CN208147847U - Removable feeding manipulator - Google Patents
Removable feeding manipulator Download PDFInfo
- Publication number
- CN208147847U CN208147847U CN201820330662.9U CN201820330662U CN208147847U CN 208147847 U CN208147847 U CN 208147847U CN 201820330662 U CN201820330662 U CN 201820330662U CN 208147847 U CN208147847 U CN 208147847U
- Authority
- CN
- China
- Prior art keywords
- slide rail
- horizontal
- frame
- cabinet
- switch
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model moves feeding manipulator, it is characterized in that：It includes that frame, longitudinal slide rail, horizontal slide rail cabinet, horizontal slide rail, electric control box, balancer, vacuum chuck, plate detection switch, longitudinal driving rack, horizontal conveyor rack gear, vertical drive motor be dynamic, horizontal drive motor, lifting position-limit switch, Horizontal limiting switch, idler wheel, U-shaped link block, universal wheel, vacuum generator.The utility model has the characteristics that structure novel uniqueness, brief and practical, easy to operate.
Description
Technical field
The utility model belongs to punching automation technical field, in particular to a kind of removable feeding manipulator.
Background technique
General 1000 tons of press bench faces are bigger, and there are many smallclothes to need on such lathe in production
Compacting, since mold is smaller, operator's feeding and pickup are very painstaking, or even need to be sitting in and can just get casting die on table top, and
And operator is sitting on work top, body is in sliding block range of operation, and the sliding block quickly run causes very operator
Big hidden danger, and in more mold exchange, mobile work platform is left from positive (i.e. the side of operator's feeding),
If installation manipulator can impact more mold exchange.It can directly be applied without molding automated production currently on the market
Operator is substituted on site, and therefore, the design is simple and convenient to operate aiming at working site reality, a nested structure of development
Automatic mechanical hand.
Summary of the invention
The purpose of this utility model be for working site actual conditions, consider to reduce cost, improve production efficiency etc. because
Element provides a set of movement and removable feeding manipulator simple and practical in structure, for substituting artificial operation.Here shifting
Flowing mode includes the overall movement of more mold exchange opportunity tool hand and mobile work platform and is individually moved two kinds after disassembly.
Removable feeding manipulator, it is characterized in that：It include frame, longitudinal slide rail, horizontal slide rail cabinet, horizontal slide rail,
Electric control box, balancer, vacuum chuck, plate detection switch, longitudinal driving rack, horizontal conveyor rack gear, zigzag tread patterns electricity
Machine, horizontal drive motor, lifting position-limit switch, Horizontal limiting switch, idler wheel, U-shaped link block, universal wheel, vacuum generator, institute
The frame stated uses four rod structures, and top center has a tower type frame to be used to support and limit longitudinal slide rail, tower type frame
Two sides are equipped with slide-and-guide of the idler wheel as longitudinal slide rail, and frame stretches out two support arms, Mei Gezhi in the waist location of four columns
The weldering of arm front end outer side is there are two U-shaped link block, and U-shaped link block can be connected with the table top of mobile work platform, and frame is in four columns
Bottom position is equipped with universal wheel, and for moving entire manipulator, the longitudinal slide rail is connected to become with horizontal slide rail cabinet
T font is whole, and the horizontal slide rail is mounted on horizontal slide rail box house, idler wheel is equipped in horizontal slide rail cabinet, supports
Horizontal slide rail, so that it is done horizontal relative motions with horizontal slide rail cabinet, longitudinal driving rack vertical direction is set in vertical
To on sliding rail, vertical drive motor is fixedly mounted on the tower type frame of frame, and gear is had on the axis of vertical drive motor,
It is meshed with the longitudinal driving rack being set in longitudinal slide rail, so that the elevating movement of longitudinal slide rail is driven, the horizontal drive
Dynamic motor is fixedly mounted on above horizontal slide rail cabinet, and gear is had on the axis of horizontal drive motor and is set on horizontal slide rail
The engagement of horizontal conveyor rack gear, the rack gear are connected firmly with horizontal slide rail, and driving horizontal slide rail makees the linear motion of horizontal direction, and level is sliding
The front end of rail cabinet, which is equipped with advance deceleration and advances, stops two Horizontal limitings switches, and rear end is equipped with retrogressing deceleration and retreats
Stop two Horizontal limiting switches, the horizontal slide rail is close to the front end two sides of workbench installation vacuum chuck and plate inspection
Switch is surveyed, the vacuum generator is mounted on the left side column of frame, and vacuum chuck is connected with vacuum generator by hose,
Two balancers symmetrically hang over the top tower formula frame two sides of frame, the suspension hook and level of balancer wirerope lower end
The both ends of sliding rail cabinet are connected, and hang horizontal slide rail cabinet, for offsetting the self weight of total movement component, such motor is born
Load can be minimized, the described lifting position-limit switch is mounted on above longitudinal slide rail, the electric control box peace
Mounted in the upper right Angle Position of frame, the position is nearest away from lathe power supply, and is in ipsilateral with machine tools control panel, is convenient for operator
Operation, power supply is equipped with explosion-proof aviation socket and plug with quad and is connected with lathe power supply with pluggable mode, another termination
In the input terminal of electric control box, electric control box with cable respectively with vertical drive motor, horizontal drive motor, lifting position-limit
Switch, Horizontal limiting switch, plate detection switch, vacuum generator are electrically connected, and include in the electric control box：PLC is compiled
Journey device, frequency converter, relay, control button disk, three PLC programmable device, frequency converter, relay modules are mounted on electric control box
Cabinet in, control button disk install electric control box cabinet door above, control button disk includes：Hand automatic conversion button, hand
Dynamic rising button, Manual descending button are manually advanced button, manual retraction button, automatic running button, scram button, control
Control button above push button pad is electrically connected to PLC input terminal, and PLC output end is electrically connected to relay, then is electrically connected by relay
It is connected to frequency converter, the output signal of PLC sends frequency converter to by relay, and the Horizontal limiting switch includes：Advance subtracts
Fast switch advance shutdown switch, retreats speed reducing switch, retreats shutdown switch, each switch and each function input end of PLC programmable device
Electrical connection.
Further universal wheel has screw mechanism can be with manual adjustment height.
Further idler wheel is made of polyurethane material.
Further vertical drive motor, horizontal drive motor are 1.5KW variable-frequency motor, and frequency converter model pacifies river
J1000, PLC programmable device are Omron CP1L-E type programmable device.
Further longitudinal slide rail, horizontal slide rail and horizontal slide rail cabinet are made of aluminium alloy extrusions.
Further frame is the rectangular square tube welding production with 40X60 and 80X80.
There are two U-shaped link block, U-shaped link block is available for each weldering on the outside of each supporting arm front end of further frame mid portion
The bolt of M24 is connected with work top.
The utility model has the characteristics that structure novel uniqueness, brief and practical, easy to operate.
Detailed description of the invention
Fig. 1 is the axis side structure schematic diagram of the utility model；
Specific embodiment
In order to make the technical problems, technical solutions and advantages to be solved by the utility model clearer, below in conjunction with attached drawing
And specific embodiment is described in detail：
Removable feeding manipulator according to figure 1, it is characterized in that：It includes frame 1, longitudinal slide rail 2, horizontal slide rail
Cabinet 3, horizontal slide rail 4, electric control box 5, balancer 10, vacuum chuck 11, plate detection switch 12, longitudinal driving rack
13-1, horizontal conveyor rack gear 13-2, vertical drive motor 14, horizontal drive motor 15, lifting position-limit switch 16, Horizontal limiting are opened
17, idler wheel 18, U-shaped link block 19, universal wheel 20, vacuum generator 21 are closed, the frame 1 is four rod structures, top center
There is a tower type frame, for supporting and limiting longitudinal slide rail 2, tower type frame two sides are equipped with idler wheel 18 as longitudinal sliding
The slide-and-guide of rail 2, frame 1 stretch out two support arms in the waist location of four columns, are respectively welded with two U on the outside of each supporting arm front end
Type link block 19, U-shaped link block 19 can be installed together with the table top of the bolt of M24 and mobile work platform, and frame 1 is in four columns
There are four universal wheels 20 for bottom position installation, for moving entire manipulator, the longitudinal slide rail 2 and horizontal slide rail cabinet 3
It is whole to be connected to become T font, horizontal slide rail 4 is mounted in horizontal slide rail cabinet 3, and 3 inside two sides of horizontal slide rail cabinet are equipped with
Idler wheel 18 carries horizontal slide rail 4, it is made to do the relative motion of horizontal direction, longitudinal driving rack with horizontal slide rail cabinet 3
13-1 vertical direction is set in longitudinal slide rail 2, and vertical drive motor 14 is fixedly mounted on the tower type frame of frame 1, longitudinal
Gear is had on the axis of driving motor 14, is meshed with the longitudinal driving rack 13-1 being set in longitudinal slide rail 2, to drive
The elevating movement of longitudinal slide rail 2, horizontal drive motor 15 are fixedly mounted on above horizontal slide rail cabinet 3, horizontal drive motor 15
Axis on engaged with the horizontal conveyor rack gear 13-2 being set on horizontal slide rail 4 with gear, which connects firmly with horizontal slide rail 4,
Driving horizontal slide rail 4 makees the linear motion of horizontal direction, and horizontal slide rail 4 installs vacuum chuck in the front end two sides close to workbench
11 and plate detection switch 12, vacuum generator 21 be mounted on the left side column of frame 1, the position is nearest away from lathe gas source point,
It is connected by hose with gas source point, vacuum chuck 11 is connected with vacuum generator 21 by hose, and two balancers 10 are symmetrically hung
In the top tower formula frame two sides of frame 1, the both ends phase of the suspension hook and horizontal slide rail cabinet 3 of 10 wirerope lower end of balancer
Even, horizontal slide rail cabinet 3 is hung, for offsetting the self weight of total movement component, the load that such motor is born can drop
To minimum, the lifting position-limit switch 16 is mounted in longitudinal slide rail 2, and four limit switches 17 are separately mounted to horizontal cunning
The rear and front end of 3 side of rail cabinet, i.e. the front end of horizontal slide rail cabinet 3, which is equipped with advance deceleration and advances, stops two horizontal limits
Bit switch 17, rear end, which is equipped with retrogressing deceleration and retreats, stops two Horizontal limiting switches 17, and the electric control box 5 is installed
In the upper right Angle Position of frame 1, the position is nearest away from lathe power supply, and is in ipsilateral with machine tools control panel, is convenient for operator
Operation, power supply is equipped with explosion-proof aviation socket and plug with quad and is connected with lathe power supply with pluggable mode, another termination
In the input terminal of electric control box 5, electric control box 5 with cable respectively with vertical drive motor 14, horizontal drive motor 15, on
Ceiling bit switch 16, Horizontal limiting switch 17, plate detection switch 12, vacuum generator 21 are electrically connected, packet in electric control box 5
It includes：PLC programmable device 6, frequency converter 7, relay 8, control button disk 9,8 three PLC programmable device 6, frequency converter 7, relay modules
It is mounted in the cabinet of electric control box 5, control button disk 9 is installed above the cabinet door of electric control box 5, on control button disk 9
The control button in face is electrically connected to the input terminal of PLC programmable device 6, and the output end of PLC programmable device 6 is electrically connected to relay 8, then
Frequency converter 7 is electrically connected to by relay 8, the output signal of PLC programmable device 6 sends frequency converter 7 to by relay 8, described
Horizontal limiting switch 17 includes：Advance speed reducing switch, advance shutdown switch retreat speed reducing switch, retreat shutdown switch, Ge Gekai
Pass is electrically connected with each function end of PLC programmable device 6, and the control button disk 9 includes：Hand automatic conversion button rises press manually
Button, Manual descending button are manually advanced button, manual retraction button, automatic running button, scram button, each button and PLC
The electrical connection of each function end of programmable device 6.
The height design of further universal wheel 20 has screw mechanism can be with manual adjustment.
Further idler wheel 18 is made of polyurethane material, and the utility model slideway uses the idler wheel of polyurethane material
Formula, it is low in cost compared to rectilinear orbit, the more accurate kind of drive can be used as when promoting the use of.
Further vertical drive motor 14, horizontal drive motor 15 are 1.5KW variable-frequency motor, 7 model of frequency converter peace
River J1000, PLC programmable device 6 is Omron CP1L-E type programmable device.
Further longitudinal slide rail 2, horizontal slide rail 4 and 3 body of horizontal slide rail cabinet are made of aluminium alloy extrusions.
Further frame 1 is the rectangular square tube welding production with 40X60 and 80X80.
There are two U-shaped link block 19, U-shaped link blocks 19 for each weldering on the outside of each supporting arm front end at further 1 middle part of frame
It can be connected with the bolt of M24 with work top.
The utility model, which moves feeding manipulator design, a manually and automatically both of which, and when debugging rotates to knob
Manual mode, running hours knob rotate to automatic mode；When work, the input signal of button and each detection switch is first
First sending PLC programmable device 6 to, PLC programmable device 6 handles after signal output and is conveyed to frequency converter 7 again to relay 8, and 7, frequency converter
Signal is sent to vertical drive motor 14 and horizontal drive motor 15, controls the start-stop of motor and waits motion modes at a slow speed fastly to drive
The movement of dynamic longitudinal slide rail 2 and horizontal slide rail 4.
It is specific as follows：
1, manual mode：
Hand automatic conversion button is rotated to manual mode, PLC programmable device 6 be manually entered a little it is electric, work shape at this time
State is Manual Mode, is moved accordingly by lower button, release button, that is, stop motion.In such a mode：
Rise manually：By manual rising button, the rising input point of PLC programmable device 6 obtains electric, sweeps by PLC programmable device 6
It retouches, PLC programmable device 6 is enabled to the output of frequency converter 7 via relay 8, rises two signals, and 7 driving manipulator of frequency converter is longitudinal
Lifting motor 14 does ascending motion；After rising to limit switch 16 and detecting signal, the position that reaches capacity is risen to, in stopping
It rises.
Manual descending：Press Manual descending button, PLC programmable device 6 declines input point and obtains electric, it is scanned by PLC programmable device 6,
Via relay 8, decline two signals enabled to the output of frequency converter 7,7 driving manipulator of frequency converter are longitudinally gone up and down PLC programmable device 6
Motor 14 does descending motion, and lifting motor decline, after detection switch 12 detects signal, decline reaches extreme position, stops
Decline.
It is manually advanced：By forwarding button, 6 advance input point of PLC programmable device obtain it is electric, by PLC programmable device 6 scan, PLC
Programmable device 6 is enabled to the output of frequency converter 7 via relay 8, advance two signals, 7 driving manipulator horizontal drive electricity of frequency converter
Machine 15 does forward travel, after proceeding to shutdown switch and detecting signal, advances and reaches extreme position, halt.
Manual retraction：By backspace button, PLC programmable device 6 retreat input point obtain it is electric, by PLC programmable device 6 scan, PLC
Programmable device 6 is enabled to the output of frequency converter 7 via relay 8, retreats two signals, 7 driving manipulator horizontal drive electricity of frequency converter
Machine 15 does setback, detects signal when retreating shutdown switch, retreats and reach extreme position, stops retreating.
2, automatic mode：Manipulator is adjusted to retrogressing original position (extreme position retreated) under manual mode state,
This position be initial position, then hand automatic conversion knob is rotated to automatic mode, PLC programmable device 6 automatically enter a little it is electric,
Into automatic mode.
At this point, 6 automatic running input point of PLC programmable device obtain it is electric, by PLC programmable device 6 scan, PLC programmable device 6 via after
Electric appliance 8 is enabled to the output of frequency converter 7, declines two signals, 7 driving manipulator lifting motor 14 of frequency converter decline, until decline
In place, detection switch 12 detects signal, stops decline；It falls into place rear 6 pickup output point of PLC programmable device and obtains electric, vacuum hair
Raw device 21 obtains electric, 11 air-breathing feeding of vacuum chuck, and after the completion of drawing plate, PLC programmable device 6 gives frequency converter 7 via relay 8
Output is enabled, rises two signals, and 7 driving manipulator lifting motor 14 of frequency converter rises, until rising in place, detection switch 16
It detects signal, stops rising, into wait state；
When receiving lathe cam switch signal or pressing automatic running button, PLC programmable device (6) is given via relay 8
The output of frequency converter 7 is enabled, advance two signals, and the horizontal drive motor 15 of transducer drive manipulator advances, and subtracts when proceeding to
When the fast position of the switch, after speed reducing switch detects signal, slow down is moved on until shutdown switch position, shutdown switch
After detecting signal, halt；PLC programmable device 6 puts part output point and obtains electric, vacuum generator power-off, vacuum after advancing in place
Sucker is blown, and plate is fallen；Plate falls rear PLC programmable device 6 and enables via relay 8 to the output of frequency converter 7, retreats two letters
Number, 7 driving manipulator horizontal drive motor 15 of frequency converter retreats, signal is detected when retreating fast switch of inspection in place, slow down,
Continue to retreat until shutdown switch detects signal, stopping retreats.
After horizontal direction setback stops, PLC programmable device 6 is via the enabled, decline two to the output of frequency converter 7 of relay 8
A signal, the decline of 7 driving manipulator lifting motor 14 of frequency converter stop until falling into place detection switch 12 detects signal
Decline；Fall into place rear 6 pickup output point of PLC programmable device obtain it is electric, vacuum generator 21 electric, 11 air-breathing feeding of vacuum chuck,
After the completion of drawing plate, PLC programmable device 6 is enabled to the output of frequency converter 7 via relay 8, rises two signals, and frequency converter 7 drives
The dynamic rising of manipulator lifting motor 14, until rising in place, detection switch 16 detects signal, stops rising, into waiting shape
State；Into next cycle operation.
The utility model has the movement of horizontal (Y-axis) and vertical (Z axis) both direction, the downward movement of movement in vertical direction
Stroke can be detected and be adjusted automatically with the change of material buttress thickness, after detection switch detects plate, zigzag tread patterns
Motor stop, if material buttress is thinning, continue to be decreased until detect plate just stop, vacuum chuck feeding；Horizontal direction row
The size of journey can be adjusted by being adjusted backwards or forwards the position of limit switch 17.
The utility model is to be connected with the mobile working table top of lathe according to the characteristic Design of lathe, and whole as one
Body, which drives into, to be outputed, and is both able to achieve automated production in this way, while matching with the die change system of this press machine tool.
The utility model is equally applicable to the similar press machine of other same types, can promote the use of, and is not limited only to press
The feeding of power machine can equally be applied in feeding side.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications, including the kind of drive, drive can also be made
Flowing mode and limit method etc., these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (7)
1. removable feeding manipulator, it is characterized in that：It includes frame (1), longitudinal slide rail (2), horizontal slide rail cabinet (3), water
Smooth rail (4), electric control box (5), balancer (10), vacuum chuck (11), plate detection switch (12), longitudinal driving rack
(13-1), horizontal conveyor rack gear (13-2), vertical drive motor (14), horizontal drive motor (15), lifting position-limit switch (16),
Horizontal limiting switchs (17), idler wheel (18), U-shaped link block (19), universal wheel (20), vacuum generator (21), the frame
It (1) is four rod structures, there is a tower type frame in top center, and tower type frame two sides are equipped with slide-and-guide idler wheel (18), frame
Frame (1) stretches out two support arms in the waist location of four columns, is respectively welded with two U-shaped link blocks (19), U on the outside of each supporting arm front end
Type link block (19) is installed together with work top, and frame (1) is equipped with universal wheel (20) in the bottom position of four columns, described
Longitudinal slide rail (2) and horizontal slide rail cabinet (3) be connected to become that T font is whole, and horizontal slide rail (4) is mounted on horizontal slide rail cabinet
(3) in, horizontal slide rail cabinet (3) interior two sides are equipped with idler wheel (18), and longitudinal driving rack (13-1) vertical direction is set in longitudinal direction
On sliding rail (2), vertical drive motor (14) is fixedly mounted on the tower type frame of frame (1), vertical drive motor (14)
Gear is had on axis, is meshed with the longitudinal driving rack (13-1) being set on longitudinal slide rail (2), and horizontal drive motor (15) is solid
Dingan County is mounted in horizontal slide rail cabinet (3) above, the axis gear of horizontal drive motor (15) and the water being set on horizontal slide rail (4)
It flates pass carry-over bar (13-2) engagement, which connects firmly with horizontal slide rail (4), and horizontal slide rail (4) is by the front end two sides of workbench peace
Dress vacuum chuck (11) and plate detection switch (12), vacuum generator (21) are mounted on the left side column of frame (1), and vacuum is inhaled
Disk (11) is connected with vacuum generator (21) by hose, and two balancers (10) symmetrically hang over the top tower formula of frame (1)
The suspension hook of frame two sides, balancer (10) wirerope lower end is connected with the both ends of horizontal slide rail cabinet (3), the lifting position-limit
Switch (16) is mounted on longitudinal slide rail (2), and the Horizontal limiting switch (17) is mounted on horizontal slide rail cabinet (3) side
On rear and front end, electric control box (5) is mounted on the upper right Angle Position of frame (1), and is in ipsilateral with machine tools control panel, electricity
Source is equipped with explosion-proof aviation socket and plug with quad and is connected with lathe power supply with pluggable mode, another to terminate at electrical control
The input terminal of case (5), electric control box (5) with cable respectively with vertical drive motor (14), horizontal drive motor (15), rise
Limit switch (16), Horizontal limiting switch (17), plate detection switch (12), vacuum generator (21) electrical connection, it is described electrical
Include in control cabinet (5)：PLC programmable device (6), frequency converter (7), relay (8), control button disk (9), PLC programmable device (6),
(8) three frequency converter (7), relay modules are mounted in the cabinet of electric control box (5), and control button disk (9) installation is electrical
Above the cabinet door of control cabinet (5), the control button of control button disk (9) above is electrically connected to the input terminal of PLC programmable device (6),
The output end of PLC programmable device (6) is electrically connected to relay (8), then is electrically connected to frequency converter (7) by relay (8), PLC programming
The output signal of device (6) is sent to frequency converter (7) by relay (8), and the Horizontal limiting switch (17) includes：Advance subtracts
Fast switch advance shutdown switch, retreats speed reducing switch, retreats shutdown switch, each switch and PLC programmable device (6) each function end
Electrical connection, the control button disk (9) include：Hand automatic conversion button, manual rising button, Manual descending button, manually
Forwarding button, manual retraction button, automatic running button, scram button, each button and PLC programmable device (6) each function end electricity
Connection.
2. removable feeding manipulator according to claim 1, it is characterized in that：Before the horizontal slide rail cabinet (3)
End, which is equipped with advance deceleration and advances, stops two Horizontal limiting switches (17), and rear end, which is equipped with retrogressing deceleration and retreats, stops two
A Horizontal limiting switchs (17).
3. removable feeding manipulator according to claim 1, it is characterized in that：The idler wheel (18) is polyurethane material
It is made.
4. removable feeding manipulator according to claim 1, it is characterized in that：The vertical drive motor (14), water
Flat driving motor (15) is 1.5KW variable-frequency motor, and frequency converter (7) model pacifies river J1000, and PLC programmable device (6) is Omron
CP1L-E type programmable device.
5. removable feeding manipulator according to claim 1, it is characterized in that：The frame (1) be with 40X60 and
The rectangular square tube welding production of 80X80.
6. removable feeding manipulator according to claim 1, it is characterized in that：In the middle part of the further frame (1)
Each supporting arm front end on the outside of each weldering there are two U-shaped link block, U-shaped link block can be connected with the bolt of M24 with work top.
7. removable feeding manipulator according to claim 1, it is characterized in that：The longitudinal slide rail (2), horizontal slide rail
(4) it is made with horizontal slide rail cabinet (3) of aluminium alloy extrusions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820330662.9U CN208147847U (en) | 2018-03-09 | 2018-03-09 | Removable feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820330662.9U CN208147847U (en) | 2018-03-09 | 2018-03-09 | Removable feeding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208147847U true CN208147847U (en) | 2018-11-27 |
Family
ID=64391394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820330662.9U Active CN208147847U (en) | 2018-03-09 | 2018-03-09 | Removable feeding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208147847U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110137775A (en) * | 2019-04-19 | 2019-08-16 | 昆明理工大学 | A kind of connecting line automatic plug-pull device |
| CN113982505A (en) * | 2021-10-20 | 2022-01-28 | 四川宏华石油设备有限公司 | Control method for elevator handover of racking platform pipe arranging machine |
-
2018
- 2018-03-09 CN CN201820330662.9U patent/CN208147847U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110137775A (en) * | 2019-04-19 | 2019-08-16 | 昆明理工大学 | A kind of connecting line automatic plug-pull device |
| CN113982505A (en) * | 2021-10-20 | 2022-01-28 | 四川宏华石油设备有限公司 | Control method for elevator handover of racking platform pipe arranging machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106426120B (en) | A kind of heavy load planer-type robot | |
| CN204711031U (en) | A kind of loading and unloading manipulator for stamping procedure and device | |
| CN201702776U (en) | Manipulator for full-automatic sheet discharging machine | |
| CN208147847U (en) | Removable feeding manipulator | |
| CN102756210A (en) | Laser welding device of solar flat plate collector | |
| CN103143977A (en) | Six-working station automatic converting mechanical arm | |
| CN204248574U (en) | A kind of self-acting grinding machine for processing sewing machine main shaft | |
| CN205238050U (en) | Manipulator with four degrees of freedom | |
| CN107283402B (en) | Manipulator capable of accurately controlling expansion and contraction amount and boat loading system of multi-tube reaction chamber | |
| CN209841973U (en) | Electric automatization product integrated test platform | |
| CN110170550A (en) | A kind of intelligence bending heavy duty follow-up material-supporting vehicle | |
| CN106005578A (en) | Plastic bag opening device | |
| CN213633711U (en) | Circuit board detects uses positioner | |
| CN205819745U (en) | Modularity labeling station automatic butt adjusting apparatus | |
| CN104723076A (en) | Large lens automatic locking machine | |
| CN117091818A (en) | Function detection table of reverse electric conversion device | |
| CN115582666B (en) | Multi-station integrated welding device for container fittings | |
| CN204524710U (en) | A kind of macro lens locks machine | |
| CN108296859A (en) | A kind of mechanical arm production fixing device | |
| CN210876865U (en) | Intelligent bending heavy-load follow-up material supporting vehicle | |
| CN209970754U (en) | Automatic picking and placing device based on manipulator clamping structure | |
| CN206936929U (en) | The loading and unloading manipulator that a kind of numerical control device uses | |
| CN205906291U (en) | Plastic bag opening device | |
| CN204869668U (en) | Projection photo rapid prototyping machine based on FDM technique | |
| CN219187766U (en) | Workpiece positioning and detecting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |