CN204999382U - Duo ban manipulator - Google Patents
Duo ban manipulator Download PDFInfo
- Publication number
- CN204999382U CN204999382U CN201520379380.4U CN201520379380U CN204999382U CN 204999382 U CN204999382 U CN 204999382U CN 201520379380 U CN201520379380 U CN 201520379380U CN 204999382 U CN204999382 U CN 204999382U
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- truss
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Abstract
The utility model discloses a duo ban manipulator, comprising a frame body, X axle rail set, Z axle rail set, remove the truss, the tongs, Z axle tow chain group and X axle tow chain group, X axle rail set is through fixing on the support body, remove truss and X axle between tracks connection, remove the truss and do the motion of X axle direction on X axle track, Z axle rail set is fixed on removing the truss, the tongs is fixed and is made the tongs along with the up -and -down motion is done along the Z axle to Z axle rail set on Z axle rail set, Z axle tow chain group sets up on X axle rail set, X axle tow chain group sets up on Z axle rail set. The utility model relates to a duo ban manipulator adopts the mode that snatchs of rectangular coordinate robot, is furnished with the touch operation interface, and control is nimble, and equipment structure is simple, and the low problem of repeated positioning accuracy has been solved in the stable performance, has reduced intensity of labour, has improved work efficiency, has improved functioning speed in addition, has increased the load -carrying ability, has increaseed characteristics such as effective stroke.
Description
Technical field
The utility model relates to a kind of sheet piler tool hand.
Background technology
In prior art, make in transportation at large-scale sheet steel, can large-scale sheet steel piling or de-stacking, adopt semi-brake piling or de-stacking to existing large-scale sheet steel majority, there are some full application of brake Palletizer repetitive positioning accuracies low, also need Shape correction after piling completes, such labour intensity is large, inefficiency.
Utility model content
The purpose of this utility model is to provide a kind of sheet piler tool hand.
The technical scheme that the utility model is adopted for achieving the above object is: a kind of sheet piler tool hand, comprise support body (1), X-axis rail set (2), Z axis rail set (3), mobile truss (4), handgrip (5), Z axis drag chain group (6) and X-axis drag chain group (7), X-axis rail set (2) is by being fixed on support body (1), mobile truss (4) is connected with X-axis track (2), mobile truss (4) does X-direction motion on X-axis track (2), Z axis rail set (3) is fixed on mobile truss (4), handgrip (5) is fixed on and Z axis rail set (3) makes handgrip (5) move up and down along Z axis along with Z axis rail set (3), Z axis drag chain group (6) is arranged on X-axis rail set (2), X-axis drag chain group (7) is arranged on Z axis rail set (3).
Described support body (1) comprises outside supporting leg (101), intermediate support leg (102), oblique fulcrum bar (103), supporting leg pull bar (104), transverse beam (105), longitudinal beam (106) and adjustment seat (107), supporting leg (101) and intermediate support leg (102) fix on the ground with expansion bolt, the two ends of oblique fulcrum bar (103) are separately fixed in intermediate support leg (102) and transverse beam (105), supporting leg pull bar (104) is fixed between outside supporting leg (101) and intermediate support leg (102), and adjustment seat (107) is welded on longitudinal beam (106).
Described X-axis rail set (2) comprises X-axis driving group (201), track base (202), regulating plate (203), X-axis moving body (204), passive belt wheels (205), X-axis guide rail (206) and gear band (207), X-axis driving group (201) is fixed on one end of track base (202), passive belt wheels (205) are fixed on the other end of track base (202), X-axis axle moving body (204) is arranged on X-axis guide rail (206), X-axis axle moving body (204) is by gear band (207) and X-axis driving group (201), passive belt wheels (205) connect.
Described X-axis driving group (201) comprises belt pulley seat (2011), radial ball bearing (2012), belt pulley seat cover plate (2013), synchronous pulley (2014), motor cabinet (2015), coupler (2016) and servo deceleration machine (2017), synchronous pulley (2014) is arranged on belt pulley seat (2011) by radial ball bearing (2012), belt pulley seat cover plate (2013) is arranged on belt pulley seat (2011), synchronous pulley (2014) is connected with servo deceleration machine (2017) by coupler (2016), servo deceleration machine (2017) is fixed on belt pulley seat (2011) by motor cabinet (2015).
Described X-axis moving body (204) comprises slide attachment plate (2041), truss connecting panel (2042), linear bearing (2043), tensioning screw mandrel (2044), first Timing Belt adapter plate (2045) and the first Timing Belt pressing plate (2046), truss connecting panel (2042), linear bearing (2043), Timing Belt adapter plate (2045) is respectively by being bolted on slide attachment plate (2041), truss connecting panel (2042) is for connecting mobile truss (4), linear bearing (2043) is for connecting X-axis guide rail (206), Timing Belt pressing plate (2046) is bolted on Timing Belt adapter plate (2045), for connecting synchronous belt (207), tensioning screw mandrel (2044) is connected on Timing Belt adapter plate (2045), for tensioning synchronous belt (207).
Described Z axis rail set (3) comprises lower connection base (301), second Timing Belt adapter plate (302), second Timing Belt pressing plate (303), synchronous cog belt (304), belt wheel casing (305), tension wheel (306), Tooth Profile belt wheel (307), pedestal (308), guide rail (309), upper connector (310), servo deceleration motor (311), coupler group (312) and slide block group (313), lower connection base (301), upper connector (310) is connected in parallel two guide rails (309) by bolt, belt wheel casing (305) is fixed on pedestal (308), pedestal (308) is fixed in slide block group (313), sliding meeting group (313) moves up and down at guide rail (309), second Timing Belt adapter plate (302) is separately fixed on lower connection base (301) and upper connector (310), second Timing Belt pressing plate (303) is fixed on Timing Belt adapter plate (302), for Tooth Profile belt wheel (307) two ends are fastened, tension wheel (306), Tooth Profile belt wheel (307) is arranged on belt wheel casing (305), and servo deceleration motor (311) is connected with Tooth Profile belt wheel (307) by coupler group (312).
Described mobile truss (4) comprises truss (401), pipe link (402) and connecting panel (403), two truss (401) are fixed by bolt by pipe link (402) and the first connecting panel (403), truss (401) the truss connecting panel (2042) inner with X-axis moving body (204) is connected, and the first connecting panel (403) is connected with handgrip (5).
Described handgrip (5) comprises framework (501), upper connecting base (502), second connecting panel (503), aluminium section bar link span (504), spring buffer limb (505), sucker (506), sucker fixed mount (507), vacuum generator adapter plate (508), tracheae dispense font (509), bearing pin (510) and lower connecting base (511), framework (501) is bolted on the truss connecting panel (2042) in X-axis moving body (204), upper connecting base (502)) be bolted in Z axis rail set (3) lower connection base (301) on, lower connecting base (511), second connecting panel (503), aluminium section bar link span (504), vacuum generator adapter plate (508) and tracheae dispense font (509) are separately fixed on framework (501), sucker (506) is fixed on sucker fixed mount (507) by spring buffer limb (505), Connection Block (502) and lower connecting base (511) are linked together by bearing pin (510), and described handgrip (5) is moved up and down along with the lower connection base (301) in Z axis rail set (3).
A kind of sheet piler tool of the utility model hand, adopt the Grasp Modes of rectangular robot, be furnished with touch control type operation interface, control flexibly, device structure is simple, stable performance, solves the problem that repetitive positioning accuracy is low, reduces labour intensity, improve work efficiency, improve running velocity in addition, add load capacity, increase the features such as effective travel.
Accompanying drawing explanation
Fig. 1 is a kind of sheet piler tool of the utility model hand front view.
Fig. 2 is a kind of sheet piler tool of the utility model hand birds-eye view.
Fig. 3 is the front view of a kind of sheet piler tool of the utility model hand cradle body.
Fig. 4 is the lateral plan of a kind of sheet piler tool of the utility model hand cradle body.
Fig. 5 is the B place enlarged diagram of Fig. 3.
Fig. 6 is the front view of a kind of sheet piler tool of the utility model hand X-axis rail set.
Fig. 7 is the lateral plan of a kind of sheet piler tool of the utility model hand X-axis rail set.
Fig. 8 is the structural representation of a kind of sheet piler tool of the utility model hand X-axis driving group.
Fig. 9 is the front view of a kind of sheet piler tool of the utility model hand X-axis moving body.
Figure 10 is the birds-eye view of a kind of sheet piler tool of the utility model hand X-axis moving body.
Figure 11 is the A place enlarged drawing of Fig. 1.
Figure 12 is the front view of a kind of sheet piler tool of the utility model hand Z axis rail set.
Figure 13 is the lateral plan of a kind of sheet piler tool of the utility model hand Z axis rail set.
Figure 14 is the front view that a kind of sheet piler tool of the utility model hand moves truss.
Figure 15 is the lateral plan that a kind of sheet piler tool of the utility model hand moves truss.
Figure 16 is the front view of a kind of sheet piler tool of the utility model hand handgrip.
Figure 17 is the birds-eye view of a kind of sheet piler tool of the utility model hand handgrip.
Figure 18 is the lateral plan of a kind of sheet piler tool of the utility model hand handgrip.
In figure: 1, support body; 2, X-axis rail set; 3, Z axis rail set; 4, mobile truss; 5, handgrip; 6, Z axis drag chain group; 7, X-axis drag chain group; 101, outside supporting leg; 102, intermediate support leg; 103, oblique fulcrum bar 104, supporting leg pull bar; 105, transverse beam; 106, longitudinal beam; 107, adjustment seat; 201, X-axis driving group; 202, track base, 203, regulating plate; 204, X-axis moving body; 205, passive belt wheels; 206, X-axis guide rail; 207, gear band; 2011, belt pulley seat; 2012, radial ball bearing; 2013, belt pulley seat cover plate; 2014, synchronous pulley; 2015, motor cabinet; 2016, coupler; 2017, servo deceleration machine; 2041, slide attachment plate; 2042, truss connecting panel; 2043, linear bearing; 2044, tensioning screw mandrel; 2045, the first Timing Belt adapter plate; 2046, the first Timing Belt pressing plate; 301, lower connection base; 302, the second Timing Belt adapter plate; 303, the second Timing Belt pressing plate; 304, synchronous cog belt; 305, belt wheel casing; 306, tension wheel; 307, Tooth Profile belt wheel; 308, pedestal; 309, guide rail slide block group; 310, upper connector; 311, servo deceleration motor; 312, coupler group; 313, assembly pulley; 401, truss; 402, pipe link; 403, the first connecting panel; 501, framework; 502, upper connecting base; 503, the second connecting panel; 504, aluminium section bar link span; 505, spring buffer limb; 506, sucker; 507, sucker fixed mount; 508, vacuum generator adapter plate; 509, tracheae dispense font; 510, bearing pin; 511, lower connecting base.
Detailed description of the invention
As shown in Fig. 1 to Figure 18, sheet piler tool hand, comprise support body 1, X-axis rail set 2, Z axis rail set 3, mobile truss 4, handgrip 5, Z axis drag chain group 6 and X-axis drag chain group 7, X-axis rail set 2 is by being fixed on support body 1, mobile truss 4 is connected with X-axis track 2, mobile truss 4 does X-direction motion on X-axis track 2, Z axis rail set 3 is fixed on mobile truss 4, handgrip 5 is fixed on and Z axis rail set 3 makes handgrip 5 move up and down along Z axis along with Z axis rail set 3, comprehensive two motions reach steel plate piling or de-stacking object, Z axis drag chain group 6 is arranged on X-axis rail set 2, X-axis drag chain group 7 is arranged on Z axis rail set 3, Z axis drag chain group 6, X-axis drag chain group 7 Main Function is protecting control cable and controls tracheae, prevent sheet piler tool hand from sustaining damage at work, support body 1 comprises outside supporting leg 101, intermediate support leg 102, oblique fulcrum bar 103, supporting leg pull bar 104, transverse beam 105, longitudinal beam 106 and adjustment seat 107, supporting leg 101 and intermediate support leg 102 fix on the ground with expansion bolt, the two ends of oblique fulcrum bar 103 are separately fixed in intermediate support leg 102 and transverse beam 105, supporting leg pull bar 104 is fixed between outside supporting leg 101 and intermediate support leg 102, adjustment seat 107 is welded on longitudinal beam 106, all the other parts are bolt and are connected to become support body, it is convenient transport order, X-axis rail set 2 comprises X-axis driving group 201, track base 202, regulating plate 203, X-axis moving body 204, passive belt wheels 205, X-axis guide rail 206 and gear band 207, X-axis driving group 201 is fixed on one end of track base 202, passive belt wheels 205 are fixed on the other end of track base 202, X-axis axle moving body 204 is arranged on X-axis guide rail 206, X-axis axle moving body 204 is by gear band 207 and X-axis driving group 201, passive belt wheels 205 connect, when X-axis driving group 201 works, X-axis axle moving body 204 can be moved linearly on X-axis guide rail 206, X-axis driving group 201 comprises belt pulley seat 2011, radial ball bearing 2012, belt pulley seat cover plate 2013, synchronous pulley 2014, motor cabinet 2015, coupler 2016 and servo deceleration machine 2017, synchronous pulley 2014 is arranged on belt pulley seat 2011 by radial ball bearing 2012, belt pulley seat cover plate 2013 is arranged on belt pulley seat 2011, synchronous pulley 2014 is connected with servo deceleration machine 2017 by coupler 2016, servo deceleration machine 2017 is fixed on belt pulley seat 2011 by motor cabinet 2015, the effect of coupler 2016 is can the axle of micro-quasi-complement synchronous pulley 2014 and the axle right alignment problem of servo deceleration machine 2017, X-axis moving body 204 comprises slide attachment plate 2041, truss connecting panel 2042, linear bearing 2043, tensioning screw mandrel 2044, first Timing Belt adapter plate 2045 and the first Timing Belt pressing plate 2046, truss connecting panel 2042, linear bearing 2043, Timing Belt adapter plate 2045 is respectively by being bolted on slide attachment plate 2041, truss connecting panel 2042 is for connecting mobile truss 4, linear bearing 2043 is for connecting X-axis guide rail 206, Timing Belt pressing plate 2046 is bolted on Timing Belt adapter plate 2045, for connecting synchronous belt 207, tensioning screw mandrel 2044 is connected on Timing Belt adapter plate 2045, for tensioning synchronous belt 207, Z axis rail set 3 comprises lower connection base 301, second Timing Belt adapter plate 302, second Timing Belt pressing plate 303, synchronous cog belt 304, belt wheel casing 305, tension wheel 306, Tooth Profile belt wheel 307, pedestal 308, guide rail 309, upper connector 310, servo deceleration motor 311, coupler group 312 and slide block group 313, lower connection base 301, upper connector 310 is connected in parallel two guide rails 309 by bolt, belt wheel casing 305 is fixed on pedestal 308, pedestal 308 is fixed in slide block group 313, cunning can be organized 313 and move up and down at guide rail 309, second Timing Belt adapter plate 302 is separately fixed on lower connection base 301 and upper connector 310, second Timing Belt pressing plate 303 is fixed on Timing Belt adapter plate 302, for Tooth Profile belt wheel 307 two ends are fastened, tension wheel 306, Tooth Profile belt wheel 307 is arranged on belt wheel casing 305, tension wheel 306 plays tension, servo deceleration motor 311 is connected with Tooth Profile belt wheel 307 by coupler group 312, drive Tooth Profile belt wheel 307 to rotate when machine operation, slide block group 313 can be made to move up and down by synchronous cog belt 304, mobile truss 4 comprises truss 401, pipe link 402 and connecting panel 403, two truss 401 are fixed by bolt by pipe link 402 and the first connecting panel 403, truss 401 is connected with the truss connecting panel 2042 of X-axis moving body 204 li, first connecting panel 403 is connected with handgrip 5, pipe link 402 plays the stability strengthening mobile truss 4, handgrip 5 comprises framework 501, upper connecting base 502, second connecting panel 503, aluminium section bar link span 504, spring buffer limb 505, sucker 506, sucker fixed mount 507, vacuum generator adapter plate 508, tracheae dispense font 509, bearing pin 510 and lower connecting base 511, framework 501 is bolted on the truss connecting panel 2042 in X-axis moving body 204, upper connecting base 502 is bolted on the lower connection base 301 in Z axis rail set 3, lower connecting base 511, second connecting panel 503, aluminium section bar link span 504, vacuum generator adapter plate 508 and tracheae dispense font 509 are separately fixed on framework 501, sucker 506 is fixed on sucker fixed mount 507 by spring buffer limb 505, Connection Block 502 and lower connecting base 511 are linked together by bearing pin 510, described handgrip 5 is moved up and down along with the lower connection base 301 in Z axis rail set 3, this novel sheet piler tool hand, the adjustment of two X-axis rail set 2 parallelism uses binding bolt fastening after regulating left and right adjustment bolt and horizontal adjustment bolt, mobile truss 4 passes through track base, linear bearing is connected with X-axis track 2 and moves it truss 4 and can do X-direction move on X-axis track 2, Z axis rail set 3 passes through permanent seat, be bolted to mobile truss 4, Z axis rail set 3 is moved along with mobile truss 4, handgrip 5 is fixed on and Z axis rail set 3 makes handgrip 5 move up and down along Z axis along with Z axis rail set 3, when steel plate is transported to catching block by horizontal direction by conveyer, by position-sensing switch, steel plate is stopped at crawl position, position-sensing switch provides signal simultaneously makes Z axis rail set 3 drive handgrip 5 to start to start to move down along Z-direction, when sucker 506 touches steel plate, vacuum generator is started working, due to sucker 506 adopt special construction to work as sucker 506 not with web contact time, cone valve is inside established to prevent vacuum leak, such grasp speed is fast, can slide up and down at sucker fixed mount 507 owing to being provided with spring in spring buffer limb 505, the quasi-complement phenomenon of steel plate injustice when capturing, control Z axis rail set 3 when vacuum generator reaches certain degree of vacuum by control program and drive handgrip 5, handgrip 5 drives steel plate to start to start to move up along Z-direction, after meeting 5 seconds by chance, X-axis rail set 2 drives Z axis rail set 3, mobile truss 4, handgrip 5, steel plate starts to move to piling district along X-direction, X-axis rail set 2 is made to be positioned at piling position by photoelectricity position-sensing switch, Z axis rail set 3 drives handgrip 5 simultaneously, (5 drive steel plate to start to move down to handgrip, when steel plate is fallen due to the effect of spring buffer limb 505 make the degree of vacuum in sucker 506 become 0 after sheet piler tool hand return to crawl position according to program, sheet piler tool hand of the present invention solves the low problem of repetitive positioning accuracy, reduce labour intensity, improve work efficiency, the Grasp Modes of sheet piler tool hand getting rectangular robot, is furnished with touch control type operation interface, control flexibly, device structure is simple, stable performance, improve running velocity in addition, add load capacity, increase the features such as effective travel.
Claims (8)
1. a sheet piler tool hand, it is characterized in that: comprise support body (1), X-axis rail set (2), Z axis rail set (3), mobile truss (4), handgrip (5), Z axis drag chain group (6) and X-axis drag chain group (7), X-axis rail set (2) is by being fixed on support body (1), mobile truss (4) is connected with X-axis rail set (2), mobile truss (4) does X-direction motion on X-axis rail set (2), Z axis rail set (3) is fixed on mobile truss (4), handgrip (5) is fixed on and Z axis rail set (3) makes handgrip (5) move up and down along Z axis along with Z axis rail set (3), Z axis drag chain group (6) is arranged on X-axis rail set (2), X-axis drag chain group (7) is arranged on Z axis rail set (3).
2. a kind of sheet piler tool hand according to claim 1, it is characterized in that: described support body (1) comprises outside supporting leg (101), intermediate support leg (102), oblique fulcrum bar (103), supporting leg pull bar (104), transverse beam (105), longitudinal beam (106) and adjustment seat (107), outside supporting leg (101) and intermediate support leg (102) fix on the ground with expansion bolt, the two ends of oblique fulcrum bar (103) are separately fixed in intermediate support leg (102) and transverse beam (105), supporting leg pull bar (104) is fixed between outside supporting leg (101) and intermediate support leg (102), adjustment seat (107) is welded on longitudinal beam (106).
3. a kind of sheet piler tool hand according to claim 1, it is characterized in that: described X-axis rail set (2) comprises X-axis driving group (201), track base (202), regulating plate (203), X-axis moving body (204), passive belt wheels (205), X-axis guide rail (206) and gear band (207), X-axis driving group (201) is fixed on one end of track base (202), passive belt wheels (205) are fixed on the other end of track base (202), X-axis moving body (204) is arranged on X-axis guide rail (206), X-axis moving body (204) is by gear band (207) and X-axis driving group (201), passive belt wheels (205) connect.
4. a kind of sheet piler tool hand according to claim 3, it is characterized in that: described X-axis driving group (201) comprises belt pulley seat (2011), radial ball bearing (2012), belt pulley seat cover plate (2013), synchronous pulley (2014), motor cabinet (2015), coupler (2016) and servo deceleration machine (2017), synchronous pulley (2014) is arranged on belt pulley seat (2011) by radial ball bearing (2012), belt pulley seat cover plate (2013) is arranged on belt pulley seat (2011), synchronous pulley (2014) is connected with servo deceleration machine (2017) by coupler (2016), servo deceleration machine (2017) is fixed on belt pulley seat (2011) by motor cabinet (2015).
5. a kind of sheet piler tool hand according to claim 3, it is characterized in that: described X-axis moving body (204) comprises slide attachment plate (2041), truss connecting panel (2042), linear bearing (2043), tensioning screw mandrel (2044), first Timing Belt adapter plate (2045) and the first Timing Belt pressing plate (2046), truss connecting panel (2042), linear bearing (2043), first Timing Belt adapter plate (2045) is respectively by being bolted on slide attachment plate (2041), truss connecting panel (2042) is for connecting mobile truss (4), linear bearing (2043) is for connecting X-axis guide rail (206), first Timing Belt pressing plate (2046) is bolted on the first Timing Belt adapter plate (2045), for connecting synchronous belt (207), tensioning screw mandrel (2044) is connected on the first Timing Belt adapter plate (2045), for tensioning synchronous belt (207).
6. a kind of sheet piler tool hand according to claim 1, is characterized in that: described Z axis rail set (3) comprises lower connection base (301), second Timing Belt adapter plate (302), second Timing Belt pressing plate (303), synchronous cog belt (304), belt wheel casing (305), tension wheel (306), Tooth Profile belt wheel (307), pedestal (308), guide rail (309), upper connector (310), servo deceleration motor (311), coupler group (312) and slide block group (313), lower connection base (301), upper connector (310) is connected in parallel two guide rails (309) by bolt, belt wheel casing (305) is fixed on pedestal (308), pedestal (308) is fixed in slide block group (313), sliding meeting group (313) moves up and down at guide rail (309), second Timing Belt adapter plate (302) is separately fixed on lower connection base (301) and upper connector (310), second Timing Belt pressing plate (303) is fixed on the second Timing Belt adapter plate (302), for Tooth Profile belt wheel (307) two ends are fastened, tension wheel (306), Tooth Profile belt wheel (307) is arranged on belt wheel casing (305), and servo deceleration motor (311) is connected with Tooth Profile belt wheel (307) by coupler group (312).
7. a kind of sheet piler tool hand according to claim 1, it is characterized in that: described mobile truss (4) comprises truss (401), pipe link (402) and connecting panel (403), two truss (401) are fixed by bolt by pipe link (402) and the first connecting panel (403), truss (401) the truss connecting panel (2042) inner with X-axis moving body (204) is connected, and the first connecting panel (403) is connected with handgrip (5).
8. a kind of sheet piler tool hand according to claim 1, is characterized in that: described handgrip (5) comprises framework (501), upper connecting base (502), second connecting panel (503), aluminium section bar link span (504), spring buffer limb (505), sucker (506), sucker fixed mount (507), vacuum generator adapter plate (508), tracheae dispense font (509), bearing pin (510) and lower connecting base (511), framework (501) is bolted on the truss connecting panel (2042) in X-axis moving body (204), upper connecting base (502) is bolted on the lower connection base (301) in Z axis rail set (3), lower connecting base (511), second connecting panel (503), aluminium section bar link span (504), vacuum generator adapter plate (508) and tracheae dispense font (509) are separately fixed on framework (501), sucker (506) is fixed on sucker fixed mount (507) by spring buffer limb (505), Connection Block (502) and lower connecting base (511) are linked together by bearing pin (510), and described handgrip (5) is moved up and down along with the lower connection base (301) in Z axis rail set (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520379380.4U CN204999382U (en) | 2015-06-04 | 2015-06-04 | Duo ban manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520379380.4U CN204999382U (en) | 2015-06-04 | 2015-06-04 | Duo ban manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204999382U true CN204999382U (en) | 2016-01-27 |
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ID=55156280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520379380.4U Expired - Fee Related CN204999382U (en) | 2015-06-04 | 2015-06-04 | Duo ban manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204999382U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627289A (en) * | 2017-10-11 | 2018-01-26 | 佛山市新鹏机器人技术有限公司 | A kind of truss flexibility loading and unloading robot system |
| CN109129444A (en) * | 2018-09-17 | 2019-01-04 | 康建华 | A kind of efficient CRACKING WALNUT machine people of three coordinates |
| CN113320975A (en) * | 2020-04-21 | 2021-08-31 | 广州优尼冲压有限公司 | Automatic separation unmanned production line for mechanical device |
-
2015
- 2015-06-04 CN CN201520379380.4U patent/CN204999382U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627289A (en) * | 2017-10-11 | 2018-01-26 | 佛山市新鹏机器人技术有限公司 | A kind of truss flexibility loading and unloading robot system |
| CN109129444A (en) * | 2018-09-17 | 2019-01-04 | 康建华 | A kind of efficient CRACKING WALNUT machine people of three coordinates |
| CN113320975A (en) * | 2020-04-21 | 2021-08-31 | 广州优尼冲压有限公司 | Automatic separation unmanned production line for mechanical device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160127 Termination date: 20200604 |
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| CF01 | Termination of patent right due to non-payment of annual fee |