CN205630666U - Double track numerical control crossbeam formula manipulator - Google Patents

Double track numerical control crossbeam formula manipulator Download PDF

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Publication number
CN205630666U
CN205630666U CN201620300865.4U CN201620300865U CN205630666U CN 205630666 U CN205630666 U CN 205630666U CN 201620300865 U CN201620300865 U CN 201620300865U CN 205630666 U CN205630666 U CN 205630666U
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China
Prior art keywords
axis
guide rail
axis guide
gear
splined shaft
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CN201620300865.4U
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Chinese (zh)
Inventor
余义宙
周彩霞
李强本
夏存岳
葛宪飞
赵纪威
吴培
郭楠
袁乐乐
巩蕾
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ZHENGZHOU SMS ELECTRIC CO Ltd
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ZHENGZHOU SMS ELECTRIC CO Ltd
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Priority to CN201620300865.4U priority Critical patent/CN205630666U/en
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Abstract

The utility model discloses a double track numerical control crossbeam formula manipulator, it sets up and an unlimited X axle guide rail and the 2nd X axle guide rail that extends including parallel relative, respectively with a X axle guide rail with the 2nd X axle guide rail a Y axle guide rail and the 2nd Y axle guide rail perpendicular and parallel arrangement mutually, respectively with a X axle guide rail the 2nd X axle guide rail a Y axle guide rail with the 2nd Y axle guide rail vertically elevating system, elevating system set up in a Y axle guide rail with between the 2nd Y axle guide rail just the last Z axle guide of the being provided with rail of elevating system, can the automatic clamp play the material and move the fork device that carries the assigned position, the Z axle the control unit of drive fork device up -and -down motion with the material. The utility model discloses can realize the tongs on X axle guide rail, Y axle guide rail, Z axle guide rail about about, the seesaw, realize that the automation of turnover case material is snatched and is deposited, the location is accurate, efficient, convenient operation.

Description

A kind of double track digital control horizontal beam type mechanical hand
Technical field
This utility model relates to a kind of mechanical hand, more particularly to a kind of double track digital control horizontal beam type mechanical hand.
Background technology
Along with the construction of the provincial measurement centre of national grid, measurement verification task major part focuses on measurement centre of province and carries out, and bring therewith is the storage and management problem of city, county, Township Merging electric energy meter.During metering outfit manages, need to transfer to streamline wire body or other counters by electric energy meter turnover box from metering counter, or transfer to electric energy meter streamline wire body from metering counter or other counters, then need the device of transfer electric energy meter turnover box, routine has is carried by artificial dolly, and this form remains a need for substantial amounts of manual labor, it is impossible to realizes automatization and picks and places, efficiency is low, and task amount is big.
Utility model content
In order to overcome above-mentioned deficiency of the prior art, this utility model provides a kind of simple in construction, intelligent double track digital control horizontal beam type mechanical hand easy for operation, it is possible to realize the measurement instrument in electric energy metering device cabinet, and automaticity is high, registration.
This utility model is by the following technical solutions:
A kind of double track digital control horizontal beam type mechanical hand, it is characterised in that including:
First X-axis guide rail and the second X-axis guide rail, described first X-axis guide rail and described second X-axis guide rail are parallel to each other and unlimited extension ground is arranged, and described first X-axis guide rail and described second X-axis guide rail are connected by X-axis bracing frame;
First Y-axis guide rail and the second Y-axis guide rail, described first Y-axis guide rail is parallel to each other with described second Y-axis guide rail and vertical with described first X-axis guide rail, described second X-axis guide rail respectively, and described first Y-axis guide rail, described second Y-axis guide rail constitute X-Y motion plane with described X-axis bracing frame;
Elevating mechanism, described elevating mechanism is arranged between described first Y-axis guide rail and described second Y-axis guide rail and described elevating mechanism is provided with and described first X-axis guide rail, described second X-axis guide rail, described first Y-axis guide rail, the Z axis guide rail that described second Y-axis guide rail is vertical, drive the Z axis control unit that described Z axis guide rail moves up and down, automatically material is picked up and by material transfer to the pellet fork device specifying position, described Z axis guide rail constitutes X-Z plane of movement with described first X-axis guide rail and described second X-axis guide rail, and described Z axis guide rail constitutes Y-Z plane of movement with described first Y-axis guide rail and described second Y-axis guide rail;
Control unit, described control unit includes being arranged at the first X-axis control unit of described first X-axis guide rail, is arranged at the second X-axis control unit of described second X-axis guide rail, is arranged at the Y-axis control unit of described first Y-axis guide rail, is arranged at the Z axis control unit of described Z axis guide rail, Z axis slide block (6031).
In this utility model, described first X-axis control unit includes the first X-axis servomotor, the first X-axis gear, the first X-axis tooth bar, the first X-axis slide block, described first X-axis slide block arranges the first X-axis gear, it is provided above described first X-axis servomotor at described first X-axis gear, described first X-axis servomotor is connected with described first X-axis gear, described first X-axis gear is connected with described first X-axis tooth bar, and described first X-axis slide block is slidably arranged on described first X-axis guide rail.
In this utility model, described second X-axis control unit includes the second X-axis servomotor, the second X-axis gear, the second X-axis tooth bar, the second X-axis slide block, described second X-axis slide block is provided with the second X-axis gear, it is provided above described second X-axis servomotor at described second X-axis gear, described second X-axis servomotor is connected with described second X-axis gear, described second X-axis gear is connected with described second X-axis tooth bar, and described second X-axis slide block is slidably arranged on described second X-axis guide rail.
In this utility model, described Z axis control unit is arranged on described Z axis slide block and includes the Z axis reductor that Z axis servomotor is connected, the Z axis drive shaft connecting described Z axis reductor with described Z axis servomotor, connects the Z axis gear band that the Z axis drive shaft installing plate of described Z axis drive shaft is connected with described Z axis reductor.
In this utility model, described pellet fork device is arranged on described Z axis guide rail and includes installation base plate, the first mechanical arm, the second mechanical arm, the first splined shaft, the second splined shaft, silk axle, the first electric machine assembly and the second electric machine assembly.
In this utility model, described first splined shaft and described second splined shaft are parallel to each other and be each perpendicular to described first mechanical arm that is oppositely arranged in parallel and described second mechanical arm, and connected by the first chain, the second chain between described first splined shaft and described second splined shaft, described silk axle is parallel to described first splined shaft and described second splined shaft and is arranged between described first splined shaft and described second splined shaft, and described silk axle is connected with described first electric machine assembly by the 3rd chain and is connected with described second electric machine assembly by the 4th chain.
In this utility model, below described first X-axis guide rail and described second X-axis guide rail, it is provided with multiple supporting leg.
In this utility model, described pellet fork device is arranged on described Z axis gear band by Z axis slide block, and is completed the up and down motion of described pellet fork device by described Z axis gear band.
Actively beneficial effect:
A kind of double track digital control horizontal beam type mechanical hand of the present utility model is acted on jointly by the first X-axis guide rail, the second X-axis guide rail, the first Y-axis guide rail, the second Y-axis guide rail, elevating mechanism, by control unit control, drive servomotor, by means of the flexible and omnibearing movement such as top to bottom, left and right, front and rear promptly realizing electric energy metering device of mechanical arm in pellet fork device, realize the free-grabbing of the measurement instrument in measurement instrument cabinet and deposit, topology layout is reasonable, easy to operate, automaticity is high, and work efficiency is high.
Accompanying drawing explanation
Fig. 1 is the installation diagram of this utility model a kind of double track digital control horizontal beam type mechanical hand;
Fig. 2 is the axonometric chart of pellet fork device in this utility model a kind of double track digital control horizontal beam type mechanical hand.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of this utility model protection.
As it is shown in figure 1, a kind of double track digital control horizontal beam type mechanical hand, including:
First X-axis guide rail 1 and the second X-axis guide rail 2, the first X-axis guide rail 1 and the second X-axis guide rail 2 are parallel to each other and unlimited extension ground is arranged, and the first X-axis guide rail 1 and the second X-axis guide rail 1 are connected by X-axis bracing frame 9;
First Y-axis guide rail 3 and the second Y-axis guide rail 4, the first Y-axis guide rail 3 and the second Y-axis guide rail 4 is parallel to each other and vertical with the first X-axis guide rail 1 and the second X-axis guide rail 2 respectively, the first Y-axis guide rail 3 and the second Y-axis guide rail 4 constitute X-Y motion plane with X-axis bracing frame 9;
Elevating mechanism 6, described elevating mechanism 6 is arranged between the first Y-axis guide rail 3 and the second Y-axis guide rail 4 and elevating mechanism 6 is provided with and the first X-axis guide rail 1, second X-axis guide rail 2, first Y-axis guide rail 3, the Z axis guide rail 602 that second Y-axis guide rail 4 is vertical, drive the Z axis control unit 603 that Z axis guide rail 602 moves up and down, automatically material is picked up and by material transfer to the pellet fork device 601 specifying position, Z axis guide rail 602 and the first X-axis guide rail 1 and described second X-axis guide rail 2 constitute X-Z plane of movement, and Z axis guide rail 602 and the first Y-axis guide rail 3 and the second Y-axis guide rail 4 constitute Y-Z plane of movement;
Control unit, control unit includes being arranged at the first X-axis control unit 105 of the first X-axis guide rail 1, is arranged at the second X-axis control unit 204 of the second X-axis guide rail 2, is arranged at the Y-axis control unit 304 of the first Y-axis guide rail 3, is arranged at the Z axis control unit 603 of Z axis guide rail 602, Z axis slide block (6031).
In this topology layout, pellet fork device 601 can be made to move along the first X-axis guide rail 1 and second X-axis guide rail the 2, first Y-axis guide rail 3 and the second Y-axis guide rail 4 direction, so that it is determined that the X-axis coordinate position of pellet fork device 601 and Y-axis coordinate position.Pellet fork device 601 can also be made to move up and down along Z axis guide rail 602, so that it is determined that the position of the Z axis coordinate of pellet fork device 601, it is achieved that pellet fork device 601 is in X-axis coordinate, Y-axis coordinate, the space orientation of Z axis coordinate.Wherein, the first X-axis control unit 105 can control the kinestate of the first X-axis guide rail 1, and the second X-axis control unit 204 can control the kinestate of the second X-axis guide rail 2, and Z axis control unit 603 controls the kinestate of Z axis guide rail 602.In the present embodiment, described material is preferably electric energy meter turnover box.
In a particular embodiment, first X-axis control unit 105 includes first X-axis servomotor the 101, first X-axis gear the 102, first X-axis tooth bar the 103, first X-axis slide block 104, described first X-axis slide block 104 arranges the first X-axis gear 102, it is provided above the first X-axis servomotor 101 at the first X-axis gear 102, first X-axis servomotor 101 is connected with the first X-axis gear 102, first X-axis gear 102 is connected with the first X-axis tooth bar 103, and the first X-axis slide block 104 is slidably arranged on the first X-axis guide rail 1.In the present embodiment, first X-axis control unit 105 is also configured with servo-driver, drive command is assigned by PLC control system, by driving servo-driver to drive the motion of the first X-axis servomotor 101, in PLC application, the content that this technology is well known to those skilled in the art, does not do tired stating at this.
In a particular embodiment, second X-axis control unit 204 includes second X-axis servomotor the 203, second X-axis gear the 205, second X-axis tooth bar the 201, second X-axis slide block 202, second X-axis slide block 202 is provided with the second X-axis gear 205, it is provided above the second X-axis servomotor 203 at the second X-axis gear 205, second X-axis servomotor 203 is connected with the second X-axis gear 205, second X-axis gear 205 is connected with the second X-axis tooth bar 201, and the second X-axis slide block 202 is slidably arranged on the second X-axis guide rail 2.In the present embodiment, slip by the second X-axis slide block 202, drive and be arranged on each several part assembly on the second X-axis slide block 202, such as second X-axis servomotor the 203, second X-axis gear 205 etc., second X-axis servomotor 203 drives the second X-axis gear 205 to rotate, under the tensioning function of the second X-axis tooth bar 201, the second X-axis slide block 202 is driven to slide on the second X-axis guide rail 2, it is achieved thereby that in the motion at the 2nd X axis rail 2.
In a particular embodiment, Z axis control unit 603 is arranged on Z axis slide block 6031 and includes the Z axis reductor 6032 that Z axis servomotor 6035 is connected, the Z axis drive shaft 6033 connecting Z axis reductor 6032 with Z axis servomotor 6035, connects the Z axis gear band 6306 that the Z axis drive shaft installing plate 6034 of Z axis drive shaft 6033 is connected with Z axis reductor 6032.In the present embodiment, Z axis servomotor 6035 is under the control of PLC control system, drive the motion of Z axis reductor 6032, power produced by Z axis reductor 6032 is transferred on Z axis gear band 6306, pellet fork device 601 is arranged on Z axis gear band 6306 by Z axis slide block 6031, under the slip effect of Z axis slide block 6031, Z axis gear band 6306 drives pellet fork device 601 to move up and down.
In a particular embodiment, it is provided with multiple supporting leg 5 below the first X-axis guide rail 1 and the second X-axis guide rail 2, is used for supporting wire body.The quantity of supporting leg 5 can set according to the length of situ flow waterline.
In the present embodiment, material of the present utility model is column, rated load weight: > 50kg.
As in figure 2 it is shown, pellet fork device 601 is arranged on Z axis guide rail 602 and includes installation base plate the 6011, first mechanical arm the 6012, second mechanical arm the 6013, first splined shaft the 6014, second splined shaft 6015, silk axle the 6017, first electric machine assembly 6016 and the second electric machine assembly 6018.
In a particular embodiment, first splined shaft 6014 and the second splined shaft 6015 are parallel to each other and be each perpendicular to the first mechanical arm 6012 and the second mechanical arm 6013 being oppositely arranged in parallel, and first between splined shaft 6014 and the second splined shaft 6015 by the first chain (not shown), second chain (not shown) connects, silk axle 6017 is parallel to the first splined shaft 6014 and the second splined shaft 6015, and silk axle 6017 is arranged between the first splined shaft 6014 and the second splined shaft 6015, silk axle 6017 is connected with the first electric machine assembly 6016 by the 3rd chain (not shown) and is connected with the second electric machine assembly 6018 by the 4th chain (not shown).In the present embodiment, first chain is strained under the effect of tension device (not shown) around first splined shaft the 6014, first mechanical arm 6012 and the second splined shaft 6015 or loosens, second chain is strained under the effect of tension device (not shown) around first splined shaft the 6014, second mechanical arm 6013 and the second splined shaft 6015 or loosens, 3rd chain is strained under the driving of the first electric machine assembly 6016 or loosens, and the 4th chain is strained under the driving of the second electric machine assembly 6018 or loosens.When the 3rd chain (not shown), the 4th chain (not shown) are in tension, first mechanical arm 1 and second mechanical arm 2 distance between silk axle 6017 diminish, first mechanical arm 6012 and the second mechanical arm 6013 are drawn close, Turnover Box on first mechanical arm 6012 and the second machinery 6013 is in clamped condition, and Turnover Box is fixed card jail.When electric machine assembly 6016 drives, first splined shaft the 6014, second splined shaft 6015 is under the effect of chain tensioning device (not shown), first chain (not shown) and the second chain (not shown) are in tension, first mechanical arm 6012 and the second mechanical arm 6013 forward extend out, and Turnover Box is sent to the position that coarctation cabinet is specified.
Operating procedure of the present utility model is as follows: when needs take out Turnover Box from coarctation cabinet, coarctation cabinet is generally arranged between the first X-axis guide rail 1 and the second X-axis guide rail 2, conventional coarctation cabinet is provided with rolling universal wheel, can move freely, generally coarctation cabinet can move between the first X-axis guide rail 1 and the second X-axis guide rail 2, when determining that a certain meter store unit takes out Turnover Box in coarctation cabinet, start coarctation cabinet, make coarctation cabinet open.nullThis utility model is at the first X-axis guide rail 1、Second X-axis guide rail 2、First Y-axis guide rail 3、Second Y-axis guide rail 4、Under the cooperation of elevating mechanism 6,Pellet fork device 601 is made to move freely in three dimensions,Pellet fork device 601 is carried out location, locus,Pellet fork device 601 carries Turnover Box,After Turnover Box is positioned,Pellet fork device 601 in elevating mechanism 6 stretches out its mechanical arm (first mechanical arm 6012 and the second mechanical arm 6013) and captures Turnover Box,Grasp Modes is: in pellet fork device 601,The side of silk axle 6017 is connected with the first electric machine assembly 6016 by the 3rd chain (not shown),Silk axle 6017 opposite side is connected with the second electric machine assembly 6018 by the 4th chain (not shown),When the tensioning block making the first motor tensioning in the first electric machine assembly 6016 and the second electric machine assembly 6018 make the tensioning block of the second motor tensioning be in tension,3rd chain、4th chain is in tension,The distance of the first mechanical arm 6012 and the second mechanical arm 6013 diminishes on silk axle 6017,First mechanical arm 6012 and the second mechanical arm 6013 are drawn close,Turnover Box on first mechanical arm 6012 and the second mechanical arm 6013 is in clamped condition,Turnover Box is fixed card jail.Then, driven by Z axis servomotor 6035 at elevating mechanism 6, move up and down, the most vertically or horizontally lift or mobile, in certain fixed position in space coordinates, the Turnover Box of crawl is placed in streamline wire body or the storage position specified put into by other needs, the Turnover Box taken out in a preferred embodiment drops on the artificial dolly plugged into mechanism for lifting under elevating mechanism 6 acts on, mechanism for lifting is under the driving of Z axis servomotor 6035, mechanism for lifting is made to increase by the drive of Z axis gear band 6306, perform other operations, the Turnover Box being placed on artificial dolly by transfer to other desired place.
When needs are by Turnover Box from streamline wire body or when being placed in coarctation cabinet on artificial dolly, by by Turnover Box as a example by artificial dolly is placed into coarctation cabinet, first, connection at pellet fork device 601 with artificial dolly, supplied materials is sensed by the photoelectric position mechanism on pellet fork device 601, positions, when determining supplied materials, on pellet fork device 601, mechanical arm (first mechanical arm 6012 and the second mechanical arm 6013) repeats above-mentioned grasping movement.After Turnover Box captures, coarctation cabinet is movable near Y-axis guide rail of the present utility model (first Y-axis guide rail 3 or the second Y-axis guide rail 4), start coarctation cabinet, coarctation cabinet is made to open, the pellet fork device 601 driving by the first electric machine assembly 6016, first splined shaft the 6014, second splined shaft the second splined shaft 6015 is under the effect of chain tensioning device, first chain and the second chain are in tension, first mechanical arm 6012 and the second mechanical arm 6013 forward extend out, Turnover Box is sent to the position that coarctation cabinet is specified, and completes the transfer of Turnover Box.Then reset under the cooperation of elevating mechanism 6 or carry out next step crawl, transfer operation.Complete automatization's transfer process of Turnover Box.This utility model topology layout is reasonable, easy to operate, and automaticity is high, and work efficiency is high.
Although the foregoing describing detailed description of the invention of the present utility model, but those skilled in the art is to be understood that, these detailed description of the invention are merely illustrative of, those skilled in the art, in the case of without departing from principle of the present utility model and essence, can carry out various omissions, substitutions and changes to the details of said method and system.Such as, merge said method step, thus perform substantially identical function according to substantially identical method and then belong to scope of the present utility model to realize substantially identical result.Therefore, scope of the present utility model is only limited by the claims that follow.

Claims (8)

1. a double track digital control horizontal beam type mechanical hand, it is characterised in that including:
First X-axis guide rail (1) and the second X-axis guide rail (2), described first X-axis guide rail (1) and described second X-axis guide rail (2) is parallel to each other and unlimited extension ground is arranged, described first X-axis guide rail (1) and described second X-axis guide rail (1) are by X-axis bracing frame (9) connection;
First Y-axis guide rail (3) and the second Y-axis guide rail (4), described first Y-axis guide rail (3) and described second Y-axis guide rail (4) is parallel to each other and vertical with described first X-axis guide rail (1) and described second X-axis guide rail (2) respectively, described first Y-axis guide rail (3), described second Y-axis guide rail (4) constitute X-Y motion plane with described X-axis bracing frame (9);
Elevating mechanism (6), described elevating mechanism (6) is arranged between described first Y-axis guide rail (3) and described second Y-axis guide rail (4) and described elevating mechanism (6) is provided with and described first X-axis guide rail (1), described second X-axis guide rail (2), described first Y-axis guide rail (3), the Z axis guide rail (602) that described second Y-axis guide rail (4) is vertical, automatically material is picked up and by material transfer to the pellet fork device (601) specifying position, described Z axis guide rail (602) and described first X-axis guide rail (1), described second X-axis guide rail (2) constitutes X-Z plane of movement, and described Z axis guide rail (602), described first Y-axis guide rail (3) and described second Y-axis guide rail (4) constitute Y-Z plane of movement;
Control unit, described control unit includes being arranged at the first X-axis control unit (105) of described first X-axis guide rail (1), is arranged at the second X-axis control unit (204) of described second X-axis guide rail (2), is arranged at the Y-axis control unit (304) of described first Y-axis guide rail (3), is arranged at the Z axis control unit (603) of described Z axis guide rail (602), Z axis slide block (6031).
A kind of double track digital control horizontal beam type mechanical hand the most according to claim 1, it is characterized in that: described first X-axis control unit (105) includes the first X-axis servomotor (101), first X-axis gear (102), first X-axis tooth bar (103), first X-axis slide block (104), described first X-axis slide block (104) arranges the first X-axis gear (102), it is provided above described X axle servomotor (101) at described first X-axis gear (102), described first X-axis servomotor (101) is connected with described first X-axis gear (102), described first X-axis gear (102) is connected with described first X-axis tooth bar (103), described first X-axis slide block (104) is slidably arranged on described first X-axis guide rail (1).
A kind of double track digital control horizontal beam type mechanical hand the most according to claim 1, it is characterized in that: described second X-axis control unit (204) includes the second X-axis servomotor (203), second X-axis gear (205), second X-axis tooth bar (201), second X-axis slide block (202), described second X-axis slide block (202) is provided with the second X-axis gear (205), it is provided above described second X-axis servomotor (203) at described second X-axis gear (205), described second X-axis servomotor (203) is connected with described second X-axis gear (205), described second X-axis gear (205) is connected with described second X-axis tooth bar (201), described second X-axis slide block (202) is slidably arranged on described second X-axis guide rail (2).
A kind of double track digital control horizontal beam type mechanical hand the most according to claim 1, it is characterized in that: described Z axis control unit (603) is arranged at described Z axis slide block (6031) and above and includes Z axis servomotor (6035), the Z axis reductor (6032) being connected with described Z axis servomotor (6035), connect the Z axis drive shaft (6033) of described Z axis reductor (6032), connect Z axis drive shaft installing plate (6034) of described Z axis drive shaft (6033), the Z axis gear band (6306) being connected with described Z axis reductor (6032).
A kind of double track digital control horizontal beam type mechanical hand the most according to claim 1, it is characterised in that: described pellet fork device (601) is arranged at described Z axis guide rail (602) and above and includes installation base plate (6011), the first mechanical arm (6012), the second mechanical arm (6013), the first splined shaft (6014), the second splined shaft (6015), silk axle (6017), the first electric machine assembly (6016) and the second electric machine assembly (6018).
nullA kind of double track digital control horizontal beam type mechanical hand the most according to claim 5,It is characterized in that: described first splined shaft (6014) and described second splined shaft (6015) are parallel to each other and be each perpendicular to described first mechanical arm (6012) and described second mechanical arm (6013) being oppositely arranged in parallel,And by the first chain between described first splined shaft (6014) and described second splined shaft (6015)、Second chain connects,Described silk axle (6017) is parallel to described first splined shaft (6014) and described second splined shaft (6015) and is arranged between described first splined shaft (6014) and described second splined shaft (6015),Described silk axle (6017) is connected with described first electric machine assembly (6016) by the 3rd chain and is connected with described second electric machine assembly (6018) by the 4th chain.
A kind of double track digital control horizontal beam type mechanical hand the most according to claim 1 and 2, it is characterised in that: described first X-axis guide rail (1) and described second X-axis guide rail (2) lower section are provided with multiple supporting leg (5).
A kind of double track digital control horizontal beam type mechanical hand the most according to claim 4, it is characterized in that: described pellet fork device (601) is arranged on described Z axis gear band (6306), and completed the up and down motion of described pellet fork device (601) by described Z axis gear band (6306).
CN201620300865.4U 2016-04-13 2016-04-13 Double track numerical control crossbeam formula manipulator Active CN205630666U (en)

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CN201620300865.4U CN205630666U (en) 2016-04-13 2016-04-13 Double track numerical control crossbeam formula manipulator

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Application Number Priority Date Filing Date Title
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107010424A (en) * 2017-04-10 2017-08-04 武汉理工大学 The automatic de-stacking device and method of laser scanning
CN107902426A (en) * 2017-11-28 2018-04-13 醴陵市绿源商贸有限公司 A kind of material intelligent distribution box folds code assembling device and folded code assembly method
CN108910431A (en) * 2018-05-29 2018-11-30 佛山市奥通工业设备有限公司 A kind of Hanging type automatic transfer-machine for water heater liner
CN109250450A (en) * 2017-01-03 2019-01-22 东莞理工学院 A kind of assembling reclaimer convenient for conveying
CN109847301A (en) * 2019-01-16 2019-06-07 中科新松有限公司 A kind of ping-pong robot

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109250450B (en) * 2017-01-03 2020-11-27 浙江新海动力设备股份有限公司 Assembly reclaimer convenient to carry
CN109250450A (en) * 2017-01-03 2019-01-22 东莞理工学院 A kind of assembling reclaimer convenient for conveying
CN107010424A (en) * 2017-04-10 2017-08-04 武汉理工大学 The automatic de-stacking device and method of laser scanning
CN107010424B (en) * 2017-04-10 2019-05-17 武汉理工大学 The automatic de-stacking device and method of laser scanning
CN107902426A (en) * 2017-11-28 2018-04-13 醴陵市绿源商贸有限公司 A kind of material intelligent distribution box folds code assembling device and folded code assembly method
CN108910431A (en) * 2018-05-29 2018-11-30 佛山市奥通工业设备有限公司 A kind of Hanging type automatic transfer-machine for water heater liner
CN108910431B (en) * 2018-05-29 2020-08-21 佛山市奥通工业设备有限公司 Hanging type automatic transfer machine for water heater inner container
CN109847301A (en) * 2019-01-16 2019-06-07 中科新松有限公司 A kind of ping-pong robot

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