CN203956921U - Four axle stamping machine manipulators - Google Patents
Four axle stamping machine manipulators Download PDFInfo
- Publication number
- CN203956921U CN203956921U CN201420341711.0U CN201420341711U CN203956921U CN 203956921 U CN203956921 U CN 203956921U CN 201420341711 U CN201420341711 U CN 201420341711U CN 203956921 U CN203956921 U CN 203956921U
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- fixing arm
- arm
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- driving wheel
- motor
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Abstract
The utility model relates to Robotics field, relate in particular to four axle stamping machine manipulators, comprise cabinet, the top of cabinet is provided with fixing arm, fixing arm is connected with the R1 shaft transmission that drives fixing arm to rotate, in cabinet, be provided with the Z-axis transmission mechanism that drives fixing arm to move up and down, the top of fixing arm is provided with mobile arm, fixing arm is provided with the horizontal transmission mechanism that drives mobile arm to move horizontally, the end of mobile arm is provided with gripping executive item, and mobile arm is provided with the R2 shaft transmission that drives gripping executive item to rotate.The beneficial effects of the utility model: one, four axes motion, be applicable to various non-standard moulds, can, at arbitrarily angled high mould of punching press platform, mould accurately be located and part is accurately taken; Two, both can many connection line operations, also can unit operation; Three, stamping machine is required less, be applicable to being applied to various stamping machines, the equipment investment cost that can be client and save 60%-70%.
Description
Technical field
The utility model relates to Robotics field, relates in particular to four axle stamping machine manipulators.
Background technology
Traditional punching apparatus is in the time of punching parts, the pure manual operations of general employing, be that staff positions mould, again part is put on the mould of punch press, when upper die of punching press punching press is complete and leave after counterdie, with hand, stamping forming part is taken out, mode of operation that part was put and taken out to this kind is by hand the personal safety hidden danger that has operating personnel, often occurs industrial accident again.For improving traditional pure Manual mold location and taking punching parts, enterprise develops gradually manipulator and replaces manual operation, but the existing manipulator that is applied to pressing equipment requires mould necessary contour, be merely able to the simple structure part of specification of the same race to produce, each shaft transmission design is unreasonable, transmission distance, flexibility is inadequate, and fault rate is high; In addition, complicated mould or part cannot carry out taking effectively, scope of application limitation, and inconvenient debugging, and cost is high.
Utility model content
The purpose of this utility model is to provide a kind of each shaft transmission reasonable in design for the deficiencies in the prior art, four axis robot that can coordinate stamping machine the mould of various different sizes to be positioned and part is taken.
For achieving the above object, a kind of four axle stamping machine manipulators of the present utility model, comprise cabinet, the top of described cabinet is provided with fixing arm, fixing arm is connected with the R1 shaft transmission that drives fixing arm to rotate, in cabinet, be provided with the Z-axis transmission mechanism that drives fixing arm to move up and down, the top of fixing arm is provided with mobile arm, fixing arm is provided with the horizontal transmission mechanism that drives mobile arm to move horizontally, the end of mobile arm is provided with gripping executive item, and mobile arm is provided with the R2 shaft transmission that drives gripping executive item to rotate.
Wherein, described Z-axis transmission mechanism comprises the Z axis drive unit, screw mandrel and the first linear slide rail that are installed in cabinet, screw mandrel and the first linear slide rail are all vertically installed along Z-direction, Z axis drive unit drives and is connected with screw mandrel, screw mandrel is bolted with travelling nut, fixing arm is connected with travelling nut, and the slide block of the first linear slide rail is fixedly connected with travelling nut.
Wherein, described Z axis drive unit comprises the first motor, the first driving wheel, the first driven pulley and the first belt, the main shaft of the first motor and the socket of the first driving wheel, the end socket of the first driven pulley and screw mandrel, the first belt is set around the first driving wheel and the first driven pulley.
Wherein, described Z-axis transmission mechanism also comprises installs moving cylinder and contiguous block, and the top that moving cylinder is installed is connected with fixing arm, and the bottom that moving cylinder is installed is fixedly connected with contiguous block, and contiguous block is fixedly connected with the slide block of travelling nut, the first linear slide rail respectively.
Wherein, described R1 shaft transmission comprises the second motor and robot reductor, the second motor is arranged to be installed in moving cylinder, and the main shaft of the second motor is connected with the input driving of robot reductor, and the output of robot reductor drives and is connected with fixing arm.
Wherein, described horizontal transmission mechanism comprises the second linear slide rail and the horizontal drive apparatus that are installed on fixing arm both sides, and two slide blocks of the second linear slide rail connect by slide block connecting plate, and mobile arm is fixedly connected with this slide block connecting plate; Horizontal drive apparatus comprises the 3rd motor, the 3rd driving wheel, the 3rd driven pulley and the 3rd belt, the 3rd driving wheel and the 3rd driven pulley are installed on respectively the rear and front end of fixing arm, the main shaft of the 3rd motor drives and is connected with the 3rd driving wheel, the 3rd belt is set around the 3rd driving wheel and the 3rd driven pulley, and the 3rd belt is arranged in fixing arm and is fixedly connected with slide block connecting plate.
Wherein, the junction of described R1 shaft transmission and fixing arm is divided into fixing arm to carry out section and drive section, and the length of carrying out section accounts for 2/3 of fixing arm total length, drives the length of section to account for 1/3 of fixing arm total length; The 3rd motor is installed on the end that drives section.
Wherein, described R2 shaft transmission comprises R2 axial brake device and turning cylinder, and R2 axial brake device is installed on mobile arm one end near cabinet, and turning cylinder is installed on the other end of mobile arm, R2 axial brake device drives and is connected with turning cylinder, and gripping executive item and turning cylinder are rotationally connected.
Wherein, described R2 axial brake device comprises the 4th motor, the 4th driving wheel, the 4th driven pulley and the 4th belt, the 4th driving wheel and the 4th driven pulley are installed on respectively the two ends of mobile arm, the main shaft of the 4th motor and the socket of the 4th driving wheel, the 4th belt is set around the 4th driving wheel and the 4th driven pulley and is arranged in mobile arm, the 4th driven pulley and turning cylinder socket.
Wherein, described gripping executive item is positioned at the top of mobile arm.
The beneficial effects of the utility model:
One, four axes motion, is applicable to various non-standard moulds, can, at arbitrarily angled high mould of punching press platform, mould accurately be located and part is accurately taken;
Two, both can many connection line operations, also can unit operation or whole production line is split into several segments carry out operation;
Three, the press apparatus conditional request that liquidates is less, and to equipment tonnage, punch press height and many combination no requirement (NR)s, is applicable to being applied to various stamping machines, the equipment investment cost that can be client and save 60%-70%.
Brief description of the drawings
Fig. 1 is perspective view of the present utility model.
Fig. 2 is the perspective view at another visual angle of the utility model.
Fig. 3 is the structural representation of the utility model four axes motion mechanism.
Fig. 4 is the right view of Fig. 3.
Fig. 5 is the syndeton schematic diagram of the utility model R1 shaft transmission and fixing arm.
Reference numeral comprises:
10-cabinet, 20-fixing arm 21-execution section
22-driving section, 30-mobile arm 40-gripping executive item
50-screw mandrel, 51-the first linear slide rail 52-travelling nut
53-the first motor 54-the first driving wheel the 55-the first driven pulley
The 56-the first belt 57-installation moving cylinder 58-contiguous block
60-the second motor 61-robot reductor the 70-the second linear slide rail
71-slide block connecting plate, 72-the three motor the 73-the three driving wheel
74-the three driven pulley 75-the three belt 80-turning cylinder
81-the four motor 82-the four driving wheel the 83-the four driven pulley
The 84-the four belt.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in detail.
As shown in Figures 1 to 5, a kind of four axle stamping machine manipulators of the present utility model, comprise cabinet 10, the top of described cabinet 10 is provided with fixing arm 20, fixing arm 20 is connected with the R1 shaft transmission that drives fixing arm 20 to rotate, in cabinet 10, be provided with the Z-axis transmission mechanism that drives fixing arm 20 to move up and down, the top of fixing arm 20 is provided with mobile arm 30, fixing arm 20 is provided with the horizontal transmission mechanism that drives mobile arm 30 to move horizontally, the end of mobile arm 30 is provided with gripping executive item 40, mobile arm 30 is provided with the R2 shaft transmission that drives gripping executive item 40 to rotate.Concrete, one, Z-axis transmission mechanism work, drive fixing arm 20 to move up and down, the mobile arm 30 being connected with fixing arm 20 is realized and being moved up and down, and moves up and down thereby realize the gripping executive item 40 that drives mobile arm 30 to arrange; Two, R1 shaft transmission work, drives fixing arm 20 to rotatablely move, and the mobile arm 30 being connected with fixing arm 20 is realized and being rotatablely moved, and rotatablely moves on a large scale thereby realize the gripping executive item 40 that drives mobile arm 30 to arrange; Horizontal transmission mechanism work, drives fixing arm 20 to move horizontally, and the mobile arm 30 being connected with fixing arm 20 is realized and being moved horizontally, and moves horizontally thereby realize the gripping executive item 40 that drives mobile arm 30 to arrange; The work of R2 shaft transmission, directly drives gripping executive item 40 to rotatablely move among a small circle; Whole manipulator is realized four axes motion, and movement travel is changeable, is applicable to various non-standard moulds, can, at arbitrarily angled high mould of punching press platform, mould accurately be located and part is accurately taken, and applied widely, result of use is good.Wherein, the gripping executive item 40 of the technical program positions and takes for gripping mould and part.
In the present embodiment, described Z-axis transmission mechanism comprises the Z axis drive unit, screw mandrel 50 and the first linear slide rail 51 that are installed in cabinet 10, screw mandrel 50 and the first linear slide rail 51 are all vertically installed along Z-direction, Z axis drive unit drives and is connected with screw mandrel 50, screw mandrel 50 is bolted with travelling nut 52, fixing arm 20 is connected with travelling nut 52, and the slide block of the first linear slide rail 51 is fixedly connected with travelling nut 52.Concrete, when the work of Z axis drive unit, drive screw mandrel 50 to rotatablely move, realize rectilinear movement up and down with the travelling nut 52 that this screw mandrel 50 is spirally connected, thereby drive the fixing arm 20 being connected with travelling nut 52 to move up and down as guiding realizes taking the guide rail of the first linear slide rail 51, moving process is stable, mobile accuracy is high, and noise is low, and speed is fast.
In the present embodiment, described Z axis drive unit comprises the first motor 53, the first driving wheel 54, the first driven pulley 55 and the first belt 56, the main shaft of the first motor 53 and the first driving wheel 54 are socketed, the first driven pulley 55 is socketed with the end of screw mandrel 50, and the first belt 56 is set around the first driving wheel 54 and the first driven pulley 55.Concrete, the main shaft of the first motor 53 rotates, drive the first driving wheel 54 to rotate, then drive the first driven pulley 55 to rotate by being set around the first belt 56 of the first driving wheel 54 and the first driven pulley 55, then controlling screw mandrel 50 rotatablely moves, thereby realize and control fixing arm 20 and move up and down, and then control mobile arm 30 and move up and down, finally control gripping executive item 40 and move up and down; The Z axis drive unit that the technical program adopts the first motor 53, the first driving wheel 54, the first driven pulley 55 and the first belt 56 to form, not only assembling is simple, with low cost, simultaneously by it by rational deployment setting and cabinet 10, and then reach good result of use.
In the present embodiment, described Z-axis transmission mechanism also comprises installs moving cylinder 57 and contiguous block 58, the top that moving cylinder 57 is installed is connected with fixing arm 20, the bottom that moving cylinder 57 is installed is fixedly connected with contiguous block 58, and contiguous block 58 is fixedly connected with the slide block of travelling nut 52, the first linear slide rail 51 respectively.Concrete, because screw mandrel 50 is along Z-direction setting, for guaranteeing that the travelling nut 52 that is bolted in screw mandrel 50 is connected with the fixing arm 20 of cabinet 10 upper horizontal settings, by moving cylinder 57 and contiguous block 58 being installed as the connector between travelling nut 52 and fixing arm 20, realize being connected of travelling nut 52 and fixing arm 20, simultaneously, contiguous block 58 can increase travelling nut 52 indirectly with the area being fixedly connected with of fixing arm 20, ensure when travelling nut 52 drives fixing arm 20 to move up and down steady, in order, there is not deviation, guarantee that result of use is good.
In the present embodiment, described R1 shaft transmission comprises the second motor 60 and robot reductor 61, the second motor 60 is arranged to be installed in moving cylinder 57, the main shaft of the second motor 60 drives and is connected with the input of robot reductor 61, and the output of robot reductor 61 is connected with fixing arm 20 drivings.Concrete, the second motor 60 is arranged at installs that in moving cylinder 57, it has following some effect: taking up space, can effectively save the second motor 60 and install time, makes the structure of whole equipment compacter; Two, the second motor 60 can be realized along with fixing arm 20 moves up and down, and coordinates the second motor 60 can effectively control fixing arm 20 and is rotated; Three, reduce the transmission distance of the second motor 60, without using belt to connect, reduced the equipment failure rate in running; In addition, robot reductor 61 has compact conformation, and gearratio is large, vibrates littlely, and noise is low, and energy consumption is low, the advantage that control accuracy is high, and under certain conditions, it has the function of self-locking, long service life.
In the present embodiment, described horizontal transmission mechanism comprises the second linear slide rail 70 and the horizontal drive apparatus that is installed on fixing arm 20 both sides, two slide blocks of the second linear slide rail 70 connect by slide block connecting plate 71, and mobile arm 30 is fixedly connected with this slide block connecting plate 71; Horizontal drive apparatus comprises the 3rd motor 72, the 3rd driving wheel 73, the 3rd driven pulley 74 and the 3rd belt 75, the 3rd driving wheel 73 and the 3rd driven pulley 74 are installed on respectively the rear and front end of fixing arm 20, the main shaft of the 3rd motor 72 drives and is connected with the 3rd driving wheel 73, the 3rd belt 75 is set around the 3rd driving wheel 73 and the 3rd driven pulley 74, the three belts 75 are arranged in fixing arm 20 and are fixedly connected with slide block connecting plate 71.Concrete, when the 3rd motor 72 is worked, its main shaft drives the 3rd driving wheel 73 to rotate, the 3rd driving wheel 73 drives the 3rd belt 75 that is set around the 3rd driving wheel 73 and the 3rd driven pulley 74 to rotate, and the 3rd belt 75 moves horizontally as guiding realizes taking the guide rail of the second linear slide rail 70 with movable slider connecting plate 71; Wherein, horizontal transmission mechanism adopts the setting of bilinearity slide rail, can guarantee to control moving horizontally of mobile arm 30 more steady, and left and right does not occur unbalance; In addition; the 3rd belt 75 is arranged in fixing arm 20 and by the setting of slide block connecting plate 71; when having realized the 3rd belt 75 and having rotated; by driving two slide blocks to move along the guide rail of the both sides of fixing arm 20; and fixing arm 20 can also play a protective role to the 3rd belt 75; avoid the 3rd belt 75 to expose, reduce the possibility that the 3rd belt 75 breaks down.
See Fig. 5, the junction of described R1 shaft transmission and fixing arm 20 is divided into fixing arm 20 to carry out section 21 and drive section 22, and the length of carrying out section 21 accounts for 2/3 of fixing arm 20 total lengths, drives the length of section 22 to account for 1/3 of fixing arm 20 total lengths; The 3rd motor 72 is installed on the end that drives section 22.According to lever principle, for ensureing balance, the distance of fulcrum and weight should be inversely proportional to; When this of the technical program kind of setting can guarantee that R1 shaft transmission control fixing arm 20 rotates as far as possible, the quality of controlling arm two ends approaches and equates, thereby the mass centre of fixing arm 20 is close to R1 shaft transmission as far as possible, thereby obtain better rotary speed and precision, and can improve the load capacity of carrying out section 21 ends.
In the present embodiment, described R2 shaft transmission comprises R2 axial brake device and turning cylinder 80, R2 axial brake device is installed on mobile arm 30 one end near cabinet 10, turning cylinder 80 is installed on the other end of mobile arm 30, R2 axial brake device drives and is connected with turning cylinder 80, and gripping executive item 40 is rotationally connected with turning cylinder 80.Concrete, R2 shaft transmission control turning cylinder 80 rotates, and turning cylinder 80 drives the gripping executive item 40 being rotationally connected with it to realize rotatablely moving among a small circle, improves the positioning precision of control gripping executive item 40, raising result of use.
In the present embodiment, described R2 axial brake device comprises the 4th motor 81, the 4th driving wheel 82, the 4th driven pulley 83 and the 4th belt 84, the 4th driving wheel 82 and the 4th driven pulley 83 are installed on respectively the two ends of mobile arm 30, the main shaft of the 4th motor 81 and the 4th driving wheel 82 are socketed, the 4th belt 84 is set around the 4th driving wheel 82 and the 4th driven pulley 83 and is arranged in mobile arm 30, and the 4th driven pulley 83 is socketed with turning cylinder 80.Concrete, thereby driving the 4th driving wheel 82 to rotate by the 4th belt 84, the 4th motor 81 main shafts rotations drive the 4th driven pulley 83 to rotate, the 4th driven pulley 83 drives turning cylinder 80 to rotate, and finally realizes turning cylinder 80 and drives gripping executive item 40 to rotate among a small circle; Wherein, the 4th belt 84 is arranged in mobile arm 30; realize and reduce installing space; prevent that the 4th belt 84 from affecting the work of mobile arm 30; meanwhile, protect the 4th belt 84 by mobile arm 30 again, prevented that the 4th belt 84 is subject to external influence in the time of work; reasonable in design, practical.
Concrete, described gripping executive item 40 is positioned at the top of mobile arm 30, can make the mould of gripping executive item 40 to 40 grippings of gripping executive item itself or part have the effect of a support, and then can avoid in the time that gripping mould or part are carried out in gripping, the problem that mould and part are easy to drop occurs.
Known the utility model is to have above-described good characteristic in sum, is made it manufacture assembling and use, and promotes the usefulness not having in conventional art and has practicality, and then become a novel product structure that has a practical value.
Above content is only preferred embodiment of the present utility model, for those of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, this description should not be construed as restriction of the present utility model.
Claims (10)
1. four axle stamping machine manipulators, comprise cabinet (10), it is characterized in that: the top of described cabinet (10) is provided with fixing arm (20), fixing arm (20) is connected with the R1 shaft transmission that drives fixing arm (20) to rotate, in cabinet (10), be provided with the Z-axis transmission mechanism that drives fixing arm (20) to move up and down, the top of fixing arm (20) is provided with mobile arm (30), fixing arm (20) is provided with the horizontal transmission mechanism that drives mobile arm (30) to move horizontally, the end of mobile arm (30) is provided with gripping executive item (40), mobile arm (30) is provided with the R2 shaft transmission that drives gripping executive item (40) to rotate.
2. four axle stamping machine manipulators according to claim 1, it is characterized in that: described Z-axis transmission mechanism comprises the Z axis drive unit, screw mandrel (50) and the first linear slide rail (51) that are installed in cabinet (10), screw mandrel (50) and the first linear slide rail (51) are all vertically installed along Z-direction, Z axis drive unit drives and is connected with screw mandrel (50), screw mandrel (50) is bolted with travelling nut (52), fixing arm (20) is connected with travelling nut (52), and the slide block of the first linear slide rail (51) is fixedly connected with travelling nut (52).
3. four axle stamping machine manipulators according to claim 2, it is characterized in that: described Z axis drive unit comprises the first motor (53), the first driving wheel (54), the first driven pulley (55) and the first belt (56), the main shaft of the first motor (53) and the first driving wheel (54) socket, the first driven pulley (55) is socketed with the end of screw mandrel (50), and the first belt (56) is set around the first driving wheel (54) and the first driven pulley (55).
4. four axle stamping machine manipulators according to claim 2, it is characterized in that: described Z-axis transmission mechanism also comprises installs moving cylinder (57) and contiguous block (58), the top that moving cylinder (57) is installed is connected with fixing arm (20), the bottom that moving cylinder (57) is installed is fixedly connected with contiguous block (58), and contiguous block (58) is fixedly connected with the slide block of travelling nut (52), the first linear slide rail (51) respectively.
5. four axle stamping machine manipulators according to claim 4, it is characterized in that: described R1 shaft transmission comprises the second motor (60) and robot reductor (61), the second motor (60) is arranged to be installed in moving cylinder (57), the main shaft of the second motor (60) drives and is connected with the input of robot reductor (61), and the output of robot reductor (61) drives and is connected with fixing arm (20).
6. four axle stamping machine manipulators according to claim 1, it is characterized in that: described horizontal transmission mechanism comprises the second linear slide rail (70) and the horizontal drive apparatus that are installed on fixing arm (20) both sides, two slide blocks of the second linear slide rail (70) connect by slide block connecting plate (71), and mobile arm (30) is fixedly connected with this slide block connecting plate (71); Horizontal drive apparatus comprises the 3rd motor (72), the 3rd driving wheel (73), the 3rd driven pulley (74) and the 3rd belt (75), the 3rd driving wheel (73) and the 3rd driven pulley (74) are installed on respectively the rear and front end of fixing arm (20), the main shaft of the 3rd motor (72) drives and is connected with the 3rd driving wheel (73), the 3rd belt (75) is set around the 3rd driving wheel (73) and the 3rd driven pulley (74), and the 3rd belt (75) is arranged in fixing arm (20) and is fixedly connected with slide block connecting plate (71).
7. four axle stamping machine manipulators according to claim 6, it is characterized in that: the junction of described R1 shaft transmission and fixing arm (20) is divided into fixing arm (20) to carry out section (21) and drive section (22), the length of carrying out section (21) accounts for 2/3 of fixing arm (20) total length, drives the length of section (22) to account for 1/3 of fixing arm (20) total length; The 3rd motor (72) is installed on the end that drives section (22).
8. four axle stamping machine manipulators according to claim 1, it is characterized in that: described R2 shaft transmission comprises R2 axial brake device and turning cylinder (80), R2 axial brake device is installed on mobile arm (30) one end near cabinet (10), turning cylinder (80) is installed on the other end of mobile arm (30), R2 axial brake device drives and is connected with turning cylinder (80), and gripping executive item (40) is rotationally connected with turning cylinder (80).
9. four axle stamping machine manipulators according to claim 8, it is characterized in that: described R2 axial brake device comprises the 4th motor (81), the 4th driving wheel (82), the 4th driven pulley (83) and the 4th belt (84), the 4th driving wheel (82) and the 4th driven pulley (83) are installed on respectively the two ends of mobile arm (30), the main shaft of the 4th motor (81) and the socket of the 4th driving wheel (82), the 4th belt (84) is set around the 4th driving wheel (82) and the 4th driven pulley (83) and is arranged in mobile arm (30), the 4th driven pulley (83) and turning cylinder (80) socket.
10. according to four axle stamping machine manipulators described in claim 1-9 any one, it is characterized in that: described gripping executive item (40) is positioned at the top of mobile arm (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420341711.0U CN203956921U (en) | 2014-06-25 | 2014-06-25 | Four axle stamping machine manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420341711.0U CN203956921U (en) | 2014-06-25 | 2014-06-25 | Four axle stamping machine manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203956921U true CN203956921U (en) | 2014-11-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420341711.0U Expired - Fee Related CN203956921U (en) | 2014-06-25 | 2014-06-25 | Four axle stamping machine manipulators |
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| CN (1) | CN203956921U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493385A (en) * | 2014-12-10 | 2015-04-08 | 何迎春 | Clamp for clamping welding die |
| CN104786548A (en) * | 2015-04-28 | 2015-07-22 | 苏州通锦精密工业有限公司 | Special feeding and discharging device for stamping industry |
| CN104907438A (en) * | 2015-06-23 | 2015-09-16 | 泉州市微柏工业机器人研究院有限公司 | Punching machine auxiliary machinery hand |
| CN105058368A (en) * | 2015-08-17 | 2015-11-18 | 合肥泰禾光电科技股份有限公司 | Four-shaft linkage mechanical arm |
| CN105202159A (en) * | 2015-09-18 | 2015-12-30 | 东莞市三润田自动化设备有限公司 | Driven wheel structure |
| CN106217368A (en) * | 2016-09-05 | 2016-12-14 | 珠海格力智能装备有限公司 | Reductor assembly and there is its robot |
| CN107716763A (en) * | 2017-10-30 | 2018-02-23 | 广东腾山机器人有限公司 | Stamping mechanical arm |
| CN107803818A (en) * | 2017-11-19 | 2018-03-16 | 蔡大宇 | A kind of mechanical arm device of intelligent control on lathe |
-
2014
- 2014-06-25 CN CN201420341711.0U patent/CN203956921U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493385A (en) * | 2014-12-10 | 2015-04-08 | 何迎春 | Clamp for clamping welding die |
| CN104786548A (en) * | 2015-04-28 | 2015-07-22 | 苏州通锦精密工业有限公司 | Special feeding and discharging device for stamping industry |
| CN104907438A (en) * | 2015-06-23 | 2015-09-16 | 泉州市微柏工业机器人研究院有限公司 | Punching machine auxiliary machinery hand |
| CN104907438B (en) * | 2015-06-23 | 2017-05-17 | 泉州市微柏工业机器人研究院有限公司 | Punching machine auxiliary machinery hand |
| CN105058368A (en) * | 2015-08-17 | 2015-11-18 | 合肥泰禾光电科技股份有限公司 | Four-shaft linkage mechanical arm |
| CN105202159A (en) * | 2015-09-18 | 2015-12-30 | 东莞市三润田自动化设备有限公司 | Driven wheel structure |
| CN106217368A (en) * | 2016-09-05 | 2016-12-14 | 珠海格力智能装备有限公司 | Reductor assembly and there is its robot |
| CN107716763A (en) * | 2017-10-30 | 2018-02-23 | 广东腾山机器人有限公司 | Stamping mechanical arm |
| CN107803818A (en) * | 2017-11-19 | 2018-03-16 | 蔡大宇 | A kind of mechanical arm device of intelligent control on lathe |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141126 Termination date: 20180625 |
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| CF01 | Termination of patent right due to non-payment of annual fee |