CN210389180U - Punching press material loading four-axis robot - Google Patents
Punching press material loading four-axis robot Download PDFInfo
- Publication number
- CN210389180U CN210389180U CN201920546964.4U CN201920546964U CN210389180U CN 210389180 U CN210389180 U CN 210389180U CN 201920546964 U CN201920546964 U CN 201920546964U CN 210389180 U CN210389180 U CN 210389180U
- Authority
- CN
- China
- Prior art keywords
- axis
- shaft
- mechanical arm
- guide pillar
- speed reducer
- 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
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a punching press material loading four-axis robot, it includes: the device comprises a base, a first mechanical arm, a second mechanical arm, a guide post type lifting mechanism and a gripper; one end of the first mechanical arm is in pivot connection with the base and performs pivot motion relative to the base by taking a first shaft as a rotating shaft, the other end of the first mechanical arm is in pivot connection with the lower end of the guide pillar type lifting mechanism, and the guide pillar type lifting mechanism performs pivot motion relative to the first mechanical arm by taking a second shaft as a rotating shaft; guide pillar formula elevating system's upper end and the one end fixed connection of second arm, guide pillar formula elevating system drive the second arm and the tongs on it carries out the elevating movement along the third axle, tongs pivotal connection is in the other end of second arm, guide pillar formula elevating system's upper portion along the fourth axle output drive power drive tongs carry out the pivotal movement. The utility model discloses a design guide pillar formula elevating system in the middle part position of punching press material loading four-axis robot, be favorable to reduce cost to simplify holistic structure, alleviate four-axis robot's whole weight.
Description
Technical Field
The utility model relates to a robot especially relates to a four-axis robot of punching press material loading with low costs, light in weight.
Background
In industrial production, it is often necessary to complete a workpiece loading operation to load a workpiece to a station requiring processing, such as stamping. With the development of automation technology, in order to achieve high feeding efficiency, workpiece feeding is usually performed by a hand-arm robot. When the arm type robot is used for feeding, the feeding is required to be completed through pivoting action and lifting action. Therefore, in the face of the practical requirements of simplified structure, low cost and light weight of the robot, a further solution is necessary.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a punching press material loading four-axis robot to overcome the not enough that exists among the prior art.
In order to solve the technical problem, the technical scheme of the utility model is that:
a punching press material loading four-axis robot, it includes: the manipulator comprises a base, a first mechanical arm, a second mechanical arm, a guide pillar type lifting mechanism, a gripper and a gripper four-axis driving mechanism;
one end of the first mechanical arm is pivotally connected with the base and pivotally moves relative to the base by taking a first shaft as a rotating shaft, the other end of the first mechanical arm is pivotally connected with the lower end of the guide pillar type lifting mechanism, and the guide pillar type lifting mechanism pivotally moves relative to the first mechanical arm by taking a second shaft as a rotating shaft;
guide pillar formula elevating system's upper end with the one end fixed connection of second arm, guide pillar formula elevating system drives second arm and the tongs on it carries out elevating movement along the third axle, guide pillar formula elevating system includes: the three-axis synchronous pulley mechanism comprises a three-axis middle plate, a three-axis guide pillar, a three-axis screw rod, a three-axis motor, a three-axis synchronous pulley mechanism, a three-axis motor fixing plate and an outer cover body;
the three-axis motor is in transmission connection with the three-axis screw rod through the three-axis synchronous wheel mechanism, the three-axis synchronous wheel mechanism and the three-axis screw rod are fixed by the three-axis motor fixing plate, the three-axis screw rod extends into the outer cover body and drives the whole outer cover body and a second mechanical arm on the whole outer cover body to lift along a third axis, the three-axis guide columns are located in the outer cover body and distributed at three vertex positions of a triangle, the upper end of any one three-axis guide column is fixed on a three-axis middle plate in the outer cover body, and the lower end of the any one three-axis guide column is fixed on the three;
the gripper is connected to the other end of the second mechanical arm in a pivoting mode, the gripper four-shaft driving mechanism is located at the middle upper portion of the guide column type lifting mechanism and outputs driving force along the fourth shaft, and the gripper is driven to perform pivoting motion.
As the utility model discloses a punching press material loading four-axis robot's improvement, punching press material loading four-axis robot still includes: the first mechanical arm is fixedly connected with the first mechanical arm through the first shaft speed reducer, and one end of the first mechanical arm is connected with the first shaft speed reducer through the arm fixing hoop.
As the utility model discloses a punching press material loading four-axis robot's improvement, punching press material loading four-axis robot still includes: the two-shaft speed reducer, the two-shaft motor and the two-shaft speed reducer fixing sleeve are arranged on the base;
the other end of the first mechanical arm is connected with the two-shaft speed reducer fixing sleeve, the two-shaft speed reducer fixing sleeve is arranged in a hollow mode, the two-shaft motor is contained in the two-shaft speed reducer fixing sleeve, and a motor shaft of the two-shaft motor is in pivot connection with the bottom of the guide column type lifting mechanism through the two-shaft speed reducer.
As the utility model discloses a punching press material loading four-axis robot's improvement, triaxial synchronizing wheel mechanism includes: the synchronous wheels are respectively sleeved on a motor shaft of the three-axis motor and the three-axis screw rod, and the transmission belt is used for linking the two synchronous wheels.
As the utility model discloses a punching press material loading four-axis robot's improvement, guide pillar formula elevating system still includes: the upper end opening of the outer cover body is sealed by the three-shaft two-arm fixing plate, the lower end opening is sealed by the three-shaft bottom plate, and the three-shaft lead screw penetrates through the three-shaft bottom plate and extends into the outer cover body and forms a thread fit relation with the three-shaft bottom plate.
As the utility model discloses a punching press material loading four-axis robot's improvement, guide pillar formula elevating system still includes: the three-shaft synchronous wheel cover is characterized in that the lower end of the three-shaft synchronous wheel cover is arranged in a closed mode, the upper end opening of the three-shaft synchronous wheel cover is closed by the three-shaft motor fixing plate, and the three-shaft synchronous wheel mechanism is contained and installed in the three-shaft synchronous wheel cover.
As the utility model discloses a punching press material loading four-axis robot's improvement, still be provided with between triaxial bottom plate and the triaxial guide pillar linear bearing.
As the utility model discloses a punching press material loading four-axis robot's improvement, arbitrary the upper end of triaxial guide pillar is passed through the guide pillar fixing base is fixed in on the triaxial medium plate, the lower extreme passes through the guide pillar fixing base is fixed in on the triaxial motor fixed plate.
As the utility model discloses a punching press material loading four-axis robot's improvement, tongs four-axis actuating mechanism includes: the device comprises a three-axis speed reducer, a four-axis synchronizing wheel mechanism, a four-axis pin shaft and a four-axis bearing fixing seat;
the three-axis speed reducer is positioned in the outer cover body and penetrates through the three-axis middle plate to be in transmission connection with the four-axis speed reducer, the four-axis speed reducer extends out of the outer cover body and extends into the second mechanical arm and passes through the four-axis synchronizing wheel mechanism and is in transmission connection with the four-axis pin shaft on the gripper, and two ends of the four-axis pin shaft are fixed on the upper surface and the lower surface of the other end of the second mechanical arm through the four-axis bearing fixing seat respectively
As the utility model discloses a punching press material loading four-axis robot's improvement, the tongs includes: the fixing section bar, connect in sucking disc fixed plate on the fixing section bar and sliding connection in a plurality of sucking discs on the sucking disc fixed plate.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a punching press material loading four-axis robot is through designing guide pillar formula elevating system in punching press material loading four-axis robot's middle part position, is favorable to reduce cost to simplify holistic structure, alleviate punching press material loading four-axis robot's whole weight. And simultaneously, the utility model discloses a punching press material loading four-axis robot's second axle, third axle, fourth axle integration set up in guide pillar type elevating system department, are favorable to improving the efficiency of robot motion to reduce the volume of robot. Furthermore, the utility model discloses a punching press material loading four-axis robot passes through the elevating movement that guide pillar formula elevating system accomplished the tongs, and linear motion about its adoption is unique three guide pillar location direction lightweight steel construction, stabilizes the accurate movement track at the removal in-process, and the advantage lies in the unique compact integration of structure, and intensity is high, and standardized components and parts are convenient for make, the cost, long service life.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic perspective view of an embodiment of a four-axis stamping and feeding robot of the present invention;
FIG. 2 is a top view of the four-axis stamping and feeding robot of FIG. 1;
fig. 3 is a cross-sectional view taken along the line a-a in fig. 2.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model provides a punching press material loading four-axis robot, its applicable turnover, material loading etc. in treating punching press panel, the utility model discloses a punching press material loading four-axis robot designs guide pillar formula elevating system in punching press material loading four-axis robot's middle part position, is favorable to reduce cost to simplify holistic structure, alleviate punching press material loading four-axis robot's whole weight.
As shown in fig. 1-3, the utility model discloses a punching press material loading four-axis robot of an embodiment includes: the mechanical hand comprises a base 1, a first shaft motor 2, a first shaft speed reducer 3, a first arm fixing hoop 4, a first mechanical arm 5, a second shaft speed reducer fixing sleeve 26, a second shaft motor 25, a second shaft speed reducer 24, a guide pillar type lifting mechanism 27, a second mechanical arm 10, a gripper 6 and a gripper four-shaft driving mechanism.
The base 1 is arranged in a hollow mode, the shaft motor 2 is contained in the base 1, and the shaft motor 2 is fixedly connected with one end of the first mechanical arm 5 through the shaft speed reducer 3. One end of the first mechanical arm 5 is connected with the one-shaft speed reducer 3 through the one-arm fixing hoop 4. The arm fixing hoop comprises an upper part and a lower part which are buckled together to connect and fix one end of the first mechanical arm 5 with the shaft speed reducer 3. In this way, the first robot arm 5 can rotate around the first axis under the driving of the axis motor 2.
The other end of the first mechanical arm 5 is connected with the two-shaft speed reducer fixing sleeve 26, the two-shaft speed reducer fixing sleeve 26 is hollow, the two-shaft motor 25 is accommodated in the two-shaft speed reducer fixing sleeve 26, and a motor shaft of the two-shaft motor 25 is pivotally connected with the bottom of the guide pillar type lifting mechanism 27 through the two-shaft speed reducer 24 so as to drive the guide pillar type lifting mechanism 27 to rotate around the second shaft.
The guide post type lifting mechanism 27 is used for lifting the second mechanical arm 10 and the gripper 6 connected with the second mechanical arm along a third axis, and has the advantages of unique and compact structure, high strength, convenience in manufacturing standardized components, low cost and long service life.
Specifically, the guide-post type elevating mechanism 27 includes: the three-axis two-arm fixing plate comprises a three-axis two-arm fixing plate 12, a guide post fixing seat 13, a three-axis middle plate 14, a linear bearing 16, a three-axis guide post 17, a three-axis bottom plate 18, a three-axis screw rod 19, a three-axis motor fixing plate 20, a three-axis motor 21, a three-axis synchronous wheel cover 22, a three-axis synchronous wheel mechanism 23 and an outer cover body 28.
The three-axis synchronous wheel cover 22 is located below the outer cover 28, an upper end opening of the outer cover 28 is sealed by the three-axis two-arm fixing plate 12, and a lower end opening is sealed by the three-axis bottom plate 18. The lower end of the triaxial synchronous wheel cover 22 is sealed, the upper end opening is sealed by the triaxial motor fixing plate 20, and one end of the second mechanical arm 10 is connected to the triaxial two-arm fixing plate 12.
The three-axis motor 21 is in transmission connection with the three-axis screw rod 19 through the three-axis synchronizing wheel mechanism 23. Wherein the three-axis synchronizing wheel mechanism 23 includes: a motor shaft of the three-axis motor 21, a synchronizing wheel on the three-axis screw rod 19 and a transmission belt for linking the two synchronizing wheels are respectively sleeved. Therefore, when the three-axis motor 21 works, the three-axis screw rod 19 can be driven to perform synchronous motion. The triaxial synchronizing wheel mechanism 23 and the triaxial lead screw 19 are fixed by a triaxial motor fixing plate 20, the triaxial synchronizing wheel mechanism 23 is accommodated and installed in the triaxial synchronizing wheel cover 22, the triaxial lead screw 19 runs through the triaxial base plate 18 extends into the outer cover body 28, and forms a thread fit relationship with the triaxial base plate 18, and the upper end of the triaxial base plate is fixedly connected to the triaxial middle plate 14 in the outer cover body 28.
Therefore, when the three-axis motor 21 works, the three-axis synchronous turbine drives the three-axis screw rod 19 to perform synchronous motion, the three-axis screw rod 19 further drives the whole outer cover 28 and the three-axis two-arm fixing plate 12 on the whole outer cover to lift through the three-axis bottom plate 18, and then the second mechanical arm 10 and the gripper 6 connected with the second mechanical arm are driven to lift along the third axis.
The three-axis guide post 17 arranged parallel to the third axis is used for improving the motion stability of the guide post type lifting mechanism 27, in this embodiment, the number of the three-axis guide posts 17 is multiple, and the three-axis guide posts 17 are distributed at three vertex positions of a triangle. In other embodiments, the three-axis guide posts 17 can be provided in other suitable numbers. When the number of the three-axis guide posts 17 is three, the upper end of any one three-axis guide post 17 is fixed on the three-axis middle plate 14 through the guide post fixing seat 13, and the lower end of the three-axis guide post 17 is fixed on the three-axis motor fixing plate 20 through the guide post fixing seat 13. Thus, the outer cover 28 and the upper three-axis two-arm fixing plate 12 and the three-axis bottom plate 18 thereof can move along the three-axis guide post 17 under the driving of the three-axis screw rod 19. In addition, in order to facilitate the lifting movement along the three-axis guide post 17, the linear bearing 16 is further disposed between the three-axis base plate 18 and the three-axis guide post 17.
The gripper four-axis driving mechanism is used for achieving the purpose that the upper end of the guide column type lifting mechanism 27 drives the gripper 6 to pivot along the fourth axis, at the moment, the gripper 9 is connected to the other end of the second mechanical arm 10 in a pivoting mode, the gripper four-axis driving mechanism is located on the middle upper portion of the guide column type lifting mechanism 27 and outputs driving force along the fourth axis and drives the gripper 6 to perform pivoting motion.
Specifically, tongs four-axis actuating mechanism includes: the device comprises a three-axis speed reducer 15, a four-axis speed reducer 11, a four-axis synchronizing wheel mechanism 9, a four-axis pin shaft 7 and a four-axis bearing fixing seat 8.
The three-axis speed reducer 15 is located in the outer cover body 28, penetrates through the three-axis middle plate 14 and is in transmission connection with the four-axis speed reducer, and the four-axis speed reducer further extends out of the three-axis two-arm fixing plate 12 and extends into the second mechanical arm 10 and is in transmission connection with the four-axis pin shaft 7 connected to the gripper 6 through the four-axis synchronizing wheel mechanism 9. Two ends of the four-axis pin shaft 7 are fixed on the upper surface and the lower surface of the other end of the second mechanical arm 10 through the four-axis bearing fixing seat 8 respectively. The four-axis synchronizing wheel mechanism 9 includes: the synchronous wheels are respectively sleeved on the output shaft of the four-shaft speed reducer 11, the four-shaft pin shaft 7 and a transmission belt for linking the two synchronous wheels. Therefore, when the three-axis speed reducer 15 and the four-axis speed reducer 11 work, the gripper 6 can be driven to perform pivoting motion along the fourth axis.
The gripper 6 is used for gripping a workpiece of a sheet material class, and includes: the suction cup fixing device comprises a fixing section bar 61, a suction cup fixing plate 62 connected to the fixing section bar 61, and a plurality of suction cups 63 connected to the suction cup fixing plate 62 in a sliding manner.
The fixed section bar 61 is connected to the four-axis pin shaft 7. The sucking disc fixed plate 62 is a plurality of, and a plurality of sucking disc fixed plates 62 bilateral symmetry connect in the both sides of fixed section bar 61, be connected with at least one on any sucking disc fixed plate 62 sucking disc 63, just sucking disc 63 sets up down. In order to realize the sliding connection between the suction cup 63 and the suction cup fixing plate 62, a slide rail arranged along the length direction is arranged on the suction cup fixing plate 62, and a slide block structure arranged along the slide rail in a sliding manner is arranged on the suction cup 63.
The utility model discloses when punching press material loading four-axis robot was with work piece material loading to punching press position, in first arm motion process, second arm and tongs also linked simultaneously and accomplished the removal location, after the tongs got into mould location position, start guide pillar formula elevating system, second arm and rather than the tongs downstream that is connected, after the location position that the mould was put into to the part that will be drawn by the sucking disc, the sucking disc loosens the part of breathing in and puts at mould location position. And after the second mechanical arm and the gripper connected with the second mechanical arm move upwards to the designated position, the first mechanical arm and the second mechanical arm move away from the die simultaneously and then enter the next station, so that repeated continuous work is realized.
To sum up, the utility model discloses a punching press material loading four-axis robot is favorable to reduce cost through designing guide pillar type elevating system in punching press material loading four-axis robot's middle part position to simplify holistic structure, alleviate punching press material loading four-axis robot's whole weight. And simultaneously, the utility model discloses a punching press material loading four-axis robot's second axle, third axle, fourth axle integration set up in guide pillar type elevating system department, are favorable to improving the efficiency of robot motion to reduce the volume of robot. Furthermore, the utility model discloses a punching press material loading four-axis robot passes through the elevating movement that guide pillar formula elevating system accomplished the tongs, and linear motion about its adoption is unique three guide pillar location direction lightweight steel construction, stabilizes the accurate movement track at the removal in-process, and the advantage lies in the unique compact integration of structure, and intensity is high, and standardized components and parts are convenient for make, the cost, long service life.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a punching press material loading four-axis robot, its characterized in that, punching press material loading four-axis robot includes: the manipulator comprises a base, a first mechanical arm, a second mechanical arm, a guide pillar type lifting mechanism, a gripper and a gripper four-axis driving mechanism;
one end of the first mechanical arm is pivotally connected with the base and pivotally moves relative to the base by taking a first shaft as a rotating shaft, the other end of the first mechanical arm is pivotally connected with the lower end of the guide pillar type lifting mechanism, and the guide pillar type lifting mechanism pivotally moves relative to the first mechanical arm by taking a second shaft as a rotating shaft;
guide pillar formula elevating system's upper end with the one end fixed connection of second arm, guide pillar formula elevating system drives second arm and the tongs on it carries out elevating movement along the third axle, guide pillar formula elevating system includes: the device comprises a three-axis middle plate, a three-axis guide pillar, a three-axis screw rod, a three-axis motor, a three-axis synchronous wheel mechanism, a three-axis motor fixing plate and an outer cover body;
the three-axis motor is in transmission connection with the three-axis screw rod through the three-axis synchronous wheel mechanism, the three-axis synchronous wheel mechanism and the three-axis screw rod are fixed by the three-axis motor fixing plate, the three-axis screw rod extends into the outer cover body and drives the whole outer cover body and a second mechanical arm on the whole outer cover body to lift along a third axis, the three-axis guide columns are located in the outer cover body and distributed at three vertex positions of a triangle, the upper end of any one three-axis guide column is fixed on a three-axis middle plate in the outer cover body, and the lower end of the any one three-axis guide column is fixed on the three;
the gripper is connected to the other end of the second mechanical arm in a pivoting mode, the gripper four-shaft driving mechanism is located at the middle upper portion of the guide column type lifting mechanism and outputs driving force along the fourth shaft, and the gripper is driven to perform pivoting motion.
2. The four-axis robot of punching press material loading of claim 1, characterized in that, four-axis robot of punching press material loading still includes: the first mechanical arm is fixedly connected with the first mechanical arm through the first shaft speed reducer, and one end of the first mechanical arm is connected with the first shaft speed reducer through the arm fixing hoop.
3. The four-axis robot of punching press material loading of claim 1, characterized in that, four-axis robot of punching press material loading still includes: the two-shaft speed reducer, the two-shaft motor and the two-shaft speed reducer fixing sleeve are arranged on the base;
the other end of the first mechanical arm is connected with the two-shaft speed reducer fixing sleeve, the two-shaft speed reducer fixing sleeve is arranged in a hollow mode, the two-shaft motor is contained in the two-shaft speed reducer fixing sleeve, and a motor shaft of the two-shaft motor is in pivot connection with the bottom of the guide column type lifting mechanism through the two-shaft speed reducer.
4. The four-axis robot for stamping and loading according to claim 1, wherein the three-axis synchronizing wheel mechanism comprises: the synchronous wheels are respectively sleeved on a motor shaft of the three-axis motor and the three-axis screw rod, and the transmission belt is used for linking the two synchronous wheels.
5. The four-axis robot for stamping and loading according to claim 1, wherein the guide pillar type lifting mechanism further comprises: the upper end opening of the outer cover body is sealed by the three-shaft two-arm fixing plate, the lower end opening is sealed by the three-shaft bottom plate, and the three-shaft lead screw penetrates through the three-shaft bottom plate and extends into the outer cover body and forms a thread fit relation with the three-shaft bottom plate.
6. The four-axis robot of punching press material loading of claim 5, characterized in that, guide pillar formula elevating system still includes: the three-shaft synchronous wheel cover is characterized in that the lower end of the three-shaft synchronous wheel cover is arranged in a closed mode, the upper end opening of the three-shaft synchronous wheel cover is closed by the three-shaft motor fixing plate, and the three-shaft synchronous wheel mechanism is contained and installed in the three-shaft synchronous wheel cover.
7. The four-axis robot for stamping and feeding according to claim 5, wherein a linear bearing is further arranged between the three-axis bottom plate and the three-axis guide post.
8. The four-axis robot for stamping and feeding according to claim 1, wherein the upper end of any one of the three-axis guide pillars is fixed on the three-axis middle plate through a guide pillar fixing seat, and the lower end of the three-axis guide pillar is fixed on the three-axis motor fixing plate through the guide pillar fixing seat.
9. The four-axis robot for stamping and feeding as claimed in claim 1, wherein the four-axis driving mechanism for the gripper comprises: the device comprises a three-axis speed reducer, a four-axis synchronizing wheel mechanism, a four-axis pin shaft and a four-axis bearing fixing seat;
the three-axis speed reducer is located in the outer cover body and runs through the three-axis middle plate and the four-axis speed reducer is in transmission connection, the four-axis speed reducer extends out of the outer cover body and extends into the second mechanical arm and is in transmission connection with the four-axis pin shaft on the gripper through the four-axis synchronizing wheel mechanism, and two ends of the four-axis pin shaft are fixed on the upper surface and the lower surface of the other end of the second mechanical arm through the four-axis bearing fixing seat respectively.
10. The four-axis robot for stamping and feeding of claim 1, wherein the gripper comprises: the fixing section bar, connect in sucking disc fixed plate on the fixing section bar and sliding connection in a plurality of sucking discs on the sucking disc fixed plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920546964.4U CN210389180U (en) | 2019-04-22 | 2019-04-22 | Punching press material loading four-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920546964.4U CN210389180U (en) | 2019-04-22 | 2019-04-22 | Punching press material loading four-axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210389180U true CN210389180U (en) | 2020-04-24 |
Family
ID=70344820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920546964.4U Active CN210389180U (en) | 2019-04-22 | 2019-04-22 | Punching press material loading four-axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210389180U (en) |
-
2019
- 2019-04-22 CN CN201920546964.4U patent/CN210389180U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109019434A (en) | A kind of small-sized heavily loaded omnidirectional AGV trolley lifted | |
| CN201155221Y (en) | Parking equipment carrier board conveying device | |
| CN211440038U (en) | Transmission mechanism of mechanical dexterous hand | |
| CN209052351U (en) | A kind of small-sized heavily loaded omnidirectional AGV trolley lifted | |
| CN209774641U (en) | four-axis robot for stamping feeding | |
| CN210389180U (en) | Punching press material loading four-axis robot | |
| CN220092831U (en) | Angle sign indicating number conveyor based on light Fu Biankuang saw cuts punching press processing line | |
| CN112660767A (en) | Automatic overturning and clamping cage entering system for tires | |
| CN210414526U (en) | Four-axis robot for stamping and feeding | |
| CN218614059U (en) | Novel stand robot | |
| CN209774640U (en) | Punching press material loading five-axis robot | |
| CN215756042U (en) | Endless chain type elevator | |
| CN206493315U (en) | Three dimensionality manipulator | |
| CN212607547U (en) | Belt transmission transfer platform | |
| CN213081464U (en) | Wall-mounted manipulator | |
| CN209774639U (en) | Four-axis robot for stamping feeding | |
| CN210547286U (en) | Four-point toggle type high-speed punch press | |
| CN211667114U (en) | Travel-multiplied double-manipulator synchronous lifting mechanism | |
| CN202516955U (en) | Full-automatic transfer manipulator | |
| CN218778273U (en) | Gantry turnover machine | |
| CN2686803Y (en) | Turnover machine | |
| CN207275544U (en) | A kind of conveying device and inflating switch cabinet welding production line | |
| CN216229387U (en) | High-speed walking frame manipulator and production line | |
| CN216889921U (en) | Cantilever truss multistage telescopic transfer robot | |
| CN214693067U (en) | Stable wire body elevator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |