CN106180449B - Series-parallel configuration punching press loading and unloading manipulator - Google Patents
Series-parallel configuration punching press loading and unloading manipulator Download PDFInfo
- Publication number
- CN106180449B CN106180449B CN201610528219.8A CN201610528219A CN106180449B CN 106180449 B CN106180449 B CN 106180449B CN 201610528219 A CN201610528219 A CN 201610528219A CN 106180449 B CN106180449 B CN 106180449B
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- China
- Prior art keywords
- rotary shaft
- side chain
- linear drives
- large arm
- forearm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000004080 punching Methods 0.000 title claims abstract description 10
- 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 8
- 230000005611 electricity Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000694 effects 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 side chain, the second side chain and with a U-shaped component, wherein remaining is identical with the first side chain in addition to 3rd linear drives bar and connector for the second side chain.Large arm is affixed by the first pedestal with frame；The driving member of large arm and forearm is rotatablely connected, and is driven by the 4th linear drives bar；The sliding block group of terminal-collecting machine and forearm is affixed.The present invention is driven by first straight line drive rod, realize swing of the large arm in two press directions, by the coordinated movement of various economic factors of three linear drives bars in two side chains realize large arm its two-dimensional movement and one-dimensional rotation planar, the pitching of terminal-collecting machine and quick mobile is realized by the driving of the 4th linear drives bar and motor respectively.Present invention process is good, and manufacturing cost is low, strong adaptability, and rigidity is big, it is possible to increase loading and unloading speed and production efficiency, ensures the product quality of stamping parts.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of manipulator.
Background technology
Punching press occupies an important position as a kind of critically important processing method 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, great change is had occurred that in production efficiency, product quality and personal security etc..Loading and unloading manipulator is as punching press
The important component of automatic production line, the quality of its performance, which has become, weighs stamping line automaticity height
One of important symbol.At present, the loading and unloading manipulator of serial configured is automatic to improving punching press as the main type on punch line
Change technology serves vital effect, but is also having the defects of itself configuration feature is brought during application, for example holds
Load and adjustment capability are poor etc..Therefore, exploitation can make up serial configured defect new configuration loading and unloading manipulator it is particularly important.
The content of the invention
It is an object of the invention to provide a kind of working space is big, bearing capacity is big, can adjust the strong series-parallel configuration punching press of 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 the large arm and one end of forearm are connected, and the other end of the forearm is connected with terminal-collecting machine, and terminal-collecting machine catches workpiece；
The large arm includes a pair of first pedestals, rectangular top tumbler, the first side chain, the second side chain, U-shaped component, the
One straight line drive rod；In the large arm, a pair of first pedestals are separately fixed at the both ends of central rack longitudinal direction, and rectangular top turns
The both ends of moving part are connected by the 6th rotary shaft with the first pedestal respectively, and one end of first straight line drive rod passes through eighth-turn moving axis
With being connected in the middle part of rectangular top tumbler, the other end of the first straight line drive rod in the middle part of the 7th rotary shaft and frame by connecting
Connect, the connecting seat axis of the 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 passes through respectively
First rotary shaft, the second rotary shaft, the tenth rotary shaft are connected with the side of rectangular top tumbler, one end difference of the second side chain
It is connected by a pair of the 5th rotary shafts with the opposite side of rectangular top tumbler, U-shaped component is made up of two U-shaped members, its
Middle part is connected by connector, and the upper end of one of U-shaped member is connected by the 3rd rotary shaft with the other end of the first side chain,
The upper end of another U-shaped member is connected by the 4th rotary shaft with the other end of the second side chain；First side chain includes one
Double parallel quadrangular mechanism, second straight line drive rod and the 3rd linear drives bar, one end of wherein second straight line drive rod pass through
Tenth rotary shaft is connected with rectangular top tumbler, and the other end of the second straight line drive rod passes through the 9th rotary shaft and double parallel
One end connection of the first H-shaped connecting rod in quadrangular mechanism, one end of the 3rd linear drives bar passes through the second rotary shaft and rectangle
The connection of top tumbler, the other end of the 3rd linear drives bar pass through in the 11st rotary shaft and double parallel quadrangular mechanism the
The middle and lower part connection of six H-shaped connecting rods, in the double parallel quadrangular mechanism, the middle and upper part and one end of the first H-shaped connecting rod
It is connected respectively by the first rotary shaft and the 12nd rotary shaft with one end of the 6th H-shaped connecting rod and one end of the 4th H-shaped connecting rod, the
The other end of six H-shaped connecting rods is connected by the 14th rotary shaft with one end of the 5th H-shaped connecting rod, the middle and lower part of the 5th H-shaped connecting rod
It is connected respectively by a pair of the 13rd rotary shafts with the middle and upper part of the 4th H-shaped connecting rod and one end of the second H-shaped connecting rod with the other end,
The other end of the other end of 4th H-shaped connecting rod and the second H-shaped connecting rod passes through a pair of the 3rd rotary shafts and the 3rd H-shaped connecting rod respectively
Both ends connect, the distance between a pair described of the 13rd rotary shafts of the distance between a pair described of the 3rd rotary shafts phase
Deng the distance between the 13rd rotary shaft and the 14th rotary shaft and the 12nd and first equal, the institute of the distance between rotary shaft
All rotary shafts in the first side chain are stated to be parallel to each other installation；
Second side chain includes a double parallel quadrangular mechanism and second straight line drive rod, in second side chain
In, in addition to without the rotary shaft of the 3rd linear drives bar and its connection, other parts and connecting mode are identical with the first side chain；
One end of the 4th linear drives bar in the forearm is by the 17th rotary shaft and is fixed on above-mentioned two U-shaped portion
The middle part connection of connector between part, the other end of the 4th linear drives bar are connected by the 15th rotary shaft and driving member
Connect, the driving member is connected by the 16th rotary shaft with the bottom of U-shaped component, the bottom of the driving member respectively with top shoe group
It is connected, the top shoe group is connected in above cog belt, and the cog belt passes through the output axis connection of timing belt component and motor, the electricity
Machine is connected with forearm frame, is connected below above-mentioned cog belt with sliding block group, and the sliding block group is connected with terminal-collecting machine.
When loading and unloading manipulator works, driven by first straight line drive rod, realize pendulum of the large arm in two press directions
It is dynamic, by the coordinated movement of various economic factors of three linear drives bars in two side chains realize large arm its two-dimensional movement of institute planar with
One-dimensional rotation, the pitching of terminal-collecting machine and quick movement are realized by the driving of the 4th linear drives bar and motor respectively.
The present invention has the following advantages that compared with prior art：
Hooke angle, ball pivot without complexity, good manufacturability, manufacturing cost is low, and large carrying capacity, strong adaptability, rigidity is big,
Punch line loading and unloading speed and production efficiency can be effectively improved, ensures the product quality of stamping parts.
Brief description of the drawings
Fig. 1 is the simplified schematic diagram of the present invention.
Fig. 2 is the large arm structure schematic diagram 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. forearms, 4. terminal-collecting machines, 5. workpiece, 6,6 ＇ press, 7,7 the first pedestals of ＇, 8.
Rectangular top tumbler, 9. first side chains, 10. second side chains, 11.U shapes component, 12. first rotary shafts, 13. second rotary shafts,
14th, the rotary shafts of 14 ＇ the 3rd, 15. the 4th rotary shafts, the rotary shafts of 16,16 ＇ the 5th, 17. the 6th rotary shafts, 18. the 7th rotate
Axle, 19. first straight line drive rods, 20. eighth-turn moving axis, 21. the 9th rotary shafts, 22. second straight line drive rods, 23. the tenth turns
Moving axis, 24. the 11st rotary shafts, 25. first H-shaped connecting rods, 26. the 12nd rotary shafts, the rotary shafts of 27,27 ＇ the 13rd, 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. pass
Moving part, 39. cog belts, 40. forearm frames, 41. sliding block groups, 42. top shoe groups, 43. motors, 44. timing belt components, 45.
16th rotary shaft, 46. the 17th rotary shafts
Embodiment
In the series-parallel configuration punching press loading and unloading manipulator schematic diagram shown in Fig. 1-4, the 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, the large arm
The other end be connected with one end of forearm 3, the other end of the forearm is connected with terminal-collecting machine 4, and terminal-collecting machine catches workpiece 5；
The large arm includes a pair of first pedestals 7,7 ＇, rectangular top tumbler 8, the first side chain 9, the second side chain 10, U-shaped
Component 11, first straight line drive rod 19；In the large arm, a pair of first pedestals 7,7 ＇ are separately fixed at central rack longitudinal direction
Both ends, the both ends of rectangular top tumbler 8 are connected by the 6th rotary shaft 17 with the first pedestal respectively, first straight line drive rod 19
One end by being connected in the middle part of eighth-turn moving axis 20 and rectangular top tumbler, the other end of the first straight line drive rod passes through the
Seven rotary shafts 18 are connected with the middle part of frame, and the connecting seat axis of the 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, one end difference of the first side chain
It is connected by the first rotary shaft 12, the second rotary shaft 13, the tenth rotary shaft 23 with the side of rectangular top tumbler, the second side chain
One end be connected respectively by a pair the 5th rotary shafts 16,16 ＇ with the opposite side of rectangular top tumbler, U-shaped component 11 be by
Two U-shaped member compositions, its middle part are connected by connector 29, and the upper end of one of U-shaped member passes through the 3rd rotary shaft 14
It is connected with the other end of the first side chain, the upper end of another U-shaped member passes through the 4th rotary shaft 15 and the other end of the second side chain
Connection；First side chain includes a double parallel quadrangular mechanism, the linear drives bar 35 of second straight line drive rod 22 and the 3rd,
Wherein one end of second straight line drive rod 22 is connected by the tenth rotary shaft 23 with rectangular top tumbler, second straight line driving
The other end of bar is connected by the 9th rotary shaft 21 with one end of the first H-shaped connecting rod 25 in double parallel quadrangular mechanism, and the 3rd
One end of linear drives bar 35 is connected by the second rotary shaft with rectangular top tumbler, the other end of the 3rd linear drives bar
It is connected by the 11st rotary shaft 24 with the middle and lower part of the 6th H-shaped connecting rod 34 in double parallel quadrangular mechanism, in the double parallel
In quadrangular mechanism, the middle and upper part and one end of the first H-shaped connecting rod pass through the first rotary shaft and the 12nd rotary shaft 26 respectively
It is 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 pass through a pair the 13rd respectively
Rotary shaft 27,27 ＇ are connected with the middle and upper part of the 4th H-shaped connecting rod and one end of the second H-shaped connecting rod 28, the 4th H-shaped connecting rod it is another
The other end of end and the second H-shaped connecting rod is connected by a pair the 3rd rotary shafts 14,14 ＇ with the both ends of the 3rd H-shaped connecting rod 30 respectively,
The distance between a pair described of the 3rd rotary shafts are equal with the distance between a pair described of the 13rd rotary shafts, the 13rd turn
The distance between rotary shaft of moving axis 27 and the 14th and the 12nd and first equal, first side chain of the distance between rotary shaft
In all rotary shafts be parallel to each other installation；
Second side chain includes a double parallel quadrangular mechanism and second straight line drive rod, in second side chain
In, in addition to without the rotary shaft of the 3rd linear drives bar and its connection, other parts and connecting mode are identical with the first side chain；
One end of the 4th linear drives bar 36 in the forearm is by the 17th rotary shaft 46 with being fixed on above-mentioned two U
The middle part connection of connector 29 between shape part, the other end of the 4th linear drives bar pass through the 15th rotary shaft 37 and biography
Moving part 38 is connected, and the driving member is connected by the 16th rotary shaft 45 with the bottom of U-shaped component, the bottom difference of the driving member
It is connected with top shoe group 42, the top shoe group is connected in above cog belt 39, and the cog belt passes through timing belt component and motor 43
Output axis connection, the motor and forearm frame 40 be connected, be connected below above-mentioned cog belt with sliding block group 41, the sliding block
Group is connected with terminal-collecting machine.
When loading and unloading manipulator works, driven by first straight line drive rod, realize large arm in two press 6,6 ＇ directions
Swing, by the coordinated movement of various economic factors of three linear drives bars in two side chains realize large arm its planar two dimension move
Dynamic and one-dimensional rotation, the pitching of terminal-collecting machine and quick shifting are realized by the driving of the 4th linear drives bar and motor respectively
It is dynamic.
Claims (1)
1. a kind of series-parallel configuration punching press loading and unloading manipulator, it includes frame, large arm, forearm and terminal-collecting machine, and the frame is frame
Frame structure, one end of large arm are connected with frame, and the other end of the large arm and one end of forearm connect, the other end of the forearm and end
Pick up device connection, it is characterised in that：The large arm includes the first pedestal, rectangular top tumbler, the first side chain, the second side chain, U-shaped
Component, first straight line drive rod, wherein, a pair of first pedestals are separately fixed at the both ends of central rack longitudinal direction, and rectangular top turns
The both ends of moving part are connected by the 6th rotary shaft with the first pedestal respectively, and one end of first straight line drive rod passes through eighth-turn moving axis
With being connected in the middle part of rectangular top tumbler, the other end of the first straight line drive rod in the middle part of the 7th rotary shaft and frame by connecting
Connect, the central rack connecting seat axis 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 passes through respectively
First rotary shaft, the second rotary shaft and the tenth rotary shaft are connected with the side of rectangular top tumbler, one end point of the second side chain
It is not connected by a pair of the 5th rotary shafts with the opposite side of rectangular top tumbler, U-shaped component is made up of two U-shaped members,
Its middle part is connected by connector, and the upper end of one of U-shaped member is connected by the other end of the 3rd rotary shaft and the first side chain
Connect, the upper end of another U-shaped member is connected by the 4th rotary shaft with the other end of the second side chain；First side chain includes one
Individual double parallel quadrangular mechanism, second straight line drive rod and the 3rd linear drives bar, one end of wherein second straight line drive rod lead to
Cross the tenth rotary shaft to be connected with rectangular top tumbler, the other end of the second straight line drive rod passes through the 9th rotary shaft and double flat
One end connection of the first H-shaped connecting rod in row quadrangular mechanism, one end of the 3rd linear drives bar passes through the second rotary shaft and square
Tumbler connection at the top of shape, the other end of the 3rd linear drives bar pass through in the 11st rotary shaft and double parallel quadrangular mechanism
The middle and lower part connection of 6th H-shaped connecting rod；
Second side chain includes a double parallel quadrangular mechanism and second straight line drive rod, in second side chain, removes
Outside without the 3rd linear drives bar and its rotary shaft of connection, other parts and connecting mode are identical with the first side chain；
The forearm mainly include the 4th linear drives bar, driving member, cog belt, forearm frame, sliding block group, top shoe group,
Motor and timing belt component, wherein, one end of the 4th linear drives bar by the 17th rotary shaft and is fixed on above-mentioned two U-shaped
The middle part connection of connector between part, the other end of the 4th linear drives bar are connected by the 15th rotary shaft and driving member
Connect, the driving member is connected by the 16th rotary shaft with the bottom of U-shaped component, the bottom of the driving member respectively with top shoe group
It is connected, the top shoe group is connected in above cog belt, and the cog belt passes through the output axis connection of timing belt component and motor, the electricity
Machine is connected with forearm frame, is connected below above-mentioned cog belt with sliding block group, and the 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 CN106180449A (en) | 2016-12-07 |
| CN106180449B true CN106180449B (en) | 2018-04-03 |
Family
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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 |
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| CN (1) | CN106180449B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3562624B1 (en) * | 2016-12-27 | 2020-11-18 | ABB Schweiz AG | A pendular handling system for a press line |
| CN106903672A (en) * | 2017-03-29 | 2017-06-30 | 燕山大学 | Two branch's Three Degree Of Freedom industrial robots |
| CN109967642B (en) * | 2019-03-06 | 2022-03-11 | 燕山大学 | Quick feeding and discharging mechanical arm |
| DE102019112049B4 (en) * | 2019-05-08 | 2021-01-28 | Universitätsmedizin Der Johannes Gutenberg-Universität Mainz | Finger movement splint for carrying out a continuous, passive and / or actively assisted movement of a finger and / or a thumb of a patient, as well as a therapy device comprising such a finger movement splint |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| JP2010094695A (en) * | 2008-10-15 | 2010-04-30 | Ihi Corp | Workpiece conveying apparatus |
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- 2016-07-06 CN CN201610528219.8A patent/CN106180449B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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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| Publication number | Publication date |
|---|---|
| CN106180449A (en) | 2016-12-07 |
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Granted publication date: 20180403 |