CN109867135A - A kind of loading and unloading manipulator - Google Patents
A kind of loading and unloading manipulator Download PDFInfo
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- CN109867135A CN109867135A CN201910255839.2A CN201910255839A CN109867135A CN 109867135 A CN109867135 A CN 109867135A CN 201910255839 A CN201910255839 A CN 201910255839A CN 109867135 A CN109867135 A CN 109867135A
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Abstract
The invention discloses a kind of loading and unloading manipulators, including rotating mechanism, reciprocating mechanism, transverse moving mechanism, workpiece rotation mechanism, material fetching mechanism and goods-delivering mechanism, the back end outer surface of the lower end outer surface of the reciprocating mechanism and leading exterior surface and transverse moving mechanism is provided with connecting plate, and the connecting plate in the transverse moving mechanism back end outer surface is fixedly connected by bolt with the connecting plate on reciprocating mechanism leading exterior surface.A kind of loading and unloading manipulator of the present invention, loading and unloading manipulator is connect with existing controller, by precisely walking for controller control electronic control unit implementation mechanism, passes through the combination of mobile mechanism and rotating mechanism, realize the precise positioning of actuating mechanism, by specific feeding, feeding, receiving mechanism, the automated exchanged cutter to workpiece is realized, to replace artificial clamping, improve the degree of automation of processing, steady production efficiency, largely saves human cost, brings better prospect of the application.
Description
Technical field
The present invention relates to processing and manufacturing assembling field, in particular to a kind of loading and unloading manipulators.
Background technique
With the rapid development of society, people's lives are horizontal continuous improves, people for all kinds of articles demand not
Disconnected increases, and in order to meet the needs of people, accelerates production and the process velocity of article, and major producer starts largely to recruit, with
The fast development of science and technology, start to occur recruitment hardly possible, the high situation of recruitment cost in society, and the competition of product increasingly swashs
It is strong, for this purpose, it is proposed that a kind of loading and unloading manipulator.
Summary of the invention
The main purpose of the present invention is to provide a kind of loading and unloading manipulators, can effectively solve asking in background technique
Topic.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of loading and unloading manipulator, including rotating mechanism, reciprocating mechanism, transverse moving mechanism, workpiece rotation mechanism,
Material fetching mechanism and goods-delivering mechanism, the lower end outer surface of the reciprocating mechanism and leading exterior surface and transverse moving mechanism
Back end outer surface is provided with connecting plate, and the connecting plate in the transverse moving mechanism back end outer surface passes through bolt and above moves down
Connecting plate on motivation structure leading exterior surface is fixedly connected, and the workpiece rotation mechanism is mounted by means of bolts on transverse shifting
One end of mechanism, the material fetching mechanism are mounted by means of bolts in workpiece rotation mechanism, and the goods-delivering mechanism is located at rotation
The front of rotation mechanism；
The rotating mechanism for realizing entire manipulator rotational positioning；
The reciprocating mechanism for realizing entire manipulator space orientation up and down；
The transverse moving mechanism positions for realizing the transverse shifting of entire manipulator；
The workpiece rotation mechanism is for realizing the rotational positioning to workpieces processing；
The material fetching mechanism is for realizing crawl, positioning and the fixation to workpieces processing；
The goods-delivering mechanism is for realizing windrow, separation, positioning and the rewinding to workpieces processing.
Preferably, the rotating mechanism includes No.1 servo motor and No.1 speed reducer, and the No.1 servo motor passes through
Bolt is fixedly mounted on No.1 speed reducer, and the No.1 speed reducer is located at the top of No.1 servo motor, described to move up and down
The lower end outer surface of mechanism is connected by connecting plate with the No.1 speed reducer on rotating mechanism.
Preferably, the reciprocating mechanism includes No. two servo motors, No.1 screw rod and No.1 guide rail, and described No. two are watched
The output shaft for taking motor is fixedly connected by shaft coupling with the upper end outer surface of No.1 screw rod, and the No.1 screw rod is led positioned at No.1
Inside rail, No. two servo motors are mounted by means of bolts on the upper end outer surface of No.1 guide rail.
Preferably, the transverse moving mechanism includes No. three servo motors, No. two screw rods and No. two guide rails, and described No. three are watched
The output shaft for taking motor is fixedly connected by shaft coupling with one end of No. two screw rods, and No. two screw rods are located at the interior of No. two guide rails
Portion, No. three servo motors are mounted by means of bolts on a side external surface of No. two guide rails.
Preferably, the workpiece rotation mechanism includes No. four servo motors and No. two speed reducers, No. four servo motors
It is mounted by means of bolts on No. two speed reducers.
Preferably, the material fetching mechanism includes cylinder, connecting rod, No. three guide rails, spring, mounting plate, air cylinder fixed plate, fixations
Baffle and flapper, the cylinder are two groups, and cylinder described in two groups is connected by connecting rod, and the connecting rod is installed therein one
On the output shaft of group cylinder, such connection type can realize that two-pass, the spring are mounted on the output shaft of another group of cylinder,
Flapper movement is driven by connecting plate, it is described that workpiece jig, the activity are installed on fixed baffle and flapper
Baffle is mounted on No. three guide rails, to guarantee traveling comfort and precision.
Preferably, two groups of channels of the goods-delivering mechanism, No. two cylinders, feeding sucker, two groups of No. four guide rails, two groups of sending and receiving
Expect that motor is paid and two groups of receiving and feeding push plates, receiving and feeding push plate described in two groups are respectively and fixedly installed to the one end in two groups of channels, two groups
The receiving and feeding motor is paid and is respectively and fixedly installed to the two groups of one end of receiving and feeding push plate far from channel, No. four guide rail positions described in two groups
In one end that two groups of channels are paid far from two groups of receiving and feeding motors, the feeding sucker is movably arranged on No. four guide rails close to rear end
On, the quantity of No. two cylinders is three groups, and described one group of No. two cylinder are fixedly mounted on feeding sucker far from two groups of receiving and feeding
One end of push plate, described another two groups of No. two cylinders are mounted on another group of No. four guide rails.
Compared with prior art, it the present invention provides a kind of loading and unloading manipulator, has the following beneficial effects: loading and unloading
Manipulator is connect with existing controller, by precisely walking for controller control electronic control unit implementation mechanism, passes through mobile mechanism
With the combination of rotating mechanism, the precise positioning of actuating mechanism is realized, by specific feeding, feeding, receiving mechanism, realize to work
The automated exchanged cutter of part improves the degree of automation of processing to replace artificial clamping, and steady production efficiency largely saves manpower
Cost, and entire loading and unloading manipulator is relatively simple for structure, and easy to operate, using effect is more preferable relative to traditional approach,
Meet the requirement of people, it is more practical.
Part is not directed in the device to be the same as those in the prior art or can be realized by using the prior art.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of loading and unloading manipulator of the present invention；
Fig. 2 is the structure chart of rotating mechanism in a kind of loading and unloading manipulator of the present invention；
Fig. 3 is the structure chart of reciprocating mechanism in a kind of loading and unloading manipulator of the present invention；
Fig. 4 is the structure chart of transverse moving mechanism in a kind of loading and unloading manipulator of the present invention；
Fig. 5 is the structure chart of workpiece rotation mechanism in a kind of loading and unloading manipulator of the present invention；
Fig. 6 is the structure chart of material fetching mechanism in a kind of loading and unloading manipulator of the present invention；
Fig. 7 is the structure chart of goods-delivering mechanism in a kind of loading and unloading manipulator of the present invention.
In figure: 1, rotating mechanism；11, No.1 servo motor；12, No.1 speed reducer；2, reciprocating mechanism；21, No. two
Servo motor；22, No.1 screw rod；23, No.1 guide rail；3, transverse moving mechanism；31, No. three servo motors；32, No. two screw rods；
33, No. two guide rails；4, workpiece rotation mechanism；41, No. four servo motors；42, No. two speed reducers；5, material fetching mechanism；51, cylinder；
52, connecting rod；53, No. three guide rails；54, spring；55, mounting plate；56, air cylinder fixed plate；57, fixed baffle；58, flapper；
6, goods-delivering mechanism；61, channel；62, No. two cylinders；63, feeding sucker；64, No. four guide rails；65, receiving and feeding motor is paid；66,
Receiving and feeding push plate.
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.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
Embodiment
As shown in figs. 1-7, a kind of loading and unloading manipulator, including rotating mechanism 1, reciprocating mechanism 2, transverse moving mechanism
3, workpiece rotation mechanism 4, material fetching mechanism 5 and goods-delivering mechanism 6, the lower end outer surface of reciprocating mechanism 2 and leading exterior surface
It is provided with connecting plate with the back end outer surface of transverse moving mechanism 3, the connecting plate in 3 back end outer surface of transverse moving mechanism is logical
It crosses bolt to be fixedly connected with the connecting plate on 2 leading exterior surface of reciprocating mechanism, workpiece rotation mechanism 4 is bolted peace
Mounted in one end of transverse moving mechanism 3, material fetching mechanism 5 is mounted by means of bolts in workpiece rotation mechanism 4, goods-delivering mechanism
6 are located at the front of rotating mechanism 1；
Rotating mechanism 1 for realizing entire manipulator rotational positioning；
Reciprocating mechanism 2 for realizing entire manipulator space orientation up and down；
Transverse moving mechanism 3 positions for realizing the transverse shifting of entire manipulator；
Workpiece rotation mechanism 4 is for realizing the rotational positioning to workpieces processing；
Material fetching mechanism 5 is for realizing crawl, positioning and the fixation to workpieces processing；
Goods-delivering mechanism 6 is for realizing windrow, separation, positioning and the rewinding to workpieces processing.
Rotating mechanism 1 includes No.1 servo motor 11 and No.1 speed reducer 12, and No.1 servo motor 11 is bolted
It is mounted on No.1 speed reducer 12, No.1 speed reducer 12 is located at the top of No.1 servo motor 11, passes through No.1 servo motor 11
Control rotation angle, realizes rotary motion, and No.1 speed reducer 12 further facilitates the angle that people control rotation, moves up and down machine
The lower end outer surface of structure 2 is connected by connecting plate with the No.1 speed reducer 12 on rotating mechanism 1.
Reciprocating mechanism 2 includes No. two servo motors 21, No.1 screw rod 22 and No.1 guide rail 23, No. two servo motors 21
Output shaft be fixedly connected by shaft coupling with the upper end outer surface of No.1 screw rod 22, No.1 screw rod 22 is located in No.1 guide rail 23
Portion, No. two servo motors 21 are mounted by means of bolts on the upper end outer surface of No.1 guide rail 23, and No. two servo motors 21 provide
Then power passes through the orientation of No.1 guide rail 23, is converted to the rotary motion of No. two servo motors 21 by No.1 screw rod 22
Linear motion, realizes the linear motion of up and down direction, and people can be i.e. controllable by controlling the rotation of No. two servo motors 21
The position of rectilinear direction.
Transverse moving mechanism 3 includes 31, No. two screw rods 32 of No. three servo motors and No. two guide rails 33, No. three servo motors 31
Output shaft be fixedly connected by shaft coupling with one end of No. two screw rods 32, No. two screw rods 32 are located at the inside of No. two guide rails 33,
No. three servo motors 31 are mounted by means of bolts on a side external surface of No. two guide rails 33, and No. three servo motors 31 provide dynamic
Then power passes through the orientation of No. two guide rails 33, is converted to the rotary motion of No. three servo motors 31 directly by No. two screw rods 32
Line movement, and connecting plate be it is fixed, the crossbeam of transverse moving mechanism 3 can be made to move in the horizontal direction, crossbeam can basis
The rotation direction difference of No. three servo motors 31 carries out the movement of different directions, i.e. way moving.
Workpiece rotation mechanism 4 includes No. four servo motors 41 and No. two speed reducers 42, and No. four servo motors 41 pass through bolt
It is fixedly mounted on No. two speed reducers 42, by No. four control rotation angles of servo motor 41, rotary motion is realized, to control
The placement angle of workpiece.
Material fetching mechanism 5 includes cylinder 51,52, No. three guide rails 53 of connecting rod, spring 54, mounting plate 55, air cylinder fixed plate 56, consolidates
Determine baffle 57 and flapper 58, cylinder 51 is two groups, and two groups of cylinders 51 are connected by connecting rod 52, and connecting rod 52 is installed therein
On the output shaft of one group of cylinder 51, such connection type can realize that two-pass, spring 54 are mounted on the output of another group of cylinder 51
On axis, drives flapper 58 to act by attachment device, workpiece jig is installed on fixed baffle 57 and flapper 58,
Flapper 58 is mounted on No. three guide rails 53, and to guarantee traveling comfort and precision, No.1 cylinder 51 can use one
Double stroke cylinder or two uniline stroke cylinders realize the movement for adjusting 5 both direction of material fetching mechanism, by No.1 cylinder 51
Control, in addition the effect of spring 54, adjustable material fetching mechanism 5 protects workpiece surface to the clamping dynamics of workpiece.
The cylinder 62 of 6 two groups of channels of goods-delivering mechanism 61, two, 63, two groups of feeding sucker, 64, two groups of No. four guide rails receiving and feeding
Motor pays 65 and two groups of receiving and feeding push plates 66, and two groups of receiving and feeding push plates 66 are respectively and fixedly installed to the one end in two groups of channels 61, and two
Group receiving and feeding motor pays 65 and is respectively and fixedly installed to the two groups of one end of receiving and feeding push plate 66 far from channel 61, two groups of No. four guide rails 64
One end positioned at two groups of channels 61 far from two groups of receiving and feeding motors pair 65, feeding sucker 63 are movably arranged on No. four close to rear end
On guide rail 64, the quantity of No. two cylinders 62 is three groups, and one group of No. two cylinder 62 is fixedly mounted on feeding sucker 63 far from two groups of receipts
One end of feeding push plate 66, another two groups of No. two cylinders 62 are mounted on another group of No. four guide rails 64, and goods-delivering mechanism 6 can use
Two groups of channels 61 or multiple groups channel 61, one group of No. two cylinder 62 can drive feeding sucker 63 mobile in No. four guide rails 64, and another two
No. two cylinders 62 of group change No. four 64 positions of guide rail, to draw conveying material in different places, and article is in channel 61
When middle, two groups of receiving and feeding motors, which pay 65, can drive two groups of receiving and feeding push plates 66, change the position of article.
Loading and unloading manipulator is connect with existing controller, by precisely walking for controller control electronic control unit implementation mechanism
Position, by mobile mechanism, the combination of rotating mechanism 1 and workpiece rotation mechanism 4, realizes the precise positioning of actuating mechanism, passes through spy
Fixed feeding, feeding, receiving mechanism, realization improve the automation of processing to replace artificial clamping to the automated exchanged cutter of workpiece
Degree, steady production efficiency largely save human cost, and relatively simple for structure, the operation side of entire loading and unloading manipulator
Just, using effect is more preferable relative to traditional approach, meets the requirement of people, more practical.
It should be noted that the present invention is a kind of loading and unloading manipulator, it should be noted that the present invention is a kind of loading and unloading
Manipulator, the No.1 servo motor inside rotating mechanism 1, reciprocating mechanism 2, transverse moving mechanism 3 and workpiece rotation mechanism 4
11, stepper motor replacement, No.1 servo can be used in 21, No. three servo motors 31 of No. two servo motors and No. four servo motors 41
Motor 11 and No. four servo motors 41 can also use DD motor in place, before use, first by loading and unloading manipulator and existing control
Then device connection processed is slowed down by No.1 again in use, people can control the revolving speed of No.1 servo motor 11 by controller
Machine 12 drives reciprocating mechanism 2 to rotate after adjusting revolving speed, accurately adjusts the angle of entire manipulator, realizes rotary motion,
When the insufficient height of manipulator, No. two servo motors 21 start, and No. two servo motors 21 provide power, then lead by No.1
The rotary motion of No. two servo motors 21 is converted to linear motion by No.1 screw rod 22, realizes upper and lower by the orientation of rail 23
To linear motion, people can by the position of the i.e. controllable rectilinear direction of rotation of No. two servo motors 21 of control, thus
The height for adjusting entire manipulator, when material fetching mechanism 5 apart from workpieces processing farther out when, No. three servo motors 31 start, and No. three are watched
It takes motor 31 and power is provided, then pass through the orientation of No. two guide rails 33, by No. two screw rods 32 by the rotation of No. three servo motors 31
Transhipment turn is changed to linear motion, and connecting plate be it is fixed, the crossbeam of transverse moving mechanism 3 can be made to move in the horizontal direction
Dynamic, crossbeam can carry out the movement of different directions, i.e. way moving according to the rotation direction difference of No. three servo motors 31, thus
Material fetching mechanism 5 is adjusted with a distance from workpiece, it, will by the control to No.1 cylinder 51 when material fetching mechanism 5 reaches workpieces processing
Workpieces processing clamping is got up, and along with the effect of spring 54, the clamping dynamics to workpiece is adjusted, protects workpiece surface, then
Rotating mechanism 1, reciprocating mechanism 2, transverse moving mechanism 3, workpiece rotation mechanism 4 and material fetching mechanism 5 are cooperated, workpiece is put
The position for needing to place is set, can be realized windrow, separation, positioning and the rewinding of workpieces processing；
In use, material fetching mechanism 5 is using cylinder 51, (cylinder 51 uses a multirow stroke cylinder or two or more one-stroke
Cylinder) it clamps, facilitate control clamping dynamics to realize the protection to workpiece surface, tooling folder is only needed to change when replacing different workpieces
Head reduces use cost to greatest extent；Material fetching mechanism 5 can also use vacuum chuck, and workpiece is run to fixed position, with
Just mechanical arm pinches；Goods-delivering mechanism 6 uses two groups of channels 61 or multiple groups channel 61, and the width in channel 61 can be according to the big of workpiece
Small random adjusting can also install existing stock stop when feeding on goods-delivering mechanism 6, and realization has taken workpiece and not
Take the separation and fixation of workpiece；
This loading and unloading manipulator adds the combination of 2-3 group rotary shaft by 2-3 group linear axis, controls electronic control unit by controller
The precise positioning of implementation mechanism is realized by specific feeding, feeding, material collection structure to the automated exchanged cutter of workpiece, processing, receipts
Material is realized to the automated exchanged cutter of workpiece, to replace artificial clamping, improves the degree of automation of processing, steady production efficiency, greatly
Amount saves human cost, and entire loading and unloading manipulator is relatively simple for structure, and easy to operate, using effect is relative to tradition
Mode is more preferable, meets the requirement of people, more practical.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.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 (7)
1. a kind of loading and unloading manipulator, it is characterised in that: including rotating mechanism (1), reciprocating mechanism (2), transverse shifting machine
Structure (3), workpiece rotation mechanism (4), material fetching mechanism (5) and goods-delivering mechanism (6), outside the lower end of the reciprocating mechanism (2)
The back end outer surface of surface and leading exterior surface and transverse moving mechanism (3) is provided with connecting plate, the transverse moving mechanism
(3) connecting plate in back end outer surface is fixedly connected by bolt with the connecting plate on reciprocating mechanism (2) leading exterior surface,
The workpiece rotation mechanism (4) is mounted by means of bolts on one end of transverse moving mechanism (3), and the material fetching mechanism (5) is logical
It crosses bolt to be fixedly mounted on workpiece rotation mechanism (4), the goods-delivering mechanism (6) is located at the front of rotating mechanism (1)；
The rotating mechanism (1) for realizing entire manipulator rotational positioning；
The reciprocating mechanism (2) for realizing entire manipulator space orientation up and down；
The transverse moving mechanism (3) positions for realizing the transverse shifting of entire manipulator；
The workpiece rotation mechanism (4) is for realizing the rotational positioning to workpieces processing；
The material fetching mechanism (5) is for realizing crawl, positioning and the fixation to workpieces processing；
The goods-delivering mechanism (6) is for realizing windrow, separation, positioning and the rewinding to workpieces processing.
2. a kind of loading and unloading manipulator according to claim 1, it is characterised in that: the rotating mechanism (1) includes No.1
Servo motor (11) and No.1 speed reducer (12), the No.1 servo motor (11) are mounted by means of bolts on No.1 speed reducer
(12) on, the No.1 speed reducer (12) is located at the top of No.1 servo motor (11), the lower end of the reciprocating mechanism (2)
Outer surface is connected by connecting plate with the No.1 speed reducer (12) on rotating mechanism (1).
3. a kind of loading and unloading manipulator according to claim 1, it is characterised in that: the reciprocating mechanism (2) includes
The output shaft of No. two servo motors (21), No.1 screw rod (22) and No.1 guide rail (23), No. two servo motors (21) passes through
Shaft coupling is fixedly connected with the upper end outer surface of No.1 screw rod (22), and the No.1 screw rod (22) is located in No.1 guide rail (23)
Portion, No. two servo motors (21) are mounted by means of bolts on the upper end outer surface of No.1 guide rail (23).
4. a kind of loading and unloading manipulator according to claim 1, it is characterised in that: the transverse moving mechanism (3) includes
No. three servo motors (31), No. two screw rods (32) and No. two guide rails (33), the output shaft of No. three servo motors (31) pass through
Shaft coupling is fixedly connected with one end of No. two screw rods (32), and No. two screw rods (32) are located at the inside of No. two guide rails (33), institute
State the side external surface that No. three servo motors (31) are mounted by means of bolts on No. two guide rails (33).
5. a kind of loading and unloading manipulator according to claim 1, it is characterised in that: the workpiece rotation mechanism (4) includes
No. four servo motors (41) and No. two speed reducers (42), No. four servo motors (41) are mounted by means of bolts on No. two and subtract
On fast machine (42).
6. a kind of loading and unloading manipulator according to claim 1, it is characterised in that: the material fetching mechanism (5) includes cylinder
(51), connecting rod (52), No. three guide rails (53), spring (54), mounting plate (55), air cylinder fixed plate (56), fixed baffle (57) and
Flapper (58), the cylinder (51) are two groups, and cylinder described in two groups (51) is connected by connecting rod (52), the connecting rod
(52) it is installed therein on the output shaft of one group of cylinder (51), the spring (54) is mounted on the output shaft of another group of cylinder (51)
On, described that workpiece jig is equipped on fixed baffle (57) and flapper (58), the flapper (58) is mounted on three
On number guide rail (53).
7. a kind of loading and unloading manipulator according to claim 1, it is characterised in that: (6) two groups of the goods-delivering mechanism logical
Road (61), No. two cylinders (62), feeding sucker (63), two groups of No. four guide rails (64), two groups of receiving and feeding motors pay (65) and two groups
Receiving and feeding push plate (66), receiving and feeding push plate (66) described in two groups are respectively and fixedly installed to one end of two groups of channels (61), two groups of institutes
It states receiving and feeding motor and pays one end that (65) are respectively and fixedly installed to two groups of receiving and feeding push plates (66) separate channel (61), described in two groups
No. four guide rails (64) are located at one end that two groups of channels (61) pay (65) far from two groups of receiving and feeding motors, and the feeding sucker (63) is living
Dynamic to be arranged close on No. four guide rails (64) of rear end, the quantity of No. two cylinders (62) is three groups, described one group of No. two gas
Cylinder (62) is fixedly mounted on the one end of feeding sucker (63) far from two groups of receiving and feeding push plates (66), described another two groups of No. two cylinders
(62) it is mounted on another group of No. four guide rails (64).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910255839.2A CN109867135A (en) | 2019-04-01 | 2019-04-01 | A kind of loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910255839.2A CN109867135A (en) | 2019-04-01 | 2019-04-01 | A kind of loading and unloading manipulator |
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| Publication Number | Publication Date |
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| CN109867135A true CN109867135A (en) | 2019-06-11 |
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| CN201910255839.2A Pending CN109867135A (en) | 2019-04-01 | 2019-04-01 | A kind of loading and unloading manipulator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111145998A (en) * | 2019-11-04 | 2020-05-12 | 苏州凡贤电子科技有限公司 | Feeding and discharging machine for flattened coils |
| CN112544246A (en) * | 2020-12-08 | 2021-03-26 | 河北科技大学 | Automatic fresh corn processing production line |
| CN114558787A (en) * | 2022-01-17 | 2022-05-31 | 成都工业学院 | Mechanical arm operating system suitable for operation of stacking mechanical arm |
-
2019
- 2019-04-01 CN CN201910255839.2A patent/CN109867135A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111145998A (en) * | 2019-11-04 | 2020-05-12 | 苏州凡贤电子科技有限公司 | Feeding and discharging machine for flattened coils |
| CN111145998B (en) * | 2019-11-04 | 2022-09-16 | 苏州凡贤电子科技有限公司 | Feeding and discharging machine for flattened coils |
| CN112544246A (en) * | 2020-12-08 | 2021-03-26 | 河北科技大学 | Automatic fresh corn processing production line |
| CN114558787A (en) * | 2022-01-17 | 2022-05-31 | 成都工业学院 | Mechanical arm operating system suitable for operation of stacking mechanical arm |
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