CN203973280U - A kind of new type auto feeding-blanking manipulator system - Google Patents
A kind of new type auto feeding-blanking manipulator system Download PDFInfo
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- CN203973280U CN203973280U CN201420353008.1U CN201420353008U CN203973280U CN 203973280 U CN203973280 U CN 203973280U CN 201420353008 U CN201420353008 U CN 201420353008U CN 203973280 U CN203973280 U CN 203973280U
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Abstract
The utility model discloses a kind of new type auto feeding-blanking manipulator system, comprise tooth bar, bearing, the second slide block, the second screw pair, the second guideway, first connecting rod mechanism, clutch shaft bearing pair, the first screw mandrel, the first guide rail, the first slide block, the 4th bearing pair, auxiliary connecting rod, the 6th bearing pair, the 5th bearing pair, manipulator Jia Chi mechanism, crank front end, the 3rd bearing pair, crank back segment, the second bearing pair, the second support, the first support; Pipeline system operating type of the present utility model, can set a plurality of crawl station coordinates, realizes a set of loading and unloading manipulator to the loading and unloading of many CNC equipment, and each station maskable; Compare with conventional robot loading and unloading mode one to one, equipment cost is low, does not change original CNC device layout, and construction is simple, when system is not worked, does not affect manual work, greatly saves space.
Description
Technical field
The present invention relates to a kind of arm-and-hand system, especially relate to a kind of new type auto feeding-blanking manipulator system
Background technology
In CNC machining industry, the method that tradition is changed fixture generally adopts manual type,, after product completion of processing, by the fixture manually more renewing, continues processing.Not only efficiency is low for this kind of mode, and cost is high, and the mist of oil that produces of CNC processing etc. also has very big impact to CNC operator's physical and mental health.In recruitment environment increasingly serious today, manual type will be eliminated.
A kind of simple solution is that importing industry mechanical arm, makes manipulator according to pre-set track and control logic and CNC equipment cooperating, realizes automatic loading/unloading work.A kind of layout of this scheme be take a six axis robot and two CNC and is one group, and described manipulator is arranged between two CNC equipment.In two CNC, have any one and machine, and the manipulator of controlling in this group reloads automatically, then start the processing of new product.After manipulator reloading completes, the fixture of changing is delivered to next work station by streamline.Although this kind of scheme realized automated job, improved CNC operator's working environment, every two CNC equipment just need manipulator coordinating operation with it, this kind of today that robotic device is with high costs, can significantly increase production cost undoubtedly.In addition, most of application scenarios ratio process time time of reloading all will have more several times, and result will cause manipulator in the most of time of CNC normal process, all, in the idle state reloading of waiting for, the utilization rate of equipment is undoubtedly to huge waste.Another layout is to consider the stroke of manipulator, by 5 to 6 CNC are uniform in the form of a ring around manipulator at the most.Although this kind of layout to a certain degree improved the service efficiency of manipulator, between equipment, distance is too small, once there be a CNC to be out of order, during maintenance, for security consideration, whole system all needs to stop operation, and this has caused again new efficiency waste.
Another kind of scheme is to adopt pipeline system operation, and each CNC is still in one line according to traditional approach layout, then designs a streamline guide rail parallel and is close to CNC equipment in one line.Described feeding-blanking manipulator system is arranged on described guide rail, by detent mechanism driving device hand system, on guide rail, is moved back and forth.Another layout of this programme is that loading and unloading system adopts the horizontal lead screw guide rail vertical with guide rail direction and vertical thread rod guide to form, but this kind of layout is excessive by horizontal lead screw guide rail size, and the importing of automation will reduce the CNC density of the confined space on the contrary.And horizontal lead screw guide rail with described streamline guide rail movement during due to the size normal operation that also affects CNC operator bigger than normal.Another layout is suspension type streamline guide rail.But for console mode streamline guide rail, have again complex structure, positioning precision is not enough, the unfavorable factor such as construct loaded down with trivial details.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of a plurality of crawl station coordinates of setting, and realizes a set of loading and unloading manipulator to the loading and unloading of many CNC equipment, and each station maskable; Compare with conventional robot loading and unloading mode one to one, equipment cost is low, does not change original CNC device layout, and construction is simple, when system is not worked, does not affect manual work, greatly saves the new type auto feeding-blanking manipulator system in space-efficient.
The utility model is achieved through the following technical solutions: a kind of new type auto feeding-blanking manipulator system, comprises tooth bar, bearing, the second slide block, the second screw pair, the second guideway, first connecting rod mechanism, clutch shaft bearing is secondary, the first screw mandrel, the first guide rail, the first slide block, the 4th bearing pair, auxiliary connecting rod, the 6th bearing pair, the 5th bearing pair, manipulator Jia Chi mechanism, crank front end, the 3rd bearing pair, crank back segment, the second bearing pair, the second support, the first support, described the second slide block, the second screw pair, the second guideway, first connecting rod mechanism, clutch shaft bearing is secondary, the 3rd bearing pair, crank back segment, the second bearing pair and the second support form a slider-crank mechanism, described the 4th bearing pair, auxiliary connecting rod, the 6th bearing pair, the 5th bearing pair, crank front end and the 3rd bearing pair form a parallel-crank mechanism, and described slider-crank mechanism is fixedly connected with slide block by the second support, and described parallel-crank mechanism is by the 4th bearing pair, the 3rd bearing pair is articulated with on slide block, driving mechanical Shou Jiachi mechanism is around the first slide block movement, the first guide rail is vertically fixed on the first support, the first screw mandrel 8 row are in the first guide rail, two ends are connected on the first support with bearing, the first slide block moves up and down along the first guide rail under the drive of the first screw mandrel, the second support is fixedly connected with the first slide block, and synchronize and move along Z direction with described the first slide block, the second guideway is fixedly installed on the second support, the second screw pair is installed on the second support by bearing, the second guideway and the parallel installation of the second screw pair, crank front end and crank rear end form crank mechanism, the second slide block is connected by clutch shaft bearing is secondary with first connecting rod mechanism, first connecting rod mechanism is connected by the second bearing pair with crank back segment, crank front end is connected by the 5th bearing pair with manipulator Jia Chi mechanism, crank is connected by the 3rd bearing pair with the second support.
As preferred technical scheme, the second slide block of described slider-crank mechanism forms a plane along the second screw pair, the second guideway, and this plane is along the second screw pair axially-movable, and by the motion of the moving first connecting rod of clutch shaft bearing subband mechanism.
As preferred technical scheme, between described crank back segment and first connecting rod mechanism, by the second bearing pair, be connected, under the drive of Bing first connecting rod mechanism, around the 3rd bearing pair, rotate.
As preferred technical scheme, the limit that described the 6th bearing pair, the 5th bearing pair form is parallel with the limit that the 4th bearing pair, the 3rd bearing pair form.
As preferred technical scheme, described the first screw mandrel, the parallel installation of the first guide rail vertical direction, respectively through on the first support of the first slide block to the first slide block lower end, and the plane that the first screw mandrel, the first guide rail form is vertical with tooth bar, and drive the first slide block moves at vertical direction.
As preferred technical scheme, described the second slide block drives crank back segment to rotate around the 3rd bearing pair along the second screw pair axially-movable, and described crank back segment is around the 3rd bearing pair rotation and then the translational motion of driving mechanical Shou Jiachi mechanism
The beneficial effects of the utility model are: 1, pipeline system operating type, can set a plurality of crawl station coordinates, and realize a set of loading and unloading manipulator to the loading and unloading of many CNC equipment, and each station maskable; Compare with conventional robot loading and unloading mode one to one, equipment cost is low; Do not change original CNC device layout, construction is simple, and new type auto loading and unloading manipulator of the present invention retain the manual operation pattern of original CNC equipment, when system is not worked, do not affect manual work;
2, manipulator adopts folding design, compares with traditional vertical slide unit of XY, and equipment volume is less, greatly saves space.Described loading and unloading manipulator is carried out while reloading action, launches described collapsible arm capture or place work piece according to desired trajectory, after action executing completes, described collapsible arm is closed up to save space;
3, adopt eccentrically arranged type slider-crank mechanism, by limiting the stroke of the second screw body, the range of movement of constraint the second slide block, avoids the dead point of moving;
4, adopt parallel-crank mechanism manipulator clamping mechanism not there is rotary freedom, keep fixed angle to do translational motion in described X-Y-Z coordinate system.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is blanking mechanical hand equipment mechanism sketch of the present utility model;
Fig. 2 is that loading and unloading manipulator device is at the sketch of X-Y plane projection;
Fig. 3 is a main TV structure schematic diagram of implementing of loading and unloading manipulator device.
The specific embodiment
Disclosed all features in this description, or the step in disclosed all methods or process, except mutually exclusive feature and/or step, all can combine by any way.
Disclosed arbitrary feature in this description (comprising any accessory claim, summary and accompanying drawing), unless narration especially all can be replaced by other equivalences or the alternative features with similar object.That is,, unless narration especially, each feature is an example in a series of equivalences or similar characteristics.
As shown in Figure 1, a kind of new type auto feeding-blanking manipulator system, comprises tooth bar 1, bearing 2, the second slide block 3, the second screw pair 4, the second guideway 5, first connecting rod mechanism 6, clutch shaft bearing pair 7, the first screw mandrel 8, the first guide rail 9, the first slide block 10, the 4th bearing pair 11, auxiliary connecting rod 12, the 6th bearing pair 13, the 5th bearing pair 14, manipulator Jia Chi mechanism 15, crank front end 16, the 3rd bearing pair 18, crank back segment 19, the second bearing pair 20, the second support 21, the first support 22, described the second slide block 3, the second screw pair 4, the second guideway 5, first connecting rod mechanism 6, clutch shaft bearing pair 7, the 3rd bearing pair 18, crank back segment 19, the second bearing pair 20 and the second support 21 form a slider-crank mechanism, described the 4th bearing pair 11, auxiliary connecting rod 12, the 6th bearing pair 13, the 5th bearing pair 14, crank front end 16 and the 3rd bearing pair 18 form a parallel-crank mechanism, and described slider-crank mechanism is fixedly connected with slide block 10 by the second support 21, and described parallel-crank mechanism is by the 4th bearing pair 11, the 3rd bearing pair 18 is articulated with on slide block 10, driving mechanical Shou Jiachi mechanism 15 is around the first slide block 10 motions, the first guide rail 9 is vertically fixed on the first support 22, the first screw mandrel 8 is parallel to the first guide rail 9, two ends are connected on the first support 22 with bearing, the first slide block 10 moves up and down along the first guide rail 9 under the drive of the first screw mandrel 8, the second support 21 is fixedly connected with the first slide block 10, and synchronize and move along Z direction with described the first slide block 10, the second guideway 5 is fixedly installed on the second support, the second screw pair 4 is installed on the second support by bearing, the second guideway 5 and the parallel installation of the second screw pair 4, crank front end 16 and crank rear end form crank mechanism, the second slide block 3 is connected by clutch shaft bearing secondary 7 with first connecting rod mechanism 6, first connecting rod mechanism 7 is connected by the second bearing pair 20 with crank back segment 19, crank front end 16 is connected by the 5th bearing pair 14 with manipulator Jia Chi mechanism 15, crank is connected by the 3rd bearing pair 18 with the second support 21.
The second slide block 3 of described slider-crank mechanism forms planes along the second screw pair 4, the second guideway 5, and this plane is along the second screw pair 4 axially-movables, and by clutch shaft bearing secondary 7, drives the motion of first connecting rod mechanisms 6.
Between described crank back segment 19Yu first connecting rod mechanism 6, by the second bearing pair 20, connect, under the drive of Bing first connecting rod mechanism 6, around the 3rd bearing pair 18, rotate.
The limit that described the 6th bearing pair 13, the 5th bearing pair 14 form is parallel with the limit that the 4th bearing pair 11, the 3rd bearing pair 18 form.
Described the first screw mandrel 8, the parallel installation of the first guide rail 9 vertical direction, respectively through on the first support of the first slide block 10 to first slide block lower ends, and the plane that the first screw mandrel 8, the first guide rail 9 form is vertical with tooth bar 1, drives the first slide block 10 to move at vertical direction.
Described the second slide block 3 drives crank back segment 19 around the 3rd bearing pair 18 rotations along the second screw pair 4 axially-movables, and described crank back segment 19 is around the 3rd bearing pair 18 rotation and then 15 translational motions of driving mechanical Shou Jiachi mechanism.
Consider plane and Y-Z plane parallel that the first screw pair 8 and the first guideway 9 form, the second screw pair 4 is parallel with X-Y plane with the plane of the second guideway 5 formations, by Fig. 1 to X-Y plane inner projection.To simplify the analysis, first only consider the motion conditions of slider-crank mechanism described in Fig. 1, and take the 3rd bearing pair 18 as initial point O, set up coordinate system, obtain simplified model as shown in Figure 2, wherein, clutch shaft bearing pair 7 is corresponding to A, and the second bearing pair 20 is corresponding to B, and the 5th bearing pair 14 is corresponding to C.
As shown in Figure 2, the second slide block 3 moves to A ' by initial position A, and corresponding clutch shaft bearing pair 7 moves to B ' by B, and first connecting rod 6 AB in Fig. 2 moves to A ' B ' position, and described crank becomes B ' OC ' from BOC, as shown in Figure 2.And establish parameter:
AB＝A’B’＝dimS
BO＝B’O＝dimT
OC＝OC’＝L
If A ' with respect to the increment of A is, ∠ BOC=Alpha, and Ya=DimD, so
Xb^2+Yb^2＝dimT^2 (1)
(Xb-Xa)^2+(Yb-Ya)^2＝dimS^2 (2)
Simultaneous (1), (2) can obtain: Xb, Yb, about the function of Xa, are made as respectively
Xb＝G(Xa) (3)
Yb＝H(Xa) (4)
So angle of known OB and Y-axis negative direction
gama＝arctan(Xb/Yb) (5)
The angle of OC and X-axis negative direction
Beta＝Alpha-90-gama (6)
So C point is followed A point to move back and forth corresponding coordinate Xc, Yc to be in described XY coordinate system:
Xc＝L*cos(Beta) (7)
Yc＝L*sin(Beta) (8)
Comprehensively (1), (2), (3), (4), (5), (6), (7) and (8) formula, can obtain A (Xa, Ya) about just the solving an equation of C point coordinates C (Xc, Yc),
Xc＝Φ(Xa) (9)
Yc＝Ψ(Xa) (10)
About described manipulator terminal C, in the free degree of Z direction, synchronize and move up and down with described the first slide block 10.The Z-direction coordinate of being ordered with A by the Z-direction coordinate of known XY plane is identical, so,
Zc＝Za (11)
Like this, tooth bar 1 is in conjunction with motion control A point coordinates value A (Xa, the Ya of the first screw pair 8 and the second screw pair 4, Za), by formula (9), (10) and (11), just can accurately control C (Xc, Yc, Zc) movement locus in described X-Y-C coordinate system.
As shown in Figure 3, Fig. 3 is one of the present utility model and implements illustration, guide rail 120, guide rail 122 are arranged in frame 123 with tooth bar 121 levels, horizontal movement in the plane that slide unit 119 guide rail 120 that edge is parallel to each other under the driving of main motor 100 and guide rail 122 form.
Z-direction motor 101 is connected with screw body 102, under the constraint of guide rail 110, drives described slider-crank mechanism and parallel-crank mechanism to move back and forth at vertical direction.
Described slider-crank mechanism comprises Y-direction motor 103, screw body 104, slide block 105, connecting rod 106, bearing 107, bearing 108, connecting rod 109, swing arm 114 and support 124.Wherein, Y-direction motor 103 is fixedly connected with screw body 104, drives slide block 105 along screw body 104 axially-movables.Slide block 105 is connected with bearing 107 with connecting rod 106, and connecting rod 106 is connected with bearing 108 with connecting rod 109; Connecting rod 109 is fixedly connected with swing arm 114, and swing arm 114 is arranged on support 124 by bearing 112.
Described parallel-crank mechanism comprises swing arm 113, swing arm 114, bearing 111, bearing 112, bearing 115, bearing 116.Wherein, the two ends of swing arm 113, swing arm 114 connect with bearing 111, bearing 115, bearing 112, bearing 116 respectively, and its middle (center) bearing 111, bearing 112 are fixed on support 124, and bearing 115 is connected with jaw 117 with 116, bearing.
From the principle of slider-crank mechanism, when slide block 105 produces after the axial amount of movement of screw body 104, just drivening rod 106 and connecting rod 109 interlocks.The motion of slide block 105 consider that swing arm 114 is fixedly connected with connecting rod 109, and swing arm 114 is connected with bearing 112 with support 124, so will cause swing arm 114 to rotate around bearing 112.
Consider that swing arm 113 and swing arm 114 and bearing 111, bearing 112, bearing 115, bearing 116 form described parallel-crank mechanism, the characteristic parallel according to parallel-crank mechanism opposite side, the limit that bearing 115 and bearing 116 form is by the limit keeping parallelism with bearing 111 and bearing 112 compositions.Known bearing 111 and bearing 112 are fixing, so known, jaw 117 does not during movement have rotary freedom, remains translational motion.
In addition, because slide block 105 motions cause jaw 117 can lean on the counter motion of slide unit 119 to be offset at the component motion of guide rail 120 directions, final new type auto feeding-blanking manipulator system of the present invention has been realized the accurate positioning function to jaw.
Although more used tooth bar 1 herein, bearing 2, the second slide block 3, the second screw pair 4, the second guideway 5, first connecting rod mechanism 6, clutch shaft bearing pair 7, the first screw mandrel 8, the first guide rail 9, the first slide block 10, the 4th bearing pair 11, auxiliary connecting rod 12, the 6th bearing pair 13, the 5th bearing pair 14, manipulator Jia Chi mechanism 15, crank front end 16, the 3rd bearing pair 18, crank back segment 19, the second bearing pair 20, the second support 21, the first support 22, main motor 100, Z-direction motor 101, screw body 102, Y-direction motor 103, screw body 104, slide block 105, connecting rod 106, bearing 107, bearing 108, connecting rod 109, guide rail 110, bearing 111, bearing 112, swing arm 113, swing arm 114, bearing 115, bearing 116, jaw 117, slide unit 119, guide rail 120, tooth bar 121, guide rail 122, the terms such as frame 123 and support 124, but do not get rid of the possibility of using other term.Use these terms to be only used to describe more easily and explain essence of the present utility model; They are construed to any additional restriction is all contrary with the utility model spirit.
The above, be only the specific embodiment of the present utility model, but protection domain of the present utility model is not limited to this, and any variation of expecting without creative work or replacement, within all should being encompassed in protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain that claims were limited.
Claims (6)
1. a new type auto feeding-blanking manipulator system, is characterized in that: comprise tooth bar (1), bearing (2), the second slide block (3), the second screw pair (4), the second guideway (5), first connecting rod mechanism (6), clutch shaft bearing secondary (7), the first screw mandrel (8), the first guide rail (9), the first slide block (10), the 4th bearing pair (11), auxiliary connecting rod (12), the 6th bearing pair (13), the 5th bearing pair (14), manipulator Jia Chi mechanism (15), crank front end (16), the 3rd bearing pair (18), crank back segment (19), the second bearing pair (20), the second support (21), the first support (22), described the second slide block (3), the second screw pair (4), the second guideway (5), first connecting rod mechanism (6), clutch shaft bearing secondary (7), the 3rd bearing pair (18), crank back segment (19), the second bearing pair (20) and the second support (21) form a slider-crank mechanism, described the 4th bearing pair (11), auxiliary connecting rod (12), the 6th bearing pair (13), the 5th bearing pair (14), crank front end (16) and the 3rd bearing pair (18) form a parallel-crank mechanism, described slider-crank mechanism is fixedly connected with slide block (10) by the second support (21), and described parallel-crank mechanism is by the 4th bearing pair (11), the 3rd bearing pair (18) is articulated with on slide block (10), driving mechanical Shou Jiachi mechanism (15) moves around the first slide block (10), the first guide rail (9) is vertically fixed on the first support (22), the first screw mandrel (8) is parallel to the first guide rail (9), two ends are connected on the first support (22) with bearing, the first slide block (10) moves up and down along the first guide rail (9) under the drive of the first screw mandrel (8), the second support (21) is fixedly connected with the first slide block (10), and synchronize and move along Z direction with described the first slide block (10), the second guideway (5) is fixedly installed on the second support, the second screw pair (4) is installed on the second support by bearing, the second guideway (5) and the parallel installation of the second screw pair (4), crank front end (16) and crank rear end form crank mechanism, the second slide block (3) is connected by clutch shaft bearing secondary (7) with first connecting rod mechanism (6), first connecting rod mechanism (7) is connected by the second bearing pair (20) with crank back segment (19), crank front end (16) is connected by the 5th bearing pair (14) with manipulator Jia Chi mechanism (15), crank is connected by the 3rd bearing pair (18) with the second support (21).
2. new type auto feeding-blanking manipulator system according to claim 1, it is characterized in that: second slide block (3) of described slider-crank mechanism forms a plane along the second screw pair (4), the second guideway (5), this plane is along the second screw pair (4) axially-movable, and by clutch shaft bearing secondary (7), drives the motion of first connecting rod mechanisms (6).
3. new type auto feeding-blanking manipulator system according to claim 1, it is characterized in that: between described crank back segment (19) and first connecting rod mechanism (6), by the second bearing pair (20), be connected, under the drive of Bing first connecting rod mechanism (6), around the 3rd bearing pair (18), rotate.
4. new type auto feeding-blanking manipulator system according to claim 1, is characterized in that: the limit that described the 6th bearing pair (13), the 5th bearing pair (14) form is parallel with the limit that the 4th bearing pair (11), the 3rd bearing pair (18) form.
5. new type auto feeding-blanking manipulator system according to claim 1, it is characterized in that: described the first screw mandrel (8), the parallel installation of the first guide rail (9) vertical direction, pass respectively the first slide block (10) to the first support of the first slide block lower end, and the plane that the first screw mandrel (8), the first guide rail (9) form is vertical with tooth bar (1), drive the first slide block (10) to move at vertical direction.
6. new type auto feeding-blanking manipulator system according to claim 1, it is characterized in that: described the second slide block (3) drives crank back segment (19) to rotate around the 3rd bearing pair (18) along the second screw pair (4) axially-movable, described crank back segment (19) is around the 3rd bearing pair (18) rotation and then driving mechanical Shou Jiachi mechanism (15) translational motion.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420353008.1U CN203973280U (en) | 2014-06-27 | 2014-06-27 | A kind of new type auto feeding-blanking manipulator system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420353008.1U CN203973280U (en) | 2014-06-27 | 2014-06-27 | A kind of new type auto feeding-blanking manipulator system |
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| CN201420353008.1U Expired - Fee Related CN203973280U (en) | 2014-06-27 | 2014-06-27 | A kind of new type auto feeding-blanking manipulator system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552151A (en) * | 2014-12-31 | 2015-04-29 | 苏州工业园区超群自动化设备有限公司 | Toothbrush sheath automatically pinching robot |
| CN106737765A (en) * | 2017-03-28 | 2017-05-31 | 广东统机器人智能股份有限公司 | A kind of seven station stamping manipulator automatic loading/unloading equipment |
| CN106945024A (en) * | 2017-04-14 | 2017-07-14 | 扬力集团股份有限公司 | A kind of handling equipment and its method |
| CN107253079A (en) * | 2017-06-19 | 2017-10-17 | 江西洪都航空工业集团有限责任公司 | A kind of arm-and-hand system for many lathe automatic loading/unloadings |
| CN110539146A (en) * | 2019-09-29 | 2019-12-06 | 河北新大地机电制造有限公司 | Automatic installation device and method for sandwich external wall panel heat-insulating layer connecting piece |
| CN110774258A (en) * | 2018-07-30 | 2020-02-11 | 中国科学院沈阳自动化研究所 | Automatic follow ration powder charge robot |
| CN112264990A (en) * | 2020-09-30 | 2021-01-26 | 南阳英良石业有限公司 | Prevent broken marble slab transport feeding equipment in edge |
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2014
- 2014-06-27 CN CN201420353008.1U patent/CN203973280U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552151A (en) * | 2014-12-31 | 2015-04-29 | 苏州工业园区超群自动化设备有限公司 | Toothbrush sheath automatically pinching robot |
| CN104552151B (en) * | 2014-12-31 | 2017-01-04 | 苏州超群智能科技有限公司 | A kind of toothbrush sheath automatic kneading machine people |
| CN106737765A (en) * | 2017-03-28 | 2017-05-31 | 广东统机器人智能股份有限公司 | A kind of seven station stamping manipulator automatic loading/unloading equipment |
| CN106945024A (en) * | 2017-04-14 | 2017-07-14 | 扬力集团股份有限公司 | A kind of handling equipment and its method |
| CN107253079A (en) * | 2017-06-19 | 2017-10-17 | 江西洪都航空工业集团有限责任公司 | A kind of arm-and-hand system for many lathe automatic loading/unloadings |
| CN110774258A (en) * | 2018-07-30 | 2020-02-11 | 中国科学院沈阳自动化研究所 | Automatic follow ration powder charge robot |
| CN110539146A (en) * | 2019-09-29 | 2019-12-06 | 河北新大地机电制造有限公司 | Automatic installation device and method for sandwich external wall panel heat-insulating layer connecting piece |
| CN112264990A (en) * | 2020-09-30 | 2021-01-26 | 南阳英良石业有限公司 | Prevent broken marble slab transport feeding equipment in edge |
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