CN109648382A - A kind of multi-robot of truss robot is integrated - Google Patents
A kind of multi-robot of truss robot is integrated Download PDFInfo
- Publication number
- CN109648382A CN109648382A CN201810567935.6A CN201810567935A CN109648382A CN 109648382 A CN109648382 A CN 109648382A CN 201810567935 A CN201810567935 A CN 201810567935A CN 109648382 A CN109648382 A CN 109648382A
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- Prior art keywords
- machine
- elevator
- numerical control
- conveyer belt
- storing
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Classifications
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- 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
-
- 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
-
- 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
- B23Q7/005—Lifting devices
-
- 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
- B23Q7/06—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 pushers
-
- 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
- B23Q7/10—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 magazines
Abstract
It is integrated that the invention discloses a kind of multi-robots of truss robot, including level bed numerical control machine, one end of the level bed numerical control machine is equipped with discharging storing elevator, the other end of the level bed numerical control machine is equipped with pan feeding storing elevator, the side of the pan feeding storing elevator is welded and fixed with the level bed numerical control machine, the other side of the pan feeding storing elevator is equipped with rodless cylinder conveying equipment, one screw-rolling machine of process is equipped in the level bed numerical control machine, one end of one screw-rolling machine of process is equipped with two screw-rolling machine of process.The utility model has the advantages that the workpiece transport on conveyer belt and will turn around to be sent in storing elevator by guide rail and rack gear and servo motor；Workpiece is transported from conveyer belt in machine tool chuck by guide rail and straight line cylinder and rotary cylinder, and the finished product processed is transported to discharging conveyor belts, is cooperated by guide rail and rack gear and servo motor, improves efficiency, and improve precision.
Description
Technical field
The present invention relates to truss robot equipment technical fields, it particularly relates to a kind of multimachine tool of truss robot
Hand is integrated.
Background technique
Truss manipulator be it is a kind of establish in right angle X, Y on the basis of Z system of 3 axes, carries out station adjustment to workpiece, or
Realize the full-automatic equipment of the functions such as the track movement of workpiece, control core is realized by industrial control unit (ICU), passes through control
Device processed handles the analysis of various input signals, after making certain logic judgment, assigns to each output element and executes order,
X is completed, a whole set of entire roboticized work process is realized in the Union Movement between tri- axis of Y, Z with this.
At this stage, during use, efficiency is affected, and inflexible operating, and the effect of work is by shadow
It rings.
For the problems in the relevant technologies, currently no effective solution has been proposed.
Summary of the invention
For the problems in the relevant technologies, it is integrated that the purpose of the present invention is to propose to a kind of multi-robots of truss robot,
To overcome above-mentioned technical problem present in existing the relevant technologies.
The technical scheme of the present invention is realized as follows:
A kind of multi-robot of truss robot is integrated, including level bed numerical control machine, one end of the level bed numerical control machine are equipped with
Discharge storing elevator, and the other end of the level bed numerical control machine is equipped with pan feeding storing elevator, the pan feeding storing elevator
Side is welded and fixed with the level bed numerical control machine, and the other side of the pan feeding storing elevator is equipped with rodless cylinder conveying equipment,
One screw-rolling machine of process is equipped in the level bed numerical control machine, one end of one screw-rolling machine of process is equipped with two screw-rolling machine of process, described
Process transition conveyer belt, the side of the process transition conveyer belt are equipped between two screw-rolling machine of one screw-rolling machine of process and the process
Equipped with one feeding mechanical hand of process, one end of one feeding mechanical hand of process is equipped with finished product discharging conveyor belts, and the finished product
The other end of discharging conveyor belts is equipped with two feeding mechanical hand of process, one feeding mechanical hand of process and two feeder of process
Tool hand is connected by the finished product discharging conveyor belts, and the side of one feeding mechanical hand of process is equipped with pan feeding storing two-stage hoisting
Machine, the side of two feeding mechanical hand of process are equipped with discharging elevator.
Further, the discharging storing elevator and the pan feeding storing elevator include conveyer belt, and the conveying
One end of band is equipped with air cylinder lifting machine, runs through in the conveyer belt and is equipped with rotary shaft, and one end of the rotary shaft is equipped with electric rotating
Machine, rotating belt is arranged on the output shaft of the rotating electric machine, and the rotating electric machine and the rotary shaft pass through the rotation
Belt connection.
Further, the air cylinder lifting machine includes air pressure storehouse, and lifting atmospheric pressure board, the lifting are equipped in the air pressure storehouse
The top of atmospheric pressure board is equipped with lifting lift lever.
Further, the pan feeding storing two-stage hoisting machine and the discharging elevator include pushing plate, described to push plate
Side be equipped with transition conveyer structure, the side of the transition conveyer structure is equipped with and pushes mechanism.
Further, the transition conveyer structure is supported including the second aluminium, and the second aluminium support top end is equipped with aluminium
Material crossbeam, the aluminium crossbeam straightness: ± 0.03mm/1000mm, the aluminium crossbeam is interior to be equipped with guide rails, the guiding
Line rail straightness≤0.03mm/1000mm, the side of the guide rails are equipped with accurate rack gear, and the aluminium crossbeam is equipped with a left side
Servo motor is moved right, and the servo motor that moves left and right intermeshes with the accurate rack gear, it is described to move left and right servo
The lower section of motor, which is equipped with, moves up and down servo motor, and the lower section for moving up and down servo motor is supported equipped with the first aluminium, institute
The first aluminium support bottom is stated to grab equipped with material folding hand.
Further, the mechanism that pushes includes pusher cylinder, and a side of the pusher cylinder is equipped with scraping wings, described
Pusher cylinder is flexibly connected with the scraping wings.
Beneficial effects of the present invention: workpiece is pushed to from conveyer belt by storage machine by discharging storing elevator in an orderly manner
In；Cylinder pushes workpiece compared with long-distance sand transport, and storing is simultaneously promoted to subsequent processing, promoted by cylinder push and storing workpiece
It transports from conveyer belt in machine tool chuck, and the finished product processed is transported to discharging conveyor belts, by guide rail and rack gear and watch
Taking motor the workpiece transport on conveyer belt and will turn around to be sent in storing elevator；Pass through guide rail and straight line cylinder and rotary pneumatic
Cylinder transports workpiece in machine tool chuck from conveyer belt, and the finished product processed is transported to discharging conveyor belts, by guide rail with
Rack gear and servo motor are cooperated, and improve efficiency, and improve precision.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of level bed numerical control machine in the present invention；
Fig. 3 is the structural schematic diagram of transition conveyer structure in the present invention；
Fig. 4 is the structural schematic diagram of pan feeding storing two-stage hoisting machine in the present invention；
Fig. 5 is the structural schematic diagram of discharging storing elevator in the present invention；
Fig. 6 is the structural schematic diagram of discharging storing elevator in the present invention；
Fig. 7 is the structural schematic diagram that mechanism is pushed in the present invention.
In figure:
1, discharge storing elevator；2, level bed numerical control machine；3, rodless cylinder conveying equipment；4, pan feeding storing elevator；5,
One screw-rolling machine of process；6, pan feeding storing two-stage hoisting machine；7, discharge elevator；8, finished product discharging conveyor belts；9, two feeding of process
Manipulator；10, two screw-rolling machine of process；11, process transition conveyer belt；12, one feeding mechanical hand of process；13, aluminium crossbeam；14,
Accurate rack gear；15, servo motor is moved up and down；16, servo motor is moved left and right；17, the first aluminium supports；18, material folding hand is grabbed；
19, the second aluminium supports；20, guide rails；21, plate is pushed；22, mechanism is pushed；23, transition conveyer structure；24, rotary shaft；
25, rotating belt；26, rotating electric machine；27, air cylinder lifting machine；28, conveyer belt；29, pusher cylinder；30, scraping wings.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art's every other embodiment obtained belong to what the present invention protected
Range.
According to an embodiment of the invention, the multi-robot for providing a kind of truss robot is integrated.
As shown in figs. 1-7, the multi-robot of truss robot according to an embodiment of the present invention is integrated, including level bed numerical control machine
2, one end of level bed numerical control machine 2 is equipped with discharging storing elevator 1, and the other end of level bed numerical control machine 2 is equipped with pan feeding storing elevator
4, side and the level bed numerical control machine 2 of pan feeding storing elevator 4 are welded and fixed, and the other side of pan feeding storing elevator 4 is equipped with no bar
Cylinder conveying equipment 3, level bed numerical control machine 2 is interior to be equipped with one screw-rolling machine 5 of process, and one end of one screw-rolling machine 5 of process is rolled equipped with process two
Silk machine 10, process transition conveyer belt 11, process transition conveyer belt 11 are equipped between two screw-rolling machine 10 of one screw-rolling machine 5 of process and process
Side be equipped with one feeding mechanical hand 12 of process, one end of one feeding mechanical hand 12 of process is equipped with finished product discharging conveyor belts 8, and at
The other end of product discharging conveyor belts 8 is equipped with two feeding mechanical hand 9 of process, one feeding mechanical hand 12 of process and two feeding mechanical of process
Hand 9 is connected by finished product discharging conveyor belts 8, and the side of one feeding mechanical hand 12 of process is equipped with pan feeding storing two-stage hoisting machine 6, work
The side of two feeding mechanical hand 9 of sequence is equipped with discharging elevator 7.
With the aid of the technical scheme, workpiece is pushed to from conveyer belt by storage machine by discharging storing elevator in an orderly manner
In；Cylinder pushes workpiece compared with long-distance sand transport, and storing is simultaneously promoted to subsequent processing, promoted by cylinder push and storing workpiece
It transports from conveyer belt in machine tool chuck, and the finished product processed is transported to discharging conveyor belts, by guide rail and rack gear and watch
Taking motor the workpiece transport on conveyer belt and will turn around to be sent in storing elevator；Pass through guide rail and straight line cylinder and rotary pneumatic
Cylinder transports workpiece in machine tool chuck from conveyer belt, and the finished product processed is transported to discharging conveyor belts, by guide rail with
Rack gear and servo motor are cooperated, and improve efficiency, and improve precision.
In addition, in one embodiment, for above-mentioned discharging storing elevator 1, discharge storing elevator 1 and pan feeding
Storing elevator 4 includes conveyer belt 28, and one end of conveyer belt 28 is equipped with air cylinder lifting machine 27, runs through in conveyer belt 28 and is equipped with rotation
Shaft 24, one end of rotary shaft 24 are equipped with rotating electric machine 26, are arranged with rotating belt 25 on the output shaft of rotating electric machine 26, rotate
Motor 26 is connect with rotary shaft 24 by rotating belt 25.
In addition, in one embodiment, for above-mentioned air cylinder lifting machine 27, air cylinder lifting machine 27 includes air pressure storehouse,
Lifting atmospheric pressure board is equipped in air pressure storehouse, the top for going up and down atmospheric pressure board is equipped with lifting lift lever.
In addition, in one embodiment, for above-mentioned pan feeding storing two-stage hoisting machine 6, pan feeding storing two-stage hoisting
Machine 6 and discharging elevator 7 include pushing plate 21, and the side for pushing plate 21 is equipped with transition conveyer structure 23, transition conveyer structure 23
Side be equipped with push mechanism 22.
In addition, in one embodiment, for above-mentioned transition conveyer structure 23, transition conveyer structure 23 includes second
Aluminium support 19, the second aluminium supports 19 tops to be equipped with aluminium crossbeam 13,13 straightness of aluminium crossbeam: ± 0.03mm/1000mm,
Guide rails 20 are equipped in aluminium crossbeam 13, the side of 20 straightness of guide rails≤0.03mm/1000mm, guide rails 20 is set
There is accurate rack gear 14, aluminium crossbeam 13 is equipped with and moves left and right servo motor 16, and moves left and right servo motor 16 and accurate tooth
Item 14 intermeshes, and the lower section for moving left and right servo motor 16, which is equipped with, moves up and down servo motor 15, moves up and down servo motor
15 lower section is equipped with the first aluminium support 17, and the first aluminium supports 17 bottoms to be equipped with material folding hand and grabs 18.
In addition, in one embodiment, pushing for mechanism 22 for above-mentioned, pushing mechanism 22 includes pusher cylinder 29,
One side of pusher cylinder 29 is equipped with scraping wings 30, and pusher cylinder 29 is flexibly connected with scraping wings 30.
To sum up, by discharging storing elevator that workpiece is orderly from conveyer belt by means of above-mentioned technical proposal of the invention
Ground is pushed in storage machine；Cylinder pushes workpiece compared with long-distance sand transport, and storing is simultaneously promoted and arrives subsequent processing, by cylinder push and
Storing promotion transports workpiece in machine tool chuck from conveyer belt, and the finished product processed is transported to discharging conveyor belts, passes through
Guide rail and rack gear and servo motor the workpiece transport on conveyer belt and will turn around to be sent in storing elevator；By guide rail and directly
Line cylinder and rotary cylinder transport workpiece in machine tool chuck from conveyer belt, and the finished product processed is transported to discharging conveying
Band is cooperated by guide rail and rack gear and servo motor, improves efficiency, and improve precision.
Secondly, including conveyer belt 28, and the one of conveyer belt 28 by discharging storing elevator 1 and pan feeding storing elevator 4
End is equipped with air cylinder lifting machine 27, runs through in conveyer belt 28 and is equipped with rotary shaft 24, and one end of rotary shaft 24 is equipped with rotating electric machine 26, rotation
Rotating belt 25 is arranged on the output shaft of rotating motor 26, rotating electric machine 26 is connect with rotary shaft 24 by rotating belt 25, gas
Cylinder elevator 27 includes air pressure storehouse, and lifting atmospheric pressure board is equipped in air pressure storehouse, and the top for going up and down atmospheric pressure board is equipped with lifting lift lever, is entered
Material storing two-stage hoisting machine 6 and discharging elevator 7 include pushing plate 21, and the side for pushing plate 21 is equipped with transition conveyer structure 23,
The side of transition conveyer structure 23, which is equipped with, pushes mechanism 22, and transition conveyer structure 23 includes the second aluminium support 19, the second aluminium
Support 19 tops to be equipped with aluminium crossbeam 13,13 straightness of aluminium crossbeam: ± 0.03mm/1000mm, interior be equipped with of aluminium crossbeam 13 are led
To line rail 20,20 straightness of guide rails≤0.03mm/1000mm, the side of guide rails 20 is equipped with accurate rack gear 14, aluminium
Crossbeam 13 is equipped with and moves left and right servo motor 16, and moves left and right servo motor 16 and intermesh with accurate rack gear 14, left and right
The lower section of shift servo motor 16 is equipped with and moves up and down servo motor 15, and the lower section for moving up and down servo motor 15 is equipped with the first aluminium
Material support 17, the first aluminium support 17 bottoms to be equipped with material folding hand and grab 18.Pushing mechanism 22 includes pusher cylinder 29, pusher cylinder 29
A side be equipped with scraping wings 30, pusher cylinder 29 is flexibly connected with scraping wings 30, improves efficiency, and raising precision.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of multi-robot of truss robot is integrated, which is characterized in that including level bed numerical control machine (2), the level bed numerical control
One end of machine (2) is equipped with discharging storing elevator (1), and the other end of the level bed numerical control machine (2) is equipped with pan feeding storing elevator
(4), the side of the pan feeding storing elevator (4) is welded and fixed with the level bed numerical control machine (2), the pan feeding storing elevator
(4) the other side is equipped with rodless cylinder conveying equipment (3), is equipped with one screw-rolling machine of process (5), institute in the level bed numerical control machine (2)
The one end for stating one screw-rolling machine of process (5) is equipped with two screw-rolling machine of process (10), and one screw-rolling machine of process (5) and the process two are rolled
Process transition conveyer belt (11) is equipped between silk machine (10), the side of the process transition conveyer belt (11) is equipped with one feeding of process
One end of manipulator (12), one feeding mechanical hand of process (12) is equipped with finished product discharging conveyor belts (8), and the finished product discharges
The other end of conveyer belt (8) is equipped with two feeding mechanical hand of process (9), one feeding mechanical hand of process (12) and the process two
Feeding mechanical hand (9) is connected by the finished product discharging conveyor belts (8), and the side of one feeding mechanical hand of process (12) is equipped with
The side of pan feeding storing two-stage hoisting machine (6), two feeding mechanical hand of process (9) is equipped with discharging elevator (7).
2. a kind of multi-robot of truss robot according to claim 1 is integrated, which is characterized in that the discharging storing
Elevator (1) and the pan feeding storing elevator (4) include conveyer belt (28), and one end of the conveyer belt (28) is equipped with cylinder
Elevator (27), the conveyer belt (28) is interior through rotary shaft (24) are equipped with, and one end of the rotary shaft (24) is equipped with electric rotating
Machine (26) is arranged with rotating belt (25) on the output shaft of the rotating electric machine (26), the rotating electric machine (26) and the rotation
Shaft (24) is connected by the rotating belt (25).
3. a kind of multi-robot of truss robot according to claim 2 is integrated, which is characterized in that the air cylinder lifting
Machine (27) includes air pressure storehouse, and lifting atmospheric pressure board is equipped in the air pressure storehouse, and the top of the lifting atmospheric pressure board is equipped with lifting and is promoted
Bar.
4. a kind of multi-robot of truss robot according to claim 1 is integrated, which is characterized in that the pan feeding storing
Two-stage hoisting machine (6) and the discharging elevator (7) include pushing plate (21), and it is defeated that the side for pushing plate (21) is equipped with transition
It send mechanism (23), the side of the transition conveyer structure (23), which is equipped with, pushes mechanism (22).
5. a kind of multi-robot of truss robot according to claim 4 is integrated, which is characterized in that the transition conveying
Mechanism (23) includes the second aluminium support (19), and the second aluminium support (19) top is equipped with aluminium crossbeam (13), the aluminium
Material crossbeam (13) straightness: ± 0.03mm/1000mm, the aluminium crossbeam (13) is interior to be equipped with guide rails (20), the guiding
Line rail (20) straightness≤0.03mm/1000mm, the side of the guide rails (20) are equipped with accurate rack gear (14), the aluminium
Crossbeam (13) is equipped with and moves left and right servo motor (16), and described moves left and right servo motor (16) and the accurate rack gear
(14) it intermeshes, the lower section for moving left and right servo motor (16) is equipped with and moves up and down servo motor (15), described upper and lower
The lower section of shift servo motor (15) is equipped with the first aluminium support (17), and the first aluminium support (17) bottom is equipped with material folding hand
Grab (18).
6. a kind of multi-robot of truss robot according to claim 4 is integrated, which is characterized in that described to push mechanism
It (22) include pusher cylinder (29), a side of the pusher cylinder (29) is equipped with scraping wings (30), the pusher cylinder (29)
It is flexibly connected with the scraping wings (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810567935.6A CN109648382B (en) | 2018-06-05 | 2018-06-05 | Multi-manipulator integration of truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810567935.6A CN109648382B (en) | 2018-06-05 | 2018-06-05 | Multi-manipulator integration of truss robot |
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| Publication Number | Publication Date |
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| CN109648382A true CN109648382A (en) | 2019-04-19 |
| CN109648382B CN109648382B (en) | 2021-10-29 |
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| CN201810567935.6A Active CN109648382B (en) | 2018-06-05 | 2018-06-05 | Multi-manipulator integration of truss robot |
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Cited By (3)
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| CN110394681A (en) * | 2019-08-27 | 2019-11-01 | 佛山市名将自动化设备有限公司 | A kind of big piston pin multiaxis truss robot one drag two numerical control machine |
| CN112060464A (en) * | 2020-08-12 | 2020-12-11 | 太仓久本机械科技有限公司 | Automatic cutting and injection molding integrated equipment and working method thereof |
| CN112238266A (en) * | 2020-10-24 | 2021-01-19 | 上海万众实业股份有限公司 | Numerical control gear hobbing machine tool |
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| CN110394681A (en) * | 2019-08-27 | 2019-11-01 | 佛山市名将自动化设备有限公司 | A kind of big piston pin multiaxis truss robot one drag two numerical control machine |
| CN112060464A (en) * | 2020-08-12 | 2020-12-11 | 太仓久本机械科技有限公司 | Automatic cutting and injection molding integrated equipment and working method thereof |
| CN112238266A (en) * | 2020-10-24 | 2021-01-19 | 上海万众实业股份有限公司 | Numerical control gear hobbing machine tool |
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