of large arm), and the second sprocket shaft is fixed with the bottom of forearm 4 Connect, then the second sprocket shaft can drive forearm 4 to rotate in the lump when rotating, so as to realize that passing through the 3rd by the 3rd motor 8 slows down Device 12, the first sprocket wheel 14, chain 15, the second sprocket wheel 16 driving forearm 4 rotate.
4th motor 9 is arranged in large arm 3, as shown in figure 1, on the outside of large arm.4th motor 9 passes through the 4th decelerator 13 are connected with the 3rd sprocket wheel 17 being arranged in large arm 3, and the bottom of forearm 4 and top are respectively arranged with the 4th sprocket wheel 19 and Five sprocket wheels 21, the 4th sprocket wheel 19 is arranged on the second sprocket shaft by bearing (will not drive the 4th chain during the rotation of the second sprocket shaft Wheel 19 rotates);The center of 5th sprocket wheel 21 is provided with the 3rd sprocket shaft that stretches out, the both ends of the 3rd sprocket shaft respectively with forearm 4 tops connect by bearing and (are provided with corresponding bearing block at the top of forearm) and the 3rd sprocket shaft is also fixedly connected with manipulator 5, the It is driven respectively by chain 18,20 between three sprocket wheels 17 and the 4th sprocket wheel 19, between the 4th sprocket wheel 19 and the 5th sprocket wheel 21.
The operation principle of the axis robot device of the present embodiment four:
When robot device works, manipulator closes in the driving lower gripper of source of the gas, clamps glassware, each by controlling The rotation adjustment gripper pose of individual motor, manipulator movable glass vessel to specified location, by controlling source of the gas to unclamp Clamping jaw, put down glassware.
Embodiment 2:
A kind of method of work of the four axis robot devices suitable for high temperature with high dust environment described in embodiment 1, specifically The course of work is as follows:
During operation, by starting the first motor 6, the operation of the first motor 6 drives revolving bed 2 bottom of at by the first decelerator 10 Rotated on seat 1,360 degree of rotations of whole robot device can be achieved;By starting the second motor 7, the operation of the second motor 7 passes through Second decelerator 11 drives large arm to be rotated around the first sprocket shaft;By starting the 3rd motor 8, the operation of the 3rd motor 8 passes through the 3rd Decelerator 12 drives the first sprocket shaft to rotate, and the first sprocket shaft rotates by the sprocket shaft of chain-driving second, and the second sprocket shaft turns Forearm 4 is driven to be rotated around the second sprocket shaft while dynamic;By starting the 4th motor 9, the operation of the 4th motor 9 is slowed down by the 4th Device 13 drive the 3rd sprocket wheel 17 rotate, the 3rd sprocket wheel 17 by chain 18 drive the 4th sprocket wheel 19 rotate, the 4th sprocket wheel 19 by Chain 20 drives the 5th sprocket wheel 21 and the 3rd sprocket shaft to rotate, and driving mechanical hand 5 rotates while the 3rd sprocket shaft rotates.
Manipulator 5 is existing product, is closed in the driving lower gripper of source of the gas.First sprocket wheel 14, the second sprocket wheel 16, the 3rd chain It is simple chainwheel to take turns the 17, the 5th sprocket wheel 21, and the 4th sprocket wheel 19 is duplex chain wheel, is both connected by chain 18 and the 3rd sprocket wheel 17 Connect, be connected further through chain 20 with the 5th sprocket wheel 21, realize the power transmission of the 4th motor 9.

Claims (10)

1. a kind of four axis robot devices suitable for high temperature with high dust environment, it is characterised in that including from bottom to top setting successively Bottom set seat, revolving bed, large arm, forearm and manipulator;Revolving bed is located on base and the first motor by being arranged on base Driving rotation, large arm bottom is connected with revolving bed and the driving rotation of the second motor by being arranged on revolving bed, forearm bottom It is connected with large arm top and the driving of the 3rd motor by being arranged on revolving bed rotates, manipulator is connected and led to at the top of forearm Cross the 4th motor driving rotation being arranged in large arm.
2. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 1, it is characterised in that the bottom Seat is a cylinder, and the first motor is installed in cylinder and is connected by the first decelerator with revolving bed bottom driving.
3. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 1, it is characterised in that described time Swivel base upper surface is relatively set with two risers, and between two risers, the second motor is arranged on riser side for large arm bottom And it is connected by the second decelerator with large arm bottom.
4. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 1, it is characterised in that described the Three motors are arranged on riser opposite side and are connected by the 3rd decelerator with the first chain gear transmission being arranged in large arm, described small The second sprocket wheel is provided with arm and the second sprocket wheel is fixedly connected with forearm bottom, the first sprocket wheel and the second sprocket wheel pass through chain drive Connection.
5. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 4, it is characterised in that described the The center of one sprocket wheel is provided with the first sprocket shaft for stretching out, first sprocket shaft one end run through behind large arm bottom with the 3rd decelerator Connection, the other end are connected by bearing with large arm bottom.
6. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 4, it is characterised in that described the The center of two sprocket wheels is provided with the second sprocket shaft to stretch out, and both ends at the top of large arm with connecting after the second sprocket shaft runs through forearm bottom Connect, and the second sprocket shaft is fixedly connected with forearm bottom.
7. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 6, it is characterised in that described the Four motors are arranged in large arm, and the 4th motor is connected by the 4th decelerator with the 3rd chain gear transmission being arranged in large arm, small Arm bottom and top are respectively arranged with the 4th sprocket wheel and the 5th sprocket wheel, and the 4th sprocket wheel is arranged on the second sprocket shaft;5th sprocket wheel Center be provided with the 3rd sprocket shaft that stretches out, the both ends of the 3rd sprocket shaft at the top of forearm respectively with being connected and the 3rd sprocket shaft Also it is fixedly connected with manipulator, passes through chain respectively between the 3rd sprocket wheel and the 4th sprocket wheel, between the 4th sprocket wheel and the 5th sprocket wheel Transmission.
8. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 7, it is characterised in that described the By bearing with being connected at the top of large arm, the 4th sprocket wheel is arranged on the second sprocket shaft by bearing at the both ends of two sprocket shafts.
9. it is applied to four axis robot devices of high temperature with high dust environment as claimed in claim 7, it is characterised in that described the One sprocket wheel, the second sprocket wheel, the 3rd sprocket wheel, the 5th sprocket wheel are simple chainwheel, and the 4th sprocket wheel is duplex chain wheel;
The both ends of 3rd sprocket shaft are by bearing with being connected at the top of forearm.
A kind of 10. work of four axis robot devices suitable for high temperature with high dust environment as described in claim any one of 1-9 Make method, comprise the following steps:
During operation, by starting the first motor, the first motor operation driving revolving bed rotates on base;By starting the second electricity Machine, the second motor operation drive large arm to be rotated around the first sprocket shaft;By starting the 3rd motor, the 3rd motor operation drives first Sprocket shaft rotates, and the first sprocket shaft rotates by the sprocket shaft of chain-driving second, and the second sprocket shaft drives forearm while rotation Rotated around the second sprocket shaft;By starting the 4th motor, the 4th motor operation drives the 3rd sprocket wheel to rotate, and the 3rd sprocket wheel is by chain Article drive the 4th sprocket wheel rotate, the 4th sprocket wheel by the sprocket shaft of chain-driving the 3rd rotate, the 3rd sprocket shaft rotate while band Dynamic manipulator rotates.
CN201711084830.7A 2017-11-07 2017-11-07 It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application Pending CN107662200A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711084830.7A CN107662200A (en) 2017-11-07 2017-11-07 It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711084830.7A CN107662200A (en) 2017-11-07 2017-11-07 It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application

Publications (1)

Publication Number Publication Date
CN107662200A true CN107662200A (en) 2018-02-06

Family

ID=61143989

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711084830.7A Pending CN107662200A (en) 2017-11-07 2017-11-07 It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application

Country Status (1)

Country Link
CN (1) CN107662200A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108927799A (en) * 2018-09-10 2018-12-04 广东宏穗晶科技服务有限公司 A kind of machining robot mechanical arm
CN111186610A (en) * 2019-12-27 2020-05-22 浙江瑞涛包装制品有限公司 Multifunctional packaging mechanical arm

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108927799A (en) * 2018-09-10 2018-12-04 广东宏穗晶科技服务有限公司 A kind of machining robot mechanical arm
CN111186610A (en) * 2019-12-27 2020-05-22 浙江瑞涛包装制品有限公司 Multifunctional packaging mechanical arm

Similar Documents

Publication Publication Date Title
CN104444360B (en) Five-axis hub transfer robot and clamping manipulator
CN201338861Y (en) Full-automatic hydraulic hacking machine
CN103978477A (en) Multi-joint robot
CN208614783U (en) A kind of multi-functional carrying robot device
WO2019015164A1 (en) Multi-arm suspended rail type casting cleaning robot
CN202985572U (en) Rotary manipulator claw and rotary manipulator with same
CN107662200A (en) It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application
CN207373169U (en) A kind of four axis robot devices suitable for high temperature with high dust environment
WO2016106962A1 (en) Cable-strut combination driven parallel robotic palletizer
CN207632131U (en) A kind of four axis robot palletizers
CN203592484U (en) Four-joint ladling or pouring robot
CN204054077U (en) A kind of transfer robot
CN106826802A (en) Auto parts machinery pickup robot
CN204685875U (en) A kind of manipulator
CN105881489A (en) Multifunctional carrying device
CN205766150U (en) A kind of multi-functional carrying mechanical hand
CN105798905A (en) Six-axis intelligent carrying mechanical hand for stamping
CN206569735U (en) A kind of efficient palletizing mechanical arm
CN206048176U (en) A kind of inner container of electric cooker production line loading and unloading manipulator
CN206969697U (en) A kind of merchandising machine people
CN207346752U (en) A kind of gripper grabbing device
CN206795832U (en) A kind of intelligent machine manufactures grabbing device
CN107972021A (en) A kind of Multi-shaft mechanical arm
CN107381035A (en) A kind of high-accuracy five axles intelligent robot carried for stamping parts
CN204913877U (en) Industrial robot multistation interaction system

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