CN108246846A - A kind of efficient damping building bender with mechanical arm - Google Patents

A kind of efficient damping building bender with mechanical arm Download PDF

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Publication number
CN108246846A
CN108246846A CN201810071528.6A CN201810071528A CN108246846A CN 108246846 A CN108246846 A CN 108246846A CN 201810071528 A CN201810071528 A CN 201810071528A CN 108246846 A CN108246846 A CN 108246846A
Authority
CN
China
Prior art keywords
driver
arm
support post
mechanical arm
bender
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.)
Withdrawn
Application number
CN201810071528.6A
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Chinese (zh)
Inventor
徐华锋
周树克
徐可欣
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.)
Henan University of Urban Construction
Original Assignee
Henan University of Urban Construction
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 Henan University of Urban Construction filed Critical Henan University of Urban Construction
Priority to CN201810071528.6A priority Critical patent/CN108246846A/en
Publication of CN108246846A publication Critical patent/CN108246846A/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/06Bending sheet metal along straight lines, e.g. to form simple curves by drawing procedure making use of dies or forming-rollers, e.g. making profiles
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Press Drives And Press Lines (AREA)

Abstract

The invention discloses a kind of efficient dampings with mechanical arm to build bender, including engine base, crossbeam, support feet, support post I, support post II, suspension arm, rack and mechanical arm body;It is fixedly connected above the support baseboard and is provided with support post I, lower hydraulic cylinder and support post II, and lower hydraulic cylinder is between support post I and support post II.The lower die that the present invention passes through setting, lower hydraulic pump, lower hydraulic cylinder and lower hydraulic oil container, pressing mold simultaneously can be carried out up and down to steel plate, effectively increase the working efficiency of bender, save time and resource, and the bradyseism spring for passing through setting, the vibrations of bender generation can be alleviated significantly, so as to extend the service life of bender, and then using reliable, it satisfies the use demand, pass through driver I simultaneously, driver II and driver III are convenient for omni-directional drive mechanical arm with actuating arm I and actuating arm II, mobility strong, subtle work is convenient for by mechanical palms.

Description

A kind of efficient damping building bender with mechanical arm
Technical field
The present invention relates to building machinery fields, and in particular to a kind of efficient damping building bender with mechanical arm.
Background technology
Machinery refers to the general name of machine and mechanism, and machinery is exactly that people can be helped to reduce work difficulty or labour-saving tool dress It puts, mechanical equipment has very much, and bender belongs to one kind in mechanical equipment, and bender is a kind of can to carry out bending to thin plate Machine, structure mainly include stent, workbench and clamping plate, and workbench is placed on stent, and workbench is by pedestal and pressing plate structure Into pedestal is connected by hinge with clamping plate, and pedestal is made of seat shell, coil and cover board, and coil is placed in the recess of seat shell, recessed Sunken top is covered with cover board.It is powered during use by conducting wire to coil, gravitation is generated to pressing plate after energization, so as to fulfill to pressing plate and bottom The clamping of thin plate between seat.It is clamped as a result of electromagnetic force so that pressing plate can make various workpieces requirement, and can be to having The workpiece of side wall is processed, also very easy in operation, however existing bender is unsatisfactory for use demand at present, work Efficiency is low, and so as to waste time and resource, and then using unreliable, and when existing bender works can generate very big shake It is dynamic, it so as to which its service life can be influenced, therefore, is not easy to promote the use of, the problem of based on appearing above, it is proposed that a kind of machine The damping heavy duty detergent bender of tool.
At present, with the continuous development of electronic technology, indivedual places start automatic robot occur, those robots can be with Carrying out work people by preset program has much the research of manipulator, is widely used in every field.Its size and people Palmistry is near, weighs about 5-30 kilograms, and the actuating speed of its " finger " is about the half of the finger constant speed of people.Beijing Institute of Aeronautics has been issued Three generations's BH manipulators, wherein BH-3 types are comparative maturities, but the field of mechanical arm application found out at present is not Together, it is and expensive, it is complicated for operation, it can only work single direction, mobility is poor, and working efficiency is relatively low.
Invention content
To solve the above problems, the present invention provides a kind of efficient dampings with mechanical arm to build bender.
To achieve the above object, the technical solution taken of the present invention is:
A kind of efficient damping building bender with mechanical arm, including engine base, crossbeam, support feet, support post I, support post IIth, suspension arm, rack and mechanical arm body;
It is fixedly connected above the support baseboard and is provided with support post I, lower hydraulic cylinder and support post II, and lower hydraulic cylinder Between support post I and support post II, the side of the support post I is equipped with lower hydraulic oil container and upper hydraulic oil Case, and the top of lower hydraulic oil container is fixed with lower hydraulic pump, and hydraulic pump, the lower hydraulic pressure are equipped on the upper hydraulic oil container Lower die is fixed on cylinder, the side of the support post II is fixed with control panel, and startup is arranged on control panel and is opened Pass and indicator light, the support post I and support post II are fixedly arranged above crossbeam, and pressure gauge is equipped on crossbeam, institute The bottom end for stating crossbeam is fixed with hydraulic cylinder, and the lower section installation of upper hydraulic cylinder between support post I and support post II Have upper die, organic frame be set on described engine base one end, be provided with suspension arm on the rack top, the suspension arm it is another End is connected with crossbeam, rotating seat is provided on the suspension arm bottom surface, the suspension arm is by rotating seat and is arranged on machinery Rotary shaft at the top of arm body cooperates with mechanical arm body to be connected;
One end of mechanical arm body is equipped with support arm, and the bottom of the support arm is equipped with connecting shaft, and the side of the connecting shaft is set There is driver III, the side of the driver III is equipped with actuating arm I, and one end of the actuating arm I is equipped with driver I, the drive The side of dynamic device I is equipped with actuating arm II, and one end of the actuating arm II is equipped with driver II, and one end of the driver II is equipped with Circulator, the circulator are equipped with mechanical arm, and one end of the mechanical arm is equipped with rotary cylinder, the side of the rotary cylinder Equipped with mechanical palms, the mechanical palms are equipped with first knuckle, and one end of the first knuckle drives equipped with first knuckle Device, the second knuckle that the other end of the first knuckle is equipped with are equipped with angle between the first knuckle and the second knuckle Sensor and second knuckle driver, the support arm are internally provided with rotary shaft, the driver I, the driver II and institute The one end for stating driver III is equipped with drive shaft, and the other end of the driver I, the driver II and the driver III is equipped with Rotation drive motor.
Further, the engine base bottom is connected with support castor, passes through spiral shell between the support castor and engine base Bolt, which is fixedly connected, is provided with damping spring.
Further, the upper hydraulic pump, lower hydraulic pump and indicator light are electrically connected with starting switch.
Further, one end of the circulator is drive motor, and the other end of the circulator is equipped with connecting rod, described The other end of mechanical arm is equipped with connecting hole, and the mechanical arm connects the circulator by the connecting hole with the connecting rod.
Further, the support arm connects the actuating arm I by the driver III, and the actuating arm I passes through institute It states driver I and connects the actuating arm II, the actuating arm II connects the circulator, the machinery by the driver II Arm connects the mechanical palms by the rotary cylinder.
Reasonable design of the present invention, it is compact-sized, pass through the lower die of setting, lower hydraulic pump, lower hydraulic cylinder and lower hydraulic oil Case can carry out steel plate up and down pressing mold simultaneously, without bending repeatedly, and then effectively increase the work effect of bender Rate saves time and resource, and by the bradyseism spring of setting, can alleviate the vibrations of bender generation significantly, so as to prolong The service life of bender has been grown, and then using reliably, has been satisfied the use demand, while has passed through driver I, driver II and driving With actuating arm I and actuating arm II convenient for omni-directional drive mechanical arm, mobility strong is convenient for subtle device III by mechanical palms Work, mechanization is strong, and the high manufacture craft of working efficiency is simple, convenient for promoting the use of.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural diagram of the present invention;
Fig. 2 is the mechanical arm structure diagram of the present invention;
Fig. 3 is the mechanical arm partial structural diagram of the present invention;
Fig. 4 is the control switch panel structure schematic diagram of the present invention.
Specific embodiment
In order to which objects and advantages of the present invention are more clearly understood, the present invention is carried out with reference to embodiments further detailed Explanation.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in Figs 1-4, an embodiment of the present invention provides a kind of efficient dampings with mechanical arm to build bender, including machine Seat 7, crossbeam 14, support feet 5, support post I 3, support post II 16, suspension arm 17, rack 18 and mechanical arm body 21;
The top of the engine base 7, which is fixedly connected, is provided with support post I 3, lower hydraulic cylinder 8 and support post II 16, and lower hydraulic pressure For cylinder 8 between support post I 3 and support post II 16, the side of the support post I 3 is equipped with lower hydraulic oil container 4 and upper Hydraulic oil container 2, and the top of lower hydraulic oil container 4 is fixed with lower hydraulic pump 9, and hydraulic pump is equipped on the upper hydraulic oil container 2 1, lower die 15 is fixed on the lower hydraulic cylinder 8, and the side of the engine base 7 is fixed with control panel 10, and control panel 10 On be arranged on starting switch 101 and indicator light 102, the support post I 3 and support post II 16 are fixedly arranged above crossbeam 14, and pressure gauge 13 is installed on crossbeam 14, the bottom end of the crossbeam 14 is between support post I 3 and support post II 16 Hydraulic cylinder 12 is fixed with, and the lower section of upper hydraulic cylinder 12 is equipped with upper die 11, and organic frame is set on described 7 one end of engine base 18, suspension arm 17 is provided on 18 top of rack, and the other end of the suspension arm 17 is connected with crossbeam 14, the suspension Rotating seat is provided on 17 bottom surface of arm, the suspension arm 17 passes through rotating seat and the rotary shaft being arranged at the top of mechanical arm body 21 37 cooperate with mechanical arm body 21 connects;
One end of the mechanical arm body 21 is equipped with support arm 22, and the bottom of the support arm 22 is equipped with connecting shaft 23, the company The side of spindle 23 is equipped with driver III 38, and the side of the driver III 38 is equipped with actuating arm I 24, the actuating arm I 24 One end is equipped with driver I 25, and the side of the driver I 25 is equipped with actuating arm II 72, and one end of the actuating arm II 27 is equipped with Driver II 26, one end of the driver II 26 are equipped with circulator 29, and the circulator 29 is equipped with mechanical arm 28, the machine One end of tool arm 28 is equipped with rotary cylinder 30, and the side of the rotary cylinder 30 is equipped with mechanical palms 32, the mechanical palms 32 Be equipped with first knuckle 36, one end of the first knuckle 36 is equipped with first knuckle driver 31, the first knuckle 36 The second knuckle 33 that the other end is equipped with is equipped with angular transducer 34 and the between the first knuckle 36 and the second knuckle 33 Two finger joint drivers 35, one end of the driver I 25, the driver II 26 and the driver III 38 are equipped with drive shaft 20, the other end of the driver I 25, the driver II 26 and the driver III 38 is equipped with rotation drive motor 39.
It is worth noting that, 7 bottom of engine base is connected with support castor 5, support castor 5 and the engine base 7 it Between be bolted to connection and be provided with damping spring 6.
It is worth noting that, the upper hydraulic pump 1, lower hydraulic pump 9 and indicator light 102 electrically connect with starting switch 101 It connects.
It is worth noting that, one end of the circulator 29 is drive motor, the other end of the circulator 29, which is equipped with, to be connected Extension bar, the other end of the mechanical arm 28 are equipped with connecting hole, and the mechanical arm 28 is connected by the connecting hole and the connecting rod Connect the circulator 29.
It is worth noting that, the support arm 22 connects the actuating arm I 24, the driving by the driver III 38 Arm I 24 connects the actuating arm II 27 by the driver I 25, and the actuating arm II 27 is connected by the driver II 26 The circulator 29, the mechanical arm 28 connect the mechanical palms 32 by the rotary cylinder 30.
Operation principle:In use, the 37 external electric rotating machine pivotal support arm 22 of rotary shaft first inside support arm 22, branch Brace 22 connects the first actuating arm 24 by third driver 38, and the first actuating arm 24 is driven by the first driver 25 connection second Swing arm 27, for the second actuating arm 27 by 26 connecting rotator 29 of the second driver, rotation drive motor 39 rotates drive shaft 20, rotation Shaft 20 reaches omni-directional drive mechanical arm 28, mobility strong, machinery convenient for the first actuating arm 24 of driving and the second actuating arm 27 Arm 28 is by connecting hole and connecting rod connecting rotator 29, convenient for rotating mechanical arm 28, be conducive to by mechanical palms be convenient for into The subtle work of row, rotary cylinder 30 change internal pressure rotating machinery palm 32, and the control of first knuckle driver 31 first refers to Section 36, second knuckle driver 35 control second knuckle 33, the size of the sensing crawl object of angular transducer 34, convenient for accurately capturing Article, mechanization is strong, and working efficiency is high;The steel plate processed crawl will be needed to be then placed on lower die 15, by Interal fixation It is good, the starting switch 101 on controller panel 10 is opened, indicator light 102 will be bright, while upper hydraulic pump 1 and lower hydraulic pump 9 will divide Not out of upper hydraulic oil container 2 and lower hydraulic oil container 4 in drawing liquid pressure oil to upper hydraulic cylinder 12 and lower hydraulic cylinder 8, due to upper hydraulic cylinder 12 and lower hydraulic cylinder 8 in pressure become larger, push out, and then upper die 11 so as to the push rod of upper hydraulic cylinder 12 and lower hydraulic cylinder 8 It will push down on, while lower die 15 drives steel plate that will push up, i.e., upper die 11 and lower die 15 carry out up and down steel plate Bending simultaneously, without the pressing mold, and then effectively increase the efficiency of bender work, and in upper die repeatedly of upper die 11 11 and lower die 15 to steel plate carry out bending when can generate vibrations, the bradyseism spring 6 of setting can alleviate vibrations significantly, so as to prolong The service life of bender is grown.
The standardized element that the present invention uses can commercially, and shaped piece is according to specification and attached drawing note Load can carry out customized, specific connection mode use bolt, rivet, welding of maturation etc. in the prior art of each part Conventional means, machinery, part and equipment use in the prior art, conventional model, in addition circuit connection is using the prior art Middle conventional connection mode, this will not be detailed here.
The basic principles, main features and the advantages of the invention have been shown and described above.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its Equivalent thereof.

Claims (5)

1. a kind of efficient damping building bender with mechanical arm, it is characterised in that:Including engine base(7), crossbeam(14), support feet (5), support post I(3), support post II(16), suspension arm(17), rack(18)And mechanical arm body(21);
The engine base(7)Top be fixedly connected and be provided with support post I(3), lower hydraulic cylinder(8)With support post II(16), And lower hydraulic cylinder(8)Positioned at support post I(3)With support post II(16)Between, the support post I(3)Side installation There is lower hydraulic oil container(4)With upper hydraulic oil container(2), and lower hydraulic oil container(4)Top be fixed with lower hydraulic pump(9), it is described on Hydraulic oil container(2)On hydraulic pump is installed(1), the lower hydraulic cylinder(8)On be fixed with lower die(15), the engine base(7) Side be fixed with control panel(10), and control panel(10)On be arranged on starting switch(101)And indicator light(102), institute State support post I(3)With support post II(16)Be fixedly arranged above crossbeam(14), and crossbeam(14)On pressure gauge is installed (13), the crossbeam(14)Bottom end be located at support post I(3)With support post II(16)Between be fixed with hydraulic cylinder (12), and upper hydraulic cylinder(12)Lower section upper die is installed(11), the engine base(7)Organic frame is set on one end(18), institute State rack(18)Suspension arm is provided on top(17), the suspension arm(17)The other end and crossbeam(14)It is connected, it is described Suspension arm(17)Rotating seat, the suspension arm are provided on bottom surface(17)By rotating seat and it is arranged on mechanical arm body(21)Top The rotary shaft in portion(37)With mechanical arm body(21)Cooperate connection;
The mechanical arm body(21)One end be equipped with support arm(22), the support arm(22)Bottom be equipped with connecting shaft (23), the connecting shaft(23)Side be equipped with driver III(38), the driver III(38)Side be equipped with actuating arm I (24), the actuating arm I(24)One end be equipped with driver I(25), the driver I(25)Side be equipped with actuating arm II (72), the actuating arm II(27)One end be equipped with driver II(26), the driver II(26)One end be equipped with circulator (29), the circulator(29)It is equipped with mechanical arm(28), the mechanical arm(28)One end be equipped with rotary cylinder(30), it is described Rotary cylinder(30)Side be equipped with mechanical palms(32), the mechanical palms(32)Be equipped with first knuckle(36), it is described First knuckle(36)One end be equipped with first knuckle driver(31), the first knuckle(36)The other end be equipped with second refer to Section(33), the first knuckle(36)With the second knuckle(33)Between be equipped with angular transducer(34)It is driven with second knuckle Device(35), the driver I(25), the driver II(26)With the driver III(38)One end be equipped with drive shaft (20), the driver I(25), the driver II(26)With the driver III(38)The other end be equipped with rotation driving horse It reaches(39).
2. a kind of efficient damping building bender with mechanical arm according to claim 1, it is characterised in that:The engine base (7)Bottom is connected with support castor(5), the support castor(5)With engine base(7)Between be bolted to connection setting There is damping spring(6).
3. a kind of efficient damping building bender with mechanical arm according to claim 1, it is characterised in that:The upper liquid Press pump(1), lower hydraulic pump(9)And indicator light(102)And starting switch(101)It is electrically connected.
4. a kind of efficient damping building bender with mechanical arm according to claim 1, it is characterised in that:The rotation Device(29)One end for drive motor, the circulator(29)The other end be equipped with connecting rod, the mechanical arm(28)It is another End is equipped with connecting hole, the mechanical arm(28)The circulator is connected with the connecting rod by the connecting hole(29).
5. a kind of efficient damping building bender with mechanical arm according to claim 1, it is characterised in that:The support Arm(22)Pass through the driver III(38)Connect the actuating arm I(24), the actuating arm I(24)Pass through the driver I (25)Connect the actuating arm II(27), the actuating arm II(27)Pass through the driver II(26)Connect the circulator (29), the mechanical arm(28)Pass through the rotary cylinder(30)Connect the mechanical palms(32).
CN201810071528.6A 2018-01-25 2018-01-25 A kind of efficient damping building bender with mechanical arm Withdrawn CN108246846A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810071528.6A CN108246846A (en) 2018-01-25 2018-01-25 A kind of efficient damping building bender with mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810071528.6A CN108246846A (en) 2018-01-25 2018-01-25 A kind of efficient damping building bender with mechanical arm

Publications (1)

Publication Number Publication Date
CN108246846A true CN108246846A (en) 2018-07-06

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109570285A (en) * 2018-12-11 2019-04-05 拓普森(常州)数控科技有限公司 A kind of electro-hydraulic numerical control Synchronous Bending machine of double servo-pump controls
CN110405010A (en) * 2019-08-21 2019-11-05 佛山市镭戈斯数控设备有限公司 A kind of automatic bending machine
CN110774307A (en) * 2019-12-31 2020-02-11 汇网电气有限公司 Inflatable cabinet bending production line based on modular mechanical arm and module linkage method
CN114211526A (en) * 2021-12-07 2022-03-22 江苏集萃智能制造技术研究所有限公司 Robot damping system based on hydraulic drive system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101589980A (en) * 2009-06-30 2009-12-02 哈尔滨工业大学 Five degree-of-freedom manipulator
CN205310877U (en) * 2015-12-05 2016-06-15 天津市博跃达金属制品有限公司 Double -cylinder opposite vertex formula hydraulic press
CN205870538U (en) * 2016-07-01 2017-01-11 皖西学院 Full automated machine tongs
CN207290089U (en) * 2017-08-21 2018-05-01 永定区集广农业机械设计部 A kind of mechanical arm of efficiently mobility
CN207288476U (en) * 2017-08-21 2018-05-01 永定区集广农业机械设计部 A kind of damping heavy duty detergent bender of machinery

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101589980A (en) * 2009-06-30 2009-12-02 哈尔滨工业大学 Five degree-of-freedom manipulator
CN205310877U (en) * 2015-12-05 2016-06-15 天津市博跃达金属制品有限公司 Double -cylinder opposite vertex formula hydraulic press
CN205870538U (en) * 2016-07-01 2017-01-11 皖西学院 Full automated machine tongs
CN207290089U (en) * 2017-08-21 2018-05-01 永定区集广农业机械设计部 A kind of mechanical arm of efficiently mobility
CN207288476U (en) * 2017-08-21 2018-05-01 永定区集广农业机械设计部 A kind of damping heavy duty detergent bender of machinery

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109570285A (en) * 2018-12-11 2019-04-05 拓普森(常州)数控科技有限公司 A kind of electro-hydraulic numerical control Synchronous Bending machine of double servo-pump controls
CN110405010A (en) * 2019-08-21 2019-11-05 佛山市镭戈斯数控设备有限公司 A kind of automatic bending machine
CN110774307A (en) * 2019-12-31 2020-02-11 汇网电气有限公司 Inflatable cabinet bending production line based on modular mechanical arm and module linkage method
CN110774307B (en) * 2019-12-31 2020-04-28 汇网电气有限公司 Inflatable cabinet bending production line based on modular mechanical arm and module linkage method
CN114211526A (en) * 2021-12-07 2022-03-22 江苏集萃智能制造技术研究所有限公司 Robot damping system based on hydraulic drive system
CN114211526B (en) * 2021-12-07 2024-01-09 江苏集萃智能制造技术研究所有限公司 Robot damping system based on hydraulic drive system

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Application publication date: 20180706

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