CN202726912U - Loading/unloading servo simulation manipulator - Google Patents

Loading/unloading servo simulation manipulator Download PDF

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Publication number
CN202726912U
CN202726912U CN 201220236775 CN201220236775U CN202726912U CN 202726912 U CN202726912 U CN 202726912U CN 201220236775 CN201220236775 CN 201220236775 CN 201220236775 U CN201220236775 U CN 201220236775U CN 202726912 U CN202726912 U CN 202726912U
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CN
China
Prior art keywords
hinged
arm
rotary
cylinder
feed
Prior art date
Application number
CN 201220236775
Other languages
Chinese (zh)
Inventor
王安基
Original Assignee
青岛华东工程机械有限公司
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Publication date
Application filed by 青岛华东工程机械有限公司 filed Critical 青岛华东工程机械有限公司
Priority to CN 201220236775 priority Critical patent/CN202726912U/en
Application granted granted Critical
Publication of CN202726912U publication Critical patent/CN202726912U/en

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Abstract

The utility model discloses a loading/unloading servo simulation manipulator which belongs to a manipulator and is used for the loading/unloading of large-scale workpieces. When a vehicle body runs, a rotary worktable rotates; a front big arm, a middle big arm, a rear big arm, an upper small arm, a lower small arm, a connection plate, an upper toggle rod and a lower toggle rod are hinged with the rotary worktable to form three parallelograms; a lifting oil cylinder rod is hinged with the lower toggle rod; a connection rod telescopic oil cylinder rod is hinged with the middle big arm; rotary bearing power drives a tong head to partially swing; a tong head telescopic oil cylinder drives the tong head to stretch; a tong head rotary hydraulic motor is connected with a worm wheel and worm mechanism; a hollow worm wheel shaft is connected with a hollow shaft; a pull rod is connected with the tong head; the tong head rotary hydraulic motor drives the tong head to rotate; a grip oil cylinder rod which is located on the axis of the worm wheel shaft is connected with the pull rod; and a driving jaw is intensified or loosened. According to the loading/unloading servo simulation manipulator, the technical problem that the angles of pitch oil cylinder-driven mechanical arms and the rotary worktables of the existing loading/unloading manipulators change constantly and the chuck rotation mechanisms have defects are solved.

Description

A kind of taking feed from feed servosimulator tool hand
Technical field
The utility model belongs to manipulator, is a kind of taking feed from feed servosimulator tool hand for large-scale workpiece specifically.
Background technology
Along with industrial development, for operating efficiency, the higher requirement of precision proposition of dress, reclaimer robot.It is hinged that Chinese utility model patent Granted publication CN 2657879Y " eight degrees of freedom charging and discharging manipulator " discloses a kind of rear portion and rotary table of facing upward the oil cylinder of bowing, faces upward the hinged technology of the piston rod of the oil cylinder of bowing and back stay.The mechanical arm of facing upward the hydraulic oil cylinder driving of bowing of this patent and the angle between the rotary table constantly change, the operation of manipulator and use very inconvenient; Chuck rotating mechanism in this patent adopts oscillating oil cylinder, and gear rack type swing oil cylinder appearance and size is large, takes up room more; The vane type oscillating oil cylinder leaks larger, is unsuitable for tick-over, and rotating speed increases rapidly with load and reduces; Spiral oscillating oil cylinder difficulty of processing is large, and cost is higher.Jaw clamping, the release function that can control for charging and discharging machine tool hand is had need install the jaw clamp mechanism additional.Chuck rotating mechanism and the rational layout of jaw clamp mechanism be before and after series arrangement, and the oscillating oil cylinder of chuck rotating mechanism has stopped being connected of jaw clamp mechanism and jaw.In addition, the chuck rotating mechanism of existing dress, reclaimer robot adopts the pivoting support structure in addition, and its shortcoming is not have auto-lock function, and precision is lower, and profile is large, and cost of manufacture is high, installation, maintenance and control difficulty.
The utility model content
The utility model will solve the mechanical arm of facing upward the hydraulic oil cylinder driving of bowing of existing charging and discharging manipulator and the angle of rotary table constantly changes, and there is the technical problem of defects in the chuck rotating mechanism, provide the angle between a kind of mechanical arm and the rotary table constant, the chuck rotating mechanism has auto-lock function, precision is high, and profile is little, and cost of manufacture is low, installation, maintenance and control are convenient, and jaw clamps, the taking feed from feed servosimulator tool hand of release function with controlling.
In order to solve the problems of the technologies described above, the technical scheme that the utility model is taked is: a kind of taking feed from feed servosimulator tool hand, comprise the rotary table on the car body, and body powered drives the car body walking, the rotation of rotary table power drive rotary table; One end of front large arm and an end of lower elbow lever are hinged, one end of the other end of lower elbow lever and arm broad in the middle is common and rotary table is hinged, one end of the other end of arm broad in the middle and lower forearm and an end of upper elbow lever are jointly hinged, the middle part of lower forearm and the other end of front large arm are hinged, and front large arm, lower elbow lever, arm broad in the middle and lower forearm consist of parallelogram; One end of the other end of lower forearm and yoke plate is hinged, and an end of the other end of yoke plate and upper forearm is hinged, and the other end of upper forearm and the other end of upper elbow lever are hinged, and lower forearm, upper elbow lever, upper forearm and yoke plate consist of parallelogram; One end and the rotary table of rear large arm are hinged, and the other end and the upper elbow lever of rear large arm are hinged, and rotary table, rear large arm, upper elbow lever and arm broad in the middle consist of parallelogram; The cylinder body of hoist cylinder is hinged on the rotary table, and cylinder bar and lower elbow lever are hinged; The cylinder body of connecting rod telescopic oil cylinder is hinged on the rotary table, and cylinder bar and arm broad in the middle are hinged; The sleeve of binding clip part connects yoke plate by the power-actuated manipulator pivoting support of pivoting support, and pivoting support power drive binding clip partly swings; Mechanical arm and the sleeve endoporus of binding clip part are slidingly matched, and binding clip is in the front of mechanical arm; The binding clip telescopic oil cylinder drives binding clip along the axis direction stretching motion of mechanical arm; The binding clip rotary fluid motor connects worm-and-wheel gear, and hollow worm-wheel shaft is connected with hollow shaft; Hollow shaft is fixedly connected with the pincers yoke, is slidingly matched with pull bar, and pull bar connects binding clip by connecting rod, and the binding clip rotary fluid motor drives binding clip around the axis rotation of mechanical arm; The cylinder bar of clamping cylinder is positioned on worm-wheel shaft and the hollow shaft axis, and cylinder lever connecting rod, clamping cylinder drive the jaw clamping of binding clip or unclamp.
During hoist cylinder work, its cylinder bar drives lower elbow lever around the jointed shaft rotation of lower elbow lever and rotary table, and then large arm, lower forearm, upper forearm and yoke plate motion before driving, front large arm, lower elbow lever, arm broad in the middle and lower forearm and lower forearm, upper elbow lever, upper forearm and yoke plate respectively consist of parallel-crank mechanism, arm broad in the middle and upper elbow lever are motionless, yoke plate is partly done elevating movement together with binding clip, and the angle between the mechanical arm of binding clip part and the rotary table is constant.During the work of connecting rod telescopic oil cylinder, its cylinder bar drives arm broad in the middle around the jointed shaft rotation of arm broad in the middle and rotary table, and then large arm, upper elbow lever, upper forearm, yoke plate and the motion of lower forearm after driving, front large arm, lower elbow lever, arm broad in the middle and lower forearm and arm broad in the middle, rotary table, rear large arm and upper elbow lever respectively consist of parallel-crank mechanism, the parallelogram translation that upper elbow lever, upper forearm, yoke plate and lower forearm consist of, the angle between mechanical arm and the rotary table is constant.Angle between the utility model mechanical arm and the rotary table is constant, operation and easy to use; Adopt the worm-and-wheel gear of hollow worm-wheel shaft to solve the clamping cylinder cylinder bar of jaw clamp mechanism and the technical barrier that is connected of jaw, overcome the shortcoming that existing chuck rotating mechanism adopts oscillating oil cylinder or pivoting support to exist.Worm-and-wheel gear has auto-lock function, and monnolithic case is smaller, is convenient to installation, maintenance and control, can guarantee higher precision, and cost compare is low, and rotating speed is subjected to the impact of load little.The utility model manipulator has that walking before and after the car body, car body revolution, jaw clamp/unclamp, binding clip is flexible, binding clip revolution, binding clip rotation, hoist cylinder drives the binding clip lifting and the connecting rod telescopic oil cylinder drives eight frees degree such as binding clip translation.
The two-way 180 degree angles of stirring of pivoting support fluid motor-driven binding clip.
The manipulator pivoting support adopts single gear mechanism.Single gear mechanism has advantages of stable drive, efficient is high, precision is high and simple in structure.The single gear mechanism of manipulator pivoting support has many prior aries to adopt, for example, the pivoting support power of manipulator pivoting support is selected hydraulic motor, hydraulic motor is fixedly connected on the yoke plate, the power output gear that its output shaft connects and the engagement of the external toothing of connection clamp head part, or pivoting support power is selected motor, the worm screw that motor output shaft connects and the engagement of the worm gear of connection clamp head part etc.
The axis of mechanical arm is parallel with horizontal plane.
The axis of the manipulator pivoting support respectively axis with the axis of yoke plate two ends hinge axis and sleeve is vertical.Be convenient to production, installment and debugging.
The flat tread wheel of the dismountable installation two-wheel of underneath its body edge, wheel is driven wheel, cooperates with guide rail on the basis; The car body hydraulic motor of body powered is installed on the car body, the rotation of car body hydraulic motor band movable sprocket, the two ends of chain are separately fixed on car body and the basis, sprocket wheel cooperates with chain, walking before and after the car body fluid motor-driven car body, or the car body motor output shaft connecting pin gear of body powered, this pin gear and the pin rack engagement that is fixed on the basis, or the cylinder body of the car body hydraulic jack of body powered and cylinder bar are hinged on respectively on car body and the basis.Wheel is consumable accessory, and driven wheel is detachable, is convenient to safeguard, change.
Body powered, rotary table power and pivoting support power are hydraulic powers; Hydraulic Station is installed on the rotary table, is connected with the switch board power supply.Hydraulic Station provides hydraulic power, and manipulator all uses hydraulic power, has eliminated accident potential, is suitable for forging, the taking feed from feed of the high temperature environment such as heat treatment.
Hollow shaft is fixedly connected with the pincers yoke by voussoir, and voussoir passes the axial long hole on the pull bar.The axially movable scope of voussoir control pull bar.
The binding clip rotary fluid motor is fixedly connected with mechanical arm, and output shaft connects the worm screw of worm-and-wheel gear, and the front end of hollow worm-wheel shaft is connected with the rear end of hollow shaft.The binding clip rotary fluid motor drives binding clip around the axis rotation of mechanical arm.
The cylinder body of clamping cylinder is fixedly connected on the rear end cap of worm-and-wheel gear.Clamping cylinder drives the jaw clamping or unclamps.
The cylinder body of binding clip telescopic oil cylinder and cylinder bar be hinged sleeve and mechanical arm respectively.The binding clip telescopic oil cylinder drives binding clip along the axis direction stretching motion of mechanical arm.
The utility model has the advantages that three parallelogram sturcutres, hoist cylinder and the work of connecting rod telescopic oil cylinder matching coordinative, the angle between mechanical arm and the rotary table is constant, operation and easy to use.The chuck rotating mechanism adopts the worm-and-wheel gear of hollow worm-wheel shaft, has solved the technical barrier that clamping cylinder cylinder bar is connected with jaw, has overcome the shortcoming that existing chuck rotating mechanism adopts oscillating oil cylinder or pivoting support to exist.Worm-and-wheel gear cost with auto-lock function is low, and volume is little, installation, control and easy to maintenance, and operating accuracy is high, and rotating speed is subjected to the impact of load little.The utility model manipulator has eight frees degree, the work lithe, and function is many.
Description of drawings
Fig. 1 is the structural representation of an embodiment of the utility model;
Fig. 2 is the enlarged diagram of binding clip part among Fig. 1;
Fig. 3 is the top view of Fig. 2.
The specific embodiment
Illustrated is an a kind of embodiment of taking feed from feed servosimulator tool hand of the large-scale workpiece for metal heat treatmet.The flat tread wheel 1 of two-wheel edge is installed in the bottom surface of car body 2 among the figure, and there is flange wheel 1 both sides, and the periphery of wheel 1 cooperates with guide rail on being fixed on the basis.The body powered of the present embodiment is the car body hydraulic motor, and the car body hydraulic motor is installed on the car body 2, car body hydraulic motor output shaft connecting pin gear, and this pin gear and the pin rack engagement that is fixed on the basis do not draw pin rack among the figure.The set of wheels that comprises wheel 1, axletree and vehicle wheel frame is by on the dismountable bottom frame that is fixed on car body 2 of bolt, and wheel 1 is driven wheel.About 2 walkings of car body fluid motor-driven car body.Rotary table 3 be installed in car body 2 above, adopt the external tooth type pivoting support.Rotary table power is four connecting rod rotary fluid motors 29 among the figure.Four connecting rod rotary fluid motors 29 are fixed on the revolution panel 25 of rotary table 3, power output gear on its output shaft and the external toothing engagement that is fixed on above the car body 2, the axle of external tooth type pivoting support is fixed on the bottom surface of revolution panel 25, connects the inner ring of external toothing by bearing.Four connecting rod rotary fluid motors 29 drive rotary table 3 and rotate at horizontal plane.The Hydraulic Station 5 that comprises fuel tank, oil feed pump etc. is installed on the revolution panel 25, and Hydraulic Station 5 provides hydraulic power, and the utility model all uses hydraulic power.Hydraulic Station is connected with the switch board power supply.Be fixed with vertical support frame above the revolution panel 25.The left end of the lower end of large arm 8 and lower elbow lever 7 is hinged by hinge axis before among the figure, the lower end of the right-hand member of lower elbow lever 7 and arm broad in the middle 10 is common and vertical support frame is hinged by the fixed hinge axle, the lower end of the right-hand member of the upper end of arm 10 broad in the middle and lower forearm 13 and upper elbow lever 11 is jointly hinged by hinge axis, the center-right position of lower forearm 13 and the upper end of front large arm 8 are hinged by hinge axis, and the hinge axis between front large arm 8, lower elbow lever 7, arm broad in the middle 10 and the lower forearm 13 connects and composes parallelogram successively; The lower end of the left end of lower forearm 13 and yoke plate 14 is hinged by hinge axis, the left end of the upper end of yoke plate 14 and upper forearm 12 is hinged by hinge axis, the upper end of the right-hand member of upper forearm 12 and upper elbow lever 11 is hinged by hinge axis, and the hinge axis between lower forearm 13, upper elbow lever 11, upper forearm 12 and the yoke plate 14 connects and composes parallelogram successively; The lower end of rear large arm 9 and vertical support frame are hinged by the fixed hinge axle, the upper end of rear large arm 9 and the outside of upper elbow lever 11 are hinged by hinge axis, and the hinge axis between vertical support frame, rear large arm 9, upper elbow lever 11 and the arm broad in the middle 10 connects and composes parallelogram successively.The cylinder body of hoist cylinder 4 is hinged on the vertical support frame by the fixed hinge axle, the bottom-hinged of cylinder bar and lower elbow lever 7; The cylinder body of connecting rod telescopic oil cylinder 6 is hinged on the vertical support frame by the fixed hinge axle, and the position, lower middle of cylinder bar and arm broad in the middle 10 is hinged by hinge axis.Three parallelogram, hoist cylinder 4 and connecting rod telescopic oil cylinders 6 are on same vertical plane.
The left side of yoke plate 14 is fixedly connected with binding clip part installing plate among the figure, and the bottom of binding clip part installing plate connects manipulator pivoting support 16, and manipulator pivoting support 16 adopts the external tooth type pivoting support of single gear mechanism.The pivoting support power 15 of manipulator pivoting support 16 is rotary actuators, rotary actuator is fixed on the binding clip part installing plate, gear on the motor output shaft and the external toothing engagement that is fixed on sleeve installing plate top, the axle of manipulator pivoting support 16 is fixed on the bottom of binding clip part installing plate, connects the endoporus of external toothing by bearing.Rotary actuator drives binding clip and partly swings each 90 °, the comprehensive covering of working face.Sleeve 20 is fixedly connected on the bottom of sleeve connecting plate.Manipulator pivoting support 16 is on horizontal plane, and its axis respectively axis with yoke plate 14 two ends hinge axis is vertical with the axis of sleeve 20.The axis of mechanical arm 22 is parallel with the revolution panel 25 of rotary table 3.Mechanical arm 22 is slidingly matched with sleeve 20 endoporus, and the outer diametric plane of mechanical arm 22 can horizontally slip along sleeve 20 endoporus.Binding clip 24 is positioned at the front of mechanical arm 22 left end heads.The endoporus of hollow shaft 26 has pull bar 21, and both deads in line are slidingly matched.Left side, voussoir 27 will clamp yoke and hollow shaft 26 is fixed together, and passes the axial long hole on the pull bar 21.Pull bar 21 is by the axial long hole on it, and realization moves axially with respect to hollow shaft 26, and clamping cylinder 17 is finished the function that clamps or unclamp jaw.The left end of pull bar 21 connects binding clip 24 by connecting rod 23.Worm-and-wheel gear 18 is fixedly mounted on the mount pad of mechanical arm 22 right-hand members, binding clip rotary fluid motor 28 is fixedly mounted on the housing of worm-and-wheel gear 18, its output shaft connects the worm screw of worm-and-wheel gear 18, the square hole interference fit of the square toes of hollow worm-wheel shaft left end and hollow shaft 26 right-hand members does not demonstrate being connected of worm-wheel shaft and hollow shaft 26 among the figure.The cylinder body of clamping cylinder 17 is fixed on worm-and-wheel gear 18 rear end caps, and the cylinder bar is arranged in the worm-wheel shaft endoporus, and the cylinder bar is fixedly connected with the right-hand member of pull bar 21 by screw thread.The cylinder body of binding clip telescopic oil cylinder 19 and cylinder bar be cylinder body and the sleeve 20 of toggle clamp locking oil cylinder 17 respectively.

Claims (10)

1. a taking feed from feed servosimulator tool hand comprises the rotary table (3) on the car body (2), it is characterized in that body powered drives car body (2) walking, rotary table power drive rotary table (3) rotation; One end of front large arm (8) and an end of lower elbow lever (7) are hinged, one end of the other end of lower elbow lever (7) and arm broad in the middle (10) is common and rotary table (3) is hinged, one end of one end of the other end of arm broad in the middle (10) and lower forearm (13) and upper elbow lever (11) is jointly hinged, the other end of the middle part of lower forearm (13) and front large arm (8) is hinged, and front large arm (8), lower elbow lever (7), arm broad in the middle (10) and lower forearm (13) consist of parallelogram; One end of the other end of lower forearm (13) and yoke plate (14) is hinged, one end of the other end of yoke plate (14) and upper forearm (12) is hinged, the other end of the other end of upper forearm (12) and upper elbow lever (11) is hinged, and lower forearm (13), upper elbow lever (11), upper forearm (12) and yoke plate (14) consist of parallelogram; One end and the rotary table (3) of rear large arm (9) are hinged, and the other end of rear large arm (9) and upper elbow lever (11) are hinged, and rotary table (3), rear large arm (9), upper elbow lever (11) and arm broad in the middle (10) consist of parallelogram; The cylinder body of hoist cylinder (4) is hinged on the rotary table (3), and cylinder bar and lower elbow lever (7) are hinged; The cylinder body of connecting rod telescopic oil cylinder (6) is hinged on the rotary table (3), and cylinder bar and arm broad in the middle (10) are hinged; The sleeve (20) of binding clip part connects yoke plate (14) by the manipulator pivoting support (16) that pivoting support power (15) drives, and pivoting support power (15) drives binding clip and partly swings; The mechanical arm (22) of binding clip part is slidingly matched with sleeve (20) endoporus, and binding clip (24) is in the front of mechanical arm (22); Binding clip telescopic oil cylinder (19) drives binding clip (24) along the axis direction stretching motion of mechanical arm (22); Binding clip rotary fluid motor (28) connects worm-and-wheel gear (18), and hollow worm-wheel shaft is connected with hollow shaft (26); Hollow shaft (26) is fixedly connected with the pincers yoke, is slidingly matched with pull bar (21), and pull bar (21) connects binding clip (24) by connecting rod (23), and binding clip rotary fluid motor (28) drives binding clip (24) around the axis rotation of mechanical arm (22); The cylinder bar of clamping cylinder (17) is positioned on worm-wheel shaft and hollow shaft (26) axis, and cylinder lever connecting rod (21), clamping cylinder (17) drive the jaw clamping of binding clip (24) or unclamp.
2. a kind of taking feed from feed servosimulator tool hand according to claim 1 is characterized in that pivoting support power (15) is hydraulic motor, the two-way 180 degree angles of stirring of fluid motor-driven binding clip (24).
3. a kind of taking feed from feed servosimulator tool hand according to claim 1 is characterized in that manipulator pivoting support (16) adopts single gear mechanism.
4. a kind of taking feed from feed servosimulator tool hand according to claim 1 is characterized in that the axis of mechanical arm (22) is parallel with horizontal plane.
5. a kind of taking feed from feed servosimulator tool hand according to claim 1, the axis with yoke plate (14) two ends hinge axis is vertical with the axis of sleeve (20) respectively to it is characterized in that the axis of manipulator pivoting support (16).
6. a kind of taking feed from feed servosimulator tool hand according to claim 1 is characterized in that dismountable flat tread wheel of installation two-wheel edge (1) below the car body (2), and wheel (1) is driven wheel, cooperates with guide rail on the basis; The car body hydraulic motor of body powered is installed on the car body (2), the rotation of car body hydraulic motor band movable sprocket, the two ends of chain are separately fixed on car body (2) and the basis, sprocket wheel cooperates with chain, walking before and after the car body fluid motor-driven car body (2), or the car body motor output shaft connecting pin gear of body powered, this pin gear and the pin rack engagement that is fixed on the basis, or the cylinder body of the car body hydraulic jack of body powered and cylinder bar are hinged on respectively on car body (2) and the basis.
7. a kind of taking feed from feed servosimulator tool hand according to claim 1 is characterized in that hollow shaft (26) is fixedly connected with the pincers yoke by voussoir (27), and voussoir (27) passes the axial long hole on the pull bar (21).
8. a kind of taking feed from feed servosimulator tool hand according to claim 1, it is characterized in that binding clip rotary fluid motor (28) is fixedly connected with mechanical arm (22), output shaft connects the worm screw of worm-and-wheel gear (18), and the front end of hollow worm-wheel shaft is connected with the rear end of hollow shaft (26).
9. a kind of taking feed from feed servosimulator tool hand according to claim 1 is characterized in that the cylinder body of clamping cylinder (17) is fixedly connected on the rear end cap of worm-and-wheel gear (18).
10. a kind of taking feed from feed servosimulator tool hand according to claim 1 is characterized in that the cylinder body of binding clip telescopic oil cylinder (19) and cylinder bar respectively hinged sleeve (20) and mechanical arm (22).
CN 201220236775 2012-05-24 2012-05-24 Loading/unloading servo simulation manipulator CN202726912U (en)

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Application Number Priority Date Filing Date Title
CN 201220236775 CN202726912U (en) 2012-05-24 2012-05-24 Loading/unloading servo simulation manipulator

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Application Number Priority Date Filing Date Title
CN 201220236775 CN202726912U (en) 2012-05-24 2012-05-24 Loading/unloading servo simulation manipulator

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Publication Number Publication Date
CN202726912U true CN202726912U (en) 2013-02-13

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103274344A (en) * 2013-05-23 2013-09-04 上海东富龙科技股份有限公司 Filling action mechanism of filling machine
CN104054523A (en) * 2014-06-30 2014-09-24 广西大学 Connecting rod type folding lifting mechanism
CN104552335A (en) * 2015-01-27 2015-04-29 浙江理工大学 Symmetrical telescopic mechanical arm
CN105643587A (en) * 2016-03-04 2016-06-08 哈尔滨工业大学 Thirteen-freedom spraying robot for outer surface of large ship body
CN106436490A (en) * 2015-08-07 2017-02-22 山东天和绿色包装科技有限公司 Molded pulp automatic production equipment

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103274344A (en) * 2013-05-23 2013-09-04 上海东富龙科技股份有限公司 Filling action mechanism of filling machine
CN104054523A (en) * 2014-06-30 2014-09-24 广西大学 Connecting rod type folding lifting mechanism
CN104054523B (en) * 2014-06-30 2016-04-06 广西大学 A kind of link-type folding liftable mechanism
CN104552335A (en) * 2015-01-27 2015-04-29 浙江理工大学 Symmetrical telescopic mechanical arm
CN104552335B (en) * 2015-01-27 2016-05-18 浙江理工大学 Symmetrical extension type mechanical arm
CN106436490A (en) * 2015-08-07 2017-02-22 山东天和绿色包装科技有限公司 Molded pulp automatic production equipment
CN105643587A (en) * 2016-03-04 2016-06-08 哈尔滨工业大学 Thirteen-freedom spraying robot for outer surface of large ship body
CN105643587B (en) * 2016-03-04 2017-08-25 哈尔滨工业大学 Thirteen-degree-of-freedom argosy external surface spray robot

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GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130213

Termination date: 20160524