CN205928649U - Intelligence pay -off swing arm robot - Google Patents

Intelligence pay -off swing arm robot Download PDF

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Publication number
CN205928649U
CN205928649U CN201620906291.5U CN201620906291U CN205928649U CN 205928649 U CN205928649 U CN 205928649U CN 201620906291 U CN201620906291 U CN 201620906291U CN 205928649 U CN205928649 U CN 205928649U
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China
Prior art keywords
swing arm
lifting
horizontal
belt
fuselage
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CN201620906291.5U
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Chinese (zh)
Inventor
谢传海
钟吉民
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Guangdong Jehson Robot Co Ltd
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Guangdong Jehson Robot Co Ltd
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Priority to CN201620906291.5U priority Critical patent/CN205928649U/en
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Abstract

The utility model relates to an intelligence pay -off swing arm robot. It includes the fuselage, the swing arm, swing arm horizontal migration mechanism, swing arm angle of rotation mechanism and swing arm elevating system, be provided with a pillar in the swing arm angle of rotation mechanism, swing arm elevating system includes swing arm lifting servo motor, swing arm lift lead screw, swing arm lift seat and swing arm lift balance cylinder, swing arm lifting servo motor is connected with the drive of swing arm lift lead screw, a swing arm lift lead screw and a swing arm lift seat screw rod transmission connection, be equipped with the riser guide on the fuselage, slide about the swing arm lift seat and set up on the riser guide, swing arm lift seat and pillar fixed connection. The utility model discloses an intelligence pay -off swing arm robot drives through addding the four -axis formula at the less within range of volume, promptly: the whole rotary driving and the holistic lift of the swing arm drive of the rotary driving of swing arm anterior segment, the removal of the horizontal direction of swing arm, swing arm can realize the operations such as getting the material fast, shift and unload of material, obviously improve material transfer efficiency.

Description

Intelligent feeding swing arm robot
Technical field
The utility model is related to a kind of industrial robot, especially a kind of can replace artificial intelligent feeding in punching press industry Swing arm robot.
Background technology
In the production process of punching parts, generally require to adopt industrial robot stamping parts to be carried out extract, shift with And the action such as discharging, its application on stamping line is for improving business productivity, improve product quality, reduction produce into All there are significant economic benefit this and shortening production cycle.But, existing pressing robot, its generally there are complex structure, Floor space is big, course of action is loaded down with trivial details and the defect such as underaction, and its complicated integral structure, and drive mechanism is loaded down with trivial details, passes Send efficiency low, be unfavorable for improving production efficiency and the market competitiveness of enterprise.
Utility model content
The purpose of this utility model is to overcome the shortcomings of that above-mentioned prior art exists, and provides that a kind of structure is simple, closes Reason, flexible movements, simple, enable the operation such as feeding, transfer and discharging of material, the intelligence of material transmission efficiency can be significantly improved Can feeding swing arm robot.
The purpose of this utility model is realized in:
Intelligent feeding swing arm robot, including fuselage, swing arm, swing arm horizontal mobile mechanism, pendulum arm angle rotating mechanism and Swing arm lifting mechanism, described swing arm horizontal mobile mechanism includes horizontal guide rail, horizontal carriage, horizontal drive mechanism and horizontal servo Motor, horizontal guide rail is fixed on the top of fuselage, and swing arm is seated on horizontal guide rail by horizontal carriage, and swing arm outer end is extended Outside fuselage, horizontal servo motor drives described horizontal carriage by horizontal drive mechanism, it is characterized in that, described swing arm includes swing arm Leading portion and pendulum back segment, swing arm leading portion is provided with material grasping hand, and swing arm back segment is arranged in horizontal carriage, swing arm leading portion and swing arm back segment Between be provided with swing arm leading portion rotating mechanism, described swing arm horizontal mobile mechanism on pendulum arm angle rotating mechanism, described pendulum One pillar is provided with arm angle rotating mechanism, described swing arm lifting mechanism includes swing arm lifting servomotor, swing arm lifting silk Bar, swing arm lifting seat and swing arm lifting balance cylinder, described swing arm lifting servomotor on fuselage and with swing arm lifting silk Bar drive connection, described swing arm lifting screw mandrel is connected with swing arm lifting seat screw rod transmission, and described fuselage is provided with riser guide, institute State swing arm lifting seat and slide up and down and be arranged on riser guide, described swing arm lifting seat is fixedly connected with pillar, described swing arm liter Fall balance cylinder is fixed on fuselage bottom, and swing arm lifting balance cylinder lift telescopic end connects pillar.
The purpose of this utility model can also be solved using following technical measures:
As more specific scheme, described riser guide is located at the both sides of swing arm lifting screw mandrel, and described swing arm lifting seat is right Riser guide is answered to be provided with slide block, slide block slides up and down and is arranged on riser guide.
As further scheme, between described swing arm lifting servomotor and swing arm lifting screw mandrel, it is provided with lifting driver Structure, described swing arm lifting servomotor drives swing arm lifting screw mandrel drive connection, described lifting transmission by elevating drive mechanism Mechanism includes the first lifting belt wheel, the second lifting belt wheel, lifting transmission belt, described lifting transmission belt connect the first lifting belt wheel with Second lifting belt wheel, on the motor shaft of swing arm lifting servomotor, the second lifting belt wheel is connected to pendulum to the first lifting belt wheel On arm elevating screw.
As more specific scheme, described swing arm leading portion rotating mechanism includes swing arm leading portion rotating servo motor, first humorous Ripple reductor and the first belt, swing arm leading portion rotating servo motor is arranged on horizontal carriage or swing arm leading portion, and first harmonic subtracts Fast machine is connected between swing arm leading portion and swing arm back segment, and the first belt is connected to swing arm leading portion rotating servo motor and first harmonic Between reductor.
As further scheme, the level height of described swing arm leading portion is less than the level height of swing arm back segment.
As more specific scheme, the bottom of described swing arm back segment extends along a length thereof direction and is provided with belt chamber, and first Belt is arranged in belt chamber, and the bottom of first harmonic reductor is connected with swing arm leading portion, and its top embeds the skin of swing arm back segment It is connected in band chamber and with the first belt.
As more preferably scheme, described horizontal guide rail is two horizontal rail mutually balancing of back, horizontal drag Plate is seated in two horizontal rail by both sides rail chair, and horizontal drive mechanism includes front-wheel, trailing wheel and the second belt, front-wheel and after Wheel sets up separately in the front-end and back-end of two horizontal rail, and the second belt is connected between front wheels and rear wheels, and front-wheel is by horizontal servo Motor drives, and horizontal carriage is located between front wheels and rear wheels and is connected with the second belt transmission.
As more specifically scheme, it is additionally provided with dee by the horizontal rail of described fuselage, is provided with dee and drags Chain, one end of drag chain connects on dee, and the other end connects swing arm back segment.
As more specifically scheme, described pendulum arm angle rotating mechanism includes angle rotating servo motor, angle rotation skin Band and second harmonic reductor, the bottom of second harmonic reductor is arranged on fuselage by support, and its top connects swing arm water Flat travel mechanism, angle rotating servo motor drives second harmonic reductor by angle rotating belt.
As more preferably embodiment, described angle rotating servo motor is fixed on support, swing arm horizontal mobile mechanism Bottom is provided with fixed seat, and the top of second harmonic reductor is arranged in fixed seat.
The beneficial effects of the utility model are as follows:
(1)Intelligent feeding swing arm robot of the present utility model, is driven by setting up four-axle type in the range of small volume Dynamic, that is,:The rotation driving of swing arm leading portion, the horizontal direction movement of swing arm, the integral-rotation driving of swing arm and swing arm entirety Lifting drives, and enables the operation such as quick feeding, transfer and discharging of material hence it is evident that improving material transmission efficiency;And, swing arm Robot overall structure is simple, rationally.More have plenty of, it is secondary real that swing arm lifting mechanism of the present utility model uses screw rod transmission Now lift, screw rod transmission auxiliary driving is stable, high transmission accuracy.
(2)Further, this intelligent feeding swing arm robot, being useful in punching press industry, substantially increasing production efficiency hence it is evident that subtracting The usage amount of little workman, its security also substantially obtains and improves.
Brief description
Fig. 1 is the structural representation of the utility model intelligence feeding swing arm robot.
Fig. 2 is the decomposition texture schematic diagram of Fig. 1.
Fig. 3 is the structural representation that Fig. 1 omits fuselage.
Fig. 4 is the side view of Fig. 3.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment is further described to the utility model.
As shown in Fig. 1 to Fig. 4, intelligent feeding swing arm robot, including fuselage 1, swing arm 2, swing arm horizontal mobile mechanism 3, Pendulum arm angle rotating mechanism 4 and swing arm lifting mechanism 5, described swing arm horizontal mobile mechanism 3 includes horizontal guide rail 31, horizontal carriage 32nd, horizontal drive mechanism 33 and horizontal servo motor 34, horizontal guide rail 31 is fixed on the top of fuselage 1, and horizontal drag is passed through in swing arm 2 Plate 32 is seated on horizontal guide rail 31, and swing arm 2 outer end is extended outside fuselage 1, and horizontal servo motor 34 passes through horizontal drive mechanism The 33 described horizontal carriage 32 of drive, described swing arm 2 includes the swing arm leading portion 21 being connected and pendulum back segment, and swing arm leading portion 21 is provided with Material grasping hand 23, swing arm back segment 22 is arranged in horizontal carriage 32, before being provided with swing arm between swing arm leading portion 21 and swing arm back segment 22 Section rotating mechanism 24.Described swing arm horizontal mobile mechanism 3 on pendulum arm angle rotating mechanism 4, described pendulum arm angle whirler One pillar 45 is provided with structure 4, described swing arm lifting mechanism 5 includes swing arm lifting servomotor 51, swing arm lifting screw mandrel 53, pendulum Arm lifting seat 52 and swing arm lifting balance cylinder 54, described swing arm lifting servomotor 51 on fuselage 1 and and swing arm lifting Screw mandrel 53 drive connection, described swing arm lifting screw mandrel 53 is connected with swing arm lifting seat 52 screw rod transmission, and described fuselage 1 is provided with liter Fall guide rail 11, described swing arm lifting seat 52 slides up and down and is arranged on riser guide 11, described swing arm lifting seat 52 and pillar 45 It is fixedly connected, described swing arm lifting balance cylinder 54 is fixed on fuselage 1 bottom, the lift telescopic end of swing arm lifting balance cylinder is even Connect pillar 45.Described swing arm lifting balance cylinder 54 is for assisting swing arm horizontal mobile mechanism 3 and pendulum arm angle rotating mechanism 4 Lifting moving, so that robot keeps preferably stability in the course of the work.
As the utility model more specifically technical scheme.
Described riser guide 11 is located at the both sides of swing arm lifting screw mandrel 53, and the corresponding lifting of described swing arm lifting seat 52 is led Rail 11 is provided with slide block 56, and slide block 56 slides up and down and is arranged on riser guide 11.
It is provided with elevating drive mechanism 55, described swing arm between described swing arm lifting servomotor 51 and swing arm lifting screw mandrel 53 Lift servo motor 51 drives swing arm lifting screw mandrel 53 drive connection, described elevating drive mechanism 55 by elevating drive mechanism 55 Including the first lifting belt wheel 57, second lifting belt wheel 58, lifting transmission belt 59, described lifting transmission belt 59 connects the first lift band Wheel 57 and the second lifting belt wheel 58, on the motor shaft of swing arm lifting servomotor 51, second lifts the first lifting belt wheel 57 Belt wheel 58 is connected on swing arm lifting screw mandrel 53.
Described swing arm leading portion rotating mechanism 24 includes swing arm leading portion rotating servo motor 25, first harmonic reductor 26 and One belt 27, swing arm leading portion rotating servo motor 25 is arranged on horizontal carriage 32 or swing arm leading portion 21, first harmonic reductor 26 are connected between swing arm leading portion 21 and swing arm back segment 22, and the first belt 27 is connected to swing arm leading portion rotating servo motor 25 and Between one harmonic wave speed reducing machine 26.
The level height of described swing arm leading portion 21 is less than the level height of swing arm back segment 22.
The bottom of described swing arm back segment 22 extends along a length thereof direction and is provided with belt chamber 28, and the first belt 27 is arranged on skin In band chamber 28, the bottom of first harmonic reductor 26 is connected with swing arm leading portion 21, and its top embeds the belt chamber of swing arm back segment 22 It is connected in 28 and with the first belt 27.
Described horizontal guide rail 31 is two horizontal rail 310 mutually balancing on fuselage 1 top, and horizontal carriage 32 passes through two Siding track seat is seated in two horizontal rail 310, and horizontal drive mechanism 33 includes front-wheel 35, trailing wheel 36 and the second belt 37, front-wheel 35 and trailing wheel 36 set up separately in the front-end and back-end of two horizontal rail 310, the second belt 37 be connected to front-wheel 35 and trailing wheel 36 it Between, front-wheel 35 is driven by horizontal servo motor 34, horizontal carriage 32 be located between front-wheel 35 and trailing wheel 36 and with the second belt 37 It is in transmission connection.
It is additionally provided with dee 39 by the horizontal rail 310 of described fuselage 1, in dee 39, be provided with drag chain 391, drag chain 391 one end connects on dee 39, and the other end connects swing arm back segment 22.
Described pendulum arm angle rotating mechanism 4 includes angle rotating servo motor 41, angle rotating belt 42 and second harmonic Reductor 43, the bottom of second harmonic reductor 43 is installed on the fuselage 1 by support 44, and its top connects swing arm and moves horizontally Mechanism 3, angle rotating servo motor 41 drives second harmonic reductor 43 by angle rotating belt 42.
Described angle rotating servo motor 41 is fixed on support 44, and swing arm horizontal mobile mechanism 3 bottom is provided with fixation Seat 38, the top of second harmonic reductor 43 is arranged in fixed seat 38.
Operation principle of the present utility model is:
The utility model is typically mounted between two punch presses, and during work, first, horizontal servo motor 34 starts, level Servomotor 34 drives horizontal carriage 32 to move forward, thus driving swing arm to stretch to First punch press by horizontal drive mechanism 33 Long, material grasping hand 23 is located just at the top of the workbench of First punch press, then swing arm lifting servomotor 51 and swing arm lifting Balance cylinder 54 starts, thus driving swing arm horizontal mobile mechanism 3 and pendulum arm angle rotating mechanism 4 to decline, swing arm drops to On one punch press, then material grasping hand 23 draws the workpiece on First work bench of punch press.Then swing arm lifting servomotor 51 He Swing arm lifting balance cylinder 54 is again started up, thus driving swing arm horizontal mobile mechanism 3 and pendulum arm angle rotating mechanism 4 to rise, Swing arm rises to top on First punch press, and then horizontal servo motor 34 is again started up, and horizontal servo motor 34 drives level Planker 32 moves back to initial position, thus driving swing arm to be retracted into initial position.
Then angle rotating servo motor 41 starts, and angle rotating servo motor 41 passes through angle rotating belt 42, second Harmonic wave speed reducing machine 43 drives horizontal mobile mechanism 3 to rotate, until swing arm rotates to the angle of corresponding second punch press.Then level is watched Taking motor 34 drives horizontal carriage 32 to move forward, thus driving swing arm to stretch to second punch press by horizontal drive mechanism 33 Long, until material grasping hand 23 is elongated to the top of the workbench of second punch press.Then swing arm lifting servomotor 51 and swing arm liter Fall balance cylinder 54 starts, thus driving swing arm horizontal mobile mechanism 3 and pendulum arm angle rotating mechanism 4 to decline, until material grasping hand 23 workbench dropping to second punch press, the utility model controls material grasping hand 23 discharging again, thus workpiece is sent into second The workbench of punch press, so that the second punch press carries out the punching press of subsequent processing, thus completing the feeding of single product, shifting and go out Material process.The utility model intelligence feeding swing arm robot can realize the operation such as the feeding to material, transfer and discharging.

Claims (10)

1. intelligent feeding swing arm robot, is characterized in that, including fuselage(1), swing arm(2), swing arm horizontal mobile mechanism(3), pendulum Arm angle rotating mechanism(4)With swing arm lifting mechanism(5), described swing arm horizontal mobile mechanism(3)Including horizontal guide rail(31), water Flat planker(32), horizontal drive mechanism(33)With horizontal servo motor(34), horizontal guide rail(31)It is fixed on fuselage(1)Upper Portion, swing arm(2)By horizontal carriage(32)It is seated at horizontal guide rail(31)On, and swing arm(2)Fuselage is extended in outer end(1)Outward, water Flat servomotor(34)By horizontal drive mechanism(33)Drive described horizontal carriage(32), described swing arm(2)Before swing arm Section(21)With swing arm back segment(22), swing arm leading portion(21)Material grasping hand is installed(23), swing arm back segment(22)It is arranged on horizontal carriage (32)On, swing arm leading portion(21)With swing arm back segment(22)Between be provided with swing arm leading portion rotating mechanism(24), described swing arm level Travel mechanism(3)Located at pendulum arm angle rotating mechanism(4)On, described pendulum arm angle rotating mechanism(4)On be provided with a pillar (45), described swing arm lifting mechanism(5)Including swing arm lifting servomotor(51), swing arm lifting screw mandrel(53), swing arm lifting seat (52), and swing arm lifting balance cylinder(54), described swing arm lifting servomotor(51)Located at fuselage(1)Go up and and swing arm lifting Screw mandrel(53)Drive connection, described swing arm lifting screw mandrel(53)With swing arm lifting seat(52)Screw rod transmission connects, described fuselage(1) On be vertically provided with riser guide(11), described swing arm lifting seat(52)Slide up and down and be arranged on riser guide(11)On, Described swing arm lifting seat(52)With pillar(45)It is fixedly connected, described swing arm lifting balance cylinder(54)It is fixed on fuselage(1)Bottom Portion, swing arm lifting balance cylinder(54)Lift telescopic end connect pillar(45).
2. intelligent feeding swing arm robot according to claim 1, is characterized in that, described riser guide(11)Positioned at swing arm liter Fall screw mandrel(53)Both sides, described swing arm lifting seat(52)Corresponding riser guide(11)It is provided with slide block(56), slide block(56)Up and down It is slidably arranged in riser guide(11)On.
3. intelligent feeding swing arm robot according to claim 2, is characterized in that, described swing arm lifting servomotor(51)With Swing arm lifting screw mandrel(53)Between be provided with elevating drive mechanism(55), swing arm lifting servomotor(51)By elevating drive mechanism (55)Drive swing arm lifting screw mandrel(53)Drive connection, described elevating drive mechanism(55)Including the first lifting belt wheel(57), Two lifting belt wheels(58), lifting transmission belt(59), described lifting transmission belt(59)Connect the first lifting belt wheel(57)With second liter Fall belt wheel(58), the first lifting belt wheel(57)Located at swing arm lifting servomotor(51)Motor shaft on, second lifting belt wheel (58)It is connected to swing arm lifting screw mandrel(53)On.
4. intelligent feeding swing arm robot according to claim 3, is characterized in that, described swing arm leading portion rotating mechanism(24)Bag Include swing arm leading portion rotating servo motor(25), first harmonic reductor(26)With the first belt(27), swing arm leading portion rotating servo Motor(25)It is arranged on horizontal carriage(32)Or swing arm leading portion(21)On, first harmonic reductor(26)It is connected to swing arm leading portion (21)With swing arm back segment(22)Between, the first belt(27)It is connected to swing arm leading portion rotating servo motor(25)Subtract with first harmonic Fast machine(26)Between.
5. intelligent feeding swing arm robot according to claim 4, is characterized in that, described swing arm leading portion(21)Level height Less than swing arm back segment(22)Level height.
6. intelligent feeding swing arm robot according to claim 5, is characterized in that, described swing arm back segment(22)Bottom along it Length bearing of trend is provided with belt chamber(28), the first belt(27)It is arranged on belt chamber(28)Interior, first harmonic reductor (26)Bottom and swing arm leading portion(21)Connect, its top embeds swing arm back segment(22)Belt chamber(28)Interior and with the first skin Band(27)Connect.
7. intelligent feeding swing arm robot according to claim 6, is characterized in that, described horizontal guide rail(31)It is fuselage(1) The horizontal rail of two of top mutually balance(310), horizontal carriage(32)Two horizontal rail are seated at by both sides rail chair (310)On, horizontal drive mechanism(33)Including front-wheel(35), trailing wheel(36)With the second belt(37), front-wheel(35)And trailing wheel (36)Set up separately in two horizontal rail(310)Front-end and back-end, the second belt(37)It is connected to front-wheel(35)And trailing wheel(36) Between, front-wheel(35)By horizontal servo motor(34)Drive, horizontal carriage(32)Positioned at front-wheel(35)And trailing wheel(36)Between simultaneously With the second belt(37)It is in transmission connection.
8. intelligent feeding swing arm robot according to claim 7, is characterized in that, described fuselage(1)Horizontal rail(310) Side is additionally provided with dee(39), in dee 39, it is provided with drag chain(391), drag chain(391)One end connect dee(39) On, the other end connects swing arm back segment(22).
9. intelligent feeding swing arm robot according to claim 8, is characterized in that, described pendulum arm angle rotating mechanism(4)Bag Include angle rotating servo motor(41), angle rotating belt(42)With second harmonic reductor(43), second harmonic reductor (43)Bottom pass through support(44)It is arranged on fuselage(1)On, its top connects swing arm horizontal mobile mechanism(3), angle rotation Servomotor(41)By angle rotating belt(42)Drive second harmonic reductor(43).
10. intelligent feeding swing arm robot according to claim 9, is characterized in that, described angle rotating servo motor(41) It is fixed on support(44)On, swing arm horizontal mobile mechanism(3)Bottom is provided with fixed seat(38), second harmonic reductor(43)'s Top is arranged on fixed seat(38)On.
CN201620906291.5U 2016-08-21 2016-08-21 Intelligence pay -off swing arm robot Active CN205928649U (en)

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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108081010A (en) * 2017-11-10 2018-05-29 江苏新光数控技术有限公司 A kind of four shaft mechanical arms
CN109079044A (en) * 2017-06-14 2018-12-25 会田工程技术有限公司 The work transfer device of press machine
CN113102675A (en) * 2021-04-14 2021-07-13 上海载科智能科技有限公司 Industrial robot is applied to light-duty bearing ring high temperature hot forging and gets blowing device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109079044A (en) * 2017-06-14 2018-12-25 会田工程技术有限公司 The work transfer device of press machine
CN109079044B (en) * 2017-06-14 2022-03-15 会田工程技术有限公司 Workpiece conveying device of press
CN108081010A (en) * 2017-11-10 2018-05-29 江苏新光数控技术有限公司 A kind of four shaft mechanical arms
CN113102675A (en) * 2021-04-14 2021-07-13 上海载科智能科技有限公司 Industrial robot is applied to light-duty bearing ring high temperature hot forging and gets blowing device

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