CN109434540A - A kind of manipulator in dual-arm robot transfer matic - Google Patents
A kind of manipulator in dual-arm robot transfer matic Download PDFInfo
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- CN109434540A CN109434540A CN201811504831.7A CN201811504831A CN109434540A CN 109434540 A CN109434540 A CN 109434540A CN 201811504831 A CN201811504831 A CN 201811504831A CN 109434540 A CN109434540 A CN 109434540A
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- manipulator
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- axis pedestal
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 80
- 239000003638 chemical reducing agent Substances 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims 2
- 238000000465 moulding Methods 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000003756 stirring Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000007664 blowing Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/048—Multiple gripper units
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the manipulators in a kind of dual-arm robot transfer matic, including the manipulator being arranged on dual-arm robot transfer matic, the manipulator is made of horizontal movement part and vertical motion part, the horizontal movement part includes Y-axis pedestal, the both ends of the Y-axis pedestal are separately installed with terminal box and crossbeam lid, one end of the Y-axis pedestal is equipped with the terminal box connecting plate connecting with terminal box by bolt, cable hole is offered on the outer wall of the terminal box, the two sides of the cable hole are equipped with main body connecting plate and drag chain support plate by bolt, the vertical motion part includes the Z axis pedestal.Advantage is: the present invention is by manipulator while X-axis on transfer matic is mobile, the displacement of the Y-axis and Z-direction of manipulator is realized by the rotation of rotary electric machine and driving motor, the operating space of manipulator is bigger, can complete the two big demands that positioning in larger range moved and folded up workpiece.
Description
Technical field
The present invention relates to the manipulators in manipulator technical field more particularly to a kind of dual-arm robot transfer matic.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.
Current manipulator is generally only able to achieve simple object transport function.This big multifunctional single of mobile manipulator
One, operating space is limited, and when mobile platform is fixed, manipulator is difficult to play a role, and the article that not can be carried out in larger range is removed
Migration is dynamic.
For this purpose, we have proposed the manipulators in a kind of dual-arm robot transfer matic to solve the above problems.
Summary of the invention
The purpose of the present invention is to solve the problems in background techniques, and in a kind of dual-arm robot transfer matic proposed
Manipulator.
To achieve the goals above, present invention employs following technical solutions: in a kind of dual-arm robot transfer matic X-axis
Manipulator, including the manipulator being arranged on dual-arm robot transfer matic, the manipulator is by horizontal movement part and vertical fortune
Dynamic part forms, and the horizontal movement part includes Y-axis pedestal, and the both ends of the Y-axis pedestal are separately installed with terminal box and cross
Liang Gai, one end of the Y-axis pedestal are equipped with the terminal box connecting plate connecting with terminal box by bolt, the terminal box it is outer
Cable hole is offered on wall, the two sides of the cable hole are equipped with main body connecting plate and drag chain support plate by bolt, described perpendicular
Straight motion parts include the Z axis pedestal, integrally formed with the first drag chain connector, the Z axis on the outer wall of the Z axis pedestal
The lower end of pedestal is equipped with gripper, and sliding on the outer wall of the Z axis pedestal has mounting seat, on the outer wall of the mounting seat
It is fixedly connected with the second drag chain connector, the upper surface of the Y-axis pedestal is fixed, and there are two sliding rail, the upper tables of the Y-axis pedestal
Face is fixed with the limited block positioned at sliding rail both ends, slidably connects slide on two sliding rails jointly, and the slide is separate to be connect
The side of wire box is bolted limit switches connecting plate, and the upper side wall of the slide is fixedly connected with Z axis connecting plate, institute
It states mounting seat to be bolted on Z axis connecting plate, is respectively equipped with the first driving machine on the Y-axis pedestal and Z axis pedestal
Structure and the second driving mechanism.
In the manipulator in a kind of above-mentioned dual-arm robot transfer matic, the lower wall of the slide is integrally formed with two
A sliding block to match with sled position, the lower wall of the sliding block offer the T-slot being arranged on the slide rail.
In the manipulator in a kind of above-mentioned dual-arm robot transfer matic, the inside of the terminal box is equipped with solenoid valve
And terminal block, the terminal box offer wiring hole close to one end of Y-axis pedestal, offer on the outside of the wiring hole and Y-axis
The threaded mounting hole of whorl of base connection.
In the manipulator in a kind of above-mentioned dual-arm robot transfer matic, first driving mechanism includes being provided with cunning
Gear installing port on seat, the upper side wall of the slide have been bolted speed reducer mounting plate, the speed reducer mounting plate
Upper side wall speed reducer is installed, the upper side wall of the speed reducer is fixed with the rotary electric machine connecting with speed reducer, the deceleration
The driving end of machine runs through speed reducer mounting plate straight down and extends to its downside and be fixedly connected with first gear, the Y-axis bottom
The upper side wall of seat is fixed with the rack gear between two sliding rails, and the first gear passes through gear installing port and extends to rack gear
Side is simultaneously meshed.
In the manipulator in a kind of above-mentioned dual-arm robot transfer matic, second driving mechanism includes horizontal fixed
The driving end of driving motor on mounting seat outer wall, the driving motor extends to inside it through the outer wall of mounting seat
And it is fixedly connected with second gear, the second gear is located at the side of Z axis pedestal, and the Z axis pedestal is close to second gear
Side offers the sawtooth being meshed with the second gear.
In the manipulator in a kind of above-mentioned dual-arm robot transfer matic, it is fixed on the inner wall of the mounting seat more
A link block, each link block offer limiting slot close to the side of Z axis pedestal, and the Z axis pedestal is close to limiting slot
Side is equipped with the protrusion to match with limiting slot.
Compared with prior art, the advantages of manipulator in this dual-arm robot transfer matic, is:
1, by rotary electric machine drive speed reducer rotation, and then drive first gear rotated, by first gear with
The cooperation of rack gear, and rack gear is fixed setting, completes to be rolled on rack gear by the rotation realization of rotary electric machine, realizes and slide
The movement of seat, and then the mounting seat for connecting connecting plate connection with Z axis is driven to carry out the movement of horizontal direction, realize gripper
It is mobile；
2, mounting seat is fixedly connected with Y-axis pedestal, is driven second gear to be rotated by driving motor, is passed through second
The cooperation of sawtooth on gear and Z axis base outer wall realizes that Z axis pedestal moves up and down in mounting seat, realizes the displacement of Z axis；
3, setting is detached from the placement peace that drag chain support plate, the first drag chain connector and the second drag chain connector carry out drag chain
Dress, and then the constraint of electric wire or cable is completed, so that it is facilitated movement or rotation；
4, setting sliding rail carries out steady when cooperation guarantees that slide horizontal direction is mobile, setting link block and protrusion with sliding block
Between cooperation realize that Z axis pedestal is steady when moving up and down, ensure that stationarity when manipulator clamping is mobile, improve work
Safety；
5, limit switch is installed on limit switch connecting plate, when slide is contacted toward side is mobile with limited block, limit
The connecting rod driving switch of switch is contacted with limited block, realizes that the closure of switch disconnects or disconnect closure, and then complete motor work
Accurate positioning function is realized in the control of state；
In conclusion the present invention passes through manipulator while X-axis on transfer matic is mobile, pass through rotary electric machine and driving electricity
The rotation of machine realizes the displacement of the Y-axis and Z-direction of manipulator, and the operating space of manipulator is bigger, can complete larger range
Interior positioning movement and the two big demands for folding up workpiece.
Detailed description of the invention
Fig. 1 is the schematic view of the mounting position of the manipulator in a kind of dual-arm robot transfer matic proposed by the present invention；
Fig. 2 is the structural schematic diagram of the manipulator in a kind of dual-arm robot transfer matic proposed by the present invention；
Fig. 3 is the structural schematic diagram of Y-axis pedestal in manipulator in a kind of dual-arm robot transfer matic proposed by the present invention；
Fig. 4 is the structural schematic diagram of terminal box in manipulator in a kind of dual-arm robot transfer matic proposed by the present invention；
Fig. 5 is that the part-structure of Y-axis pedestal in manipulator in a kind of dual-arm robot transfer matic proposed by the present invention shows
It is intended to；
Fig. 6 is that rotary electric machine is connect with speed reducer in manipulator in a kind of dual-arm robot transfer matic proposed by the present invention
Locate structural schematic diagram；
Fig. 7 is the structural schematic diagram of slide in manipulator in a kind of dual-arm robot transfer matic proposed by the present invention；
Fig. 8 is the top view of slide in manipulator in a kind of dual-arm robot transfer matic proposed by the present invention；
Fig. 9 is the structural schematic diagram of Z axis pedestal in manipulator in a kind of dual-arm robot transfer matic proposed by the present invention；
Figure 10 is mounting seat structural schematic diagram in manipulator in a kind of dual-arm robot transfer matic proposed by the present invention.
In figure: 1 manipulator, 2 first drag chain connectors, 3Z axis pedestal, 4Y axis pedestal, 5Z axis connection plate, 6 rotary electric machines, 7
Second gear, 8 link blocks, 9 terminal boxes, 10 wiring holes, 11 threaded mounting holes, 12 rack gears, 13 sliding rails, 14 limited blocks, 15 main bodys
Connecting plate, 16 terminal box connecting plates, 17 drag chain support plates, 18 cable holes, 19 crossbeam lids, 20 speed reducers, 21 speed reducer mounting plates,
22 first gears, 23 slides, 24 sliding blocks, 25 limit switch connecting plates, 26 gear installing ports, 27 sawtooth, 28 mounting seats, 29
Two drag chain connectors, 30 driving motors.
Specific embodiment
Following embodiment only exists in illustrative purpose, limits the scope of the invention without being intended to.
Embodiment
Referring to Fig.1-10, the manipulator in a kind of dual-arm robot transfer matic, including be arranged in dual-arm robot transfer matic X
Manipulator 1 on axis, manipulator 1 are made of horizontal movement part and vertical motion part, and horizontal movement part includes Y-axis pedestal
4, the both ends of Y-axis pedestal 4 are separately installed with terminal box 9 and crossbeam lid 19, and one end of Y-axis pedestal 4 is equipped with and is connect by bolt
The terminal box connecting plate 16 that wire box 9 connects, the inside of terminal box 9 are equipped with solenoid valve and terminal block, and solenoid valve is used for manipulator
The control of upper power components switch, terminal block is for carrying multiple or multiple groups mutually insulated terminal assemblies and supporting for fixed
The insulating element of part, terminal box 9 offer wiring hole 10 close to one end of Y-axis pedestal 4, intert and manipulator 1 in wiring hole 1O
The conducting wire or tracheae of upper power components connection, the outside of wiring hole 10 offers the threaded mounting hole being threadedly coupled with Y-axis pedestal 4
11, the installation that terminal box 9 is completed by screwing in bolt between terminal box connecting plate 16 and threaded mounting hole 11 is fixed.
Cable hole 18 is offered on the outer wall of terminal box 9, the two sides of cable hole 18 are equipped with main body connecting plate by bolt
15 and drag chain support plate 17, drag chain support plate 17, the first drag chain connector 8 and the second drag chain connector 29 carry out the placement of drag chain
Installation, and then the constraint of electric wire or cable is completed, so that it is facilitated movement or rotation, vertical motion part includes Z axis pedestal 3, Z axis
Integrally formed with the first drag chain connector 2 on the outer wall of pedestal 3, the lower end of Z axis pedestal 3 is equipped with gripper, Z axis pedestal 3
Sliding has mounting seat 28 on outer wall, and the second drag chain connector 29, Y-axis pedestal 4 are fixedly connected on the outer wall of mounting seat 28
Upper surface it is fixed there are two sliding rail 13, the lower wall of slide 23 is integrally formed that there are two the sliding blocks to match with 13 position of sliding rail
24, the lower wall of sliding block 24 offers the T-slot being set on sliding rail 13, by cooperating between T-slot and sliding block 24 to slide
23 are limited, and are guaranteed steady when slide 23 is mobile.
The upper surface of Y-axis pedestal 4 is fixed with the limited block 14 positioned at 13 both ends of sliding rail, and sliding connects jointly on two sliding rails 13
It is connected to slide 23, slide 23 is bolted limit switches connecting plate 25 far from the side of terminal box 9, connects in limit switch
Limit switch is installed on fishplate bar 25, when slide 23 is contacted toward side is mobile with limited block 14, the connecting rod driving of limit switch is opened
Pass is contacted with limited block 14, is realized that the closure of switch disconnects or disconnect closure, and then complete the control of electric machine operation state, is realized
Accurate positioning function, the upper side wall of slide 23 are fixedly connected with Z axis connecting plate 5, and mounting seat 28 is bolted on Z axis
On connecting plate 5, the first driving mechanism and the second driving mechanism are respectively equipped on Y-axis pedestal 4 and Z axis pedestal 3.
First driving mechanism includes the gear installing port 26 being provided on slide 23, and the upper side wall of slide 23 is solid by bolt
Surely there is speed reducer mounting plate 21, the upper side wall of speed reducer mounting plate 21 is equipped with speed reducer 20, and the upper side wall of speed reducer 20 is fixed
There is the rotary electric machine 6 connecting with speed reducer 20, the driving end of speed reducer 20 is run through speed reducer mounting plate 21 straight down and extended to
Its downside is simultaneously fixedly connected with first gear 22, and the upper side wall of Y-axis pedestal 4 is fixed with the rack gear between two sliding rails 13
12, first gear 22 passes through gear installing port 26 and extends to the side of rack gear 12 and meshed, and rotary electric machine 6, which drives, to slow down
Machine 20 rotates, and then first gear 22 is driven to be rotated, and by the cooperation of first gear 22 and rack gear 12, and rack gear 12 is solid
Fixed setting is completed to be rolled on rack gear by the rotation realization of rotary electric machine 6, realizes the movement of slide 23, and then drive
The mounting seat 28 that the connection of connecting plate 5 is connect with Z axis carries out the movement of horizontal direction.
Second driving mechanism includes the driving motor 30 being horizontally fixed on 28 outer wall of mounting seat, the drive of driving motor 30
Moved end extends to its inside through the outer wall of mounting seat 28 and is fixedly connected with second gear 7, and second gear 7 is located at Z axis bottom
The side of seat 3, Z axis pedestal 3 offer the sawtooth 27 being meshed with second gear 7, driving motor close to the side of second gear 7
30 drive second gears 7 are rotated, and by the cooperation of sawtooth 27 in second gear 7 and 3 outer wall of Z axis pedestal, realize Z axis pedestal
3 move up and down in mounting seat 28, realize the displacement of Z axis, multiple link blocks 8 are fixed on the inner wall of mounting seat 28, often
A link block 8 offers limiting slot close to the side of Z axis pedestal 3, and Z axis pedestal 3 is equipped with close to the side of limiting slot and limiting slot
The protrusion to match limits Z axis pedestal 3 by protrusion and the cooperation of limiting slot, guarantees what Z axis pedestal 3 moved up and down
Steadily.
Right above the operation to feeding position of manipulator 1, feeding point X-coordinate and Y-coordinate are reached --- 1 downlink of manipulator reaches
Feeding point Z coordinate --- complete by 1 feeding of gripper clamping --- manipulator 1 goes upward to Z axis origin --- manipulator.
1 feeding of manipulator is completed --- and above the operation to lathe of manipulator 1, reaches lathe and start downlink point X-coordinate and Y seat
Mark --- open --- manipulator 1 comes downwards to a Z coordinate --- manipulator 1 operation to emptying point Y-coordinate and Z and sit by machine safety door
--- to emptying point X-coordinate, --- manipulator 1 returns to the operation of manipulator 1 mark for gripper clamping --- Lathe jaw release ---
Going downwards to site X-coordinate --- 1 discharging of manipulator is complete.
1 discharging of manipulator is complete --- operation of manipulator 1 to movable loading point Y-coordinate and Z coordinate ---, and the operation of manipulator 1 extremely charges
--- gripper release --- the operation of manipulator 1 to movable loading point X-coordinate --- Lathe jaw clamping --- machinery of pause point X-coordinate
Hand 1, which returns to, goes downwards to site X-coordinate --- and manipulator 1 has charged.
Above --- manipulator 1 goes upward to Z axis origin --- manipulator 1 operation to stirring platform that manipulator 1 has charged, reach
Stirring platform tapping point X-coordinate and Y-coordinate --- manipulator 1 comes downwards to stirring platform tapping point Z coordinate --- stirring platform clamping cylinder folder
Tightly --- 1 blowing of manipulator is complete for gripper release --- manipulator 1 goes upward to Z axis origin ---.
1 blowing of manipulator is complete --- and right above the operation to feeding position of manipulator 1, reaches feeding point X-coordinate and Y is sat
Mark --- repeat each processes such as above 1 feeding of manipulator.
It further illustrates, it is above-mentioned to be fixedly connected unless specifically defined or limited otherwise, otherwise to shall be understood in a broad sense, example
Such as, it can be welding, be also possible to gluing, or be integrally formed the customary means well known to those skilled in the art such as setting.
Although manipulator 1, the first drag chain connector 2, Z axis pedestal 3, Y-axis pedestal 4, Z axis connection is used more herein
Plate 5, rotary electric machine 6, second gear 7, link block 8, terminal box 9, wiring hole 10, threaded mounting hole 11, rack gear 12, sliding rail 13,
Limited block 14, main body connecting plate 15, terminal box connecting plate 16, drag chain support plate 17, cable hole 18, crossbeam lid 19, speed reducer 20,
Speed reducer mounting plate 21, first gear 22, slide 23, sliding block 24, limit switch connecting plate 25, gear installing port 26, sawtooth 27,
The terms such as mounting seat 28, the second drag chain connector 29, driving motor 30, but it does not exclude the possibility of using other terms.
The use of these items is only for be more convenient to describe and explain essence of the invention；It is construed as any additional
Limitation be all to be disagreed with spirit of that invention.
Claims (6)
1. the manipulator in a kind of dual-arm robot transfer matic, including the manipulator being arranged in dual-arm robot transfer matic X-axis
(1), which is characterized in that the manipulator (1) is made of horizontal movement part and vertical motion part, the horizontal movement part
Including Y-axis pedestal (4), the both ends of the Y-axis pedestal (4) are separately installed with terminal box (9) and crossbeam lid (19), the Y-axis bottom
One end of seat (4) is equipped with the terminal box connecting plate (16) connecting with terminal box (9) by bolt, the terminal box (9) outside
It is offered on wall cable hole (18), the two sides of the cable hole (18) are equipped with main body connecting plate (15) and drag chain branch by bolt
Fagging (17), the vertical motion part include the Z axis pedestal (3), on the outer wall of the Z axis pedestal (3) integrally formed with
First drag chain connector (2), the lower end of the Z axis pedestal (3) are equipped with gripper, slide on the outer wall of the Z axis pedestal (3)
Have mounting seat (28), the second drag chain connector (29), the Y-axis bottom are fixedly connected on the outer wall of the mounting seat (28)
The upper surface of seat (4) is fixed, and there are two sliding rail (13), and the upper surface of the Y-axis pedestal (4) is fixed with positioned at sliding rail (13) both ends
Limited block (14), slidably connect jointly slide (23) on two sliding rails (13), the slide (23) is far from terminal box
(9) side is bolted limit switches connecting plate (25), and the upper side wall of the slide (23) is fixedly connected with Z axis company
Fishplate bar (5), the mounting seat (28) are bolted on Z axis connecting plate (5), the Y-axis pedestal (4) and Z axis pedestal
(3) the first driving mechanism and the second driving mechanism are respectively equipped on.
2. the manipulator in a kind of dual-arm robot transfer matic according to claim 1, which is characterized in that the slide
(23) there are two the sliding block (24) to match with sliding rail (13) position, the lower walls of the sliding block (24) for lower wall integrated molding
Offer the T-slot being set on sliding rail (13).
3. the manipulator in a kind of dual-arm robot transfer matic according to claim 1, which is characterized in that the terminal box
(9) inside is equipped with solenoid valve and terminal block, and the terminal box (9) offers wiring hole close to the one end of Y-axis pedestal (4)
(10), the threaded mounting hole (11) being threadedly coupled with Y-axis pedestal (4) is offered on the outside of the wiring hole (10).
4. the manipulator in a kind of dual-arm robot transfer matic according to claim 1, which is characterized in that described first drives
Motivation structure includes the gear installing port (26) being provided on slide (23), and the upper side wall of the slide (23) has been bolted
The upper side wall of speed reducer mounting plate (21), the speed reducer mounting plate (21) is equipped with speed reducer (20), the speed reducer (20)
Upper side wall be fixed with the rotary electric machine (6) connecting with speed reducer (20), the driving end of the speed reducer (20) is passed through straight down
Speed reducer mounting plate (21) is worn to extend to its downside and be fixedly connected with first gear (22), the upper side wall of the Y-axis pedestal (4)
It is fixed with the rack gear (12) being located between two sliding rails (13), the first gear (22) passes through gear installing port (26) and extends to
The side of rack gear (12) is simultaneously meshed.
5. the manipulator in a kind of dual-arm robot transfer matic according to claim 1, which is characterized in that described second drives
Motivation structure includes the driving motor (30) being horizontally fixed on mounting seat (28) outer wall, the driving end of the driving motor (30)
Its inside is extended to through the outer wall of mounting seat (28) and is fixedly connected with second gear (7), and the second gear (7) is located at
The side of Z axis pedestal (3), the Z axis pedestal (3) offer close to the side of second gear (7) and are meshed with second gear (7)
Sawtooth (27).
6. the manipulator in a kind of dual-arm robot transfer matic according to claim 5, which is characterized in that the installation bottom
It is fixed with multiple link blocks (8) on the inner wall of seat (28), each link block (8) offers close to the side of Z axis pedestal (3)
Limiting slot, the Z axis pedestal (3) are equipped with the protrusion to match with limiting slot close to the side of limiting slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811504831.7A CN109434540B (en) | 2018-12-10 | 2018-12-10 | Manipulator in automatic line of double-arm manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811504831.7A CN109434540B (en) | 2018-12-10 | 2018-12-10 | Manipulator in automatic line of double-arm manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109434540A true CN109434540A (en) | 2019-03-08 |
| CN109434540B CN109434540B (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811504831.7A Active CN109434540B (en) | 2018-12-10 | 2018-12-10 | Manipulator in automatic line of double-arm manipulator |
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| CN (1) | CN109434540B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877346A (en) * | 2019-04-15 | 2019-06-14 | 苏州珈玛自动化科技有限公司 | Manipulator handling equipment |
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2018
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|---|---|---|---|---|
| EP2253422A1 (en) * | 2009-05-19 | 2010-11-24 | Burkhardt GmbH Maschinenfabrik | Board processing machine for stone, wood and metal boards, and/or their replacement materials |
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| CN104368933A (en) * | 2014-10-28 | 2015-02-25 | 重庆凌云汽车零部件有限公司 | Car instrument panel IP tube welding and machining all-in-one machine |
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| Publication number | Publication date |
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| CN109434540B (en) | 2024-04-02 |
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