CN111285103B - High-precision grabbing equipment based on electrical control - Google Patents
High-precision grabbing equipment based on electrical control Download PDFInfo
- Publication number
- CN111285103B CN111285103B CN202010237223.5A CN202010237223A CN111285103B CN 111285103 B CN111285103 B CN 111285103B CN 202010237223 A CN202010237223 A CN 202010237223A CN 111285103 B CN111285103 B CN 111285103B
- Authority
- CN
- China
- Prior art keywords
- clamping
- clamping jaw
- seat
- slide
- fixed
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
Abstract
The invention discloses high-precision grabbing equipment based on electrical control, which can realize simultaneous clamping of a plurality of block workpieces by arranging a plurality of groups of clamping driving mechanisms, wherein each precise grabbing mechanism comprises a fixed clamping plate and a movable clamping jaw, the movable clamping jaw and the fixed clamping plate are arranged oppositely, the movable clamping jaw is arranged on the driving clamping plate by adopting an attitude adjusting driving mechanism, the driving clamping plate is driven by the clamping driving mechanism so as to enable the driving clamping plate to drive the movable clamping jaw to move relative to the fixed clamping plate, when grabbing is carried out, the position of an object is finely adjusted by utilizing the attitude adjusting driving mechanism, the accuracy during grabbing is ensured, the movable clamping jaw comprises a clamping jaw body and four clamping jaw arms which are integrally arranged on the clamping jaw body, the center of the clamping jaw body is connected to the output end of the attitude adjusting driving mechanism, the object is clamped by utilizing each clamping arm, and the position fine adjustment of the clamping jaw arms is realized by utilizing the attitude adjusting rotation of the, and high-precision grabbing is realized.
Description
Technical Field
The invention particularly relates to high-precision grabbing equipment based on electrical control, and belongs to the technical field of electrical control and mechanical grabbing equipment.
Background
Along with the continuous development of electrical technology and manipulator, adopt equipment such as manipulator to snatch the article, be one of the more extensive mode of present use. The manipulator that present equipment of snatching adopted generally adopts many claws for example three-jaw, four-jaw structure etc. and this kind of manipulator is difficult to realize effectively snatching when snatching massive object, moreover, can't carry out effective location to the position of snatching when snatching, is difficult to guarantee the precision of snatching, influences the location effect after snatching, is difficult to guarantee that the high accuracy snatchs.
Disclosure of Invention
The invention aims to provide high-precision grabbing equipment based on electrical control, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a high-precision grabbing device based on electrical control comprises a positioning mounting plate, a transverse moving slide seat, a transverse moving mechanism, a clamping driving mechanism and a precision grabbing mechanism, wherein the length extending direction of the positioning mounting plate is provided with the transverse moving sliding seat which is driven by the transverse moving mechanism to move transversely, the upper part of the transverse moving sliding seat is provided with a plurality of groups of clamping driving mechanisms which are sequentially arranged at intervals, the clamping driving mechanisms drive the precise grabbing mechanisms to grab the objects, it is characterized in that the precision grabbing mechanism comprises a fixed clamping plate and a movable clamping jaw, the movable clamping jaw and the fixed clamping plate are oppositely arranged, the movable clamping jaw is arranged on a driving clamping plate by adopting a posture adjusting driving mechanism, and the driving clamping plate is driven by the clamping driving mechanism so as to enable the driving clamping plate to drive the movable clamping jaw to move relative to the fixed clamping plate; the movable clamping jaw comprises a clamping jaw body and four clamping jaw arms integrally arranged on the clamping jaw body, wherein the four clamping jaw arms and the clamping jaw body are jointly constructed into a cross structure, the center of the clamping jaw body is connected to the output end of the posture adjusting driving mechanism, the posture adjusting driving mechanism is fixed on the driving clamping plate, and the posture adjusting driving mechanism can drive the clamping jaw body to rotate around the central axis of the clamping jaw body so as to adjust the grabbing posture of a workpiece by using the clamping jaw arms; the horizontal moving mechanism, the clamping driving mechanism and the posture adjusting driving mechanism are all controlled by the electric controller.
Preferably, a pressure sensor is disposed on a surface of each of the jaw arms facing the fixed clamp plate, and the pressure sensor is connected to the electric controller so as to perform feedback control on the gripping driving mechanism and the posture adjusting driving mechanism by using the pressure sensor.
Further, as preferred, the tip of solid fixed splint is fixed on the lateral shifting seat, just be provided with on the solid fixed splint with the face that the activity clamping jaw is relative presss from both sides tightly and fixes a position protrudingly, just gu the center of solid fixed splint still is provided with the sunk hole groove.
Further, as preferred, press from both sides and get actuating mechanism and include die clamping cylinder, footstock, slide rail base, press from both sides tight slider, press from both sides tight slide plate seat and press from both sides tight buffer gear, wherein, die clamping cylinder fixes on the footstock, the footstock is fixed at the tight slide rail top of clamp, the bottom of pressing from both sides tight slide rail is fixed to be provided with fixedly and is fixed on the lateral shifting slide rail base, press from both sides tight slide rail and fix on the lateral shifting slide seat, press from both sides tight slider along press from both sides tight slide rail and slide, just press from both sides tight slider by die clamping cylinder drive removes, fixedly connected with on the tight slider press from both sides tight slide plate seat, press from both sides tight slide plate seat with be provided with between the tight slide rail press from both sides tight buffer.
Further, as preferred, press from both sides tight buffer gear and include slide connecting seat, uide bushing, buffering guide holder, buffering guide pillar and buffering spring beam, wherein, the slide connecting seat is fixed press from both sides tight slider perhaps press from both sides tight slide holder on, the buffering guide holder is fixed on the lateral shifting slide, be provided with on the buffering guide holder the uide bushing, adopt the buffering spring beam to be connected with on the slide connecting seat the buffering guide pillar, the buffering guide pillar can along the upper and lower direction slip of uide bushing, press from both sides tight slide holder and be L type structure, and this L type structural enhancement floor frame that still is provided with.
Further, as preferred, the orientation of location mounting panel one side of precision snatching the mechanism still is provided with horizontal slide rail seat, the bottom of lateral shifting slide is provided with horizontal saddle, horizontal saddle with horizontal slide rail sliding fit on the horizontal slide rail seat.
Further, as preferred, the lateral shifting mechanism includes no pole cylinder, cylinder drive slide and vertical link, wherein, no pole cylinder is fixed on the location mounting panel, the output of no pole cylinder is provided with cylinder drive slide, pass through on the cylinder drive slide vertical link with lateral shifting slide fixed connection, so that the drive lateral shifting slide lateral sliding.
Preferably, the lateral moving sliding base is provided with a plurality of lightening hollowed holes, the longitudinal connecting frame is further provided with a displacement detection plate for detecting lateral displacement of the cylinder driving sliding base, and the displacement detection plate is provided with a displacement detector.
Further, it is preferable that each of the jaw arms of the movable jaw is made of spring steel so as to give the jaw arm a certain elasticity.
Further, as preferred, the clamping driving mechanism and the precise grabbing mechanism are arranged in a one-to-one correspondence manner and respectively comprise a group, and the electric controller is a PLC (programmable logic controller).
Compared with the prior art, the invention has the beneficial effects that:
the invention provides high-precision grabbing equipment based on electrical control, which can simultaneously clamp a plurality of block workpieces by arranging a plurality of groups of clamping driving mechanisms which are sequentially arranged at intervals, and comprises a fixed clamping plate and a movable clamping jaw, wherein the movable clamping jaw and the fixed clamping plate are oppositely arranged, the movable clamping jaw is arranged on the driving clamping plate by adopting an attitude adjusting driving mechanism, the driving clamping plate is driven by the clamping driving mechanism so as to enable the driving clamping plate to drive the movable clamping jaw to move relative to the fixed clamping plate, when grabbing, the position of an object is finely adjusted by utilizing the attitude adjusting driving mechanism, the accuracy when grabbing is ensured, the movable clamping jaw comprises a clamping jaw body and four clamping jaw arms which are integrally arranged on the clamping jaw body, the center of the clamping jaw body is connected to the output end of the attitude adjusting driving mechanism, the clamping arms are used for clamping the object, and the position of the object is finely adjusted by utilizing the posture adjusting rotation of the clamping claw arms before clamping, so that the position precision of grabbing is ensured, and high-precision grabbing is realized.
Drawings
FIG. 1 is a schematic structural diagram of one angle of the front face of a high-precision grabbing device based on electric control;
fig. 2 is a schematic structural diagram of another angle of the front surface of the high-precision grabbing device based on electric control.
FIG. 3 is a schematic view of the backside structure of the present invention;
fig. 4 is a schematic view showing one angle of the gripping driving mechanism of the present invention;
fig. 5 is a schematic view showing another angle of the gripping driving mechanism of the present invention;
Detailed Description
Referring to fig. 1 to 5, in the embodiment of the present invention, an electrically controlled high-precision gripping apparatus includes a positioning mounting plate 1, a lateral moving slide 4, a lateral moving mechanism, a gripping driving mechanism 5 and a precision gripping mechanism 6, wherein the lateral moving slide 4 driven by the lateral moving mechanism to move laterally is disposed in a length extending direction of the positioning mounting plate 1, a plurality of sets of gripping driving mechanisms 5 sequentially arranged at intervals are disposed on an upper portion of the lateral moving slide, the gripping driving mechanism 5 drives the precision gripping mechanism 6 to grip an object, the precision gripping mechanism 6 includes a fixed clamp plate 13 and a movable clamp plate 14, the movable clamp plate 14 is disposed opposite to the fixed clamp plate 13, and the movable clamp plate is mounted on a driving clamp plate 29 by using a posture adjusting driving mechanism, the driving clamping plate 29 is driven by the clamping driving mechanism 5 so as to enable the driving clamping plate 29 to drive the movable clamping jaw 14 to move relative to the fixed clamping plate; the movable clamping jaw comprises a clamping jaw body and four clamping jaw arms integrally arranged on the clamping jaw body, wherein the four clamping jaw arms and the clamping jaw body are jointly constructed into a cross structure, the center of the clamping jaw body is connected to the output end of the posture adjusting driving mechanism, the posture adjusting driving mechanism is fixed on the driving clamping plate, and the posture adjusting driving mechanism can drive the clamping jaw body to rotate around the central axis of the clamping jaw body so as to adjust the grabbing posture of a workpiece by using the clamping jaw arms; the clamping and taking device further comprises an electric controller 8, and the transverse moving mechanism, the clamping and taking driving mechanism and the posture adjusting driving mechanism are all controlled by the electric controller.
In this embodiment, in order to ensure the effect of adjusting and clamping, a pressure sensor 28 is disposed on a surface of each of the jaw arms facing the fixed clamp plate, the pressure sensor 28 is connected to the electric controller 8, so that the pressure sensor is used to perform feedback control on the clamping driving mechanism and the posture adjusting driving mechanism, when the pressure sensor reaches a first set value during grasping, the posture adjusting driving mechanism is used to drive the jaw arms to rotate to adjust the posture of the object, and when the posture is adjusted, the clamping continues to be performed, and when the pressure sensor reaches a second set value, the workpiece is effectively clamped, wherein the first set value and the second set value can be controlled by the electric controller.
In this embodiment, the end of the fixing clamp plate 13 is fixed on the lateral shifting base, and the fixing clamp plate is provided with a plurality of clamping and positioning protrusions 27 on the surface opposite to the movable clamping jaw, and the center of the fixing clamp plate is further provided with a concave groove.
Wherein, press from both sides and get actuating mechanism 5 and include die clamping cylinder 18, footstock 19, slide rail base 25, press from both sides tight slider 17, press from both sides tight slide plate seat 16 and press from both sides tight buffer gear, wherein, die clamping cylinder fixes on the footstock, the footstock is fixed at the tight slide rail top of clamp, the bottom of pressing from both sides tight slide rail is fixed to be provided with fixedly the lateral shifting slide is last slide rail base, it fixes to press from both sides tight slide rail on the lateral shifting slide 4, press from both sides tight slider along press from both sides tight slide rail and slide, just press from both sides tight slider by die clamping cylinder drive removes, fixedly connected with on the tight slider press from both sides tight slide plate seat, press from both sides tight slide plate seat with be provided with between the tight slide rail press from both sides tight buffer gear.
In the invention, the clamping buffer mechanism comprises a sliding plate connecting seat 20, a guide sleeve 23, a buffer guide seat 22, a buffer guide post 24 and a buffer spring rod 21, wherein the sliding plate connecting seat is fixed on the clamping slide block or the clamping sliding plate seat, the buffer guide seat is fixed on the transverse moving slide seat, the guide sleeve is arranged on the buffer guide seat, the sliding plate connecting seat 20 is connected with the buffer guide post by the buffer spring rod 21, the buffer guide post can slide along the guide sleeve in a guiding manner from top to bottom, the clamping sliding plate seat 16 is of an L-shaped structure, and the L-shaped structure is further provided with a reinforcing vertical plate frame 15.
Orientation of location mounting panel 1 one side of mechanism 6 is grabbed to precision still is provided with horizontal slide rail seat 10, the bottom of lateral shifting slide is provided with horizontal saddle 9, horizontal saddle with horizontal slide rail sliding fit on the horizontal slide rail seat.
The transverse moving mechanism comprises a rodless cylinder 11, a cylinder driving sliding seat 12 and a longitudinal connecting frame 3, wherein the rodless cylinder is fixed on the positioning mounting plate, the output end of the rodless cylinder 11 is provided with the cylinder driving sliding seat 12, and the cylinder driving sliding seat 12 is fixedly connected with the transverse moving sliding seat through the longitudinal connecting frame 3 so as to drive the transverse moving sliding seat to transversely slide.
The lateral movement sliding base is provided with a plurality of weight-reducing hollowed holes 7, the longitudinal connecting frame 3 is further provided with a displacement detection plate 2 used for detecting the lateral displacement of the cylinder driving sliding base 12, and the displacement detection plate is provided with a displacement detector.
Each clamping jaw arm of the movable clamping jaw is made of spring steel so as to enable the clamping jaw arm to have certain elasticity.
The clamping driving mechanisms 5 and the precise grabbing mechanisms 6 are arranged in a one-to-one correspondence mode and respectively comprise 3-8 groups, and the electric controller is a PLC (programmable logic controller).
The invention provides high-precision grabbing equipment based on electrical control, which can simultaneously clamp a plurality of block workpieces by arranging a plurality of groups of clamping driving mechanisms which are sequentially arranged at intervals, and comprises a fixed clamping plate and a movable clamping jaw, wherein the movable clamping jaw and the fixed clamping plate are oppositely arranged, the movable clamping jaw is arranged on the driving clamping plate by adopting an attitude adjusting driving mechanism, the driving clamping plate is driven by the clamping driving mechanism so as to enable the driving clamping plate to drive the movable clamping jaw to move relative to the fixed clamping plate, when grabbing, the position of an object is finely adjusted by utilizing the attitude adjusting driving mechanism, the accuracy when grabbing is ensured, the movable clamping jaw comprises a clamping jaw body and four clamping jaw arms which are integrally arranged on the clamping jaw body, the center of the clamping jaw body is connected to the output end of the attitude adjusting driving mechanism, the clamping arms are used for clamping the object, and the position of the object is finely adjusted by utilizing the posture adjusting rotation of the clamping claw arms before clamping, so that the position precision of grabbing is ensured, and high-precision grabbing is realized.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (7)
1. The utility model provides a high accuracy snatchs equipment based on electrical control, its includes location mounting panel (1), lateral shifting slide (4), lateral shifting mechanism, presss from both sides and gets actuating mechanism (5) and precision snatchs mechanism (6), wherein, be provided with on the length extending direction of location mounting panel (1) by lateral shifting mechanism drive lateral shifting the lateral shifting slide (4), the upper portion of lateral shifting slide is provided with the multiunit interval arrangement in proper order press from both sides and get actuating mechanism (5), press from both sides actuating mechanism (5) drive precision snatchs mechanism (6) and realize snatching the article, its characterized in that, precision snatchs mechanism (6) and includes fixed splint (13) and movable clamping jaw (14), movable clamping jaw (14) with fixed splint (13) are arranged relatively, just movable clamping jaw adopts to transfer appearance actuating mechanism and installs on drive splint (29), the driving clamping plate (29) is driven by the clamping driving mechanism (5) so as to enable the driving clamping plate (29) to drive the movable clamping jaw (14) to move relative to the fixed clamping plate; the movable clamping jaw comprises a clamping jaw body and four clamping jaw arms integrally arranged on the clamping jaw body, wherein the four clamping jaw arms and the clamping jaw body are jointly constructed into a cross structure, the center of the clamping jaw body is connected to the output end of the posture adjusting driving mechanism, the posture adjusting driving mechanism is fixed on the driving clamping plate, and the posture adjusting driving mechanism can drive the clamping jaw body to rotate around the central axis of the clamping jaw body so as to adjust the grabbing posture of a workpiece by using the clamping jaw arms; the clamping and posture adjusting mechanism is characterized by further comprising an electric controller (8), and the transverse moving mechanism, the clamping and posture adjusting driving mechanism and the posture adjusting driving mechanism are all controlled by the electric controller;
a pressure sensor (28) is arranged on the surface of each clamping jaw arm facing the fixed clamping plate, and the pressure sensor (28) is connected with the electric controller (8) so as to perform feedback control on the clamping driving mechanism and the posture adjusting driving mechanism by using the pressure sensor;
the end part of the fixed clamping plate (13) is fixed on the transverse moving seat, a plurality of clamping and positioning bulges (27) are arranged on the surface of the fixed clamping plate opposite to the movable clamping jaw, and a concave hole groove is also arranged in the center of the fixed clamping plate;
the clamping driving mechanism (5) comprises a clamping cylinder (18), a top seat (19), a slide rail base (25), a clamping slide block (17), a clamping slide plate seat (16) and a clamping buffer mechanism, wherein the clamping cylinder is fixed on the top seat, the top seat is fixed on the top of the clamping slide rail, the bottom of the clamping slide rail is fixedly provided with the slide rail base fixed on the transverse moving slide seat, the clamping slide rail is fixed on the transverse moving slide carriage (4), the clamping slide block slides along the clamping slide rail, the clamping sliding block is driven by the clamping cylinder to move, the clamping sliding block is fixedly connected with the clamping sliding plate seat, the clamping buffer mechanism is arranged between the clamping sliding plate seat and the clamping sliding rail, and the movable clamping jaw (14) is connected to the clamping sliding plate seat (16) in a positioning mode.
2. The high-precision grabbing equipment based on electrical control as claimed in claim 1, wherein: press from both sides tight buffer gear and include slide connecting seat (20), uide bushing (23), buffering uide bearing (22), buffering guide pillar (24) and buffering spring pole (21), wherein, the slide connecting seat is fixed press from both sides tight slider perhaps press from both sides tight on the slide seat, the buffering uide bearing is fixed on the lateral shifting slide, be provided with on the buffering uide bushing, adopt buffering spring pole (21) to be connected with on slide connecting seat (20) the buffering guide pillar, the buffering guide pillar can along the upper and lower direction of uide bushing slides, it is L type structure to press from both sides tight slide seat (16), and this L type still is provided with on the structure and strengthens riser frame (15).
3. The high-precision grabbing equipment based on electrical control as claimed in claim 1, wherein: orientation of location mounting panel (1) one side of mechanism (6) is grabbed to the precision still is provided with horizontal slide rail seat (10), the bottom of lateral shifting slide is provided with horizontal saddle (9), horizontal saddle with horizontal slide rail sliding fit on the horizontal slide rail seat.
4. The high-precision grabbing equipment based on electrical control as claimed in claim 1, wherein: the transverse moving mechanism comprises a rodless cylinder (11), a cylinder driving sliding seat (12) and a longitudinal connecting frame (3), wherein the rodless cylinder is fixed on the positioning mounting plate, the output end of the rodless cylinder (11) is provided with the cylinder driving sliding seat (12), and the cylinder driving sliding seat (12) is connected with the transverse moving sliding seat in a fixed mode through the longitudinal connecting frame (3) so as to drive the transverse moving sliding seat to slide transversely.
5. The high-precision grabbing equipment based on electrical control as claimed in claim 4, wherein: the horizontal moving sliding seat is provided with a plurality of weight-reducing hollowed holes (7), the longitudinal connecting frame (3) is further provided with a displacement detection plate (2) used for detecting the horizontal displacement of the air cylinder driving sliding seat (12), and the displacement detection plate is provided with a displacement detector.
6. The high-precision grabbing equipment based on electrical control as claimed in claim 1, wherein: each clamping jaw arm of the movable clamping jaw is made of spring steel so as to enable the clamping jaw arm to have certain elasticity.
7. The high-precision grabbing equipment based on electrical control as claimed in claim 1, wherein: the clamping driving mechanisms (5) and the precise grabbing mechanisms (6) are arranged in a one-to-one correspondence mode and respectively comprise 3-8 groups, and the electric controller is a PLC (programmable logic controller).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010237223.5A CN111285103B (en) | 2020-03-30 | 2020-03-30 | High-precision grabbing equipment based on electrical control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010237223.5A CN111285103B (en) | 2020-03-30 | 2020-03-30 | High-precision grabbing equipment based on electrical control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111285103A CN111285103A (en) | 2020-06-16 |
| CN111285103B true CN111285103B (en) | 2021-07-06 |
Family
ID=71027296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010237223.5A Active CN111285103B (en) | 2020-03-30 | 2020-03-30 | High-precision grabbing equipment based on electrical control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111285103B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112605651B (en) * | 2020-12-03 | 2022-02-01 | 中原工学院 | Quick assembly device is used in equipment of computer power |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2636166B2 (en) * | 1994-04-11 | 1997-07-30 | 喜則 長屋 | Concrete block gripping device |
| CN204183567U (en) * | 2015-01-12 | 2015-03-04 | 国网重庆市电力公司电力科学研究院 | A kind of for single, three-phase electric energy meter automatic boxing paw |
| CN105798894B (en) * | 2016-04-11 | 2018-07-06 | 哈尔滨理工大学 | A kind of catching robot of turnable babinet |
| CN107161688B (en) * | 2017-06-29 | 2023-03-14 | 上海富山精密机械科技有限公司 | Cloth clamping device |
| CN208391152U (en) * | 2018-04-25 | 2019-01-18 | 青岛海谊电力设备有限公司 | Fixture for band sawing machine |
| CN110744551B (en) * | 2019-11-20 | 2020-12-18 | 上海非夕机器人科技有限公司 | Robot clamping jaw movement control method and device, robot and storage device |
-
2020
- 2020-03-30 CN CN202010237223.5A patent/CN111285103B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111285103A (en) | 2020-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210763108U (en) | Clamping device and feeding and discharging system | |
| US20060179913A1 (en) | Metal sheet folding device with depositing/positioning device | |
| KR101081210B1 (en) | Holding unit for panel transmitting device | |
| JPH0620694B2 (en) | Working method and working device for work being conveyed | |
| CN111285103B (en) | High-precision grabbing equipment based on electrical control | |
| CN213412040U (en) | Clamping device for manipulator | |
| CN101525739B (en) | Manipulator transferring device adapted to substrate handover position error | |
| CN107135459B (en) | Automatic wire arranging mechanism for voice coil wire arrangement | |
| US4627654A (en) | Articulated parallelogram gripper | |
| CN211495951U (en) | Multifunctional adjustable grabbing mechanism | |
| CN215746224U (en) | Five forging and pressing manipulators | |
| CN214604422U (en) | Feeding and discharging robot with double manipulators | |
| CN210757703U (en) | Manipulator mounting device for gear frame | |
| CN211418807U (en) | Multi-station clamping and conveying device | |
| CN210126878U (en) | Flexible positioning device for workpiece | |
| CN113478518A (en) | Manipulator convenient to adjust and used for robot | |
| CN113118324A (en) | Feeding and discharging robot with double manipulators | |
| CN113086623A (en) | Transfer robot | |
| CN214326876U (en) | Matching robot gripper switching lifting appliance | |
| CN112549627A (en) | Mold equipment and part taking and placing device thereof | |
| CN110406968B (en) | Multi-initiating explosive device simultaneous offline mechanism | |
| US20200230679A1 (en) | Workpiece supply device enabling decrease in interval dimension of both rising portions | |
| CN218837771U (en) | Cam transfer mechanism | |
| CN218891895U (en) | Joint robot snatchs module | |
| CN219669447U (en) | Correction device, manipulator and transfer device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210617 Address after: No.8 Yinhu Road, jiaoyitang, Tangxia Town, Dongguan City, Guangdong Province, 523000 Applicant after: Dongguan bairuida plastic mould products Co.,Ltd. Address before: 210094 No. 200, Xiaolingwei, Jiangsu, Nanjing Applicant before: Chen Jizhang |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |