CN107824708A - Support synchronous proportional trailing type mechanical arm - Google Patents
Support synchronous proportional trailing type mechanical arm Download PDFInfo
- Publication number
- CN107824708A CN107824708A CN201711241241.5A CN201711241241A CN107824708A CN 107824708 A CN107824708 A CN 107824708A CN 201711241241 A CN201711241241 A CN 201711241241A CN 107824708 A CN107824708 A CN 107824708A
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- CN
- China
- Prior art keywords
- mechanical arm
- group
- supporting
- seat
- interior
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses one kind to support synchronous proportional trailing type mechanical arm, and in frame, the frame includes robot gantry and frame top panel, and the frame top panel is located on robot gantry；The mechanical arm includes lower floor, middle level and three, upper strata part, and lower floor follows group for supporting synchronous proportional, and middle level is mechanical arm group, and upper strata is suspension seat of honour group；The supporting synchronous proportional follows group to be used for the rectilinear orbit of supporting machinery arm and its component during mechanical arm group comes and goes and run and is come and gone with mechanical arm synchronous proportional and follow supporting；The suspension seat of honour group is used to hang rectilinear orbit and Synchronization Component.A kind of supporting synchronous proportional trailing type mechanical arm provided by the invention, solve large-tonnage closed punch send receipts automation issues, shorten large-tonnage closed punch and send the horizontal throw for receiving mechanical arm, reduce the jib-length for stretching out mechanical arm to greatest extent and trembleed caused by jib-length is long.
Description
Technical field
The invention belongs to machining technique field, and in particular to one kind supporting synchronous proportional trailing type mechanical arm.
Background technology
In the production model of existing large-tonnage closed punch, including two kinds：One kind is two people's bilateral operator schemes, another
Kind it is one unilateral operator scheme.Two people's bilateral operator schemes need two people to be operated respectively in the both sides of punch press, a people
It is responsible for sending blank, another people is responsible for harvest product；Although one unilateral operator scheme only needs a people to be carried out in the side of punch press
Operation, but need to complete the work for giving blank and harvest product simultaneously.
The stroke of the mechanical arm disengaging die cavity of large-tonnage closed punch is longer, by taking 400 tons of closed punch as an example, individual layer machinery
The mechanical arm disengaging die cavity stroke of arm pattern needs 1000mm, it is assumed that the linear bearing of supporting individual layer mechanical arm rectilinear orbit is critical
Installation site is punch press left margin, then the stretching jib-length of individual layer mechanical arm can be more than 1600mm.In order to ensure mechanical arm
Stability, the overall length of mechanical arm can also be more than 3000mm.
Because the length of mechanical arm stretching cantilever is long, mechanical arm front end is caused to be increased in the flutter amplitude of the end of run, directly
The adverse effect brought has two：First, mechanical arm front end (under) blank enter mould deviation be located；Second, upper mould hit down into
Product fall into mechanical arm front end (on) have deviation.Entering mould deviation being located can cause percent defective to rise；Finished product falls into mechanical arm front end
(on) have deviation that the finished product stacking of end can be caused uneven, need again labor intensive to be arranged.
The content of the invention
For the above-mentioned problems in the prior art, the invention provides one kind supporting synchronous proportional trailing type machinery
Arm, solve large-tonnage closed punch send receipts automation issues, shortens large-tonnage closed punch and send the level for receiving mechanical arm
Stroke, the jib-length for stretching out mechanical arm is reduced to greatest extent and is trembleed caused by jib-length is long.
Therefore, present invention employs following technical scheme：
One kind supporting synchronous proportional trailing type mechanical arm, in frame, the frame includes robot gantry and frame
Top panel, the frame top panel are located on robot gantry；The mechanical arm includes lower floor, middle level and three, upper strata part,
Lower floor follows group for supporting synchronous proportional, and middle level is mechanical arm group, and upper strata is suspension seat of honour group；The supporting synchronous proportional follows
Group is used for the rectilinear orbit of supporting machinery arm and its component and mechanical arm synchronous proportional during mechanical arm group comes and goes operation
Come and go and follow supporting；The suspension seat of honour group is used to hang rectilinear orbit and Synchronization Component.
Further, it is described supporting synchronous proportional follow group include linear bearing, support synchronous proportional follow seat, straight line rail
Road, track intermediate support, spacing polyester block, track bearing, inter-sync band folder and inter-sync band holder；The linear bearing, rail
Road intermediate support, spacing polyester block, track bearing, inter-sync band folder and inter-sync band holder are arranged on the supporting synchronous proportional
Follow on seat；The inter-sync band folder is arranged on the inter-sync band holder, and the rectilinear orbit is arranged among track and propped up
On seat, track bearing.
Further, the mechanical arm group includes outer synchronous clamping, stroke sensing pointer, hack absorbent module, linear axis
Hold, drag chain seat, mechanical arm mounting seat, mechanical arm and suction pick up group；The outer synchronous clamping, stroke sensing pointer, hack absorption group
Part, linear bearing, drag chain seat, mechanical arm are arranged in the mechanical arm mounting seat；The suction picks up group and is arranged on the mechanical arm
On.
Further, the suspension seat of honour group includes suspension group installation seat plate, outer active synchronization wheel bearing seat, turbine deceleration
Machine, servomotor, rectilinear orbit, track bearing, interior driven synchronization wheel shaft, outer driven synchronization wheel shaft, column, finished product, which are inhaled, picks up group
Part, outer synchronizing wheel gear, interior synchronizing wheel gear, outer active synchronization wheel, interior active synchronization wheel, outer timing belt, inter-sync band,
Interior driven synchronizing wheel and outer driven synchronizing wheel；The suspension group installation seat plate is arranged on the column, and the column is arranged on
On the frame top panel.
Further, the outer active synchronization wheel bearing seat, worm speed reducer, track bearing, interior driven synchronization wheel shaft, outer
Driven synchronization wheel shaft and finished product, which are inhaled, picks up component on the suspension group installation seat plate；The servomotor is arranged on the whirlpool
Take turns on reductor, the rectilinear orbit is arranged on the track bearing；The outer synchronizing wheel gear and outer active synchronization wheel
On the outer active synchronization wheel bearing seat, the interior synchronizing wheel gear and interior active synchronization wheel are arranged on the turbine
On speed reducer output shaft；The interior driven synchronizing wheel is arranged in the interior driven synchronization wheel shaft, the outer driven synchronizing wheel peace
In the outer driven synchronization wheel shaft；The outer timing belt is arranged on the outer active synchronization wheel and outer driven synchronizing wheel,
The inter-sync band is arranged on the interior active synchronization wheel and interior driven synchronizing wheel.
Further, the supporting synchronous proportional follows the linear bearing in group to be connected to straight in the suspension seat of honour group
On trajectory；The supporting synchronous proportional follows the rectilinear orbit in group to be connected with the linear bearing in the mechanical arm group；Institute
State inter-sync band folder to be connected with the inter-sync band, the outer synchronous clamping and the outer synchronous band connection.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) realize large-tonnage closed punch send receipts to automate.
(2) extension elongation of large-tonnage closed punch mechanical arm is effectively shortened, mechanical arm front end is in the end of run
Flutter amplitude reduces to greatest extent, be advantageous to blank enter mould accurately and finished product withdraw neatly.
(3) overall length and frame overall length of large-tonnage closed punch mechanical arm are effectively shortened.
Brief description of the drawings
Fig. 1 is a kind of composition structural representation for supporting synchronous proportional trailing type mechanical arm provided by the present invention.
Fig. 2 is that supporting synchronous proportional follows group in a kind of supporting synchronous proportional trailing type mechanical arm provided by the present invention
Structure distribution figure.
Fig. 3 is that supporting synchronous proportional follows group in a kind of supporting synchronous proportional trailing type mechanical arm provided by the present invention
Structural representation.
Fig. 4 is a kind of structure distribution for supporting mechanical arm group in synchronous proportional trailing type mechanical arm provided by the present invention
Figure.
Fig. 5 is a kind of structural representation for supporting mechanical arm group in synchronous proportional trailing type mechanical arm provided by the present invention
Figure.
Fig. 6 is a kind of structure distribution for supporting suspension seat of honour group in synchronous proportional trailing type mechanical arm provided by the present invention
Figure.
Fig. 7 is a kind of structural representation for supporting suspension seat of honour group in synchronous proportional trailing type mechanical arm provided by the present invention
Figure.
Fig. 8 is a kind of structure assembling floor map for supporting synchronous proportional trailing type mechanical arm provided by the present invention.
Fig. 9 is a kind of structure assembling schematic perspective view for supporting synchronous proportional trailing type mechanical arm provided by the present invention.
Figure 10 is a kind of fundamental diagram for supporting synchronous proportional trailing type mechanical arm provided by the present invention.
Figure 11 is a kind of working state figure for supporting synchronous proportional trailing type mechanical arm provided by the present invention.
Description of reference numerals：3rd, frame；31st, robot gantry；32nd, frame top panel；5th, supporting synchronous proportional follows group；
51st, linear bearing；52nd, supporting synchronous proportional follows seat；53rd, rectilinear orbit；54th, track intermediate support；55th, spacing polyester block；
56th, track bearing；57th, inter-sync band is pressed from both sides；58th, inter-sync band holder；7th, mechanical arm group；71st, outer synchronous clamping；72nd, stroke sense
Answer pointer；73rd, hack absorbent module；74th, linear bearing；75th, drag chain seat；76th, mechanical arm mounting seat；77th, mechanical arm；78th, inhale
Pick up group；9th, seat of honour group is hung；9a, suspension group installation seat plate；9b, outer active synchronization wheel bearing seat；9c, worm speed reducer；9d, watch
Take motor；9e, rectilinear orbit；9f, track bearing；9g, interior driven synchronization wheel shaft；9h, outer driven synchronization wheel shaft；9i, column；
9j, finished product, which are inhaled, picks up component；9k, outer synchronizing wheel gear；9l, interior synchronizing wheel gear；9m, outer active synchronization wheel；9n, interior active
Synchronizing wheel；9o, outer timing belt；9p, inter-sync band；9q, interior driven synchronizing wheel；9r, outer driven synchronizing wheel.Unit：mm.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment describes the present invention in detail, and specific embodiment therein and explanation be only
For explaining the present invention, but it is not as a limitation of the invention.
As shown in figure 1, the invention discloses one kind to support synchronous proportional trailing type mechanical arm, in frame 3, the machine
Frame 3 includes robot gantry 31 and frame top panel 32, and the frame top panel 32 is located on robot gantry 31；The machinery
Arm includes lower floor, middle level and three, upper strata part, and lower floor follows group 5 for supporting synchronous proportional, and middle level is mechanical arm group 7, upper strata
To hang seat of honour group 9；The supporting synchronous proportional follows group 5 to be used for the supporting machinery during mechanical arm group 7 comes and goes operation
The rectilinear orbit and its component of arm come and go with mechanical arm synchronous proportional and follow supporting；The suspension seat of honour group 9 is used to hang straight line
Track and Synchronization Component.
As shown in Figures 2 and 3, the supporting synchronous proportional follows group 5 to be followed including linear bearing 51, supporting synchronous proportional
Seat 52, rectilinear orbit 53, track intermediate support 54, spacing polyester block 55, track bearing 56, inter-sync band folder 57 and inter-sync band
Holder 58；The linear bearing 51, track intermediate support 54, spacing polyester block 55, track bearing 56, inter-sync band folder 57 and interior
Timing belt holder 58 is arranged on the supporting synchronous proportional and followed on seat 52；The inter-sync band folder 57 is arranged on the interior synchronization
On band holder 58, the rectilinear orbit 53 is on track intermediate support 54, track bearing 56.
As shown in Figure 4 and Figure 5, the mechanical arm group 7 includes outer synchronous clamping 71, stroke sensing pointer 72, hack absorption
Group 78 is picked up in component 73, linear bearing 74, drag chain seat 75, mechanical arm mounting seat 76, mechanical arm 77 and suction；The outer synchronous clamping
71st, stroke sensing pointer 72, hack absorbent module 73, linear bearing 74, drag chain seat 75, mechanical arm 77 are arranged on the mechanical arm
In mounting seat 76；The suction picks up group 78 on the mechanical arm 77.
As shown in Figure 6 and Figure 7, the suspension seat of honour group 9 includes suspension group installation seat plate 9a, outer active synchronization wheel bearing seat
9b, worm speed reducer 9c, servomotor 9d, rectilinear orbit 9e, track bearing 9f, interior driven synchronization wheel shaft 9g, outer driven synchronization
Wheel shaft 9h, column 9i, finished product, which are inhaled, picks up component 9j, outer synchronizing wheel gear 9k, interior synchronizing wheel gear 9l, outer active synchronization wheel
9m, interior active synchronization wheel 9n, outer timing belt 9o, inter-sync band 9p, interior driven synchronizing wheel 9q and outer driven synchronizing wheel 9r；It is described outstanding
Extension group installation seat plate 9a is arranged on the column 9i, and the column 9i is arranged on the frame top panel 32.
It is the outer active synchronization wheel bearing seat 9b, worm speed reducer 9c, track bearing 9f, interior driven synchronization wheel shaft 9g, outer
Driven synchronization wheel shaft 9h and finished product, which inhale, picks up component 9j on the suspension group installation seat plate 9a；The servomotor 9d installations
On the worm speed reducer 9c, the rectilinear orbit 9e is arranged on the track bearing 9f；The outer synchronizing wheel gear
9k and outer active synchronization wheel 9m is arranged on the outer active synchronization wheel bearing seat 9b, interior synchronizing wheel the gear 9l and interior master
Dynamic synchronizing wheel 9n is arranged on the worm speed reducer 9c output shafts；The interior driven synchronizing wheel 9q is arranged on described interior driven same
Walk on wheel shaft 9g, the outer driven synchronizing wheel 9r is arranged on the outer driven synchronization wheel shaft 9h；The outer timing belt 9o installations
On the outer active synchronization wheel 9m and outer driven synchronizing wheel 9r, the inter-sync band 9p is arranged on the interior active synchronization wheel 9n
On interior driven synchronizing wheel 9q.
As shown in Figure 8 and Figure 9, the supporting synchronous proportional follows the linear bearing 51 in group 5 to be connected to the suspension master
On rectilinear orbit 9e in seat group 9；The supporting synchronous proportional is followed in rectilinear orbit 53 and the mechanical arm group 7 in group 5
Linear bearing 74 connect；Inter-sync band folder 57 is connected with the inter-sync band 9p, the outer synchronous clamping 71 with it is described
Outer timing belt 9o connections.
Embodiment
Figure 10 show a kind of fundamental diagram for supporting synchronous proportional trailing type mechanical arm provided by the present invention, specifically
Working method is as follows：
When servomotor 9d drives worm reduction gear 9c, synchronizing wheel gear 9l in the drive of worm reduction gear 9c output shafts
Anticlockwise rotary motion is done with interior active synchronization wheel 9n；Interior active synchronization wheel 9n drives inter-sync band 9p, inter-sync band
9p drives inter-sync band folder 57 and inter-sync band holder 58, so as to drive whole supporting synchronous proportional to follow 5 (lower floors) of group along straight
Trajectory 9e is run from left to right；Interior synchronizing wheel is made suitable of the outer synchronizing wheel of gear 9l drives of gear 9k and outer active synchronization wheel 9m
Clockwise rotates and drives outer timing belt 9o, outer timing belt 9o drivening pieces synchronous clamping 71 and linear bearing 74, so as to drive
Whole mechanical arm group 7 (middle level) is run from left to right along rectilinear orbit 53；Outer synchronizing wheel is with gear 9k and interior synchronizing wheel gear
The 9l numbers of teeth are equal, and engagement changes the direction of motion of timing belt；Outer active synchronization wheel 9m, outer driven synchronizing wheel 9r and interior active synchronization
Take turns 9n, interior driven synchronizing wheel 9q gear ratio is 2：1, mechanical arm group 7 (middle level) follows 5 (lower floors) of group with supporting synchronous proportional
The speed of service and stroke ratio are 2：1；When mechanical arm group 7 (middle level) operation stroke be L when, supporting synchronous proportional follow organize 5 (under
Layer) operation stroke be 1/2L.
By taking 400 tons of closed punch as an example, after technical scheme, mechanical arm overall length can be by original
3000mm shorten to 2500mm, and the length that mechanical arm stretches out cantilever also shorten to 1000mm by original 1600mm, such as Figure 11 institutes
Show.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modification, equivalent substitution and improvement made within refreshing and spirit etc., should be included in protection scope of the present invention
Within.
Claims (6)
1. one kind supporting synchronous proportional trailing type mechanical arm, in frame (3), the frame (3) includes robot gantry
(31) it is located at frame top panel (32), the frame top panel (32) on robot gantry (31), it is characterised in that：The machine
Tool arm includes lower floor, middle level and three, upper strata part, and lower floor follows group (5) for supporting synchronous proportional, and middle level is mechanical arm group
(7), upper strata is suspension seat of honour group (9)；The supporting synchronous proportional follows group (5) to be used to come and go operation in mechanical arm group (7)
During supporting machinery arm rectilinear orbit and its component and mechanical arm synchronous proportional come and go and follow supporting；The suspension seat of honour group
(9) it is used to hang rectilinear orbit and Synchronization Component.
A kind of 2. supporting synchronous proportional trailing type mechanical arm according to claim 1, it is characterised in that：The supporting is synchronous
Ratio follows group (5) to follow seat (52), rectilinear orbit (53), track centre to prop up including linear bearing (51), supporting synchronous proportional
Seat (54), spacing polyester block (55), track bearing (56), inter-sync band folder (57) and inter-sync band holder (58)；The straight line
Bearing (51), track intermediate support (54), spacing polyester block (55), track bearing (56), inter-sync band folder (57) and interior synchronization
Band holder (58) is arranged on the supporting synchronous proportional and followed on seat (52)；The inter-sync band folder (57) is arranged on described interior same
On step band holder (58), the rectilinear orbit (53) is on track intermediate support (54), track bearing (56).
A kind of 3. supporting synchronous proportional trailing type mechanical arm according to claim 1 or 2, it is characterised in that：The machinery
Arm group (7) includes outer synchronous clamping (71), stroke sensing pointer (72), hack absorbent module (73), linear bearing (74), drag chain
Group (78) is picked up in seat (75), mechanical arm mounting seat (76), mechanical arm (77) and suction；The outer synchronous clamping (71), stroke sensing refer to
Pin (72), hack absorbent module (73), linear bearing (74), drag chain seat (75), mechanical arm (77) are pacified installed in the mechanical arm
Fill on seat (76)；The suction picks up group (78) on the mechanical arm (77).
A kind of 4. supporting synchronous proportional trailing type mechanical arm according to claim 3, it is characterised in that：The suspension seat of honour
Group (9) includes suspension group installation seat plate (9a), outer active synchronization wheel bearing seat (9b), worm speed reducer (9c), servomotor
(9d), rectilinear orbit (9e), track bearing (9f), interior driven synchronization wheel shaft (9g), outer driven synchronization wheel shaft (9h), column
(9i), finished product inhale pick up component (9j), outer synchronizing wheel gear (9k), interior synchronizing wheel gear (9l), outer active synchronization wheel (9m),
Interior active synchronization wheel (9n), outer timing belt (9o), inter-sync band (9p), interior driven synchronizing wheel (9q) and outer driven synchronizing wheel
(9r)；The suspension group installation seat plate (9a) is arranged on the column (9i), and the column (9i) is arranged in the frame
On panel (32).
A kind of 5. supporting synchronous proportional trailing type mechanical arm according to claim 4, it is characterised in that：The outer active is same
Walk wheel bearing seat (9b), worm speed reducer (9c), track bearing (9f), interior driven synchronization wheel shaft (9g), outer driven synchronization wheel shaft
(9h) and finished product, which are inhaled, picks up component (9j) on the suspension group installation seat plate (9a)；The servomotor (9d) is arranged on institute
State on worm speed reducer (9c), the rectilinear orbit (9e) is arranged on the track bearing (9f)；The outer synchronizing wheel tooth
Take turns (9k) and outer active synchronization wheel (9m) is arranged on the outer active synchronization wheel bearing seat (9b), the interior synchronizing wheel gear
(9l) and interior active synchronization wheel (9n) are arranged on the worm speed reducer (9c) output shaft；Interior driven synchronizing wheel (9q) peace
On the interior driven synchronization wheel shaft (9g), the outer driven synchronizing wheel (9r) is arranged on the outer driven synchronization wheel shaft (9h)
On；The outer timing belt (9o) is arranged on the outer active synchronization wheel (9m) and outer driven synchronizing wheel (9r), the interior synchronization
Band (9p) is arranged on the interior active synchronization wheel (9n) and interior driven synchronizing wheel (9q).
A kind of 6. supporting synchronous proportional trailing type mechanical arm according to claim 5, it is characterised in that：The supporting is synchronous
Ratio is followed on the rectilinear orbit (9e) that the linear bearing (51) in group (5) is connected in the suspension seat of honour group (9)；The branch
Holding synchronous proportional follows the rectilinear orbit (53) in group (5) to be connected with the linear bearing (74) in the mechanical arm group (7)；It is described
Inter-sync band folder (57) is connected with the inter-sync band (9p), and the outer synchronous clamping (71) connects with the outer timing belt (9o)
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711241241.5A CN107824708B (en) | 2017-11-30 | 2017-11-30 | Supporting synchronous proportion following type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711241241.5A CN107824708B (en) | 2017-11-30 | 2017-11-30 | Supporting synchronous proportion following type mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107824708A true CN107824708A (en) | 2018-03-23 |
| CN107824708B CN107824708B (en) | 2023-04-11 |
Family
ID=61647258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711241241.5A Active CN107824708B (en) | 2017-11-30 | 2017-11-30 | Supporting synchronous proportion following type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107824708B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109127934A (en) * | 2018-09-25 | 2019-01-04 | 靖江市天勤电机科技有限公司 | The double-deck double speed manipulator |
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| CN207563614U (en) * | 2017-11-30 | 2018-07-03 | 常州市臻程智能设备有限公司 | Support synchronous proportional trailing type mechanical arm |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202726043U (en) * | 2012-07-14 | 2013-02-13 | 马鞍山市博威液压机械制造有限责任公司 | Three-section telescopic boom type cantilever ginpole telescopic mechanism |
| WO2014169503A1 (en) * | 2013-04-15 | 2014-10-23 | 佛山市鼎峰机器人有限公司 | Intelligent control process for stamping workpieces and intelligent control manipulator |
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| CN205766134U (en) * | 2016-05-17 | 2016-12-07 | 佛山市中机一超机器人科技有限公司 | A kind of have the parallel-moving type stamping mechanical arm synchronizing wheel drive mechanism |
| CN106311922A (en) * | 2016-08-31 | 2017-01-11 | 佛山市顺德区天本模具制造有限公司 | Novel stamping robot |
| CN207563614U (en) * | 2017-11-30 | 2018-07-03 | 常州市臻程智能设备有限公司 | Support synchronous proportional trailing type mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109127934A (en) * | 2018-09-25 | 2019-01-04 | 靖江市天勤电机科技有限公司 | The double-deck double speed manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107824708B (en) | 2023-04-11 |
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