CN106180449A - Series-parallel configuration punching press loading and unloading manipulator - Google Patents
Series-parallel configuration punching press loading and unloading manipulator Download PDFInfo
- Publication number
- CN106180449A CN106180449A CN201610528219.8A CN201610528219A CN106180449A CN 106180449 A CN106180449 A CN 106180449A CN 201610528219 A CN201610528219 A CN 201610528219A CN 106180449 A CN106180449 A CN 106180449A
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- CN
- China
- Prior art keywords
- rotary shaft
- linear drives
- drives bar
- side chain
- large arm
- Prior art date
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Links
- 238000004080 punching Methods 0.000 title claims abstract description 12
- 210000000245 forearm Anatomy 0.000 claims abstract description 22
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 14
- 239000007787 solid Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Press Drives And Press Lines (AREA)
Abstract
The present invention relates to a kind of series-parallel configuration punching press loading and unloading manipulator, including frame, large arm, forearm, terminal-collecting machine.Large arm include the first movement branched chain, the second movement branched chain and and a U-shaped assembly, wherein remaining is all identical with the first movement branched chain in addition to not having the 3rd linear drives bar and connector for the second movement branched chain.Large arm and frame are affixed by the first pedestal；Large arm is rotationally connected with the driving member of forearm, and is driven by the 4th linear drives bar；Terminal-collecting machine is affixed with the sliding block group of forearm.The present invention is driven by the first linear drives bar, realize the large arm swing in two press directions, by the coordination exercise of three linear drives bars in two side chains realize large arm its two-dimensional movement planar and one-dimensional rotation, realize the pitching of terminal-collecting machine and the most mobile by the driving of the 4th linear drives bar and motor respectively.Present invention process is good, low cost of manufacture, strong adaptability, and rigidity is big, it is possible to increase loading and unloading speed and production efficiency, it is ensured that the product quality of stamping parts.
Description
Technical field
The invention belongs to robotics, particularly relate to a kind of mechanical hand.
Background technology
Punching press, as a kind of critically important processing method, occupies an important position in machinery production.Stamping line is made
For the key technology of stamping technology, the novel automatic punching press pursued till now from the single-machine punch line of nineteen fifties
Line, has occurred that great change at aspects such as production efficiency, product quality and personal securities.Loading and unloading manipulator is as punching press
The important component part of automatic production line, the quality of its performance has become as weighs stamping line automaticity height
One of important symbol.At present, the loading and unloading manipulator of serial configured is as the main type on punch line, and to improving, punching press is automatic
Change technology serves vital effect, but the defect also having self configuration feature to bring during application, such as hold
Load is poor with adjustment capability.Therefore, can to make up the new configuration loading and unloading manipulator of serial configured defect particularly important in exploitation.
Summary of the invention
It is an object of the invention to provide that a kind of work space is big, bearing capacity big, the strong series-parallel configuration punching press of adjustable ability
Loading and unloading manipulator.
Technical scheme is as follows:
The present invention includes frame, large arm, forearm, terminal-collecting machine；Frame is frame structure, and one end of large arm is connected with frame,
The other end of this large arm is connected with one end of forearm, and the other end of this forearm is connected with terminal-collecting machine, and terminal-collecting machine catches workpiece；
Described large arm include a pair first pedestals, rectangular top tumbler, the first side chain, the second side chain, U-shaped assembly,
One straight line drive rod；In described large arm, a pair first pedestals are separately fixed at the two ends that central rack is longitudinal, and rectangular top turns
The two ends of moving part are connected with the first pedestal by the 6th rotary shaft respectively, and the 8th rotary shaft is passed through in one end of the first linear drives bar
Being connected with in the middle part of rectangular top tumbler, the other end of this first linear drives bar is connected by the middle part of the 7th rotary shaft with frame
Connecing, the connection seat axis of this central rack is vertical with the first pedestal；
First side chain and the second unbranched symmetric are arranged in rectangular top tumbler both sides, and one end of the first side chain is passed through respectively
First rotary shaft, the second rotary shaft, the tenth rotary shaft are connected with the side of rectangular top tumbler, and one end of the second side chain is respectively
Being connected with the opposite side of rectangular top tumbler by a pair the 5th rotary shafts, U-shaped assembly is made up of two U-shaped member, its
Middle part is connected by connector, and the upper end of one of them U-shaped member is connected with the other end of the first side chain by the 3rd rotary shaft,
The upper end of another U-shaped member is connected with the other end of the second side chain by the 4th rotary shaft；Described first side chain includes one
Double parallel-crank mechanisms, the second linear drives bar and the 3rd linear drives bar, wherein one end of the second linear drives bar is passed through
Tenth rotary shaft is connected with rectangular top tumbler, and the other end of this second linear drives bar is by the 9th rotary shaft and double flat row
One end of the first H-shaped connecting rod in quadrangular mechanism connects, and the second rotary shaft and rectangle are passed through in one end of the 3rd linear drives bar
Top tumbler connects, and the other end of the 3rd linear drives bar is by the 11st rotary shaft and double parallel-crank mechanisms the
The middle and lower part of six H-shaped connecting rods connects, in described pair of parallel-crank mechanism, and the middle and upper part of described first H-shaped connecting rod and one end
It is connected with one end of the 6th H-shaped connecting rod and one end of the 4th H-shaped connecting rod by the first rotary shaft and the 12nd rotary shaft respectively, the
The other end of six H-shaped connecting rods is connected with one end of the 5th H-shaped connecting rod by the 14th rotary shaft, the middle and lower part of the 5th H-shaped connecting rod
It is connected with the middle and upper part of the 4th H-shaped connecting rod and one end of the second H-shaped connecting rod by a pair the 13rd rotary shafts respectively with the other end,
The other end of the 4th H-shaped connecting rod and the other end of the second H-shaped connecting rod are respectively by a pair the 3rd rotary shafts and the 3rd H-shaped connecting rod
Two ends connect, the described distance phase between distance and a pair described the 13rd rotary shafts between a pair the 3rd rotary shafts
Equal with the 12nd and first distance between rotary shaft Deng, the distance between the 13rd rotary shaft and the 14th rotary shaft, institute
State all rotary shafts in the first side chain to be parallel to each other installation；
Described second side chain includes double parallel-crank mechanisms and the second linear drives bar, at described second side chain
In, in addition to not having the rotary shaft of the 3rd linear drives bar and connection thereof, other parts are all identical with the first side chain with connecting mode；
One end of the 4th linear drives bar in described forearm is passed through the 17th rotary shaft and is fixed on above-mentioned two U-shaped portion
The middle part of the connector between part connects, and the other end of the 4th linear drives bar is by the 15th rotary shaft with driving member even
Connecing, this driving member is connected with the bottom of U-shaped assembly by the 16th rotary shaft, the bottom of described driving member respectively with top shoe group
Being connected, this top shoe group is connected in above cog belt, and this cog belt is connected with the output shaft of motor by Timing Belt assembly, this electricity
Machine is connected with forearm frame, is connected with sliding block group below above-mentioned cog belt, and this sliding block group is connected with terminal-collecting machine.
During loading and unloading manipulator work, driven by the first linear drives bar, it is achieved large arm is at the pendulum in two press directions
Dynamic, by the coordination exercise of three linear drives bars in two side chains realize large arm its institute's two-dimensional movement planar with
One-dimensional rotation, realizes the pitching of terminal-collecting machine by the driving of the 4th linear drives bar and motor respectively and quickly moves.
The present invention compared with prior art has the advantage that
Not having the Hooke angle of complexity, ball pivot, good manufacturability, low cost of manufacture, bearing capacity is big, strong adaptability, and rigidity is big,
Punch line loading and unloading speed and production efficiency can be effectively improved, it is ensured that the product quality of stamping parts.
Accompanying drawing explanation
Fig. 1 is the simplified schematic diagram of the present invention.
Fig. 2 is the large arm structural representation sketch of the present invention.
Fig. 3 is the first branched structure simplified schematic diagram of the present invention.
Fig. 4 is the forearm structure simplified schematic diagram of the present invention.
In figure: 1. frame, 2. large arm, 3. forearm, 4. terminal-collecting machine, 5. workpiece, 6,6 ＇. press, 7,7 ＇. the first pedestal, 8.
Rectangular top tumbler, 9. the first side chain, 10. the second side chain, 11.U shape assembly, 12. first rotary shafts, 13. second rotary shafts,
14,14 ＇. the 3rd rotary shaft, 15. the 4th rotary shafts, 16,16 ＇. the 5th rotary shaft, 17. the 6th rotary shafts, 18. the 7th rotations
Axle, 19. first linear drives bars, 20. the 8th rotary shafts, 21. the 9th rotary shafts, 22. second linear drives bars, 23. the tenth turns
Moving axis, 24. the 11st rotary shafts, 25. first H-shaped connecting rods, 26. the 12nd rotary shafts, 27,27 ＇. the 13rd rotary shaft, 28.
Two H-shaped connecting rods, 29. connectors, 30. the 3rd H-shaped connecting rods, 31. the 4th H-shaped connecting rods, 32. the 5th H-shaped connecting rods, 33. the 14th turns
Moving axis, 34. the 6th H-shaped connecting rods, 35. the 3rd linear drives bars, 36. the 4th linear drives bars, 37. the 15th rotary shafts, 38. biographies
Moving part, 39. cog belts, 40. forearm frames, 41. sliding block groups, 42. top shoe groups, 43. motors, 44. Timing Belt assemblies, 45.
16th rotary shaft, 46. the 17th rotary shafts
Detailed description of the invention
In the series-parallel configuration punching press loading and unloading manipulator schematic diagram shown in Fig. 1-4, described series-parallel configuration loading and unloading machinery
Handbag including rack 1, large arm 2, forearm 3, terminal-collecting machine 4；Frame 1 is frame structure, and one end of large arm 2 is connected with frame, this large arm
The other end be connected with one end of forearm 3, the other end of this forearm is connected with terminal-collecting machine 4, and terminal-collecting machine catches workpiece 5；
Described large arm includes a pair first pedestal 7,7 ＇, rectangular top tumbler the 8, first side chain the 9, second side chain 10, U-shapeds
Assembly the 11, first linear drives bar 19；In described large arm, a pair first pedestal 7,7 ＇ are separately fixed at central rack longitudinal direction
Two ends, the two ends of rectangular top tumbler 8 are connected with the first pedestal by the 6th rotary shaft 17 respectively, the first linear drives bar 19
One end be connected with rectangular top tumbler in the middle part of by the 8th rotary shaft 20, the other end of this first linear drives bar passes through the
Seven rotary shafts 18 are connected with the middle part of frame, and the connection seat axis of this central rack is vertical with the first pedestal；
First side chain 9 and the second side chain 10 are arranged symmetrically in rectangular top tumbler both sides, and one end of the first side chain is respectively
It is connected with the side of rectangular top tumbler by first rotary shaft the 12, second rotary shaft the 13, the tenth rotary shaft 23, the second side chain
One end be connected with the opposite side of rectangular top tumbler by a pair the 5th rotary shaft 16,16 ＇ respectively, U-shaped assembly 11 be by
Two U-shaped member compositions, are connected by connector 29 in the middle part of it, and the 3rd rotary shaft 14 is passed through in the upper end of one of them U-shaped member
Being connected with the other end of the first side chain, the 4th rotary shaft 15 and the other end of the second side chain is passed through in the upper end of another U-shaped member
Connect；Described first side chain includes double parallel-crank mechanism, second linear drives bar 22 and a 3rd linear drives bar 35,
Wherein one end of the second linear drives bar 22 is connected with rectangular top tumbler by the tenth rotary shaft 23, this second linear drives
The other end of bar is connected by one end of the 9th rotary shaft 21 with the first H-shaped connecting rod 25 in double parallel-crank mechanisms, and the 3rd
One end of linear drives bar 35 is connected with rectangular top tumbler by the second rotary shaft, the other end of the 3rd linear drives bar
It is connected, at described double flat row with the middle and lower part of the 6th H-shaped connecting rod 34 in double parallel-crank mechanisms by the 11st rotary shaft 24
In quadrangular mechanism, the middle and upper part of described first H-shaped connecting rod and one end are respectively by the first rotary shaft and the 12nd rotary shaft 26
Being connected with one end of the 6th H-shaped connecting rod and one end of the 4th H-shaped connecting rod 31, the other end of the 6th H-shaped connecting rod passes through the 14th turn
Moving axis 33 is connected with one end of the 5th H-shaped connecting rod 32, and the middle and lower part of the 5th H-shaped connecting rod and the other end are respectively by a pair the 13rd
One end of rotary shaft 27,27 ＇ and the middle and upper part of the 4th H-shaped connecting rod and the second H-shaped connecting rod 28 connects, another of the 4th H-shaped connecting rod
The other end of end and the second H-shaped connecting rod is connected by the two ends of a pair the 3rd rotary shaft 14,14 ＇ and the 3rd H-shaped connecting rod 30 respectively,
The described distance between distance and a pair described the 13rd rotary shafts between a pair the 3rd rotary shafts is equal, the 13rd turn
Distance between moving axis the 27 and the 14th rotary shaft is equal with the 12nd and first distance between rotary shaft, described first side chain
In all rotary shafts be parallel to each other installation；
Described second side chain includes double parallel-crank mechanisms and the second linear drives bar, at described second side chain
In, in addition to not having the rotary shaft of the 3rd linear drives bar and connection thereof, other parts are all identical with the first side chain with connecting mode；
One end of the 4th linear drives bar 36 in described forearm is passed through the 17th rotary shaft 46 and is fixed on above-mentioned two U
The middle part of the connector 29 between shape parts connects, and the other end of the 4th linear drives bar is by the 15th rotary shaft 37 and biography
Moving part 38 connects, and this driving member is connected with the bottom of U-shaped assembly by the 16th rotary shaft 45, and the bottom of described driving member is respectively
Being connected with top shoe group 42, this top shoe group is connected in above cog belt 39, and this cog belt is by Timing Belt assembly and motor 43
Output shaft connect, this motor and forearm frame 40 is connected, and is connected with sliding block group 41 below above-mentioned cog belt, this sliding block
Group is connected with terminal-collecting machine.
During loading and unloading manipulator work, driven by the first linear drives bar, it is achieved large arm is in two press 6,6 ＇ direction
Swing, by the coordination exercise of three linear drives bars in two side chains realize large arm its planar two dimension shifting
Move and one-dimensional rotation, realize the pitching of terminal-collecting machine by the driving of the 4th linear drives bar and motor respectively and quickly move
Dynamic.
Claims (3)
1. a series-parallel configuration punching press loading and unloading manipulator, it includes frame, large arm, forearm and terminal-collecting machine, it is characterised in that: institute
Stating frame is frame structure, and one end of large arm is connected with frame, and the other end of this large arm is connected with one end of forearm, this forearm
The other end is connected with terminal-collecting machine.
A kind of series-parallel configuration punching press loading and unloading manipulator the most according to claim 1, it is characterised in that: described large arm includes
First pedestal, rectangular top tumbler, the first side chain, the second side chain, U-shaped assembly, the first linear drives bar, wherein, a pair
One pedestal is separately fixed at the two ends that central rack is longitudinal, and the two ends of rectangular top tumbler are respectively by the 6th rotary shaft and the
One pedestal connects, and one end of the first linear drives bar is connected in the middle part of rectangular top tumbler by the 8th rotary shaft, and this is first years old
The other end of linear drives bar is connected with the middle part of frame by the 7th rotary shaft, and this central rack connects seat axis and the first base
Seat is vertical；
Described first side chain and the second unbranched symmetric are arranged in rectangular top tumbler both sides, and one end of the first side chain is passed through respectively
First rotary shaft, the second rotary shaft and the tenth rotary shaft are connected with the side of rectangular top tumbler, and one end of the second side chain is divided
Tong Guo a pair the 5th rotary shafts not be connected with the opposite side of rectangular top tumbler, U-shaped assembly is made up of two U-shaped member,
Being connected by connector in the middle part of it, the upper end of one of them U-shaped member is connected by the other end of the 3rd rotary shaft with the first side chain
Connecing, the upper end of another U-shaped member is connected with the other end of the second side chain by the 4th rotary shaft；Described first side chain includes one
The individual pair of parallel-crank mechanism, the second linear drives bar and the 3rd linear drives bar, wherein one end of the second linear drives bar leads to
Crossing the tenth rotary shaft to be connected with rectangular top tumbler, the other end of this second linear drives bar passes through the 9th rotary shaft and double flat
One end of the first H-shaped connecting rod in row quadrangular mechanism connects, and the second rotary shaft and square are passed through in one end of the 3rd linear drives bar
Shape top tumbler connects, and the other end of the 3rd linear drives bar is by the 11st rotary shaft and double parallel-crank mechanisms
The middle and lower part of the 6th H-shaped connecting rod connects；
Described second side chain includes double parallel-crank mechanisms and the second rectilinear movement drive rod, at described second side chain
In, in addition to not having the rotary shaft of the 3rd linear drives bar and connection thereof, other parts are all identical with the first side chain with connecting mode.
A kind of series-parallel configuration punching press loading and unloading manipulator the most according to claim 1, it is characterised in that: described forearm is main
Including the 4th linear drives bar, driving member, cog belt, forearm frame, sliding block group, top shoe group, motor and Timing Belt assembly,
Wherein, the 17th rotary shaft and the connector being fixed between above-mentioned two U-shaped member are passed through in one end of the 4th linear drives bar
Middle part connect, the other end of the 4th linear drives bar is connected with driving member by the 15th rotary shaft, and this driving member passes through
16th rotary shaft is connected with the bottom of U-shaped assembly, and the bottom of described driving member is connected with top shoe group respectively, this top shoe group
Being connected in above cog belt, this cog belt is connected with the output shaft of motor by Timing Belt assembly, and this motor is solid with forearm frame
Even, being connected with sliding block group below above-mentioned cog belt, this sliding block group is connected with terminal-collecting machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610528219.8A CN106180449B (en) | 2016-07-06 | 2016-07-06 | Series-parallel configuration punching press loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610528219.8A CN106180449B (en) | 2016-07-06 | 2016-07-06 | Series-parallel configuration punching press loading and unloading manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106180449A true CN106180449A (en) | 2016-12-07 |
| CN106180449B CN106180449B (en) | 2018-04-03 |
Family
ID=57465702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610528219.8A Expired - Fee Related CN106180449B (en) | 2016-07-06 | 2016-07-06 | Series-parallel configuration punching press loading and unloading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106180449B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903672A (en) * | 2017-03-29 | 2017-06-30 | 燕山大学 | Two branch's Three Degree Of Freedom industrial robots |
| CN109967642A (en) * | 2019-03-06 | 2019-07-05 | 燕山大学 | Quick loading and unloading manipulator |
| CN110167718A (en) * | 2016-12-27 | 2019-08-23 | Abb瑞士股份公司 | Pendulum processing system for press line |
| CN113795231A (en) * | 2019-05-08 | 2021-12-14 | 约翰·古腾堡大学美因兹医学大学 | Finger motion rail for performing continuous, passive and/or active assisted movements of a patient's finger and/or thumb and treatment device comprising a finger motion rail of this type |
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| JPS603928A (en) * | 1983-05-31 | 1985-01-10 | Komatsu Ltd | Device for carrying work in and out |
| JPS603928B2 (en) * | 1973-11-16 | 1985-01-31 | 株式会社井上ジャパックス研究所 | Machining progress status judgment device for electrical discharge machining equipment |
| CN1117411A (en) * | 1993-12-17 | 1996-02-28 | 康茂股份公司 | Industrial robot, particularly for moving pieces from one press to the other in a line of presses |
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| CN103406895A (en) * | 2012-12-06 | 2013-11-27 | 中国第一重型机械股份公司 | Parallel serial construction horizontal rod type feeding and blanking mechanical arm |
| CN105127988A (en) * | 2014-05-07 | 2015-12-09 | 马鞍山方宏自动化科技有限公司 | Industrial robot of three-axis hybrid mechanism |
| CN105195635A (en) * | 2015-11-05 | 2015-12-30 | 东莞市科隆威自动化设备有限公司 | Full-automatic punch feeding machine and feeding method |
| CN205311732U (en) * | 2016-01-22 | 2016-06-15 | 南京农业大学 | Four -footed robot that vision was tracked |
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| JPS603928B2 (en) * | 1973-11-16 | 1985-01-31 | 株式会社井上ジャパックス研究所 | Machining progress status judgment device for electrical discharge machining equipment |
| JPS603928A (en) * | 1983-05-31 | 1985-01-10 | Komatsu Ltd | Device for carrying work in and out |
| CN1117411A (en) * | 1993-12-17 | 1996-02-28 | 康茂股份公司 | Industrial robot, particularly for moving pieces from one press to the other in a line of presses |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110167718A (en) * | 2016-12-27 | 2019-08-23 | Abb瑞士股份公司 | Pendulum processing system for press line |
| CN106903672A (en) * | 2017-03-29 | 2017-06-30 | 燕山大学 | Two branch's Three Degree Of Freedom industrial robots |
| CN109967642A (en) * | 2019-03-06 | 2019-07-05 | 燕山大学 | Quick loading and unloading manipulator |
| CN109967642B (en) * | 2019-03-06 | 2022-03-11 | 燕山大学 | Quick feeding and discharging mechanical arm |
| CN113795231A (en) * | 2019-05-08 | 2021-12-14 | 约翰·古腾堡大学美因兹医学大学 | Finger motion rail for performing continuous, passive and/or active assisted movements of a patient's finger and/or thumb and treatment device comprising a finger motion rail of this type |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106180449B (en) | 2018-04-03 |
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