CN207632131U - A kind of four axis robot palletizers - Google Patents
A kind of four axis robot palletizers Download PDFInfo
- Publication number
- CN207632131U CN207632131U CN201721819492.2U CN201721819492U CN207632131U CN 207632131 U CN207632131 U CN 207632131U CN 201721819492 U CN201721819492 U CN 201721819492U CN 207632131 U CN207632131 U CN 207632131U
- Authority
- CN
- China
- Prior art keywords
- swivel mount
- actuating arm
- pawl
- pedestal
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of four axis robot palletizers comprising：Pedestal, the first swivel mount on pedestal, the first driving module on the first swivel mount, the first actuating arm being installed on by horizontal drive module on the first swivel mount, the second actuating arm being set on the first swivel mount by the way that module is vertically driven, it is installed on first, the third actuating arm of second actuating arm upper end, the 4th actuating arm and clamping device set on third actuating arm end, 4th actuating arm and first, Tiebar structure is equipped between second actuating arm, first driving module includes the deceleration mechanism being set on pedestal, the cylinder axis that is arranged on deceleration mechanism center and first servo motor with deceleration mechanism cooperation installation, cylinder axis does not link with deceleration mechanism；First swivel mount is fixed on an axis upper end, and first servo motor is set on the first swivel mount, and there is cylinder axis the threading channel passed through for conducting wire and tracheae, threading channel to penetrate through the first swivel mount and pedestal, enables the first swivel mount can 360 ° of rotations.
Description
Technical field：
The utility model is related to robotic technology fields, refer in particular to a kind of four axis robot palletizers.
Background technology：
Robot palletizer is the product that machinery is organically combined with computer program.Robot palletizer has in stacking industry
It is quite widely applied, labour is greatly saved in robot palletizer, saves space, higher production is provided for modern production
Efficiency, in addition, robot palletizer flexible in operation precisely, rapidly and efficiently, stability it is high, operating efficiency is high.
Robot palletizer system uses the installation occupied space flexible compact of the coordinate robot of patented technology, and energy
Enough conceptions that energy-efficient fully-automatic building block forming machine production line is built within the scope of smaller floor space come true, and
It can be configured according to parameters such as different material packagings, stacking sequence, the numbers of plies by computer and realize different shaped packaging
Stacking requirement.
Robot palletizer is usually multiaxis humanoid robot, and driving mechanism is mainly existed by servomotor, gear reducer direct connection,
Each arm end of arm can only be rotated around its axis, and thus making the operating position mechanism of robot, there are nonlinear motion couplings
It closes.
Since robot palletizer needs to use multiple motors and cylinder, with cause conducting wire that it needs usage quantity more and
Tracheae, however, current robot palletizer causes robot palletizer cannot achieve there is no the conducting wire and tracheae is handled well
360 ° of rotations, no person can lead to the phenomenon that coiling occur, some stacking requirements for needing to be rotated by 360 ° be cannot be satisfied, to user
It causes greatly to perplex.
In view of this, the present inventor proposes following technical scheme.
Utility model content：
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of four axis robot palletizers.
In order to solve the above-mentioned technical problem, the utility model uses following technical proposals：The four axis robot palletizer packet
It includes：Pedestal, the first swivel mount being mounted on the base are installed on the first swivel mount and for driving first swivel mount opposite
First driving module of pedestal rotation, the be installed in a manner of horizontally moveable by horizontal drive module on the first swivel mount
One actuating arm, the second actuating arm being installed in a manner of being vertically movable by perpendicular drive module on the first swivel mount, installation
First actuating arm and the third actuating arm of the second actuating arm upper end, the 4th actuating arm for being installed on third actuating arm end and installation
Clamping device in the 4th actuating arm lower end is equipped with Tiebar structure between the 4th actuating arm and the first, second actuating arm, institute
State the first driving module include the deceleration mechanism being fixed on pedestal, the cylinder axis that is arranged on deceleration mechanism center and with
The first servo motor of deceleration mechanism cooperation installation, this tin axis do not link with deceleration mechanism；First swivel mount is fixedly mounted
In this tin axis upper end, which is installed on the first swivel mount, this tin axis has to be worn for what conducting wire and tracheae passed through
Line passage, the threading channel penetrate through the first swivel mount and pedestal, enable the first swivel mount can 360 ° of rotations.
Furthermore, in above-mentioned technical proposal, the deceleration mechanism includes the planet tooth being fixed on the pedestal
Wheel disc, several planetary gears being installed on planetary gear disk and the centre tooth for being sheathed on the cylinder axis and not linking with cylinder axis
Wheel disc forms small central gear and big central gear on the centre tooth wheel disc, which engages with planetary gear, should
Big central gear is engaged with the driving gear installed in first servo motor.
Furthermore, in above-mentioned technical proposal, the horizontal drive module includes to be installed on first swivel mount
On horizontal guide rail, the horizontal movable base that is installed on horizontal guide rail and be installed on the first swivel mount and and horizontal movable base
The horizontal lead screw of gearing and the first servo motor component for being installed on the first swivel mount and be used to drive horizontal lead screw rotation, should
First actuating arm lower end coordinates first bearing to be installed in horizontal movable base by first rotating shaft, the first rotating shaft and the first driving
Arm does not link, which interlocks with Tiebar structure.
Furthermore, in above-mentioned technical proposal, the perpendicular drive module includes to be installed on first swivel mount
On vertical guide rail, the lifting seat that is installed on vertical guide rail and be installed on the first swivel mount and hang down with what lifting seat interlocked
Raw silk rings bar and the second servo motor component for being installed on the first swivel mount and be used to drive down-feed screw rotation, second driving
Arm lower end coordinates second bearing to be installed on lifting seat by the second shaft, which does not link with the second actuating arm.
Furthermore, in above-mentioned technical proposal, the Tiebar structure includes to be rotatably mounted in the first drive
The set square of swing arm upper end and the first pull rod and the second pull rod for being articulated with the set square, second pull rod is with respect to set square
The other end is hinged with third actuating arm；First pull rod is fixedly connected by a gearing pulling plate with first rotating shaft, the first rotating shaft
On be fixed with a continuous action base, the continuous action base one end and the second actuating arm lower end are hinged, can when causing second actuating arm to lift
The first rotating shaft is driven to rotate.
Furthermore, in above-mentioned technical proposal, the clamping device includes being installed on third actuating arm lower end
It swivel mount and is installed in third actuating arm and for driving third servo motor that the swivel mount rotates, being installed under swivel mount
It holds and opposite can clamp and opening first holds pawl and second and holds pawl and be installed on swivel mount and be respectively used to drive
This first holds pawl and second and holds opposite the first cylinder and the second cylinder clamped and open of pawl, this first holds pawl and second
It holds to be formed between pawl and holds space.
Furthermore, in above-mentioned technical proposal, described first holds pawl and second to hold pawl be in L-shaped, and this
One, which holds pawl and second, holds pawl lower end and is both provided with angular guide surfaces.
Furthermore, in above-mentioned technical proposal, the swivel mount lower end is also equipped with hold-down mechanism, which sets up
It is held in space in described.
Furthermore, in above-mentioned technical proposal, the hold-down mechanism includes several being installed on the swivel mount lower end
Compression cylinder and the horizontal struts for being installed on compression cylinder lower end.
After adopting the above technical scheme, the utility model has the advantages that compared with prior art：This practicality
The conducting wire that motor uses in first driving module, horizontal drive module, perpendicular drive module in novel may pass through wearing for an axis
After line passage with guide in pedestal carry out wiring processing, since cylinder axis is installed on deceleration mechanism center, thus this first
When driving module drives the first swivel mount to rotate 360 °, these conducting wires rotate at rotation center, these can be prevented with this
There is the phenomenon that coiling in conducting wire, and with this, the utility model can meet some stacking requirements for needing to be rotated by 360 °, and be not in
It is the phenomenon that coiling, very convenient to use.
Description of the drawings：
Fig. 1 is the stereogram of the utility model；
Fig. 2 is the stereogram at another visual angle of the utility model；
Fig. 3 be the utility model in the base, the first swivel mount, first driving module installation diagram；
Fig. 4 is the structural schematic diagram of the first driving module in the utility model；
Fig. 5 is the sectional view of Fig. 4.
Specific implementation mode：
The utility model is further illustrated with reference to specific embodiments and the drawings.
See shown in Fig. 1-5, for a kind of four axis robot palletizers comprising：Pedestal 1, first be installed on pedestal 1 rotate
Frame 2, be installed on the first swivel mount 2 and for drive first swivel mount 2 with respect to pedestal 1 rotate first drive module 3,
The first actuating arm 4 on the first swivel mount 2 is installed in a manner of horizontally moveable by horizontal drive module 22, by vertically driving
Dynamic model group 23 is installed on the second actuating arm 5 on the first swivel mount 2, the first actuating arm 4 of installation and the in a manner of being vertically movable
The third actuating arm 6 of two actuating arms, 5 upper end, the 4th actuating arm 7 for being installed on 6 end of third actuating arm and be installed on the 4th driving
The clamping device 8 of 7 lower end of arm is equipped with Tiebar structure 9 between the 4th actuating arm 7 and the first, second actuating arm 4,5.This
One driving module 3 drives the first swivel mount 2 to be rotated relative to pedestal 1, so that clamping device 8 is rotated horizontally and swings, horizontal drive module
22 the first actuating arms 4 of driving move horizontally cooperation perpendicular drive module 23 and drive the lifting of the second actuating arm 5, and the folder can be driven with this
Device 8 is held to be moved forward and backward or move up and down.
The first driving module 3 includes the deceleration mechanism 31 being fixed on pedestal 1, is arranged in 31 center of deceleration mechanism
Cylinder axis 32 on position and the first servo motor 33 with deceleration mechanism 31 cooperation installation, this tin axis 32 do not join with deceleration mechanism 31
It is dynamic；First swivel mount 2 is fixedly installed in 32 upper end of this tin axis, which is installed on the first swivel mount 2,
There is this tin axis 32 the threading channel 321 passed through for conducting wire and tracheae, the threading channel 321 to penetrate through the first swivel mount 2 and pedestal
1, enable the first swivel mount 2 can 360 ° of rotations.That is, in the utility model first driving module 3, horizontal drive module 22,
The conducting wire that uses of motor is carried out after may pass through the threading channel 321 of an axis 32 with guiding in pedestal 1 in perpendicular drive module 23
Wiring is handled, since cylinder axis 32 is installed on 31 center of deceleration mechanism, so that the first driving module 3 first rotation of driving
When pivoted frame 2 rotates 360 °, these conducting wires rotate at rotation center, can prevent these conducting wires from showing for coiling occur with this
As with this, the utility model can meet some and need stacking requirements for being rotated by 360 °, and the phenomenon that be not in coiling, use
Get up very convenient.
The deceleration mechanism 31 includes the planetary gear disk 311 being fixed on the pedestal 1, several is installed on planet tooth
Planetary gear 312 on wheel disc 311 and the centre tooth wheel disc 313 for being sheathed on the cylinder axis 32 and not linking with cylinder axis 32, should
Small central gear 314 and big central gear 315 are formed on centre tooth wheel disc 313, the small central gear 314 and planetary gear
312 engagements, the big central gear 315 are engaged with the driving gear 331 installed in first servo motor 33.When work, first watches
Take driving gear 331 in motor 33 and drive the big central gear 315 rotation, and when big central gear 315 rotates interlock it is small in
Heart gear 314 makes small central gear 314 rotate, which can drive planetary gear 312 to rotate when rotating, and go
Star gear 312 is mounted in the planetary gear disk 311 being fixed on the pedestal 1, and to cause, which will appear
The power of negative direction makes the first swivel mount 2 installed with first servo motor 33 be rotated relative to deceleration mechanism 31.
The horizontal drive module 22 includes the horizontal guide rail 221 being installed on first swivel mount 2, is installed on water
Horizontal movable base 222 on level gauge 221 and the level for being installed on the first swivel mount 2 and being interlocked with horizontal movable base 222
Lead screw 223 and the first servo motor component 224 for being installed on the first swivel mount 2 and be used to drive the rotation of horizontal lead screw 223,
First actuating arm, 4 lower end coordinates first bearing to be installed in horizontal movable base 222 by first rotating shaft 41, the first rotating shaft 41
It does not link with the first actuating arm 4, which interlocks with Tiebar structure 9.
The perpendicular drive module 23 includes the vertical guide rail 231 being installed on first swivel mount 2, it is vertical to be installed on
Lifting seat 232 on straight guide 231 and the down-feed screw 233 for being installed on the first swivel mount 2 and being interlocked with lifting seat 232
With the second servo motor component 234 for being installed on the first swivel mount 2 and be used to drive the rotation of down-feed screw 233, second drive
5 lower end of swing arm coordinates second bearing to be installed on lifting seat 232 by the second shaft 51, second shaft 51 and the second actuating arm
5 do not link.232 lower end of the lifting seat is provided with buffer 235, and the buffer 235 is towards 2 lower end of the first swivel mount.
The Tiebar structure 9 includes the set square 91 and hinge for being rotatably mounted in 4 upper end of the first actuating arm
It is connected to the first pull rod 92 and the second pull rod 93 of the set square 91, the other end and third of second pull rod 93 with respect to set square 91
Actuating arm 6 is hinged；First pull rod 92 is fixedly connected by a gearing pulling plate 94 with first rotating shaft 41, solid in the first rotating shaft 41
Surely there is a continuous action base 42,42 one end of continuous action base is hinged with 5 lower end of the second actuating arm, when causing second actuating arm 5 to lift
The first rotating shaft 41 can be driven to rotate.
The clamping device 8 includes being installed on the swivel mount 81 of 6 lower end of third actuating arm and being installed on third to drive
In arm 6 and it is used to drive the third servo motor 82 of the swivel mount 81 rotation, is installed on 81 lower end of swivel mount and opposite can clamp
Pawl 83 and second is held with the first of opening to hold pawl 84 and be installed on swivel mount 81 and be respectively used to drive first folder
Holding claw 83 and second holds opposite the first cylinder 85 and the second cylinder 86 clamped and open of pawl 84, this first holds pawl 83 and the
Two hold to be formed between pawl 84 and hold space.
Described first holds pawl 83 and second to hold pawl 84 be in L-shaped, and this first holds pawl 83 and second and hold pawl
84 lower ends are both provided with angular guide surfaces, with this can make first hold pawl 83 and second hold 84 lower end of pawl can be more smooth
Insertion product to be palletized, and can avoid puncturing product to be palletized.
81 lower end of the swivel mount is also equipped with hold-down mechanism 87, which is placed in described hold in space.Tool
For body, the hold-down mechanism 87 includes several compression cylinders 871 for being installed on 81 lower end of the swivel mount and is installed on pressure
The horizontal struts 872 of tight 871 lower end of cylinder.When first hold pawl 83 and second hold pawl 84 folder report product to be palletized after, pressure
Horizontal struts 872 in tight mechanism 87 are further ensured that folder report stability downwardly against product to be palletized with this.
In conclusion electric in the first driving module 3, horizontal drive module 22, perpendicular drive module 23 in the utility model
The conducting wire that machine uses may pass through and carry out wiring processing in pedestal 1 to guide to behind the threading channel 321 of an axis 32, due to cylinder axis 32
It is installed on 31 center of deceleration mechanism, so that when the first driving module 3 drives the first swivel mount 2 to rotate 360 °,
These conducting wires rotate at rotation center, can prevent these conducting wires from the phenomenon that coiling occur with this, and with this, the utility model can expire
Some need the stacking requirement that is rotated by 360 ° to foot, and the phenomenon that be not in coiling, very convenient to use.
Certainly, it is not to implement to limit the utility model the foregoing is merely specific embodiment of the utility model
Range, it is all according to the equivalent change or modification that structure, feature and principle is done described in present utility model application the scope of the claims, it should all wrap
It includes in present utility model application the scope of the claims.
Claims (9)
1. a kind of four axis robot palletizers comprising：Pedestal (1), is installed on the first swivel mount (2) being installed on pedestal (1)
On first swivel mount (2) and for drive first swivel mount (2) with respect to pedestal (1) rotate first drive module (3), pass through
Horizontal drive module (22) is installed on the first actuating arm (4) on the first swivel mount (2), by vertical in a manner of horizontally moveable
Module (23) is driven to be installed on the second actuating arm (5) on the first swivel mount (2), the first driving of installation in a manner of being vertically movable
Arm (4) and the third actuating arm (6) of the second actuating arm (5) upper end, the 4th actuating arm for being installed on third actuating arm (6) end
(7) and it is installed on the clamping device (8) of the 4th actuating arm (7) lower end, the 4th actuating arm (7) and the first, second actuating arm (4,
5) Tiebar structure (9) is installed between,
It is characterized in that：The first driving module (3) includes the deceleration mechanism (31) being fixed on pedestal (1), is arranged in
Cylinder axis (32) on deceleration mechanism (31) center and the first servo motor (33) with deceleration mechanism (31) cooperation installation, should
Cylinder axis (32) does not link with deceleration mechanism (31)；First swivel mount (2) is fixedly installed in this tin axis (32) upper end, this first
Servo motor (33) is installed on the first swivel mount (2), this tin axis (32) has the threading channel passed through for conducting wire and tracheae
(321), which penetrates through the first swivel mount (2) and pedestal (1), enables the first swivel mount (2) can 360 ° of rotations.
2. a kind of four axis robot palletizer according to claim 1, it is characterised in that：The deceleration mechanism (31) includes
Planetary gear disk (311), several planetary gears being installed on planetary gear disk (311) being fixed on the pedestal (1)
(312) and the centre tooth wheel disc (313) that is sheathed on the cylinder axis (32) and does not link with cylinder axis (32), the centre tooth wheel disc
(313) small central gear (314) and big central gear (315) are formed on, the small central gear (314) and planetary gear
(312) it engages, which engages with the driving gear (331) installed in first servo motor (33).
3. a kind of four axis robot palletizer according to claim 1, it is characterised in that：Horizontal drive module (22) packet
It includes the horizontal guide rail (221) being installed on first swivel mount (2), be installed on moving horizontally on horizontal guide rail (221)
It seat (222) and is installed on the first swivel mount (2) and the horizontal lead screw (223) that is interlocked with horizontal movable base (222) and installs
In the first servo motor component (224) on the first swivel mount (2) and for driving horizontal lead screw (223) to rotate, first drive
Swing arm (4) lower end coordinates first bearing to be installed in horizontal movable base (222) by first rotating shaft (41), the first rotating shaft (41)
It does not link with the first actuating arm (4), which interlocks with Tiebar structure (9).
4. a kind of four axis robot palletizer according to claim 3, it is characterised in that：Perpendicular drive module (23) packet
Include the vertical guide rail (231) being installed on first swivel mount (2), the lifting seat being installed on vertical guide rail (231)
(232) it and is installed on the first swivel mount (2) and the down-feed screw (233) that is interlocked with lifting seat (232) and is installed on first
The second servo motor component (234) on swivel mount (2) and for driving down-feed screw (233) to rotate, second actuating arm (5)
Lower end coordinates second bearing to be installed on lifting seat (232) by the second shaft (51), second shaft (51) and the second driving
Arm (5) does not link.
5. a kind of four axis robot palletizer according to claim 3, it is characterised in that：The Tiebar structure (9) includes
It is rotatably mounted in the set square (91) of the first actuating arm (4) upper end and is articulated with the first of the set square (91) and draw
Bar (92) and the second pull rod (93), second pull rod (93) are hinged with respect to the other end of set square (91) and third actuating arm (6)；
First pull rod (92) is fixedly connected by a gearing pulling plate (94) with first rotating shaft (41), is fixed in the first rotating shaft (41)
One continuous action base (42), continuous action base (42) one end and the second actuating arm (5) lower end are hinged, to cause second actuating arm (5) to rise
The first rotating shaft (41) can be driven to rotate when drop.
6. the four axis robot palletizer of one kind according to claim 1-5 any one, it is characterised in that：The clamping device
(8) include being installed on the swivel mount (81) of third actuating arm (6) lower end and being installed in third actuating arm (6) and be used to drive
The third servo motor (82) of the swivel mount (81) rotation is moved, swivel mount (81) lower end is installed on and opposite can be clamped and is opened
First, which holds pawl (83) and second, holds pawl (84) and is installed on swivel mount (81) and is respectively used to drive this first to hold
Pawl (83) and second holds opposite the first cylinder (85) for clamping and opening of pawl (84) and the second cylinder (86), this first holds pawl
(83) it holds to be formed between pawl (84) and holds space with second.
7. a kind of four axis robot palletizer according to claim 6, it is characterised in that：Described first holds pawl (83) and
It is in L-shaped that two, which hold pawl (84), and this first holds pawl (83) and second and hold pawl (84) lower end and be both provided with inclination
Guide surface.
8. a kind of four axis robot palletizer according to claim 6, it is characterised in that：Also pacify swivel mount (81) lower end
Equipped with hold-down mechanism (87), which is placed in described hold in space.
9. a kind of four axis robot palletizer according to claim 8, it is characterised in that：The hold-down mechanism (87) is if include
The dry compression cylinder (871) for being installed on the swivel mount (81) lower end and the horizontal pressure for being installed on compression cylinder (871) lower end
Bar (872).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721819492.2U CN207632131U (en) | 2017-12-20 | 2017-12-20 | A kind of four axis robot palletizers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721819492.2U CN207632131U (en) | 2017-12-20 | 2017-12-20 | A kind of four axis robot palletizers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207632131U true CN207632131U (en) | 2018-07-20 |
Family
ID=62853879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721819492.2U Expired - Fee Related CN207632131U (en) | 2017-12-20 | 2017-12-20 | A kind of four axis robot palletizers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207632131U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079762A (en) * | 2018-10-29 | 2018-12-25 | 苏州神运机器人有限公司 | A kind of four axis pressing robots |
| CN109230516A (en) * | 2018-09-29 | 2019-01-18 | 芜湖中义玻璃有限公司 | A kind of clamping device of vial processing |
| CN109483511A (en) * | 2018-10-11 | 2019-03-19 | 常博宁 | A kind of manipulator of the alternative man power encasement of anticorrosion |
| CN110525986A (en) * | 2019-08-02 | 2019-12-03 | 南京博约智能科技有限公司 | A kind of multi-purpose robot palletizer and working method |
| CN110774304A (en) * | 2019-11-07 | 2020-02-11 | 童爱霞 | Industrial robot with moving platform |
| CN110962153A (en) * | 2019-11-14 | 2020-04-07 | 华南智能机器人创新研究院 | Industrial stacking mechanical gripper |
| CN112278888A (en) * | 2020-10-22 | 2021-01-29 | 哈尔滨商业大学 | Industry delivery robot based on computer |
-
2017
- 2017-12-20 CN CN201721819492.2U patent/CN207632131U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109230516A (en) * | 2018-09-29 | 2019-01-18 | 芜湖中义玻璃有限公司 | A kind of clamping device of vial processing |
| CN109483511A (en) * | 2018-10-11 | 2019-03-19 | 常博宁 | A kind of manipulator of the alternative man power encasement of anticorrosion |
| CN109079762A (en) * | 2018-10-29 | 2018-12-25 | 苏州神运机器人有限公司 | A kind of four axis pressing robots |
| CN110525986A (en) * | 2019-08-02 | 2019-12-03 | 南京博约智能科技有限公司 | A kind of multi-purpose robot palletizer and working method |
| CN110774304A (en) * | 2019-11-07 | 2020-02-11 | 童爱霞 | Industrial robot with moving platform |
| CN110962153A (en) * | 2019-11-14 | 2020-04-07 | 华南智能机器人创新研究院 | Industrial stacking mechanical gripper |
| CN112278888A (en) * | 2020-10-22 | 2021-01-29 | 哈尔滨商业大学 | Industry delivery robot based on computer |
| CN112278888B (en) * | 2020-10-22 | 2021-05-07 | 哈尔滨商业大学 | Industry delivery robot based on computer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207632131U (en) | A kind of four axis robot palletizers | |
| CN201086290Y (en) | Pneumatic three free degree mechanical arm | |
| CN206316711U (en) | Magnetic valve core assembly assembly machine | |
| CN104444360B (en) | Five-axis hub transfer robot and clamping manipulator | |
| CN206108855U (en) | Medicine bottle lid spiral cover device | |
| CN206982704U (en) | Manipulator and robot | |
| CN106629031A (en) | Novel stretching rotary manipulator | |
| CN106113075B (en) | A kind of industrial robot | |
| CN201659821U (en) | Cable-driven parallel engraving machine | |
| CN208007465U (en) | A kind of overturning mechanical hand | |
| CN108748246A (en) | A kind of robot device | |
| CN102101292B (en) | Four-joint visual robot | |
| CN205110375U (en) | Pinch roll structure assembly | |
| CN207373169U (en) | A kind of four axis robot devices suitable for high temperature with high dust environment | |
| CN112706151A (en) | Manipulator for industrial workshop automatic production line | |
| CN107662200A (en) | It is a kind of suitable for four axis robot devices of high temperature with high dust environment and its application | |
| CN208614783U (en) | A kind of multi-functional carrying robot device | |
| CN105127894A (en) | Polishing mechanical arm | |
| CN206307719U (en) | Gripper of industrial robot | |
| CN206614547U (en) | Auto parts machinery pickup robot | |
| CN206633029U (en) | A kind of robot device of integrated house wallboards clamping | |
| CN206536452U (en) | A kind of six-joint robot claw | |
| CN206885476U (en) | A kind of plastic packaging bag automatic opening device | |
| CN209699145U (en) | The clamping mechanical arm of robot | |
| CN206677962U (en) | High-freedom degree grabbing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180720 Termination date: 20211220 |