CN109093635A - Cast dedicated five axis robot - Google Patents

Cast dedicated five axis robot Download PDF

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Publication number
CN109093635A
CN109093635A CN201810859401.0A CN201810859401A CN109093635A CN 109093635 A CN109093635 A CN 109093635A CN 201810859401 A CN201810859401 A CN 201810859401A CN 109093635 A CN109093635 A CN 109093635A
Authority
CN
China
Prior art keywords
hydraulic cylinder
turning beam
mechanical arm
turning
dedicated
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
CN201810859401.0A
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Chinese (zh)
Inventor
赖定仁
张丽朋
许飞鸿
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.)
Xiamen Ding Casting Intelligent Equipment Co Ltd
Original Assignee
Xiamen Ding Casting Intelligent Equipment Co Ltd
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 Xiamen Ding Casting Intelligent Equipment Co Ltd filed Critical Xiamen Ding Casting Intelligent Equipment Co Ltd
Priority to CN201810859401.0A priority Critical patent/CN109093635A/en
Publication of CN109093635A publication Critical patent/CN109093635A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors

Abstract

The present invention discloses a kind of dedicated five axis robot of casting, including rack, further includes: lift drive mechanism is fixed in rack;Hoisting cross beam is connected to lift drive mechanism and does vertical lifting movement under the driving of lift drive mechanism;Turning beam is rotationally connected with hoisting cross beam;Turnover driving mechanism, for driving turning beam to rotate around it axis rotation;Mechanical arm, the quantity of mechanical arm are two, are rotated on turning beam and with turning beam;Driving mechanism is molded, is set on turning beam, molding driving mechanism drives at least one mechanical arm to be moved along turning beam so that two mechanical arms are close to each other;Die fixing device is rotationally connected with respectively on two mechanical arms, driven mold rotation;Rotary drive mechanism is set on mechanical arm, for driving die fixing device to rotate along its rotation axis;Ejecting mechanism is set on die fixing device, has the mandril that can be moved to outside die fixing device.The degree of automation of casting process is helped to improve, the human input in casting technique is reduced.

Description

Cast dedicated five axis robot
Technical field
The present invention relates to mechanical equipment technical field more particularly to a kind of dedicated five axis robots of casting.
Background technique
Casting is that the mankind grasp than a kind of metal heat processing technique earlier, is to be cast to liquid metals and part shape Method in adaptable casting cavity, after its cooled and solidified, to obtain part or blank.Conventional cast is used and is manually poured Casting, large labor intensity.The manipulator for being accordingly used in casting generates therewith.In casting process mold can in upper material position, molding position, Flip bit fills the different stations such as type position, lower material position, and conventional cast robot manipulator structure currently on the market is not compact, and size is big, no It is fully automated conducive to realizing, various compound actions needed for cannot fully meeting casting, some need human assistance is completed.Due to Bad environments are cast, temperature is high, and pollution is big, therefore will increase the labor intensity of operator and influence operator's health, this It undoubtedly will increase the human cost of enterprise.
Summary of the invention
In view of this, helping to improve casting process the purpose of the present invention is to provide a kind of Program the special manipulator for casting The degree of automation reduces the human input in casting technique.
Its technical solution is as follows.
A kind of Program the special manipulator for casting includes rack, further includes:
Lift drive mechanism is fixed in rack;
Hoisting cross beam is connected to lift drive mechanism and does vertical lifting movement under the driving of lift drive mechanism;
Turning beam is rotationally connected with hoisting cross beam;
Turnover driving mechanism, for driving turning beam to rotate around it axis rotation;
Mechanical arm, the quantity of the mechanical arm are two, are rotated on turning beam and with turning beam;
Driving mechanism is molded, is set on turning beam, molding driving mechanism drives at least one mechanical arm along turning beam Movement is so that two mechanical arms are close to each other;
Die fixing device is rotationally connected with respectively on two mechanical arms, driven mold rotation;
Rotary drive mechanism is set on mechanical arm, for driving die fixing device to rotate along its rotation axis;
Ejecting mechanism is set on die fixing device, has the mandril that can be moved to outside die fixing device.
Further, lift drive mechanism is cylinder or hydraulic cylinder.
Further, the two sides of turning beam are equipped with the turning beam fixed pin for protruding from turning beam, and the lifting is horizontal Beam is equipped with and the matched fixation hole of turning beam fixed pin;The turnover driving mechanism is overturning hydraulic cylinder, the overturning liquid The fixing end of cylinder pressure is rotationally connected with hoisting cross beam, and the movable end for overturning hydraulic cylinder is rotationally connected with turning beam;It overturns hydraulic Cylinder is flexible to drive turning beam to be overturn using turning beam fixed pin as axis.
Further, bearing block is installed, the fixation hole is set on the bearing block, fixation hole below hoisting cross beam Bearing is installed between turning beam fixed pin.
Further, at least side of turning beam is equipped with overturning hydraulic cylinder fixed pin, the activity of the overturning hydraulic cylinder End is equipped with fixed ring, and the overturning hydraulic cylinder fixed pin is inserted in fixed ring and can rotate in fixed ring;The overturning liquid The fixing end of cylinder pressure is equipped with overturning hydraulic cylinder rotation axis, and otic placode is set on hoisting cross beam, and otic placode is equipped with overturning hydraulic cylinder installation Hole, the overturning hydraulic cylinder rotating shaft pin are inserted in overturning hydraulic cylinder mounting hole and can turn in overturning hydraulic cylinder mounting hole It is dynamic;The turning beam fixed pin, overturning hydraulic cylinder fixed pin and overturning hydraulic cylinder rotation axis are arranged in parallel two-by-two.
Further, molding driving mechanism is cylinder or hydraulic cylinder.
Further, wherein a mechanical arm is fixedly installed in turning beam, another mechanical arm, which is slidably mounted on, to be turned over Turn crossbeam;The fixing end and movable end of the molding driving mechanism are fixedly installed in turning beam respectively and are slidably mounted on overturning The mechanical arm of crossbeam.
Further, the middle part of die fixing device is rotationally connected with mechanical arm, the rotary drive mechanism by positioning pin For cylinder or hydraulic cylinder, rotary drive mechanism is placed in the cavity of mechanical arm and one end of rotary drive mechanism is rotationally connected with machine One end of tool arm, the other end extend to mechanical arm the other end and die fixing device one end it is hinged.
Further, rack both ends are equipped with extension outstanding downwards, are equipped with positioning plate on the inside of the extension, institute It states and is provided with the first guide rail on positioning plate along the vertical direction, the hoisting cross beam is equipped with the first sliding block, on first sliding block The first guide groove be slidably matched with the first guide rail.
Further, third sliding block is equipped with above rack, the rail of third guide groove and foundry on the third sliding block Road is slidably matched;Mobile main shaft is additionally provided in the rack, the outer circumference of mobile main shaft is equipped with gear, the gear and casting upwards Make the rack gear engagement on the track in workshop;The spindle drive for driving mobile main axis is additionally provided in rack, it is described The output end of spindle drive is fixedly connected with mobile main shaft.
In above-mentioned technical proposal, five axis are referred to: 1, elevating control, 2, overturning control, 3, molding control, 4, mold rotation Control;5, mould ejection controls, and the present patent application concentrates on the various movements that various castings need on one manipulator, improves The degree of automation, reduces the human input in casting technique, also correspondingly, protects the health of staff.In addition, adopting Mechanical action is controlled with oil cylinder, can effectively prevent anti-interference, oil cylinder bearing capacity is strong, and strength is big, and self-lock ability is big, with Inductive switch cooperation can allow machinery to be parked on position of any one needs, and equipment simple operations are conveniently.
Detailed description of the invention
Fig. 1 is 1 overall structure diagram of the embodiment of the present invention;
Fig. 2 is 1 rack of the embodiment of the present invention and hoisting cross beam structural schematic diagram;
Mechanical arm and die fixing device structural schematic diagram of the Fig. 3 for 1 turning beam of the embodiment of the present invention and thereon;
Fig. 4 is the structural schematic diagram of the mold base on die fixing device;
Fig. 5 is the structural schematic diagram for overturning hydraulic cylinder;
Fig. 6 is the schematic diagram of the section structure of turning beam and mechanical arm and die fixing device thereon;
Fig. 7 is the overall structure diagram at another visual angle of the embodiment of the present invention 1;
Fig. 8 is the schematic diagram of the section structure in 1 Fig. 7 of the embodiment of the present invention at B-B;
Fig. 9 is structural schematic diagram (omit rack) of the embodiment of the present invention 1 in discharge status;
Figure 10 is structural schematic diagram (omit rack) of the embodiment of the present invention 1 in feeding state;
Figure 11 is structural schematic diagram (omit rack) of the embodiment of the present invention 1 in molding state;
Figure 12 is structural schematic diagram (omit rack) of the embodiment of the present invention 1 in rollover states;
Figure 13 is the embodiment of the present invention 1 in the structural schematic diagram (omitting rack) for pouring state;
Figure 14 is another viewing angle constructions schematic diagram (omit rack) of the embodiment of the present invention 1 in discharge status;
Figure 15 is structural schematic diagram (omit rack) of the embodiment of the present invention 1 in soaked state.
In figure, 100, mold;1, rack;11, third sliding block;12, mobile main shaft;121, gear;13, spindle driving machine Structure;14, extension;15, bearing block;16, positioning plate;161, the first guide rail;2, turning beam;21, mechanical arm;22, mold is solid Determine frame;23, mold base;24, rotary drive mechanism;25, positioning pin;26, mandril;271, the second guide rail;272, the second sliding block; 28, turning beam fixed pin;29, hydraulic cylinder fixed pin is overturn;3, hoisting cross beam;31, otic placode;4, driving mechanism is molded;5, it turns over Turn hydraulic cylinder;51, fixed ring;52, hydraulic cylinder rotation axis is overturn;6, lift drive mechanism.
Specific embodiment
Technical solution to facilitate the understanding of the present invention is described in detail below in conjunction with attached drawing and specific embodiment.
Embodiment 1
A kind of dedicated five axis robot of casting, as shown in figures 1-15, including rack 1, hoisting cross beam 3, turning beam 2, machine Tool arm 21, die fixing device 22 and ejecting mechanism.It is connected, is gone up and down by lift drive mechanism 6 between hoisting cross beam 3 and rack 1 Driving mechanism 6 is fixed in rack 1 and hoisting cross beam 3 can be driven to move up and down in the vertical direction.The rotation of turning beam 2 connects It is connected to hoisting cross beam 3, and is rotated under the driving of turnover driving mechanism around the rotation axis of turning beam 2.The both ends of turning beam 2 It is mounted on mechanical arm 21, can be rotated with turning beam 2 around the rotation axis of turning beam 2.Conjunction is installed on turning beam 2 Mould driving mechanism 4, under the action of molding driving mechanism 4, at least one mechanical arm 21 can be along the long axis direction of turning beam 2 Movement keeps two mechanical arms 21 close to each other or far to realize molding to make the distance between two mechanical arms 21 reduce And die sinking.The end of two mechanical arms 21 is separately installed with die fixing device 22, is respectively used to the dynamic model of installation casting and determines Mould.Two die fixing devices 22 are rotatably connected on the end of two mechanical arms 21 respectively, drive in the rotation being set in mechanical arm 21 Under the driving of motivation structure 24, die fixing device 22 can rotate along its rotation axis, change 100 opening direction of mold, realize The operation such as discharging, soaked.Ejecting mechanism is additionally provided on die fixing device 22, ejecting mechanism has and can move to outside die fixing device 22 Dynamic mandril 26, thus by the finished product ejection die 100 after casting.
In the present embodiment, as shown in fig. 7, lift drive mechanism 6 is hydraulic cylinder, the cylinder barrel of hydraulic cylinder is fixedly installed in machine The bottom of frame 1, the piston rod of hydraulic cylinder are fixedly installed in hoisting cross beam 3.Certainly, lift drive mechanism 6 is also possible to cylinder, or Person's lift drive mechanism 6 includes motor and screw rod, and screw rod is threadedly coupled with hoisting cross beam 3, and the rotation of motor driven screw rod is to band Dynamic hoisting cross beam 3 moves up and down.It is appreciated that in this configuration, it is also necessary to the setting limitation hoisting cross beam in rack 1 The limition orientation column of 3 rotations, the structure is relatively simple, explanation of no longer drawing herein.
In order to improve stability of the hoisting cross beam 3 in lifting process, dash forward downwards as shown in fig. 7,1 both ends of rack are equipped with Extension 14 out is equipped with positioning plate 16 on the inside of extension 14, is provided with the first guide rail along the vertical direction on positioning plate 16 161, the both ends of hoisting cross beam 3 are equipped with the first sliding block, and the first guide groove and 161 clearance fit of the first guide rail on the first sliding block are therefore First sliding block can drive hoisting cross beam 3 to slide on the first guide rail 161 together.It is provided with and adds between positioning plate 16 and extension 14 Strong floor is to improve the intensity of positioning plate 16.
In conjunction with Fig. 1-Fig. 3, the two sides of turning beam 2 are equipped with the turning beam fixed pin 28 for protruding from 2 two sides of turning beam, There are two bearing block 15, bearing block 15 is equipped with matched with turning beam fixed pin 28 the opposite installation in the lower section of hoisting cross beam 3 Fixation hole, turning beam fixed pin 28 are installed in fixation hole, are equipped with bearing between fixation hole and turning beam fixed pin 28, Facilitate the smooth rotation in fixation hole of turning beam fixed pin 28 in this way.
In conjunction with Fig. 3 and Fig. 5, turnover driving mechanism is overturning hydraulic cylinder 5, and the cylinder body of overturning hydraulic cylinder 5 is rotationally connected with liter Crossbeam 3 drops, and the movable end of overturning hydraulic cylinder 5 is rotationally connected with turning beam 2.Specifically, the cylinder body for overturning hydraulic cylinder 5 is equipped with Hydraulic cylinder rotation axis 52 is overturn, overturning hydraulic cylinder rotation axis 52 is radially extended along overturning hydraulic cylinder 5.Hoisting cross beam 3 is equipped with Otic placode 31 (as shown in Figure 9) outstanding offers overturning hydraulic cylinder compatible with overturning hydraulic cylinder rotation axis 52 on otic placode 31 Mounting hole.Overturning hydraulic cylinder rotation axis 52 is inserted in overturning hydraulic cylinder mounting hole and can turn in overturning hydraulic cylinder mounting hole It is dynamic.The side of turning beam 2 is equipped with the overturning hydraulic cylinder fixed pin 29 for protruding from turning beam 2, overturns the piston rod of hydraulic cylinder 5 End is equipped with to be inserted in fixed ring 51 with the overturning matched fixed ring 51 of hydraulic cylinder fixed pin 29, overturning hydraulic cylinder fixed pin 29 And it can be rotated in fixed ring 51.Overturning hydraulic cylinder 5 is flexible to drive turning beam 2 to be turned over turning beam fixed pin 28 for axis Turn.Turning beam fixed pin 28, overturning hydraulic cylinder fixed pin 29 and overturning hydraulic cylinder rotation axis 52 are arranged in parallel two-by-two.Certainly, Turnover driving mechanism may be tumble cylinder, and details are not described herein again.
In conjunction with Fig. 3 and Fig. 6, in the present embodiment, wherein a mechanical arm 21 is fixedly installed in one end of turning beam 2, Another mechanical arm 21 is slidably mounted on turning beam 2.Specifically, the two sides of turning beam 2 are equipped with the second guide rail 271, sliding The end of the mechanical arm 21 of setting is equipped with the second sliding block 272,271 gap of the second guide groove and the second guide rail on the second sliding block 272 Cooperation is so that the second sliding block 272 can slide on the second guide rail 271.The top of turning beam 2 is equipped with a mounting groove, molding driving Mechanism 4 is installed in mounting groove.In the present embodiment, molding driving mechanism 4 is hydraulic cylinder, and the cylinder body of hydraulic cylinder is fixed on mounting groove One end of interior close static mechanical arm 21, the piston rod of hydraulic cylinder and movable mechanical arm 21 are fixed.Molding driving mechanism 4 is stretched Contracting drives a mechanical arm 21 to another mechanical arm 21 close to or far to realize molding or die sinking.
In the present embodiment, the middle part of die fixing device 22 is rotationally connected on mechanical arm 21 by positioning pin 25 far from overturning One end of crossbeam 2, positioning pin 25 also with turning beam fixed pin 28, overturning hydraulic cylinder fixed pin 29 and overturning hydraulic cylinder rotation axis 52 are arranged in parallel respectively.Specifically, cavity is equipped in mechanical arm 21, rotary drive mechanism 24 is hydraulic cylinder.Rotary drive mechanism 24 cylinder body is fixed on one end in mechanical arm 21 close to turning beam 2, the end of piston rod and the end of die fixing device 22 Hingedly.Rotary drive mechanism 24 stretch driven mold fixed frame 22 with positioning pin 25 be axis rotated, to change mold 100 Opening direction realizes the operation such as discharging, soaked.The rotatable angle range of die fixing device 22 is 0-90 ° herein, guarantees its energy In molding and soaked two stations.Certainly, rotary drive mechanism 24 can also be cylinder, and details are not described herein again.
In the present embodiment, ejecting mechanism is hydraulic cylinder, and the cylinder body of ejecting mechanism is fixed on die fixing device 22, piston Bar can be as the finished product ejection die 100 with after casting mobile outside die fixing device 22 as mandril 26.On die fixing device 22 It is detachably equipped with mold base 23 (in conjunction with Fig. 4 and Fig. 9), through-hole is equipped in the middle part of mold base 23, mandril 26 is passed through from through-hole.
In the present embodiment, in conjunction with Fig. 7 and Fig. 8, interconnecting piece of the rack 1 as five axis robots and the track of foundry Part has and is able to drive the mechanical structure that five axis robots move horizontally on the track of foundry.Typical structure is machine Third sliding block 11 is equipped with above frame 1, the track of third guide groove and foundry on third sliding block 11 is slidably matched.In rack 1 It is additionally provided with mobile main shaft 12, the outer circumference of mobile main shaft 12 is equipped with gear 121 upwards, on the track of gear 121 and foundry Rack gear engagement;The spindle drive 13 for driving mobile main shaft 12 to rotate, spindle drive 13 are additionally provided in rack 1 Output end be fixedly connected with mobile main shaft 12.Spindle drive 13 be motor or hydraulic motor, spindle drive 13 Output end rotation drives mobile main shaft 12 to rotate, and the gear 121 on mobile main shaft 12 is engaged with the rack gear on track to rack 1 It is moved to different station in orbit.
Each driving mechanism is configured with testing agency (151 in such as Fig. 2,281 in Fig. 3) in the present embodiment, with determination The angle of mobile distance or overturning can belong to prior art using corresponding detection technique in the prior art, at this It is repeated no more in application.
Figure 10-15 embody respectively manipulator in feeding state, molding state, rollover states, pour state, discharge status With the exemplary operation state of soaked state, the higher the degree of automation of five axis robot of the application is embodied.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is with claim limited range Standard, several improvements and modifications that those skilled in the art make without departing from the spirit and scope of the present invention also should be regarded as this The protection scope of invention.

Claims (10)

1. a kind of dedicated five axis robot of casting, including rack, which is characterized in that further include:
Lift drive mechanism is fixed in rack;
Hoisting cross beam is connected to lift drive mechanism and does vertical lifting movement under the driving of lift drive mechanism;
Turning beam is rotationally connected with hoisting cross beam;
Turnover driving mechanism, for driving turning beam to rotate around it axis rotation;
Mechanical arm, the quantity of the mechanical arm are two, are rotated on turning beam and with turning beam;
Driving mechanism is molded, is set on turning beam, molding driving mechanism drives at least one mechanical arm to move along turning beam So that two mechanical arms are close to each other;
Die fixing device is rotationally connected with respectively on two mechanical arms, driven mold rotation;
Rotary drive mechanism is set on mechanical arm, for driving die fixing device to rotate along its rotation axis;
Ejecting mechanism is set on die fixing device, has the mandril that can be moved to outside die fixing device.
2. dedicated five axis robot of casting according to claim 1, it is characterised in that: the lift drive mechanism is cylinder Or hydraulic cylinder.
3. dedicated five axis robot of casting according to claim 1, it is characterised in that: the two sides of the turning beam are equipped with The turning beam fixed pin of turning beam is protruded from, the hoisting cross beam is equipped with and the matched fixation of turning beam fixed pin Hole;The turnover driving mechanism is overturning hydraulic cylinder, and the fixing end of the overturning hydraulic cylinder is rotationally connected with hoisting cross beam, is overturn The movable end of hydraulic cylinder is rotationally connected with turning beam;Hydraulic cylinder extension drive turning beam, which is overturn, with turning beam fixed pin is Axis is overturn.
4. dedicated five axis robot of casting according to claim 3, it is characterised in that: install the lower section of the hoisting cross beam There is bearing block, the fixation hole is set on the bearing block, is equipped with bearing between fixation hole and turning beam fixed pin.
5. dedicated five axis robot of casting according to claim 4, it is characterised in that: at least side of the turning beam Equipped with overturning hydraulic cylinder fixed pin, the movable end of the overturning hydraulic cylinder is equipped with fixed ring, and the overturning hydraulic cylinder fixed pin is inserted It can rotate in fixed ring and in fixed ring;The fixing end of the overturning hydraulic cylinder is equipped with overturning hydraulic cylinder rotation axis, Otic placode is set on hoisting cross beam, otic placode is equipped with overturning hydraulic cylinder mounting hole, and the overturning hydraulic cylinder rotating shaft pin is inserted in overturning It can rotate in hydraulic cylinder mounting hole and in overturning hydraulic cylinder mounting hole;The turning beam fixed pin, overturning hydraulic cylinder are fixed Pin and overturning hydraulic cylinder rotation axis are arranged in parallel two-by-two.
6. dedicated five axis robot of casting according to claim 1, it is characterised in that: the molding driving mechanism is cylinder Or hydraulic cylinder.
7. dedicated five axis robot of casting according to claim 6, it is characterised in that: wherein a mechanical arm is fixed It is installed on turning beam, another mechanical arm is slidably mounted on turning beam;The fixing end and movable end of the molding driving mechanism It is fixedly installed in turning beam respectively and is slidably mounted on the mechanical arm of turning beam.
8. dedicated five axis robot of casting according to claim 1, it is characterised in that: the middle part of the die fixing device is logical It crosses positioning pin and is rotationally connected with mechanical arm, the rotary drive mechanism is cylinder or hydraulic cylinder, and rotary drive mechanism is placed in machinery In the cavity of arm and one end of rotary drive mechanism is rotationally connected with one end of mechanical arm, and the other end extends to the another of mechanical arm It holds hinged with one end of die fixing device.
9. dedicated five axis robot of casting according to claim 1, it is characterised in that: the rack both ends are equipped with downwards Extension outstanding, the extension inside are equipped with positioning plate, are provided with the first guide rail along the vertical direction on the positioning plate, The hoisting cross beam is equipped with the first sliding block, and the first guide groove on first sliding block is slidably matched with the first guide rail.
10. dedicated five axis robot of casting according to claim 1, it is characterised in that: be equipped with third above the rack The track of sliding block, third guide groove and foundry on the third sliding block is slidably matched;Mobile master is additionally provided in the rack The outer circumference of axis, mobile main shaft is equipped with gear upwards, and the gear is engaged with the rack gear on the track of foundry;In rack also Equipped with for driving the spindle drive of mobile main axis, the output end of the spindle drive is fixed with mobile main shaft Connection.
CN201810859401.0A 2018-08-01 2018-08-01 Cast dedicated five axis robot Pending CN109093635A (en)

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Application Number Priority Date Filing Date Title
CN201810859401.0A CN109093635A (en) 2018-08-01 2018-08-01 Cast dedicated five axis robot

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Application Number Priority Date Filing Date Title
CN201810859401.0A CN109093635A (en) 2018-08-01 2018-08-01 Cast dedicated five axis robot

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Publication Number Publication Date
CN109093635A true CN109093635A (en) 2018-12-28

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111251323A (en) * 2020-03-20 2020-06-09 新昌县麒龙机械科技有限公司 Automatic transfer manipulator for casting based on iron parts
CN111645237A (en) * 2020-03-12 2020-09-11 海安迪斯凯瑞探测仪器有限公司 Mold closing robot system

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CN206717860U (en) * 2017-05-08 2017-12-08 深圳市宇瀚智慧装备科技有限公司 Automatic material-fetching mechanical hand
EP3332924A1 (en) * 2016-12-07 2018-06-13 Harris Corporation Shock absorbing disruptor mounting system
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Publication number Priority date Publication date Assignee Title
CN203109212U (en) * 2013-02-28 2013-08-07 浙江万丰科技开发有限公司 Copper alloy low pressure casting machine
CN103737587A (en) * 2014-01-23 2014-04-23 昆山威创精密机械有限公司 Intelligent five-shaft manipulator
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Publication number Priority date Publication date Assignee Title
CN111645237A (en) * 2020-03-12 2020-09-11 海安迪斯凯瑞探测仪器有限公司 Mold closing robot system
CN111251323A (en) * 2020-03-20 2020-06-09 新昌县麒龙机械科技有限公司 Automatic transfer manipulator for casting based on iron parts
CN111251323B (en) * 2020-03-20 2021-05-11 浙江时代铸造有限公司 Automatic transfer manipulator for casting based on iron parts

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