CN212706742U - Mobile heavy-load robot for machining - Google Patents
Mobile heavy-load robot for machining Download PDFInfo
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- CN212706742U CN212706742U CN202021515470.9U CN202021515470U CN212706742U CN 212706742 U CN212706742 U CN 212706742U CN 202021515470 U CN202021515470 U CN 202021515470U CN 212706742 U CN212706742 U CN 212706742U
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Abstract
The utility model discloses a processing is with portable heavy load robot includes following structure: the device comprises a track, an X-axis running mechanism, a Z-axis lifting mechanism and a Y-axis telescopic conveying mechanism; wherein: the X-axis running mechanism is arranged on the track and carries out X-axis reciprocating motion along the track; the Z-axis lifting mechanism is arranged on the X-axis running mechanism and drives the Y-axis telescopic conveying mechanism to lift along the Z axis in a reciprocating manner; at least one Y-axis telescopic conveying mechanism is arranged and is installed on the Z-axis lifting mechanism, a tray capable of moving along the Y axis is arranged on the Y-axis telescopic conveying mechanism, and the tray is used for placing workpieces; the Y-axis telescopic conveying mechanism comprises a fixed guide rail and a cam bracket capable of moving back and forth along the fixed guide rail, a driven guide rail capable of moving back and forth is arranged on the cam bracket, and the tray is fixed on the driven guide rail; the utility model has the advantages of simple structure, stable operation, uneasy damage and high work efficiency.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to processing is with portable heavy load robot.
Background
The existing product is of a single-station structure, joint coordinate type robots are used for loading and unloading, in a processing factory of a system, a plurality of machine tools need more robots to work, if one joint robot needs to load and unload for a plurality of machine tools, six-axis robots are required to be added with moving traveling cranes to form seven-axis robots, and the robot cost is increased; the feeding and discharging of 500Kg of workpieces can be only met, the principle function is complex, the function of a control system is complex, the industrial manufacturing cost is high, and the feeding and discharging of more than 500Kg of workpieces cannot be realized; in the process of loading and unloading the robot, the robot needs to take a machined workpiece out of the machine tool, then put the workpiece back into the warehouse, take the workpiece to be machined from the warehouse, then move the workpiece to the machine tool to put the workpiece into the machine tool, and in the process, the round-trip time of 3-5 minutes is needed, and the machining efficiency of the machine tool is calculated according to the machining efficiency, the machining time of the machine tool wasted by waiting time and the round-trip time of the robot are reduced.
In order to solve the technical problem, the utility model discloses a mobile robot mechanism of special rectangular coordinate formula.
Disclosure of Invention
In view of this, for the not high problem of robot machining efficiency who exists among the solution prior art, the utility model aims to provide a portable heavy load robot is used in processing.
A processing with portable heavy load robot include following structure: the device comprises a track, an X-axis running mechanism, a Z-axis lifting mechanism and a Y-axis telescopic conveying mechanism; wherein:
the X-axis running mechanism is arranged on the track and carries out X-axis reciprocating motion along the track;
the Z-axis lifting mechanism is arranged on the X-axis running mechanism and drives the Y-axis telescopic conveying mechanism to lift along the Z axis in a reciprocating manner;
at least one Y-axis telescopic conveying mechanism is arranged and is installed on the Z-axis lifting mechanism, a tray capable of moving along the Y axis is arranged on the Y-axis telescopic conveying mechanism, and the tray is used for placing workpieces;
the Y-axis telescopic conveying mechanism comprises a fixed guide rail and a cam support capable of moving back and forth along the fixed guide rail, a driven guide rail capable of moving back and forth is arranged on the cam support, and the tray is fixed on the driven guide rail.
Preferably, the cam bracket is provided with a cam follower, and is in rolling connection with the fixed guide rail and the driven guide rail through the cam follower.
Preferably, the number of the Y-axis telescopic conveying mechanisms is two, the two Y-axis telescopic conveying mechanisms are symmetrically arranged on the Z-axis lifting mechanism, and the two trays correspondingly arranged on the Y-axis telescopic conveying mechanisms move along the Y axis in the opposite direction.
Preferably, Y axle telescopic conveying mechanism still includes Y axle servo motor, Y axle speed reducer, Y axle gear and the Y axle rack that connects gradually, Y axle rack is fixed in on the cam support to with Y axle gear engagement, just during Y axle servo motor drive, through Y axle speed reducer drive Y axle gear revolve, drive Y axle rack and cam support and remove along fixed guide.
Preferably, a chain support is fixedly mounted on the cam support, a driven chain is mounted on the chain support, a fixed chain buckle is fixedly mounted on the Z-axis lifting mechanism, driven chain buckles are mounted at two ends of the driven guide rail, and the driven chain buckle and the fixed chain buckle are buckled on the driven chain; when the Y-axis rack moves under the driving of the Y-axis servo motor, the driven chain buckle and the driven guide rail are driven to move through the rotation of the driven chain.
Further, the track is fixed in subaerial, and the track includes guide rail, violently presses pillow, clamp plate and fixation nut, guide rail, violently press pillow and clamp plate pass through the bolt and form fixed connection with the fixation nut cooperation.
Further, the X-axis running mechanism comprises a base moving along the track, four upright posts are mounted on the base, and the Z-axis lifting mechanism is mounted between the four upright posts and moves along the four upright posts.
Furthermore, X axle running gear is still including installing on the base and X axle servo motor, X axle speed reducer and the X axle gear that connects gradually, install X axle rack on the track, and X axle rack and X axle gear engagement, during the drive of X axle servo motor, through X axle speed reducer drive X axle gear revolve to drive X axle running gear along track and X axle rack removal.
Furthermore, four rollers are mounted on the base, and the X-axis running mechanism is in rolling connection with the rail through the four rollers on the base.
Furthermore, the Z-axis lifting mechanism comprises a lifting frame moving along the upright column, four guide wheels are mounted on the lifting frame, and the Z-axis lifting mechanism is connected with the upright column in a rolling manner through the four guide wheels of the lifting frame.
The Z-axis lifting mechanism comprises a Z-axis servo motor, a Z-axis speed reducer, a Z-axis driving rotating shaft and a Z-axis gear, wherein the Z-axis servo motor, the Z-axis speed reducer, the Z-axis driving rotating shaft and the Z-axis gear are installed on a lifting frame and connected in sequence, a Z-axis rack is fixed on the stand, the Z-axis rack is meshed with the Z-axis gear, and the Z-axis servo motor drives the Z-axis gear to rotate through the Z-axis speed reducer and the Z-axis driving rotating shaft and drives the Z-axis lifting mechanism to move along the stand and the Z-.
Compared with the prior art, the utility model discloses a technological effect lies in:
the utility model has the advantages of simple structure, the device is convenient, the operation is stable and not fragile, just the utility model provides an in the robot, set up the last unloading drive structure in duplex position, make the robot can form the loop operation who lasts at the in-process of unloading from this, the removal latency that has significantly reduced to can effectively improve the last unloading efficiency of robot in work.
In the double-station loading and unloading driving structure of the robot, the robot mainly comprises two Y-axis telescopic conveying mechanisms, and the mechanism mainly comprises a cam bracket and a driven guide rail which move doubly, so that the large span of the workpiece during loading and unloading is extended out and moves at double speed, and the working efficiency of the robot is further improved.
Drawings
Fig. 1 is a front view of a double-station mobile robot provided by the present invention;
fig. 2 is a side view of a double-station mobile robot provided by the present invention;
FIG. 3 is a cross-sectional view taken along direction A of FIG. 1;
FIG. 4 is a cross-sectional view taken along direction B in FIG. 2;
FIG. 5 is an enlarged view taken at A in FIG. 3;
FIG. 6 is an enlarged view of FIG. 3 at B;
FIG. 7 is an enlarged view at C in FIG. 4;
FIG. 8 is an enlarged view at D of FIG. 4;
fig. 9 is a top view of the double-station mobile robot provided by the present invention;
fig. 10 is a perspective view of the simplex displacement mobile robot provided by the present invention;
in the figure: 1-rail, 101-guide rail, 102-transverse press pillow, 103-press plate, 104-fixed nut, 2-X axis running mechanism, 201-base, 202-upright post, 203-X axis rack, 204-roller, 205-X axis servo motor, 206-X axis speed reducer, 207-X axis gear, 3-Z axis lifting mechanism, 301-lifting frame, 302-guide wheel, 303-Z axis driving rotating shaft, 304-Z axis rack, 305-Z axis servo motor, 306-Z axis speed reducer, 307-Z axis gear, 4-Y axis telescopic conveying mechanism, 401-fixed guide rail, 402-cam support, 403-chain support, 404-cam follower, 405-Y axis servo motor, 406-Y axis speed reducer, 407-Y-axis gear, 408-Y-axis rack, 408-driven chain, 410-driven guide rail, 411-driven chain buckle, 412-fixed chain buckle, 5-workpiece and 6-tray.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The utility model provides a mobile heavy-load robot for processing, and the concrete structure of the robot is shown in fig. 1-10, which mainly comprises a track 1, an X-axis running mechanism 2, a Z-axis lifting mechanism 3 and a Y-axis telescopic conveying mechanism 4; wherein:
the X-axis running mechanism 2 is arranged on the track 1 and carries out X-axis reciprocating motion along the track 1;
the Z-axis lifting mechanism 3 is arranged on the X-axis running mechanism 2 and drives the Y-axis telescopic conveying mechanism 4 to reciprocate along the Z axis;
at least one Y-axis telescopic conveying mechanism 4 is arranged and is arranged on the Z-axis lifting mechanism 3, a tray 6 capable of moving along the Y axis is arranged on the Y-axis telescopic conveying mechanism 4, and the tray 6 is used for placing a workpiece 5;
as described above, with respect to the at least one Y-axis telescopic conveying mechanism 4, the following embodiments are provided:
example 1
As shown in fig. 1 to 9, two Y-axis telescopic conveying mechanisms 4 are symmetrically arranged on the Z-axis lifting mechanism 3, so as to form a double-station mobile robot, and under the double-station structure, the trays 6 correspondingly arranged on the two Y-axis telescopic conveying mechanisms 4 move along the Y-axis in opposite directions.
Specifically, the method comprises the following steps:
the Y-axis telescopic conveying mechanism 4 includes a fixed rail 401 and a cam bracket 402 that can reciprocate along the fixed rail 401, a driven rail 410 that can reciprocate is provided on the cam bracket 402, and the tray 6 is fixed on the driven rail 410.
From the above, the working principle of the whole double-station robot is as follows: in the work, the two Y-axis telescopic conveying mechanisms 4 respectively form a first station and a second station, and the first station and the second station simultaneously execute opposite object carrying movement; such as:
after the machine tool provided with the robot finishes machining, feedback information is sent to a machine tool control system, the machine tool control system sends a carrying moving instruction to the robot after processing the information, the robot obtains execution and runs to a workpiece machining position through the driving of an X-axis running mechanism 2, at the moment, a Y-axis telescopic conveying mechanism 4 on a first station is driven to extend out, and after a tray 6 arranged on the Y-axis telescopic conveying mechanism 4 detects a workpiece, a Z-axis lifting mechanism 3 is driven to lift up a machined workpiece 5; after the lifting, the Y-axis telescopic conveying mechanism 4 is driven to retract, so that the tray 6 and the workpiece 5 return to the middle position of the robot; continuing to extend from the intermediate position in a direction away from the workpiece machining position so as to realize the lower part of the workpiece 5 on the first station; and after the lowering is finished, the Y-axis telescopic conveying mechanism 4 is moved back. When the Y-axis telescopic conveying mechanism 4 on the station I extends to the direction far away from the workpiece processing position, the Y-axis telescopic conveying mechanism 4 on the station II starts to be started to execute the same carrying driving as the station I; therefore, the driving of the first station and the second station are circulated in a reciprocating mode, so that the working efficiency of the whole robot is greatly improved.
When the Y-axis telescopic conveying mechanism 4 is driven to extend, the double movement of the cam bracket 402 and the driven guide rail 410 realizes the large-span extension and the double-speed movement of the tray 6, so that the efficiency of the tray 6 for carrying the workpieces 5 is further improved.
The utility model discloses in, regarding Y axle conveying mechanism 4 that stretches out and draws back, please continue to refer to fig. 3, fig. 5 and fig. 6, Y axle conveying mechanism 4 that stretches out and draws back still includes Y axle servo motor 405, Y axle speed reducer 406, Y axle gear 407 and Y axle rack 408 that connect gradually, Y axle rack 408 is fixed in on the cam bracket 402 to mesh with Y axle gear 407, and during Y axle servo motor 405 drive, rotate through Y axle gear 407 of Y axle speed reducer 406 drive, drive Y axle rack 408 and cam bracket 402 and remove along fixed guide 401.
Further, a chain bracket 403 is fixedly mounted on the cam bracket 402, a driven chain 409 is mounted on the chain bracket 403, a fixed chain buckle 412 is fixedly mounted on the Z-axis lifting mechanism 3, driven chain buckles 411 are mounted at two ends of the driven guide rail 410, and the driven chain buckle 411 and the fixed chain buckle 412 are buckled on the driven chain 409; when the Y-axis rack 408 is driven by the Y-axis servomotor 405 to move, the driven chain buckle 411 and the driven guide rail 410 are driven to move by the rotation of the driven chain 409.
As can be seen from the above, when the Y-axis servomotor 405 drives the Y-axis gear 407 to rotate through the Y-axis reducer 406, the Y-axis gear 407 meshes with the Y-axis rack 408, and as can be seen from the figure, the structures of the Y-axis servomotor 405, the Y-axis reducer 406, and the Y-axis gear 407 are mounted on the fixed rail 401, thereby keeping the position of the Y-axis gear 407 unchanged, so that when the Y-axis gear 407 meshes with the Y-axis rack 408, the Y-axis rack 408 is driven to move, and the Y-axis rack 408 is mounted on the cam bracket 402, which in turn drives the cam bracket 402 to move; in addition, when cam bracket 402 moves, driven chain 409 is driven to move through chain bracket 403, and a certain position of driven chain 409 is fixed on Z-axis lifting mechanism 3 through fixed chain buckle 412, so driven chain 409 can be driven to rotate under the restriction of integral movement and certain position fixation, thereby satisfying the smooth movement requirement of cam bracket 402, driven chain 409 drives driven chain buckle 411 with the buckle to move after rotating, and then driven guide rail 410 and tray 6 thereon are driven to move, thereby stably realizing the dual drive of tray 6, under the dual drive, the movable range of tray 6 is increased, and simultaneously, the moving speed of tray 6 is also accelerated.
In addition, it is preferable that a cam follower 404 is installed on the cam bracket 402, and is roll-coupled with the fixed rail 401 and the driven rail 410 through the cam follower 404. The movement between the cam bracket 402 and the fixed rail 401 and the movement between the cam bracket 402 and the driven rail 410 are more flexible based on this.
In the present invention, regarding the track 1, please continue to refer to fig. 9, the track 1 is fixed on the ground, and the track 1 includes a guide rail 101, a horizontal pressing pillow 102, a pressing plate 103 and a fixing nut 104, and the guide rail 101, the horizontal pressing pillow 102 and the pressing plate 103 form a fixed connection through the cooperation of a bolt and the fixing nut 104.
In the present invention, as for the X-axis running mechanism 2, please continue to refer to fig. 3-4 and fig. 7-8, the X-axis running mechanism 2 includes a base 201 moving along the track 1, four columns 202 are installed on the base 201, and the Z-axis lifting mechanism 3 is installed between the four columns 202 and moves along the four columns 202.
Further, the X-axis running mechanism 2 further comprises an X-axis servo motor 205, an X-axis speed reducer 206 and an X-axis gear 207 which are installed on the base 201 and connected in sequence, the track 1 is provided with an X-axis rack 203, the X-axis rack 203 is meshed with the X-axis gear 207, and when the X-axis servo motor 205 is driven, the X-axis speed reducer 206 drives the X-axis gear 207 to rotate and drives the X-axis running mechanism 2 to move along the track 1 and the X-axis rack 203.
In addition, preferably, four rollers 204 are mounted on the base 201, and the X-axis running mechanism 2 is connected to the rail 1 in a rolling manner through the four rollers 204 on the base 201.
As can be seen from the above, the driving principle of the X-axis running mechanism 2 is the same as that of the cam carrier 402 in the Y-axis telescopic conveying mechanism 4: when the X-axis servo motor 205 drives the X-axis gear 207 to rotate through the X-axis reducer 206, the X-axis gear 207 is engaged with the X-axis rack 203, and the X-axis rack 203 is fixedly mounted on the track 1, so that the X-axis gear 207 moves along the X-axis rack 203, and the whole X-axis running mechanism 2 is driven to move along the track 1.
In the present invention, as for the Z-axis lifting mechanism 3, please continue to refer to fig. 3-8, the Z-axis lifting mechanism 3 includes a lifting frame 301 moving along the upright 202, and four guide wheels 302 are installed on the lifting frame 301, and the Z-axis lifting mechanism 3 is connected to the upright 202 by rolling through the four guide wheels 302 of the lifting frame 301.
Further, the Z-axis lifting mechanism 3 further includes a Z-axis servo motor 305, a Z-axis reducer 306, a Z-axis driving rotating shaft 303 and a Z-axis gear 307, which are mounted on the lifting frame 301 and connected in sequence, a Z-axis rack 304 is fixed on the upright column 202, the Z-axis rack 304 is meshed with the Z-axis gear 307, and when the Z-axis servo motor 305 is driven, the Z-axis reducer 306 and the Z-axis driving rotating shaft 303 drive the Z-axis gear 307 to rotate and drive the Z-axis lifting mechanism 3 to move along the upright column 202 and the Z-axis gear 307.
As is clear from the above, the driving principle of the Z-axis lifting mechanism 3 is the same as that of the X-axis running mechanism 2: when the Z-axis servomotor 305 drives the Z-axis gear 307 to rotate through the Z-axis reducer 306 and the Z-axis driving shaft 303, the Z-axis gear 307 is rotationally engaged with the Z-axis rack 304, and the Z-axis rack 304 is fixedly mounted on the column 202, so that the Z-axis gear 307 moves along the Z-axis rack 304, and the Z-axis lifting mechanism 3 is driven to move along the column 202.
Example 2
As shown in fig. 10, the Z-axis lifting mechanism 3 is provided with only one Y-axis telescopic conveying mechanism 4, and thus a single-station mobile robot is configured, and in the single-station structure, it can be seen from the above-described driving principle of the Y-axis telescopic conveying mechanism 4 that even if the robot in this embodiment performs single-station workpiece moving conveyance, the robot can achieve the effect of improving the working efficiency of the robot by moving at double speed.
Specifically, in a mobile robot with a single station, the principle is as follows: the X-axis movement, the Y-axis movement, and the Z-axis movement of one station are taken as a cycle, and the cycle is continuously and repeatedly executed during the machining process, and the specific one-way driving principle regarding the X-axis movement, the Y-axis movement, and the Z-axis movement is the same as the driving principle of the X-axis running mechanism 2, the Y-axis telescopic conveying mechanism 4, and the Z-axis lifting mechanism 3 disclosed in the above embodiment 1.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. A mobile heavy-load robot for processing is characterized by comprising a track (1), an X-axis running mechanism (2), a Z-axis lifting mechanism (3) and a Y-axis telescopic conveying mechanism (4); wherein:
the X-axis running mechanism (2) is arranged on the track (1) and carries out X-axis reciprocating motion along the track (1);
the Z-axis lifting mechanism (3) is arranged on the X-axis running mechanism (2) and drives the Y-axis telescopic conveying mechanism (4) to reciprocate along the Z axis;
at least one Y-axis telescopic conveying mechanism (4) is arranged and is installed on the Z-axis lifting mechanism (3), a tray (6) capable of moving along the Y axis is arranged on the Y-axis telescopic conveying mechanism (4), and the tray (6) is used for placing a workpiece (5);
the Y-axis telescopic conveying mechanism (4) comprises a fixed guide rail (401) and a cam support (402) capable of moving back and forth along the fixed guide rail (401), a driven guide rail (410) capable of moving back and forth is arranged on the cam support (402), and the tray (6) is fixed on the driven guide rail (410);
the cam bracket (402) is provided with a cam follower (404) and is in rolling connection with the fixed guide rail (401) and the driven guide rail (410) through the cam follower (404).
2. A mobile heavy-duty robot for processing according to claim 1, wherein: the Y-axis telescopic conveying mechanisms (4) are arranged in total, the two Y-axis telescopic conveying mechanisms (4) are symmetrically arranged on the Z-axis lifting mechanism (3), and the two trays (6) correspondingly arranged on the Y-axis telescopic conveying mechanisms (4) move along the Y axis in opposite directions.
3. A mobile heavy-duty robot for processing according to claim 1 or 2, wherein: the Y-axis telescopic conveying mechanism (4) further comprises a Y-axis servo motor (405), a Y-axis speed reducer (406), a Y-axis gear (407) and a Y-axis rack (408) which are sequentially connected, the Y-axis rack (408) is fixed on the cam support (402) and meshed with the Y-axis gear (407), and when the Y-axis servo motor (405) is driven, the Y-axis speed reducer (406) drives the Y-axis gear (407) to rotate, so that the Y-axis rack (408) and the cam support (402) are driven to move along the fixed guide rail (401).
4. A mobile heavy-duty robot for processing according to claim 3, wherein: a chain support (403) is fixedly mounted on the cam support (402), a driven chain (409) is mounted on the chain support (403), a fixed chain buckle (412) is fixedly mounted on the Z-axis lifting mechanism (3), driven chain buckles (411) are mounted at two ends of the driven guide rail (410), and the driven chain buckle (411) and the fixed chain buckle (412) are buckled on the driven chain (409); when the Y-axis rack (408) moves under the driving of the Y-axis servo motor (405), the driven chain buckle (411) and the driven guide rail (410) are driven to move by the rotation of the driven chain (409).
5. A mobile heavy-duty robot for processing according to claim 1 or 2, wherein: the track (1) is fixed on the ground, the track (1) comprises a guide rail (101), a transverse pressing pillow (102), a pressing plate (103) and a fixing nut (104), and the guide rail (101), the transverse pressing pillow (102) and the pressing plate (103) are matched with the fixing nut (104) through bolts to form fixed connection.
6. A mobile heavy-duty robot for processing according to claim 1 or 2, wherein: the X-axis running mechanism (2) comprises a base (201) moving along the track (1), four upright posts (202) are mounted on the base (201), and the Z-axis lifting mechanism (3) is mounted between the four upright posts (202) and moves along the four upright posts (202).
7. The mobile heavy-duty robot for processing according to claim 6, wherein: x axle running gear (2) still including install on base (201) and X axle servo motor (205), X axle speed reducer (206) and X axle gear (207) that connect gradually, install X axle rack (203) on track (1), and X axle rack (203) and X axle gear (207) meshing, during X axle servo motor (205) drive, drive X axle gear (207) through X axle speed reducer (206) and rotate to drive X axle running gear (2) and remove along track (1) and X axle rack (203).
8. The mobile heavy-duty robot for processing according to claim 6, wherein: four rollers (204) are installed on the base (201), and the X-axis running mechanism (2) is in rolling connection with the rail (1) through the four rollers (204) on the base (201).
9. The mobile heavy-duty robot for processing according to claim 6, wherein: z axle hoist mechanism (3) are including following lift frame (301) that stand (202) removed, just install four leading wheels (302) on lift frame (301), Z axle hoist mechanism (3) are through four leading wheels (302) and stand (202) roll connection of lift frame (301).
10. A mobile heavy-duty robot for processing according to claim 9, wherein: z axle hoist mechanism (3) are still including installing on elevating rack (301) and Z axle servo motor (305), Z axle speed reducer (306), Z axle drive pivot (303) and Z axle gear (307) that connect gradually, be fixed with Z axle rack (304) on stand (202), and Z axle rack (304) and Z axle gear (307) meshing, during Z axle servo motor (305) drive, through Z axle speed reducer (306) and Z axle drive pivot (303) drive Z axle gear (307) and rotate to drive Z axle hoist mechanism (3) and remove along stand (202) and Z axle gear (307).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021515470.9U CN212706742U (en) | 2020-07-28 | 2020-07-28 | Mobile heavy-load robot for machining |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021515470.9U CN212706742U (en) | 2020-07-28 | 2020-07-28 | Mobile heavy-load robot for machining |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115557143A (en) * | 2022-11-25 | 2023-01-03 | 邢台职业技术学院 | Station access robot for new energy battery production |
| CN117226582A (en) * | 2023-11-10 | 2023-12-15 | 兰州交通大学 | Automatic feeding and discharging mechanism of roller bed type machine tool |
-
2020
- 2020-07-28 CN CN202021515470.9U patent/CN212706742U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115557143A (en) * | 2022-11-25 | 2023-01-03 | 邢台职业技术学院 | Station access robot for new energy battery production |
| CN115557143B (en) * | 2022-11-25 | 2023-03-03 | 邢台职业技术学院 | Station access robot for new energy battery production |
| CN117226582A (en) * | 2023-11-10 | 2023-12-15 | 兰州交通大学 | Automatic feeding and discharging mechanism of roller bed type machine tool |
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