CN206441387U - Industrial robot mounting work station - Google Patents

Industrial robot mounting work station Download PDF

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Publication number
CN206441387U
CN206441387U CN201720064933.6U CN201720064933U CN206441387U CN 206441387 U CN206441387 U CN 206441387U CN 201720064933 U CN201720064933 U CN 201720064933U CN 206441387 U CN206441387 U CN 206441387U
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China
Prior art keywords
fixed
industrial robot
plate
clamping jaw
assembling
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Active
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CN201720064933.6U
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Chinese (zh)
Inventor
巢勤奋
潘毅
祁连祥
周坚强
吴乐平
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Nanjing Sunrise Numerical Control Technology Co Ltd
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Nanjing Sunrise Numerical Control Technology Co Ltd
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Abstract

The utility model is related to a kind of industrial robot mounting work station, including industrial robot mounting seat, industrial robot, the multi-functional clamping jaw of robot and end effector mechanism, assemble mechanism, feed mechanism and erecting bed, described assemble mechanism and feed mechanism is fixed by screws on erecting bed, the multi-functional clamping jaw of described robot and end effector mechanism are arranged on the 6th axle output end of industrial robot end by screw, described industrial robot is fixed by screws in industrial robot mounting seat, underrun screw and the ground of industrial robot mounting seat are fixed together.The utility model is simple in construction, reasonable in design, can be good at carrying out related real training examination by assembly tooling station, is easy to practice teaching so that the efficiency of real training is greatly improved.

Description

Industrial robot mounting work station
Technical field
The utility model is related to a kind of industrial robot mounting work station, belongs to industrial machine teaching training device technology neck Domain.
Background technology
Industrial Robot Technology has become one of mainstay of current industrial automation production, domestic robot technology And robot application there has been significant progress, country also will incorporate robot and intelligence manufacture national science and technology innovation Priority setting field.In order to adapt to all opened up in the change of social demand, each institution of higher learning and robot technology and application Related specialty, and the manufacture of associated course and real training apparatus for checking has become extremely urgent thing.In order to full Sufficient institution of higher learning's teaching demand, so as to devise industrial robot mounting work station.
Utility model content
The purpose of this utility model is:For the defect of prior art, it is proposed that a kind of industrial robot assembly work Stand, the work station is simple in construction, reasonable in design, disclosure satisfy that the real training demand of industrial robot work station.
The technical scheme that the utility model is used is:A kind of industrial robot mounting work station, including industrial robot The multi-functional clamping jaw of mounting seat, industrial robot, robot and end effector mechanism, assemble mechanism, feed mechanism and erecting bed, Described assemble mechanism and feed mechanism is fixed by screws on erecting bed, and the multi-functional clamping jaw of described robot and end are held Row mechanism is arranged on the 6th axle output end of industrial robot end by screw, and described industrial robot is fixed by screw In industrial robot mounting seat, underrun screw and the ground of industrial robot mounting seat are fixed together.
In the utility model:Described feed mechanism include feed bin mechanism, separated material stock stop, logistics delivery mechanism and Testing agency, said mechanism is fixed on the mounting base of bottom by installing column;Described feed bin mechanism includes blank zero Part feed bin and feed bin fixed seat, both are fixed on after constituting on feed bin bottom plate, then are fixed on logistics delivery by padded fixed block On active rod bearing installing plate on the right side of mechanism;Described testing agency includes feed bin has material to examine without material detection switch and material grasping position Feed bin is installed without material detection switch on the left of slowdown monitoring switch, described feed bin fixed seat, use is installed on the right side of feed bin fixed seat The separated material stock stop discharged in order in control blank part, wherein described separated material mechanism includes separated material cylinder and separated material is pushed away Block, described stock stop includes backgauge cylinder and backgauge tray, and Liang Ge mechanisms are fixed on cylinder mounting plate in upper-lower position; Described logistics delivery mechanism includes material flow line main body, conveyer belt, drive roll, drive roll bearing installing plate, driven voller, driven voller Bearing installing plate and motor composition, drive roll bearing installing plate and driven roller bearing installing plate are arranged on logistics in groups respectively Line main body both sides, drive roll is connected on the inside of respective bearing installing plate by bearing, and material flow line conveyer belt is wound on material flow line master The outside of body and drive roll, then by the tensioner of driven voller side on drive roll.
In the utility model:The lower end of the cylinder mounting plate links together with feed bin bottom plate, and upper end passes through connection Fixed plate links together with feed bin fixed seat.
In the utility model:Positioning striker plate is installed above described driven roller bearing installing plate, for ensureing base Expect location consistency of the part in material grasping position, the installed in front of driven roller bearing installing plate has material grasping position to have material detection switch, used Can be with the signal of feeding in feeding back to industrial robot.
In the utility model:The assemble mechanism includes Assembly part clamping device, assembling feed mechanism, binder assembling Mechanism and parts warehouse, said mechanism are each attached on mounting base, and described Assembly part clamping device is fixed on assembling and sent Expect in mechanism, binder assemble mechanism is by assembly bench support across above assembling feed mechanism, and its underpart is consolidated with mounting base Fixed, top is fixed with binder assembling cylinder mounting plate, and its right flank, which is fixed with solenoid valve block installing plate, to be used to install Motionless electromagnetic Valve group, described parts warehouse is fixed on the binder of the front upper of binder assemble mechanism assembling cylinder mounting plate, its upper strata For assembling masterbatch and assembling warehouse for finished product, lower floor is assembling son material storehouse.
In the utility model:The Assembly part clamping device includes Pneumatic parallel finger and clamping jaw, described assembling Feed mechanism is fixed on after including supporting plate, line slideway, guide rail installing plate and feeding cylinder, Pneumatic parallel finger and clamping jaw composition On supporting plate, it is connected to by the line slideway under it on the guide rail installing plate under it, the rear portion of planker is connected with feeding cylinder;Institute The guide rail installing plate stated is fixed on mounting base.
In the utility model:The binder assembling cylinder mounting plate assembles cylinder provided with binder.
In the utility model:The multi-functional clamping jaw of robot and end effector mechanism include the symmetrical composition of two pieces Clip claw mechanism, coupling to be provided with below boss, the middle part of clip claw mechanism provided with clamping jaw above the middle part of clip claw mechanism is used to clamp A pair of long cantilever structures are extended in the instrument clamping jaw of various functions instrument, the middle part of clip claw mechanism to front side, in long cantilever structure End be provided with and be used to clamp the V-type large size clamping jaw of big specification masterbatch, the middle part of clip claw mechanism extends short a pair outstanding to rear side Arm configuration, being provided with the end of short cantilever design is used for the small size clamping jaw of V-type for clamping small dimension material.
In the utility model:Described clamping jaw connection boss is provided with screw, the clamping jaw connection boss and is fixed with Pneumatic parallel finger, causes the output end finger of Pneumatic parallel finger bottom to be fixed on clamping jaw and join by the cooperation of screw and screw Connect on boss.
In the utility model:The top of described Pneumatic parallel finger couples flange provided with end, by screw by end End connection flange and the 6th axle of industrial robot end are fixed together.
After adopting the above technical scheme, the beneficial effects of the utility model are:The utility model is simple in construction, design is closed Reason, can be good at carrying out related real training examination by assembly tooling station, is easy to practice teaching so that the efficiency of real training is significantly Raising.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is feed mechanism schematic diagram of the present utility model;
Fig. 3 is assemble mechanism schematic diagram of the present utility model;
Fig. 4 is the multi-functional clamping jaw of robot of the present utility model and end effector mechanism schematic diagram;
Fig. 5 is the multi-functional clamping jaw of robot of the present utility model and another schematic diagram of end effector mechanism.
In figure:1. industrial robot mounting seat;2. industrial robot;3. the multi-functional clamping jaw of robot and end perform machine Structure;4. assemble mechanism;5. feed mechanism;6. erecting bed;7. there is material detection switch material grasping position;8. position striker plate;9. blank zero Part;10. feed bin is without material detection switch;11. feed bin fixed seat;12. blank part feed bin;13. blank part group;14. connection is solid Fixed board;15. separated material pushing block;16. backgauge tray;17. cylinder mounting plate;18. separated material cylinder;19. feed bin bottom plate;20. backgauge gas Cylinder;21. padded fixed block;22. drive roll bearing installing plate;23. mounting base;24. material flow line main body;25. column is installed; 26. conveyer belt;27. driven roller bearing installing plate;28. detection switch mounting bracket;29. mounting base;30. guide rail installing plate; 31. line slideway;32. planker;33. Pneumatic parallel finger;34. clamping jaw;35. assembly bench support;36. parts warehouse;37. electromagnetism Valve group;38. feeding cylinder;39. solenoid valve block installing plate;40. binder assembles cylinder mounting plate;41. binder assembles cylinder;42. Assembling son material;43. assemble masterbatch;44. clamping jaw couples boss;45. instrument clamping jaw;46.V type large size clamping jaws;47.V types trumpet folder Pawl;48. Pneumatic parallel finger;49. end couples flange;50. screw.
Embodiment
The utility model is further described below in conjunction with accompanying drawing.
As seen from Figure 1, a kind of industrial robot mounting work station, including industrial robot mounting seat 1, industrial robot 2nd, the multi-functional clamping jaw of robot and end effector mechanism 3, assemble mechanism 4, feed mechanism 5 and erecting bed 6, described assemble mechanism 4 and feed mechanism 5 be fixed by screws on erecting bed 6, the multi-functional clamping jaw of described robot and end effector mechanism 3 pass through Screw is arranged on the 6th axle output end of the end of industrial robot 2, and described industrial robot 2 is fixed by screws in industrial machine In device people mounting seat 1, underrun screw and the ground of industrial robot mounting seat 1 are fixed together.
After the instruction of assembling real training is received, the work of assemble mechanism 4 of industrial robot mounting work station will assembling mother Material clamps assembling masterbatch after delivering on the clamping jaw on the clamping device of the bottom of assemble mechanism 4;Industrial robot mounting work station The work of feed mechanism 5 completes the feeding action to assembling son material and assembling son material is delivered into the wait of feeding position;Industrial robot 2 works The multi-functional clamping jaw and executing agency 3 for driving its end complete the feeding and feeding action to assembling son material;Industrial robot is filled The assembling fabricated part assembled is moved to it by the work of assemble mechanism 4 with work station after completing the assembling action to assembling son material Loading and unloading station is waited and taken away;The work of industrial robot 2 drives the multi-functional clamping jaw of its end and executing agency 3 to complete to assembling The storage action of fabricated part;So far the assembling real training workflow for completing whole mounting work station waits next assembling real training Instruction.
From Figure 2 it can be seen that described feed mechanism includes feed bin mechanism, separated material stock stop, logistics delivery mechanism and detection Mechanism, said mechanism is fixed on the mounting base 23 of bottom by installing column 25;Described feed bin mechanism includes blank zero Part feed bin 12 and feed bin fixed seat 11, both are fixed on after constituting on feed bin bottom plate 19, then are fixed on by padded fixed block 21 On active rod bearing installing plate 22 on the right side of logistics delivery mechanism;Described testing agency includes feed bin without the material He of detection switch 10 There is material detection switch 7 material grasping position, and the left side of described feed bin fixed seat 11 is provided with feed bin without material detection switch 10, and feed bin is fixed The right side of seat 11 is provided with the separated material stock stop for controlling blank part to discharge in order, wherein described separated material mechanism includes Separated material cylinder 18 and separated material pushing block 15, described stock stop include backgauge cylinder 20 and backgauge tray 16, and Liang Ge mechanisms are presented Lower position is fixed on cylinder mounting plate 17;Described logistics delivery mechanism includes material flow line main body 24, conveyer belt 26, active Roller, drive roll bearing installing plate 22, driven voller, driven roller bearing installing plate 27 and motor composition, drive roll bearing are installed Plate 22 and driven roller bearing installing plate 27 are arranged on the both sides of material flow line main body 24 in groups respectively, and drive roll is connected to respectively by bearing From bearing installing plate on the inside of, conveyer belt 26 is wound on the outside of material flow line main body 24 and drive roll, then rising by driven voller side Tightly on drive roll.The lower end of the cylinder mounting plate 17 links together with feed bin bottom plate 19, and upper end passes through the plate that is connected 14 link together with feed bin fixed seat 11;The described top of driven roller bearing installing plate 27 is provided with positioning striker plate 8, is used for Ensure location consistency of the blank part 9 in material grasping position, the installed in front of driven roller bearing installing plate 27 has material grasping position to have material to examine Slowdown monitoring switch 7, can be with the signal of feeding for feeding back to industrial robot.
During concrete operations, the signal that industrial robot will ask for material is sent to the feed mechanism of the work station, separated material gas Cylinder 18, which works, makes piston rod stretching promote separated material pushing block 15 to fix the push-tight of blank part 9 of the inner side of feed bin fixed seat 11 in feed bin On 11 inwalls of seat, making all blank part fixations of the blank part 9 and its top can not fall;The work of backgauge cylinder 20 makes work Stopper rod, which is retracted, drives backgauge tray 16 to retract, and makes to fall on feed bin mechanism under the only blank part 9 in the top of backgauge tray 16 On the conveyer belt 26 of the logistics delivery mechanism of lower section;The motor work driving conveying belt 26 of logistics delivery mechanism and thereon Moved at the positioning striker plate 8 of blank part 9 to the left, blank part 9 is acted on by positioning striker plate 8 and is accurately positioned at and grabs At material position;The material grasping position of the front side of driven roller bearing installing plate 27, which has, expects that detection switch 7 detects blank part 9 and sent afterwards in place The blank part 9 of material grasping position is taken away to industrial robot, industrial robot work and does follow-up work, so far completed by feeding signal Whole feeding workflow waits next feeding signal of industrial robot.
As seen from Figure 3, the assemble mechanism includes Assembly part clamping device, assembling feed mechanism, binder assemble mechanism With parts warehouse 36, said mechanism is each attached on mounting base 29, and described Assembly part clamping device is fixed on assembling and sent Expect mechanism on, binder assemble mechanism by assembly bench support 35 across assembling feed mechanism above, its underpart and mounting base 29 are fixed, and top is fixed with binder assembling cylinder mounting plate 40, and its right flank, which is fixed with solenoid valve block installing plate 39, to be used to install Motionless electromagnetic valve group 37, the binder assembling cylinder that described parts warehouse 36 is fixed on the front upper of binder assemble mechanism is installed On plate 40, the binder assembling cylinder mounting plate 40 assembles cylinder 41 provided with binder, and assembling masterbatch is in its upper strata and is assembled into Product storehouse, lower floor is assembling son material storehouse.The Assembly part clamping device includes Pneumatic parallel finger 33 and clamping jaw 34, described dress Include supporting plate 32, line slideway 31, guide rail installing plate 30 and feeding cylinder 38, Pneumatic parallel finger 33 and clamping jaw with feed mechanism It is fixed on supporting plate 32, is connected to by the line slideway 31 under it on the guide rail installing plate 30 under it, planker 32 after 34 compositions Rear portion be connected with feeding cylinder 38;Described guide rail installing plate 30 is fixed on mounting base 29.
When it is implemented, robot is transferred to the loading and unloading of bottom after the assembling masterbatch 43 on the upper strata of parts warehouse 36 is captured On clamping jaw 34 on the Assembly part clamping device of station, clamping jaw 34 clamps assembling masterbatch by the action of Pneumatic parallel finger 33 43, robot will be transferred to the clamped top of assembling masterbatch 43 after the crawl of assembling material 42 of the lower floor of parts warehouse 36 again and pre-install Enter to assemble in masterbatch 43, due to assembling son material 42 on have dedicated elas-tic body, can keep before assembly state it is constant, feeding gas The work of cylinder 38 is pulled and moved after planker 32, and part clamping device thereon and clamped prepackage Assembly part are transferred into assembler The inside of 14 press-in assembling masterbatch of assembling material 15 is completed assembly work, binder assembling cylinder by position, binder assembling cylinder 13 work The Work Promote planker 32 of feeding cylinder 38 moves forward after 41 retractions, by part clamping device thereon and the clamped dress assembled Replace the spare parts and be transferred to loading and unloading station, clamping jaw 34 is acted by Pneumatic parallel finger 33 unclamps the Assembly part assembled, Robot moves to the assembling finished product that the upper strata of parts warehouse 36 is put into after loading and unloading station captures the Assembly part assembled In storehouse, whole assembly work flow is so far completed.
From Fig. 4-5, the multi-functional clamping jaw of robot and end effector mechanism include the symmetrical composition of two pieces Coupling to be provided with below boss 44, the middle part of clip claw mechanism provided with clamping jaw above clip claw mechanism, the middle part of clip claw mechanism is used to clamp A pair of long cantilever structures are extended in the instrument clamping jaw 45 of various functions instrument, the middle part of clip claw mechanism to front side, in long cantilever knot The end of structure is provided with the V-type large size clamping jaw 46 for being used for clamping big specification masterbatch, and the middle part of clip claw mechanism is extended a pair to rear side Short cantilever design, being provided with the end of short cantilever design is used for the small size clamping jaw 47 of V-type for clamping small dimension material;Described clamping jaw Couple boss 44 and be provided with screw 50, the clamping jaw couples is fixed with Pneumatic parallel finger 48 on boss 44, passes through screw and spiral shell The cooperation in hole 50 causes the output end finger of the Pneumatic parallel bottom of finger 48 to be fixed on clamping jaw connection boss 44;Described is pneumatic The top of parallel finger 48 couples flange 49 provided with end, and end is coupled to the of flange and industrial robot end by screw Six axles are fixed together.In practical application, by after dependent instruction control industrial robot movement navigate to it is specific some Position and stop after functional station, the finger of Pneumatic parallel hand 48 for sending subsequent instructions control industrial robot end effector does corresponding Closure or opening action, with control multi-functional clamping jaw front and rear sides V-type clamping jaw i.e. V-type large size clamping jaw 46 and V-type trumpet press from both sides Pawl 47 does the corresponding instrument clamping jaw for capturing or putting down below in the middle part of action, and the multi-functional clamping jaw of control to relative blank part 45 pairs of each function tool groups do corresponding crawl and use or put down homing action, can be made by the action of Pneumatic parallel finger 48 Multi-functional clamping jaw does a range of opening and closing movement to reach each function instrument of clamping and blank part.
Embodiment of the present utility model is described above, but the utility model is not limited to the above and retouched State.For a person skilled in the art, any equal modifications and substitutions to the technical program are all in the utility model Scope among.Therefore, the impartial conversion and modification made in the case where not departing from spirit and scope of the present utility model, should all cover In the range of the utility model.

Claims (10)

1. a kind of industrial robot mounting work station, it is characterised in that:Including industrial robot mounting seat, industrial robot, The multi-functional clamping jaw of robot and end effector mechanism, assemble mechanism, feed mechanism and erecting bed, described assemble mechanism and feeding Mechanism is fixed by screws on erecting bed, and the multi-functional clamping jaw of described robot and end effector mechanism are arranged on by screw 6th axle output end of industrial robot end, described industrial robot is fixed by screws in industrial robot mounting seat On, underrun screw and the ground of industrial robot mounting seat are fixed together.
2. industrial robot mounting work station according to claim 1, it is characterised in that:Described feed mechanism includes material Storehouse mechanism, separated material stock stop, logistics delivery mechanism and testing agency, said mechanism are fixed on the peace of bottom by installing column Fill on bottom plate;Described feed bin mechanism includes blank part feed bin and feed bin fixed seat, and both are fixed on feed bin bottom plate after constituting On, then be fixed on the active rod bearing installing plate on the right side of logistics delivery mechanism by padded fixed block;Described testing agency Have including feed bin without material detection switch and material grasping position and feed bin is installed without material on the left of material detection switch, described feed bin fixed seat Separated material stock stop for controlling blank part to discharge in order, wherein institute are installed on the right side of detection switch, feed bin fixed seat The separated material mechanism stated includes separated material cylinder and separated material pushing block, and described stock stop includes backgauge cylinder and backgauge tray, two Mechanism is fixed on cylinder mounting plate in upper-lower position;Described logistics delivery mechanism includes material flow line main body, conveyer belt, active Roller, drive roll bearing installing plate, driven voller, driven roller bearing installing plate and motor composition, drive roll bearing installing plate and Driven roller bearing installing plate is arranged on material flow line main body both sides in groups respectively, and drive roll is connected to respective bearing by bearing pacifies Fill on the inside of plate, material flow line conveyer belt is wound on the outside of material flow line main body and drive roll, then by the tensioner of driven voller side actively On roller.
3. industrial robot mounting work station according to claim 2, it is characterised in that:The lower end of the cylinder mounting plate Linked together with feed bin bottom plate, upper end is linked together by the plate that is connected with feed bin fixed seat.
4. industrial robot mounting work station according to claim 2, it is characterised in that:Described driven roller bearing is installed Positioning striker plate is installed above plate, for ensureing location consistency of the blank part in material grasping position, driven roller bearing installing plate Installed in front have material grasping position have material detection switch, can be with the signal of feeding for feeding back to industrial robot.
5. industrial robot mounting work station according to claim 1, it is characterised in that:The assemble mechanism includes assembling Part clamping device, assembling feed mechanism, binder assemble mechanism and parts warehouse, said mechanism are each attached on mounting base, Described Assembly part clamping device is fixed on assembling feed mechanism, and binder assemble mechanism is by assembly bench support across in dress With above feed mechanism, its underpart is fixed with mounting base, and top is fixed with binder assembling cylinder mounting plate, and its right flank is fixed There is solenoid valve block installing plate to be used to Motionless electromagnetic valve group be installed, described parts warehouse is fixed on the front portion of binder assemble mechanism On the binder assembling cylinder mounting plate of side, its upper strata is assembling masterbatch and assembling warehouse for finished product, and lower floor is assembling son material storehouse.
6. industrial robot mounting work station according to claim 5, it is characterised in that:The Assembly part clamping device Including Pneumatic parallel finger and clamping jaw, described assembling feed mechanism includes supporting plate, line slideway, guide rail installing plate and feeding gas It is fixed on after cylinder, Pneumatic parallel finger and clamping jaw composition on supporting plate, the guide rail being connected to by the line slideway under it under it is pacified Fill on plate, the rear portion of planker is connected with feeding cylinder;Described guide rail installing plate is fixed on mounting base.
7. industrial robot mounting work station according to claim 5, it is characterised in that:The binder assembling cylinder is installed Plate assembles cylinder provided with binder.
8. industrial robot mounting work station according to claim 1, it is characterised in that:The multi-functional clamping jaw of robot And end effector mechanism includes the clip claw mechanism of the symmetrical composition of two pieces, the middle part top of clip claw mechanism couples convex provided with clamping jaw It is provided with the instrument clamping jaw for being used for clamping various functions instrument below platform, the middle part of clip claw mechanism, the middle part of clip claw mechanism is to front side Extend a pair of long cantilever structures, the V-type large size clamping jaw for being used for clamping big specification masterbatch, folder are provided with the end of long cantilever structure Short a pair cantilever design is extended in the middle part of pawl mechanism to rear side, and being provided with the end of short cantilever design is used to clamp small dimension The small size clamping jaw of the V-type of material.
9. industrial robot mounting work station according to claim 8, it is characterised in that:On described clamping jaw connection boss Provided with screw, Pneumatic parallel finger is fixed with the clamping jaw connection boss, is caused by the cooperation of screw and screw pneumatic flat The output end finger of row finger bottom is fixed on clamping jaw connection boss.
10. industrial robot mounting work station according to claim 9, it is characterised in that:Described Pneumatic parallel finger Top couple flange provided with end, the 6th axle that end couples flange and industrial robot end is fixed on one by screw Rise.
CN201720064933.6U 2017-01-19 2017-01-19 Industrial robot mounting work station Active CN206441387U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720064933.6U CN206441387U (en) 2017-01-19 2017-01-19 Industrial robot mounting work station

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720064933.6U CN206441387U (en) 2017-01-19 2017-01-19 Industrial robot mounting work station

Publications (1)

Publication Number Publication Date
CN206441387U true CN206441387U (en) 2017-08-25

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Application Number Title Priority Date Filing Date
CN201720064933.6U Active CN206441387U (en) 2017-01-19 2017-01-19 Industrial robot mounting work station

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109926824A (en) * 2019-04-29 2019-06-25 沈阳理工大学 Compressor valve assembles device and its assembly method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109926824A (en) * 2019-04-29 2019-06-25 沈阳理工大学 Compressor valve assembles device and its assembly method

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