1.連桿式沖壓機械手：連桿式沖壓機械手要在同一條線體里它鉛垂線軸和水平軸都根據桿連為一體，因此在一條線體里其積極電動機只有兩個，這使它的成本費大幅度降低。連桿式沖壓機械手，直發夾板是和工件直接接觸的預制構件，在豎直方向上夾緊工件，直發夾板表層持續保持與工件側表。

1. connecting rod punching nipulator: the connecting rod punching nipulator is on the same line body, its vertical and horizontal axis are connected through the rod, so there are only two active motors on a line body, which greatly reduces the cost. The connecting rod type punching nipulator, the splint is a component which is directly contacted with the workpiece, and the workpiece is clamped in the vertical direction, and the su ce of the splint is always intained on the side of the workpiece.

2.四軸沖壓機械手：四軸沖壓機器人選用四軸設計方案，外觀設計緊密、體型小、重量較輕、普遍用以氬弧焊接，堆垛，運送，壓鑄等行業，能實現平穩的運送、準確的電焊焊接。四軸沖壓機械手可以在狹小的空間內靈敏的開展沖壓加工工作，安裝調試簡單方便。

2. four axis punching nipulator: four axis stamping robot adopts four axis design, compact shape, s ll size, light weight, widely used in argon arc welding, palletizing, handling, stamping and other fields, can complete stable handling, accurate welding. The four axis punching nipulator can carry out stamping operation flexibly in a s ll space, and it is and convenient to install and debug.

沖壓機械手

3.六軸沖壓機械手:六軸沖壓機械手有6個可玩性，姿勢靈便、健身運動慣性力小、實用性強、能爬取挨近電動機軸的工件，并能繞開人體和工作中機械設備中間的阻礙物進行工作.由于制造的必須，對多骨關節胳膊的協調能力，精度等級及操作區域等指出愈來愈強的規定。

3. six axis punching nipulator: the six axis punching nipulator has 6 degrees of , flexible movement, s ll movement inertia, strong generality, can grab the workpiece near the chine seat, and can bypass the obstacles between the body and the working chinery. With the need of production, the flexibility, positioning accuracy and working space of the multi joint arm are raised. Higher and higher requirements.

4.擺臂式沖壓機械手：擺臂式沖壓機械手結合了骨關節式沖壓機器人的高自由度，及其連桿式沖壓機械手的高效率平穩的雙向特點，調節較為靈便、應用使用方便。

4. swinging arm punching nipulator: the swing arm punching nipulator combines the high degree of of the joint punching robot and the double characteristics of the high efficiency and stability of the connecting rod type punching nipulator, which is flexible in control and in operation.

杭州市是一家致力于沖床機械手,上下料機械手,沖壓機械手，工業機械手，非標機械機器設備的開發生產和銷售于一體的高新技術生產商。

文中關鍵字：沖壓機械手類型