CN105129417A - Shifting mechanical arm - Google Patents
Shifting mechanical arm Download PDFInfo
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- CN105129417A CN105129417A CN201510518147.4A CN201510518147A CN105129417A CN 105129417 A CN105129417 A CN 105129417A CN 201510518147 A CN201510518147 A CN 201510518147A CN 105129417 A CN105129417 A CN 105129417A
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- feeding
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Abstract
The invention discloses a shifting mechanical arm which comprises a gantry frame, a lifting driving mechanism, a transverse moving driving mechanism, a feeding driving mechanism and a clamping claw frame. The lifting driving mechanism, the transverse moving driving mechanism and the feeding driving mechanism are arranged on the gantry frame according to the spatial trilinear coordinates. The lifting driving mechanism comprises a lifting cross beam arranged on the gantry frame in a sliding manner in the vertical direction. The transverse moving driving mechanism is fixedly connected with the lifting cross beam through lifting connecting plates and a bracket. The feeding driving mechanism is connected with transverse moving sliding blocks through fixing bases. The fixed ends of feeding air cylinder assemblies of the feeding driving mechanism are arranged on the fixing bases, and the telescopic ends of the feeding air cylinder assemblies are connected with feeding connecting plates. The clamping claw frame is fixedly arranged on the feeding connecting plates, and a plurality of workpiece taking clamping claws are arranged at the front end of the clamping claw frame. By means of the interaction action of the three driving mechanisms, the mechanical arm can complete the shifting of a workpiece through the workpiece taking clamping claws, and all the driving mechanisms work independently and work in cooperation.
Description
Technical field
The invention belongs to manipulator technical field, be specifically related to the manipulator of a kind of automobile die for compact multiple operation matched moulds at each inter process transfer workpiece.
Background technology
Domestic automobile die automation gradually of producing for automobile metal plate work at present, the realization of current domestic Automated mould has following several form: for the smooth rule of workpiece shapes and the little part of specification generally adopts progressive die to produce; And adopt the mechanical arm (i.e. CROSSBAR automatic production lines) be integrated on lathe to realize the transfer of each inter process for the plate of the larger part of size, complex contour; Also has the articulated arm industrial robot that a kind of degree of flexibility is higher.
Following defect is had: the production range of sizes of progressive die workpiece is very limited and design technology is more complicated for above-mentioned transfer automation implementation; CROSSBAR manufacturing line, at the beginning of lathe buying, must carry out synchronous development design by bastard machine tool, cost of development is huge, and general stamping factory is difficult to bear; Its purchase cost of articulated arm industrial robot is relatively high, and its radius of rotation is large, and terminal-collecting machine operational space requires high, and its application is also subject to relevant restriction.
Summary of the invention
The technical matters that the present invention solves is: for the defect of the move loading action existence that existing press machine uses, provide a kind of novel shifting mechanical arm, can be placed on punch press, and can realize the function of 3 d-line transfer workpiece.
The present invention adopts following technical scheme to realize:
Shifting mechanical arm, comprises portal frame 1, lift drive mechanism 2, traversing driving device 3, feeding driving mechanism 4 and tong frame 5; Described lift drive mechanism 2, traversing driving device 3 and feeding driving mechanism 4 are arranged on portal frame 1 according to space line three-dimensional respectively; Described lift drive mechanism 2 comprises the hoisting cross beam 201 be vertically slidably arranged on portal frame 1, and drives the drive element of hoisting cross beam 201 vertically slippage; Described traversing driving device 3 is fixedly connected with the lifting connecting panel 207 on hoisting cross beam 201 by carrier frame plate 301, described traversing driving device 3 comprises the Timing Belt module 303 of a transverse direction, the drive end of described Timing Belt module 303 is connected with traversing motor 302, wherein Timing Belt is fixed with traversing slide block 304; Described feeding driving mechanism 4 is connected with traversing slide block 304 by firm banking 401, and described feeding driving mechanism 4 comprises feeding cylinder assembly 403, and the fixed end of described feeding cylinder assembly 403 is arranged on firm banking 401, and telescopic end connects feeding connecting panel 402; Described tong frame 5 is fixedly installed on described feeding connecting panel 402, and the front end of described tong frame 5 is provided with some pickup tongs 501.
Further, the drive element of described lift drive mechanism 2 comprises lifting motor 202 and pinion and rack; The column of described portal frame 1 is fixed with the lifter rack 206 of vertical direction, described lifting motor 202 is fixed on hoisting cross beam 201, and its mouth connects lifter wheel 205 by semiaxis 204 and engages with lifter rack; The riser guide 208 of described hoisting cross beam 201 by vertical direction and the column slidable fit of portal frame 1.
Further, described lifting motor 202 is arranged in the middle part of hoisting cross beam 201, the mouth of lifting motor 202 connects two semiaxis 204 respectively by reductor 203, described semiaxis 204 rotates along hoisting cross beam and arranges and extend to hoisting cross beam two ends, connects lifter wheel 205 respectively and engages with the lifter rack that two root posts of portal frame 1 are arranged.
Preferably, described pinion and rack adopts helical teeth.
Further, the end of described hoisting cross beam 201 is by the column slidable fit of lifting connecting panel 207 with portal frame 1, and described lifting connecting panel 207 is H-shaped, is assembled by riser guide 208 with the Different Plane of column.
Further, the Timing Belt module 303 of described traversing driving device 2 is provided with the traversing guide rail 305 for the slippage of traversing slide block 304.
Further, described traversing driving device 2 is provided with the drag chain 306 with the movement of traversing slide block 304.
Further, described feeding driving mechanism 4 also comprises feeding guide rod 404 and linear bearing 405, described feeding guide rod 404 is arranged on firm banking 401 along direction of feed, parallel with the telescopic direction of feeding cylinder, described linear bearing 405 to be sleeved on feeding guide rod 404 and to be fixedly connected with feeding connecting panel 402.
Further, the firm banking 401 of described feeding driving mechanism 4 is provided with limiting stopper 406, stroke is stretched out for what limit feeding cylinder assembly 403, described firm banking 401 is provided with the adjustment mounting hole 408 that a row arranges along direction of feed, and described limiting stopper 406 is mounted by means of bolts on and regulates in mounting hole.
Further, described limiting stopper 406 has been threaded connection oleo cushion spring 407.
The space mobile system of shifting mechanical arm of the present invention comprise respectively drive pickup tong extend into pickup in mould feeding driving mechanism, drive pickup tong at hard Nogata to mobile to avoid the lift drive mechanism of interfering and to drive the traversing driving device of pickup tong transfer in the horizontal direction to be formed.Wherein said each driver train, by after portal frame installation, is fixed on the outside of punch press and mould.
Manipulator in the present invention is by three straight line driving mechanism interactions, the action of pickup tong transfer workpiece can be completed, each driver train work is separate, cooperatively interact, and the present invention does not exist rotary space, arranges that the space needed for manipulator of the present invention is compacter.
The application of manipulator is commercial production undeveloped reserve, it is an indispensable part for following intelligent industry, compared with prior art, the present invention can be placed on punch press, work alone relative to punch press, can flexible arrangement, the layout of the present invention on driver train and design are when ensureing operating needs, significantly can reduce cost, the diel workpiece for the multiple operation matched moulds of most compact is all applicable in the transfer of each inter process.Press line uses transplanting machine hand can significantly enhance productivity, reduce workman's cost that press line is equipped with, more can reduce the labour intensity of workman simultaneously.
In sum, manipulator applicability provided by the present invention is wide, degree of automation is high, use cost economy.
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Accompanying drawing explanation
Fig. 1 is the entirety assembling schematic diagram of shifting mechanical arm of the present invention.
Fig. 2 is the assembling schematic diagram of portal frame in the present invention and lift drive mechanism.
Fig. 3 is the assembling schematic diagram of the traversing driving device in the present invention.
Fig. 4 is the assembling schematic diagram of tong frame in the present invention and feeding driving mechanism.
Fig. 5 is the decomposing schematic representation of the feeding driving mechanism in the present invention.
Fig. 6 is the path of motion schematic diagram of shifting mechanical arm of the present invention.
Fig. 7 is the schematic diagram that the present invention is applied on punch press.
Number in the figure:
1-portal frame,
2-lift drive mechanism, 201-hoisting cross beam, 202-lifting motor, 203-reductor, 204-semiaxis, 205-lifter wheel, 206-lifter rack, 207-is elevated connecting panel, 208-riser guide; 21-is elevated direction;
3-traversing driving device, 301-carrier frame plate, the traversing motor of 302-, 303-Timing Belt module, the traversing slide block of 304-, the traversing guide rail of 305-, 306-drag chain; 31-sideslip direction;
4-feeding driving mechanism, 401-firm banking, 402-feeding connecting panel, 403-feeding cylinder assembly, 404-feeding guide rod, 405-linear bearing, 406-limiting stopper, 407-oleo cushion spring, 408-regulates mounting hole; 41-direction of feed;
5-tong frame, 501-pickup tong;
6-punch press.
Detailed description of the invention
Embodiment
See Fig. 1, shifting mechanical arm, comprises portal frame 1, lift drive mechanism 2, traversing driving device 3, feeding driving mechanism 4 and tong frame 5; Lift drive mechanism 2, traversing driving device 3 and feeding driving mechanism 4 are arranged on portal frame 1 according to space line three-dimensional respectively.
In conjunction with see Fig. 2, lift drive mechanism 2 moves to avoid interfering at vertical direction for driving tong frame 5, specifically comprise hoisting cross beam 201, lifting motor 202, reductor 203, semiaxis 204, lifter wheel 205, lifter rack 206, lifting connecting panel 207, riser guide 208, hoisting cross beam 201 is vertically slidably arranged on portal frame 1, and hoisting cross beam 201 is provided with the lifting motor 202 and reductor 203 that drive hoisting cross beam 201 vertically slippage; The column of portal frame 1 is fixed with the lifter rack 206 of vertical direction, lifting motor 202 is fixed on hoisting cross beam 201, its mouth connects lifter wheel 205 by semiaxis 204 and engages with lifter rack, and rack-and-gear preferably adopts helical teeth to engage, and transmission of power more steadily and be easy to install; The riser guide 208 of hoisting cross beam 201 by vertical direction and the column slidable fit of portal frame 1.
According to fixing portal frame width, lifting motor 202 is arranged in the middle part of hoisting cross beam 201, the mouth of lifting motor 202 connects two semiaxis 204 respectively by reductor 203, semiaxis 204 rotates along hoisting cross beam and arranges and extend to hoisting cross beam two ends, connect lifter wheel 205 respectively to engage with the lifter rack that two root posts of portal frame 1 are arranged, semiaxis 204 is assemblied on hoisting cross beam 201 by bearing seat, from hoisting cross beam 201 two ends to lifting, make lifting action more steady, and the load of hoisting cross beam can be improved.The end of hoisting cross beam 201 is by the column slidable fit of lifting connecting panel 207 with portal frame 1, lifting connecting panel 207 is H-shaped, assembled by riser guide 208 with the Different Plane of column, in load conditions, can ensure the lifting guiding of hoisting cross beam smoothly, such Stability Analysis of Structures avoids single guide rail to occur serious wearing and tearing.
Lift drive mechanism is the necessary condition of the horizontal transfer of auxiliary work-piece, this is the locations due to all guaranteed workpiece guiding of general automobile die and location, and the workpiece of rear journey has certain fluctuating, direct horizontal transfer impossible be taken out by workpiece, must by part along pressing direction, general is do not have negative angle at punching parts along pressing direction pickup, and such workpiece easily takes out along pressing direction, and shifting out one section of safety distance guarantee workpiece can not interfere in horizontal transfer.
Meanwhile, lift drive mechanism needs to drive the kinematic mechanism of whole manipulator to hold up lifter motion, and load is large.Consider and select servomotor as power operated lifting motor, after the control system of manipulator have issued the signal needing to carry out vertical motion, servomotor drives the lifter wheel at two ends respectively by reductor, by lifter wheel and lifter rack engagement, thus promote the kinematic mechanism of whole manipulator; After the horizontal transfer of work completes, under the effect of control system, servomotor reversion drives whole kinematic mechanism backhaul, periodically repeats such process, along lifting direction 21 crank motion in Fig. 6.
In conjunction with see Fig. 3, traversing driving device 3 comprises carrier frame plate 301, traversing motor 302, Timing Belt module 303, traversing slide block 304, traversing guide rail 305, drag chain 306, traversing driving device 3 entirety is fixedly connected with the lifting connecting panel 207 on hoisting cross beam 201 by carrier frame plate 301, traversing driving device 3 entirety is horizontal Timing Belt module 303, the drive end of Timing Belt module 303 is connected with traversing motor 302, wherein Timing Belt is fixed with traversing slide block 304, the Timing Belt module 303 of traversing driving device 2 is provided with the traversing guide rail 305 for the slippage of traversing slide block 304, traversing guide rail 305 can be arranged several traversing slide blocks 304, a traversing slide block and Timing Belt is wherein only needed to be connected, drag chain 306 together moves with traversing slide block 304, servo-actuated connecting line in placing clamp hand cradle.
Traversing driving device is exactly play the effect making the horizontal transfer of removal mechanism, horizontal transfer mechanism transfer workpiece needs steadily fast, resetting is accurate, for this reason, Timing Belt module 303 is for being packaged into modular axial displacement part of straight line, driving pulley is driven by traversing motor 302, drive synchronous belt mechanism moves, realize the movement of the traversing slide block 304 that Timing Belt connects, the quality of traversing driving device should alleviate as far as possible in addition, to reduce the load of traversing driving device, can preferably adopt aluminium section bar as material.Above-mentioned traversing slide block connects the firm banking in feeding driving mechanism, is connected on the lifting connecting panel of lift drive mechanism by traversing driving device by carrier frame plate 301 simultaneously, thus realizes the connection of each driver train.The motion of this mechanism be equally receive signal that control system provides after, traversing motor drives Timing Belt module and under the directional tagging of set of rails, thus the horizontal transfer of feeding driving mechanism that traversing slide block connects by realization, along sideslip direction 31 crank motion in Fig. 6.
In conjunction with see Fig. 4 and Fig. 5, feeding driving mechanism 4 comprises firm banking 401, feeding connecting panel 402, feeding cylinder assembly 403, feeding guide rod 404, linear bearing 405, limiting stopper 406, oleo cushion spring 407, regulates mounting hole 408, feeding driving mechanism 4 connects tong frame 5 and traversing driving device, wherein be connected with traversing slide block 304 by firm banking 401, the fixed end of feeding cylinder assembly 403 is arranged on firm banking 401, and telescopic end connects feeding connecting panel 402; Tong frame 5 is fixedly installed on feeding connecting panel 402, and the front end of tong frame 5 is provided with some pickup tongs 501.Feeding driving mechanism 4 can according to the size of transfer workpiece, several dissimilar tongs of arrangements.
Feeding guide rod 404 and linear bearing 405 is also provided with between firm banking 401 and feeding connecting panel 402, feeding guide rod 404 is arranged on firm banking 401 along direction of feed, parallel with the telescopic direction of feeding cylinder, linear bearing 405 is fixed on feeding connecting panel 402, and is sleeved on feeding guide rod 404.The firm banking 401 of feeding driving mechanism 4 is provided with limiting stopper 406, stroke is stretched out for what limit feeding cylinder assembly 403, firm banking 401 is provided with the adjustment mounting hole 408 that a row arranges along direction of feed, and limiting stopper 406 is mounted by means of bolts on and regulates in mounting hole.Limiting stopper 406 being threaded connection oleo cushion spring 407, having carried out buffering energy-absorbing as adopted hydraulic spring.
The stroke adjustment mode of feeding driving mechanism has two places, and a place, by degree clamp dog of being expert at arranges oil pressure oleo cushion spring, by regulating screw thread fine setting, can regulate buffer stroke to regulate impact energy; Another place is the adjustment mounting hole having several grades of strokes on a mounting board, can the position of adjustment travel limiting stopper by changing the mounting hole installed, thus regulates the stroke of feeding driving mechanism.
Feeding driving mechanism considers use occasion and cost, select common cylinder as dynamical element, feeding cylinder assembly is after receiving the actuation signal that control system sends, under the effect of the guiding of linear bearing and feeding guide rod, pickup tong on tong frame is pushed in mould, pickup tong can adjust according to on-the-spot workpiece actual conditions, and smooth workpiece can use scoop pickup, and shape then can carry out pickup with pneumatic tong relative to fitfull.The final position of tong by after oleo cushion spring buffer by the stop of stroke limit block.After workpiece transfer, receive control system and provide return hydraulic cylinder signal, feeding cylinder assembly starts backhaul until get back to reference position, under the effect of control system, periodically repeats such process, along direction of feed 41 crank motion in Fig. 6.
Pickup tong 501 is mainly formed by standard aluminum profile material assembling and can be used for picking up the part of different size, such structure have load little, be suitable for wide, be convenient to the advantages such as installation.
As shown in Figure 6, after punching press completes, feeding driving mechanism is along direction of feed 41 setting in motion, and pickup tong stretches into mould the inner and gets workpiece in the path of motion signal of each driver train of manipulator; Lift drive mechanism drives feeding driving mechanism and traversing driving device to move along vertical lifting direction 21 to avoid interfering; Now traversing driving device starts to drive feeding driving mechanism along the horizontal transfer of sideslip direction 31; The workpiece that lift drive mechanism starts to move downward pickup tong is taken along vertical lifting direction 21 after transfer campaign completes is placed on subsequent processing; Then be that feeding driving mechanism drives pickup tong to exit outside mould along direction of feed 41; Be finally traversing driving device drive, feeding driving mechanism along sideslip direction 31 backhaul, whole manipulator gets back to the start work point of cycle of operations.
In conjunction with see Fig. 7, in figure, the mould of multiple operation matched moulds is arranged on the bench board of punch press 6, transplanting machine hand by portal frame 1 be arranged on respectively punch press both sides and in the outside of mould, when punch press to complete after downward punching press action just upwards setting in motion time, the pickup tong of manipulator just starts to extend into pickup in mould, transplants, puts a series of braking maneuvers such as part under the effect of driver train.In conjunction with the punching press beat of punch press, be embedded in punching press gap by the motion of each axle of manipulator or independence or simultaneous, the punching press beat that planning is good suitable, enhances productivity substantially.The punching press of the workpiece of each like this inter process and transplanting work just can the carrying out of automatic high-efficiency.The manipulator of the present embodiment adopts the straight-line motion of three-dimensional, the mould that well can be applied to multiple operation matched moulds and the compact set of molds be installed in series, applied widely and alerting ability is high, stable work in work and can ensure that workpiece access position is accurate well.
Control system described in the present embodiment is the control module of manipulator, comprises and being connected with the drive element of each driver train and position detection unit, is conventional manipulator control technological means, does not repeat at this.
Above-mentioned is the preferred embodiment of the present invention; but those skilled in the art should be understood that; not departing from the spirit and scope of the present invention that appended claims limits, in form and details to the various changes done by the present invention, all belong to protection scope of the present invention.
Claims (10)
1. shifting mechanical arm, is characterized in that: comprise portal frame (1), lift drive mechanism (2), traversing driving device (3), feeding driving mechanism (4) and tong frame (5);
Described lift drive mechanism (2), traversing driving device (3) and feeding driving mechanism (4) are arranged on portal frame (1) according to space line three-dimensional respectively;
Described lift drive mechanism (2) comprises the hoisting cross beam (201) be vertically slidably arranged on portal frame (1), and drives the drive element of hoisting cross beam (201) vertically slippage;
Described traversing driving device (3) is fixedly connected with the lifting connecting panel (207) on hoisting cross beam (201) by carrier frame plate (301), described traversing driving device (3) comprises the Timing Belt module (303) of a transverse direction, the drive end of described Timing Belt module (303) is connected with traversing motor (302), wherein Timing Belt is fixed with traversing slide block (304);
Described feeding driving mechanism (4) is connected with traversing slide block (304) by firm banking (401), described feeding driving mechanism (4) comprises feeding cylinder assembly (403), the fixed end of described feeding cylinder assembly (403) is arranged on firm banking (401), and telescopic end connects feeding connecting panel (402);
Described tong frame (5) is fixedly installed on described feeding connecting panel (402), and the front end of described tong frame (5) is provided with some pickup tongs (501).
2. shifting mechanical arm according to claim 1, the drive element of described lift drive mechanism (2) comprises lifting motor (202) and pinion and rack;
The column of described portal frame (1) is fixed with the lifter rack (206) of vertical direction, described lifting motor (202) is fixed on hoisting cross beam (201), and its mouth connects lifter wheel (205) by semiaxis (204) and engages with lifter rack (206);
The riser guide (208) of described hoisting cross beam (201) by vertical direction and the column slidable fit of portal frame (1).
3. shifting mechanical arm according to claim 2, described lifting motor (202) is arranged on hoisting cross beam (201) middle part, the mouth of lifting motor (202) connects two semiaxis (204) respectively by reductor (203), described semiaxis (204) rotates along hoisting cross beam and arranges and extend to hoisting cross beam two ends, connects lifter wheel (205) respectively and engages with the lifter rack that two root posts of portal frame (1) are arranged.
4. the transplanting machine hand according to Claims 2 or 3, described pinion and rack adopts helical teeth.
5. shifting mechanical arm according to claim 2, the end of described hoisting cross beam (201) is by the column slidable fit of lifting connecting panel (207) with portal frame (1), described lifting connecting panel (207) is H-shaped, is assembled by riser guide (208) with the Different Plane of column.
6. shifting mechanical arm according to claim 1, the Timing Belt module (303) of described traversing driving device (2) is provided with the traversing guide rail (305) for traversing slide block (304) slippage.
7. shifting mechanical arm according to claim 6, described traversing driving device (2) is provided with the drag chain (306) with traversing slide block (304) movement.
8. shifting mechanical arm according to claim 7, described feeding driving mechanism (4) also comprises feeding guide rod (404) and linear bearing (405), described feeding guide rod (404) is arranged on firm banking (401) along direction of feed, parallel with the telescopic direction of feeding cylinder, described linear bearing (405) is sleeved on feeding guide rod (404) and goes up and be fixedly connected with feeding connecting panel (402).
9. shifting mechanical arm according to claim 8, the firm banking (401) of described feeding driving mechanism (4) is provided with limiting stopper (406), stroke is stretched out for what limit feeding cylinder assembly (403), described firm banking (401) is provided with the adjustment mounting hole (408) that a row arranges along direction of feed, and described limiting stopper (406) is mounted by means of bolts on and regulates in mounting hole.
10. shifting mechanical arm according to claim 9, described limiting stopper (406) has been threaded connection oleo cushion spring (407).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510518147.4A CN105129417A (en) | 2015-08-21 | 2015-08-21 | Shifting mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510518147.4A CN105129417A (en) | 2015-08-21 | 2015-08-21 | Shifting mechanical arm |
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| CN105129417A true CN105129417A (en) | 2015-12-09 |
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| CN201510518147.4A Pending CN105129417A (en) | 2015-08-21 | 2015-08-21 | Shifting mechanical arm |
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Cited By (9)
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| CN107902403A (en) * | 2017-12-13 | 2018-04-13 | 扬州恒通精密机械有限公司 | A kind of mechanical arm assembly of multi-station mold |
| CN108655280A (en) * | 2018-04-03 | 2018-10-16 | 杜泳超 | A kind of mold automatic access system |
| CN108973153A (en) * | 2018-10-16 | 2018-12-11 | 浙江工业大学 | A kind of gasket pick-off unit |
| CN109986574A (en) * | 2019-04-03 | 2019-07-09 | 灵动科技（北京）有限公司 | Autonomous device |
| CN110369697A (en) * | 2019-08-26 | 2019-10-25 | 共享智能铸造产业创新中心有限公司 | Casting from dynamic pressure case apparatus |
| CN112499296A (en) * | 2020-12-24 | 2021-03-16 | 南京工程学院 | Truss robot system of automatic refrigerator loading and unloading vehicle |
| CN113305255A (en) * | 2021-07-05 | 2021-08-27 | 常熟非凡新材股份有限公司 | Forging stock conveying device for stamping steel balls |
| CN113385600A (en) * | 2021-07-05 | 2021-09-14 | 常熟非凡新材股份有限公司 | Three-coordinate movement device for steel ball billet clamping manipulator |
| CN117584109A (en) * | 2024-01-19 | 2024-02-23 | 广东新劲力精密机械有限公司 | Material grabbing manipulator for vacuum vulcanizing machine production |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107902403A (en) * | 2017-12-13 | 2018-04-13 | 扬州恒通精密机械有限公司 | A kind of mechanical arm assembly of multi-station mold |
| CN107902403B (en) * | 2017-12-13 | 2024-01-05 | 扬州恒星精密机械有限公司 | Manipulator assembly of multi-station die |
| CN108655280A (en) * | 2018-04-03 | 2018-10-16 | 杜泳超 | A kind of mold automatic access system |
| CN108973153A (en) * | 2018-10-16 | 2018-12-11 | 浙江工业大学 | A kind of gasket pick-off unit |
| CN108973153B (en) * | 2018-10-16 | 2023-10-20 | 浙江工业大学 | Door seal strip pick-up unit |
| CN109986574A (en) * | 2019-04-03 | 2019-07-09 | 灵动科技（北京）有限公司 | Autonomous device |
| CN110369697A (en) * | 2019-08-26 | 2019-10-25 | 共享智能铸造产业创新中心有限公司 | Casting from dynamic pressure case apparatus |
| CN112499296A (en) * | 2020-12-24 | 2021-03-16 | 南京工程学院 | Truss robot system of automatic refrigerator loading and unloading vehicle |
| CN113305255A (en) * | 2021-07-05 | 2021-08-27 | 常熟非凡新材股份有限公司 | Forging stock conveying device for stamping steel balls |
| CN113385600A (en) * | 2021-07-05 | 2021-09-14 | 常熟非凡新材股份有限公司 | Three-coordinate movement device for steel ball billet clamping manipulator |
| CN117584109A (en) * | 2024-01-19 | 2024-02-23 | 广东新劲力精密机械有限公司 | Material grabbing manipulator for vacuum vulcanizing machine production |
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Application publication date: 20151209 |