CN110193564A - A kind of device that the bending of robot seven-axis linkage follows and working method - Google Patents
A kind of device that the bending of robot seven-axis linkage follows and working method Download PDFInfo
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- CN110193564A CN110193564A CN201910458692.7A CN201910458692A CN110193564A CN 110193564 A CN110193564 A CN 110193564A CN 201910458692 A CN201910458692 A CN 201910458692A CN 110193564 A CN110193564 A CN 110193564A
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- bending
- robot
- mechanical arm
- screw rod
- follows
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/002—Positioning devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a kind of device that the bending of robot seven-axis linkage follows and working methods, including, bending machine, for carrying out bending to sheet metal component；Stock shelf is used to place sheet metal component to be bent positioned at the side of bending machine；Suction cup carrier is used to place sucker positioned at the other side of bending machine；Robot is followed in front of bending machine, following robot includes pedestal, robot bottom plate and the mechanical arm being fixed on robot bottom plate, guide rail is fixed on pedestal, sliding block is slidably connected on guide rail, sliding block is fixedly connected with the lower surface of robot bottom plate, the lower surface of robot bottom plate is fixed with connecting plate, and connecting plate is connected with the driving mechanism of driving robot bottom plate movement, and driving mechanism is fixed on the base.Robot is followed by the setting in the front of bending machine, can only be bent the sheet metal component of absorption by six-axis linkage in limited radius instead of traditional apparatus for bending, flexibility is poor, is unable to satisfy huge and heavy production demand.
Description
Technical field
The present invention relates to panel beating equipment technical fields, follow more particularly to a kind of robot seven-axis linkage bending
Device and working method.
Background technique
Sheet metal processing is just named panel beating, specifically for example utilizes board making chimney, metal bucket, fuel tank oil can, ventilation
Pipeline, elbow concentric reducer, infundibulate, kitchen tools washbasin, electronic box electric cabinet, refrigerator inner panel, express delivery container, garbage classification cabinet etc., mainly
Process is shearing, bent buckling side, brake forming, welding and riveting etc., and sheet metal component is exactly thin plate handware, that is, can be led to
The part for crossing the means such as punching press, bending, stretching to process, and bending machine is a kind of machine that bending can be carried out to thin plate.
Metal plate very easily can be subjected to bending using bending machine, metal plate apparatus for bending used at present passes through industrial machine
Device people fixes sheet metal component, and then metal plate is put into apparatus for bending by industrial robot again and is bent, can be very
Good realization is bent metal plate, but existing robot can only all be in the position of some fixation, so that robot is only
The linkage that can be carried out six axis cannot achieve following in real time to bending workpieces, be unable to meet production demand, and limit its spirit
Activity and scalability.
Summary of the invention
In order to overcome the shortcomings of the prior art, it is good that the present invention provides a kind of flexibilities, can follow bending in real time
The metal plate apparatus for bending of workpiece.
The technical solution adopted by the present invention to solve the technical problems is: a kind of dress that the bending of robot seven-axis linkage follows
It sets, including,
Bending machine, for carrying out bending to sheet metal component；
Stock shelf is used to place sheet metal component to be bent positioned at the side of bending machine；
Suction cup carrier is used to place sucker positioned at the other side of bending machine；
Robot is followed in front of bending machine, it is described that robot is followed to include pedestal, robot bottom plate and be fixed on machine
Mechanical arm on device people's bottom plate is fixed with guide rail on the pedestal, sliding block, the sliding block and machine is slidably connected on the guide rail
The lower surface of device people's bottom plate is fixedly connected, and the lower surface of the robot bottom plate is fixed with connecting plate, and the connecting plate is connected with
The driving mechanism of robot bottom plate movement is driven, the driving mechanism is fixed on the base.
Preferably, the driving mechanism includes screw rod, motor fixing seat and is fixed in motor fixing seat
7th spindle motor, the motor fixing seat are fixed on the base, and the output end of the 7th spindle motor and one end of screw rod pass through
Shaft coupling connection, the connecting plate are slideably connect with screw rod.
Preferably, circular hole is offered on the connecting plate, bearing is inlaid in the circular hole, and the bearing can turn
It is connected on screw rod dynamicly.
It preferably, further include shield, the shield is fixedly connected with pedestal and is formed chamber, the silk
Bar, motor fixing seat and the 7th spindle motor are respectively positioned in chamber, are offered on the shield and are protruded into and screw rod company for connecting plate
The opening connect.
Preferably, the top of the guide rail is equipped with the guide rail protective cover for protecting to guide rail, and the guide rail is protected
Shield is connect with pedestal.
It preferably, further include drag chain for containing electric wire, the drag chain is located at the side of screw rod and is placed on
In susceptor surface.
Preferably, the mechanical arm includes first mechanical arm and second mechanical arm, under the first mechanical arm
End is fixed on robot base, and the upper end of the first mechanical arm is flexibly connected with second mechanical arm, the second mechanical arm
The other end be connected with the installation part for connecting with sucker.
It preferably, further include blanking support plate, the blanking support plate, which is located at, follows the right side of robot, is used for pair
The metal plate bent is supported.
The working method for the device that above-mentioned robot seven-axis linkage bending follows, comprising the following steps:
Step 1): metal plate raw material and sucker to bending are put on stock shelf and suction cup carrier respectively；
Step 2: following robot to start, and chooses from suction cup carrier and the sucker to bending metal plate raw material；
Step 3): following robot mobile toward stock shelf direction, and the metal plate raw material to bending are then drawn from stock shelf, and
Carry out secondary positioning；
Step 4): after following robot to move in place in step 3), absorption extend into bending machine to bending metal plate raw material
It is interior, then start bending machine carry out bending, during to bending metal plate raw material bending, the 7th spindle motor open drive with
Random device people treats bending metal plate raw material and carries out following compensation；
Step 5): after completing step 4), following robot to be moved to home, wait whether need to carry out next knife with
It instructs with bending, is instructed if not receiving next heel with bending, follow robot mobile toward blanking support plate direction, bending is complete
At product put to on blanking support plate；If receiving next heel to instruct with bending, the movement to repeat the above steps 3)；
Preferably, robot is followed in the step 4) follows compensation process as follows: if to bending metal plate raw material
It is put into bending machine to right avertence and moves bending position, the 7th spindle motor driving screw rod is rotated clockwise, so that passing through connection
The robot bottom plate that plate is connect with screw rod drives mechanical arm is past to move left carry out position compensation toward moving left；If to bending metal plate
Raw material are put into bending machine to left avertence and move bending position, and the 7th spindle motor driving screw rod is rotated counterclockwise, so that logical
Robot bottom plate that connecting plate is connect with screw rod is crossed toward moving right, drives mechanical arm toward moving right carry out position compensation.
Compared with prior art, the beneficial effects of the present invention are: the sheet metal component to bending is placed on stock shelf, then
The driving mechanism in robot is followed to start, it is mobile toward the side of suction cup carrier that driving mechanism is drivingly connected plate, and then pushes and fix
Mechanical arm on robot bottom plate chooses suitable sucker to the movement of suction cup carrier direction, after mechanical arm has chosen sucker,
Driving mechanism drives mechanical arm mobile toward stock shelf direction, and when being moved to the front of stock shelf, mechanical arm stretches on stock shelf
The sheet metal component to bending on stock shelf is drawn by the sucker on mechanical arm, when being drawn to after the sheet metal component of bending, is driven
Motivation structure driving mechanical arm is adjusted to suitable position, and then bending machine starts, and mechanical arm is by the sheet metal component to bending of absorption
It extend into bending machine and carries out bending, during bending machine carries out bending to sheet metal component, it is mechanical that driving mechanism continues driving
Arm is moved, and ensure that mechanical arm can be followed by always sheet metal component and be moved, and is driven by increasing in the lower section of robot
The mobile driving mechanism of mobile robot, realizes the seven-axis linkage to sheet metal component bending, enables the motion profile direction of product
It is enough to generate compensation, and the bending for precisely completing product follows, work difference, can only compared to traditional apparatus for bending in product allowed band
The sheet metal component of absorption is bent by six-axis linkage in limited radius, the device flexibility is more preferable, and bending effect is good,
It can satisfy huge and heavy production demand.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the schematic diagram of metal plate apparatus for bending of the present invention.
Fig. 2 is the schematic diagram that robot is followed in metal plate apparatus for bending of the present invention.
Fig. 3 is the schematic diagram for following driving mechanism in robot.
Fig. 4 is the schematic diagram for following mechanical arm in robot.
Fig. 5 is the work step flow chart of metal plate apparatus for bending of the present invention.
1- bending machine；2- suction cup carrier；3- stock shelf；4- follows robot；41- pedestal；42- robot bottom plate；43- is mechanical
Arm；431- first mechanical arm；432- second mechanical arm；433- installation part；44- guide rail protective cover；45- shield；46- opening；
The 7th spindle motor of 47-；48- shaft coupling；49- screw rod；410- connecting plate；411- guide rail；412- sliding block；413- motor fixing seat；
414- drag chain；5- blanking support plate；6- fence iron net；7- sucker.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
In the present invention, it should be noted that the orientation of the instructions such as term " on ", "lower", "inner", "outside" or position are closed
System is merely for convenience of description of the present invention and simplification of the description to be based on the orientation or positional relationship shown in the drawings, rather than indicates
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitation of the present invention；Term " first ", " second " are used for description purposes only, and are not understood to indicate or imply relatively heavy
The property wanted；Furthermore unless specifically defined or limited otherwise, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example,
It may be fixed connection or may be dismantle connection, or integral connection；It can be mechanical connection, be also possible to be electrically connected；
It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary.For this field
Those of ordinary skill for, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Embodiment 1
Please refer to Fig. 1, a kind of device that the bending of robot seven-axis linkage follows, including,
Bending machine 1, for carrying out bending to sheet metal component；
Stock shelf 3 is used to place the sheet metal component to bending positioned at the side of bending machine 1；
Suction cup carrier 2 is used to place sucker positioned at the other side of bending machine 1；
Robot 4 is followed positioned at the front of bending machine 1, and described to follow robot 4 include pedestal 41, robot bottom plate 42 and solid
The mechanical arm 43 being scheduled on robot bottom plate 41 is fixed with guide rail 411 on the pedestal 41, is slidably connected on the guide rail 411
There is a sliding block 412, the sliding block 412 is fixedly connected with the lower surface of robot bottom plate 42, the lower surface of the robot bottom plate 42
It is fixed with connecting plate 410, the connecting plate 410 is connected with the driving mechanism that driving robot bottom plate 42 moves, the driving machine
Structure is fixed on pedestal 41；
Blanking support plate 5 is used to be supported the metal plate bent positioned at the right side for following robot 4；
Above-mentioned bending machine 1, stock shelf 3, suction cup carrier 2, blanking support plate 5 and robot 4 is followed to be surrounded by fence iron net 6,
It prevents from causing danger in the machine working region that worker runs into apparatus for bending during operation.
Seen from the above description, the sheet metal component to bending is placed on stock shelf 3, followed by the drive in robot 4
The starting of motivation structure, it is mobile toward the side of suction cup carrier 2 that driving mechanism is drivingly connected plate, and then pushes and be fixed on robot bottom plate
Mechanical arm 43 chooses suitable sucker to the movement of 2 direction of suction cup carrier, after mechanical arm 43 has chosen sucker, driving mechanism driving
Mechanical arm 43 is mobile toward stock shelf direction, and when being moved to the front of stock shelf 3, mechanical arm 43, which stretches on stock shelf 3, passes through machine
Sucker on tool arm 43 draws the sheet metal component to bending on stock shelf 3, when being drawn to after the sheet metal component of bending, driving machine
Structure driving mechanical arm 43 is adjusted to suitable position, and then bending machine 1 starts, and mechanical arm 43 is by the sheet metal component to bending of absorption
It extend into bending machine 1 and carries out bending, during bending machine 1 carries out bending to sheet metal component, driving mechanism continues driving machine
Tool arm 43 is moved, and ensure that mechanical arm 43 can be followed by always sheet metal component and be moved, by the lower section of robot
Increase the mobile driving mechanism of driving robot, the seven-axis linkage to sheet metal component bending is realized, so that the motion profile of product
Direction can generate compensation, and the bending for precisely completing product follows, and work difference is in product allowed band, compared to traditional bending dress
The sheet metal component of absorption can only be bent by six-axis linkage in limited radius by setting, and the device flexibility is more preferable, bending
Effect is good, can satisfy huge and heavy production demand.
Specifically includes screw rod 49, motor fixing seat 413 and be fixed on electricity with Fig. 3, the driving mechanism referring to figure 2.
The 7th spindle motor 47 in machine fixing seat 413, the motor fixing seat 413 are fixed on pedestal 41, the 7th spindle motor 47
Output end and one end of screw rod 49 connect by shaft coupling 48, the connecting plate 410 is slideably connect with screw rod 49,
In, the specific connection structure of connecting plate 410 and screw rod 49 are as follows: circular hole is offered on connecting plate 410, is inlaid with bearing in circular hole,
Bearing is rotatably connected on screw rod 49.
It further include shield 45, the shield 45 is fixedly connected with pedestal 41 and is formed chamber, the screw rod 49, motor
Fixing seat 413 and the 7th spindle motor 47 are respectively positioned in chamber, are offered and are protruded into for connecting plate 410 and screw rod on the shield 45
The opening 46 of 49 connections, while the top of guide rail 411 is equipped with the guide rail protective cover 44 for protecting to guide rail 411, guide rail protection
Cover 44 is connect with pedestal 41.
Using the above scheme, screw rod 49, motor fixing seat 413 and the 7th spindle motor 47 are arranged in shield 45 be for
Prevent extraneous dust and impurities from falling in screw rod 49 and motor 47, so that sliding of the connecting plate 410 on screw rod 49 causes
It influences, while shortening the service life of screw rod 49 and motor 47；The setting of guide rail protective cover 44 can effectively mitigate dust or
Impurity impacts sliding of the sliding block 412 on guide rail 411, guarantee sliding block 412 can the sliding on guide rail 411 more
It is smooth.
It further include the drag chain 414 for containing electric wire, the drag chain 414 is located at the side of screw rod 49 and is placed on pedestal 41
On surface.
Using the above scheme, the setting of drag chain 414, which ensure that, follows robot not make during following mobile
Electric wire causes mutually to wind, to damage to electric wire.
Specifically referring to figure 4., the mechanical arm 43 includes first mechanical arm 431 and second mechanical arm 432, and described the
The lower end of one mechanical arm 431 is fixed on robot base 42, the upper end of the first mechanical arm 431 and second mechanical arm 432
It is flexibly connected, the other end of the second mechanical arm 432 is connected with the installation part 433 for connecting with sucker 7.
Referring to figure 5., the working method for the device that above-mentioned robot seven-axis linkage bending follows, comprising the following steps:
Step 1): metal plate raw material and sucker to bending are put on stock shelf and suction cup carrier respectively；
Step 2: following robot to start, and chooses from suction cup carrier and the sucker to bending metal plate raw material；
Step 3): following robot mobile toward stock shelf direction, and the metal plate raw material to bending are then drawn from stock shelf, and
Carry out secondary positioning；
Step 4): after following robot to move in place in step 3), absorption extend into bending machine to bending metal plate raw material
It is interior, then start bending machine and carry out bending, during to bending metal plate raw material bending, the 7th spindle motor starts to drive
Robot is followed to be followed by movement always；
Step 5): after completing step 4), following robot to be moved to home, wait whether need to carry out next knife with
It instructs with bending, is instructed if not receiving next heel with bending, follow robot mobile toward blanking support plate direction, bending is complete
At product put to on blanking support plate；If receiving next heel to instruct with bending, the movement to repeat the above steps 3).
Further, above-mentioned steps 4) in follow robot follow compensation process as follows: if to bending metal plate raw material
It is put into bending machine to right avertence and moves bending position, the 7th spindle motor driving screw rod is rotated clockwise, so that passing through connection
The robot bottom plate that plate is connect with screw rod drives mechanical arm is past to move left carry out position compensation toward moving left；If to bending metal plate
Raw material are put into bending machine to left avertence and move bending position, and the 7th spindle motor driving screw rod is rotated counterclockwise, so that logical
Robot bottom plate that connecting plate is connect with screw rod is crossed toward moving right, drives mechanical arm toward moving right carry out position compensation.Pass through calculation
Method calculates the position to the offset of bending metal plate raw material, and then the 7th motor driven screw rod is carried out clockwise or counterclockwise
Rotation drives the robotic arm being connected on robot bottom plate to be moved to the left or right, thus will be mobile to bending metal plate raw material
It returns in the bending position of bending machine, realizes and treat bending metal plate raw material and follow compensation, avoid during processing
Bending position is deviated, the precision of processing is influenced.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field
For technical staff, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention
Or in the case where essential characteristic, the present invention can be realized in other specific forms.It therefore, in all respects, should all
Regard embodiment as exemplary, and be non-limiting, the scope of the present invention is above-mentioned by appended claims
Illustrate to limit, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of device that the bending of robot seven-axis linkage follows, it is characterised in that: including,
Bending machine, for carrying out bending to sheet metal component；
Stock shelf is used to place sheet metal component to be bent positioned at the side of bending machine；
Suction cup carrier is used to place sucker positioned at the other side of bending machine；
Robot is followed in front of bending machine, it is described that robot is followed to include pedestal, robot bottom plate and be fixed on machine
Mechanical arm on device people's bottom plate is fixed with guide rail on the pedestal, sliding block, the sliding block and machine is slidably connected on the guide rail
The lower surface of device people's bottom plate is fixedly connected, and the lower surface of the robot bottom plate is fixed with connecting plate, and the connecting plate is connected with
The driving mechanism of robot bottom plate movement is driven, the driving mechanism is fixed on the base.
2. device and working method that robot seven-axis linkage bending according to claim 1 follows, it is characterised in that: institute
Stating driving mechanism includes that screw rod, motor fixing seat and the 7th spindle motor being fixed in motor fixing seat, the motor are fixed
Seat is fixed on the base, and the output end of the 7th spindle motor and one end of screw rod are connected by shaft coupling, and the connecting plate can
Slidably it is connect with screw rod.
3. device and working method that robot seven-axis linkage bending according to claim 2 follows, it is characterised in that: institute
It states and offers circular hole on connecting plate, bearing is inlaid in the circular hole, the bearing is rotatably connected on screw rod.
4. device and working method that robot seven-axis linkage bending according to claim 2 follows, it is characterised in that: also
Including shield, the shield is fixedly connected with pedestal and is formed chamber, the screw rod, motor fixing seat and the 7th spindle motor
It is respectively positioned in chamber, is offered on the shield and protrude into the opening connecting with screw rod for connecting plate.
5. device and working method that robot seven-axis linkage bending according to claim 1 follows, it is characterised in that: institute
The top of guide rail is stated equipped with the guide rail protective cover for protecting to guide rail, the guide rail protective cover is connect with pedestal.
6. device and working method that robot seven-axis linkage bending according to claim 2 follows, it is characterised in that: also
Including the drag chain for containing electric wire, the drag chain is located at the side of screw rod and is placed in susceptor surface.
7. device and working method that robot seven-axis linkage bending according to claim 1 follows, it is characterised in that: institute
Stating mechanical arm includes first mechanical arm and second mechanical arm, and the lower end of the first mechanical arm is fixed on robot base, institute
The upper end for stating first mechanical arm is flexibly connected with second mechanical arm, the other end of the second mechanical arm be connected with for
The installation part of sucker connection.
8. device and working method that robot seven-axis linkage bending according to claim 1 follows, it is characterised in that: also
Including blanking support plate, the blanking support plate is located at the right side for following robot, is used to be supported the metal plate bent.
9. a kind of working method for the device that the robot seven-axis linkage bending as described in right wants 1 follows, it is characterised in that: packet
Include following steps:
Step 1): metal plate raw material and sucker to bending are put on stock shelf and suction cup carrier respectively；
Step 2: following robot to start, and chooses from suction cup carrier and the sucker to bending metal plate raw material；
Step 3): following robot mobile toward stock shelf direction, and the metal plate raw material to bending are then drawn from stock shelf, and
Carry out secondary positioning；
Step 4): after following robot to move in place in step 3), absorption extend into bending machine to bending metal plate raw material
It is interior, then start bending machine carry out bending, during to bending metal plate raw material bending, the 7th spindle motor open drive with
Random device people treats bending metal plate raw material and carries out following compensation；
Step 5): after completing step 4), following robot to be moved to home, wait whether need to carry out next knife with
It instructs with bending, is instructed if not receiving next heel with bending, follow robot mobile toward blanking support plate direction, bending is complete
At product put to on blanking support plate；If receiving next heel to instruct with bending, the movement to repeat the above steps 3).
10. the working method for the device that robot seven-axis linkage bending according to claim 9 follows, it is characterised in that:
Robot is followed in the step 4) follows compensation process as follows: if being put into bending machine to the right to bending metal plate raw material
Bending position is deviated, the 7th spindle motor driving screw rod is rotated clockwise, so that the machine connecting by connecting plate with screw rod
People's bottom plate drives mechanical arm is past to move left carry out position compensation toward moving left；If being put into bending machine to bending metal plate raw material
Interior to move bending position to left avertence, the 7th spindle motor driving screw rod is rotated counterclockwise, so that being connect by connecting plate with screw rod
Robot bottom plate toward moving right, drive mechanical arm toward moving right carry out position compensation.
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| CN113680871A (en) * | 2021-10-20 | 2021-11-23 | 江苏伊凯医疗器械有限公司 | Clamp for machining of precise medical equipment |
| CN114274165A (en) * | 2022-02-15 | 2022-04-05 | 常州创捷电气科技有限公司 | Automatic change robot of bending |
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| CN105215096A (en) * | 2015-10-10 | 2016-01-06 | 山东省博兴县斯诺自动化设备有限公司 | A kind of have location, conveying, the bending system of bent integrated and method |
| CN205217837U (en) * | 2015-12-21 | 2016-05-11 | 浙江理工大学 | A manipulator is got to punch press |
| CN206633041U (en) * | 2017-02-21 | 2017-11-14 | 南京洛福自动化科技有限公司 | A kind of axle of robot the 7th |
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| CN206763662U (en) * | 2017-06-02 | 2017-12-19 | 广东翠峰机器人科技股份有限公司 | A kind of the 7th shaft rotating device applied to large-scale workpiece bending |
| CN207309931U (en) * | 2017-08-21 | 2018-05-04 | 宜兴东方智能汽车装备有限公司 | Seven axis mechanism of robot and seven axis robots |
| CN107639623A (en) * | 2017-10-12 | 2018-01-30 | 苏州博达特机电科技有限公司 | A kind of seven-axis linkage walking industrial robot device and control |
| CN108405667A (en) * | 2018-01-17 | 2018-08-17 | 南京邮电大学 | A kind of auxiliary bending robot that can process two workpiece simultaneously |
| CN208643731U (en) * | 2018-08-06 | 2019-03-26 | 瑞铁机床（苏州）股份有限公司 | Digital control plate bending flexible processing unit |
| CN208729780U (en) * | 2018-09-14 | 2019-04-12 | 宏领智能装备（东莞）有限公司 | A kind of 7th axis rail of robot |
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| CN113680871A (en) * | 2021-10-20 | 2021-11-23 | 江苏伊凯医疗器械有限公司 | Clamp for machining of precise medical equipment |
| CN113680871B (en) * | 2021-10-20 | 2021-12-31 | 江苏伊凯医疗器械有限公司 | Clamp for machining of precise medical equipment |
| CN114274165A (en) * | 2022-02-15 | 2022-04-05 | 常州创捷电气科技有限公司 | Automatic change robot of bending |
| CN114274165B (en) * | 2022-02-15 | 2024-03-22 | 常州创捷电气科技有限公司 | Automatic bending robot |
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