CN101954341B - robot sucker claw for coating automobile roof - Google Patents
robot sucker claw for coating automobile roof Download PDFInfo
- Publication number
- CN101954341B CN101954341B CN2009100551361A CN200910055136A CN101954341B CN 101954341 B CN101954341 B CN 101954341B CN 2009100551361 A CN2009100551361 A CN 2009100551361A CN 200910055136 A CN200910055136 A CN 200910055136A CN 101954341 B CN101954341 B CN 101954341B
- Authority
- CN
- China
- Prior art keywords
- sucker
- group
- main body
- body frame
- connecting rod
- 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
Abstract
The invention relates to an automobile roof coating robot sucker claw, which comprises a main frame, a connecting flange which is arranged in the middle of the upper end face of the main frame and connected with a robot, a first group of suckers, a second group of suckers, an unhooking prevention device, a third group of suckers and a fourth group of suckers. In the invention, the claw breaks limitation on special clamps; a photographic calibration technique and a structure in which the pivot angle of the claw sucker bracket is adjustable and in which floating suckers are arranged in the middle are adopted, so multiple types of switching is realized and the coating beat and positional accuracy are improved greatly in production; and the design of the claw is in accordance with the actual condition of the operation of the robot.
Description
Technical field
The present invention relates to a kind of automobile making and use robot components, relate in particular to a kind of roof gluing with robot sucker paw.
Background technology
In the operation of roof assembly, at present domestic enterprise generally adopts roof cross beam is placed on and carries out gluing on the special plane then by manual work will the roof cross beam and the roof enclosing cover of gluing be welded into the roof assembly.Because the special plane that gluing is used only is suitable for single variety, and gluing speed lower (approximately 1s/ point), therefore can not satisfy the needs that vehicle is switched.In other words; The vehicle body soldering main line major part of automobile factory is the flexible manufacturing system of producing by order, and roof assembly assembly line all is single variety or batch switch type production system, meets the vehicle variation and needs to increase new special plane; Needs are arranged different roof assembly assembly lines around causing every main line; Take place, a large amount of workshop, and, bring practical difficulty for the introducing of follow-up new model owing to limited by the place.
Therefore, there are shortcomings such as single like special plane gluing kind, that occupation of land is many, and production flexibility degree is low in the prior art.
Summary of the invention
The object of the invention exactly in order to solve the problem that above-mentioned prior art exists, and provides a kind of roof gluing with robot sucker paw, and the roof gluing operation that this paw can tens vehicles of compatibility also possesses intelligent functions simultaneously.
The present invention realizes through following technical proposals:
A kind of roof gluing comprises main body frame and the adpting flange that is connected with robot of being located at middle part, main body frame upper surface with robot sucker paw, also comprises first group, second group, the 3rd group and the 4th group of sucker being located on the main body frame bottom face, wherein,
Said first group of sucker comprises connecting rod and two vacuum cups that are fixed in the main body frame rightmost side;
Two said first group vacuum cups are fixedly connected with connecting rod; And be symmetricly set in both sides, main body frame front and back; The sucker face of said two vacuum cups is towards the lower right side, and and be a perpendicular to the angle between the straight line of main body frame bottom face, said angle a is 7 °～9 °;
Said second group of sucker comprise be fixed on the main body frame and adjacent to the connecting rod on first group of sucker right side, respectively flexibly connect and be symmetrically set in the connecting rod two ends both sides before and after the main body frame two movable suckers, to be located at movable sucker other and be fixed in the angle pendulum regulating mechanism on the connecting rod and be located at said connecting rod and the position-limit mechanism of said movable sucker junction;
The sucker face of two said second group movable suckers is towards the lower right side; And and be b perpendicular to the angle between the straight line of main body frame bottom face; Said angle b is 8 °; Said angle pendulum regulating mechanism comprises cylinder and the duplex joint that is connected with cylinder, and said cylinder is fixed on the connecting rod, and the joint of said duplex joint is connected with said movable sucker; Said cylinder drives the angle that said duplex joint is regulated said movable sucker angle b; Said position-limit mechanism comprises the spacing block set of being located at the connecting rod end, is located at the active connection place of movable sucker and be positioned at the screw base and the screw of said spacing block set both sides respectively, has a screw hole on the said screw base, and said screw is screwed in the said screw hole;
Said the 3rd group of sucker comprises and is fixed on the main body frame and adjacent to the cradling piece on second group of sucker right side, be located at two binding clasps and all fixing suctorial two motion bars of an end that cradling piece two ends and center have through hole respectively; The other end of said two motion bars passes the through hole of corresponding binding clasp respectively, and this end of motion bar is equipped with the pole cap of a diameter greater than above-mentioned through hole; When binding clasp cut out, said sucker moved up and down in said through hole with said motion bar and floats; When binding clasp started, said sucker was fixed with said motion bar;
Said the 4th group of sucker comprise the connecting rod that is fixed in the main body frame rightmost side, respectively flexibly connect and be symmetrically set in the connecting rod two ends both sides before and after the main body frame two movable suckers, to be located at movable sucker other and be fixed in the angle pendulum regulating mechanism on the connecting rod and be located at said connecting rod and the position-limit mechanism of said movable sucker junction;
The sucker of two said the 4th group movable suckers faces downside left; And and be c perpendicular to the angle between the straight line of main body frame bottom face; Said angle c is 8 °; Said angle pendulum regulating mechanism comprises cylinder and the duplex joint that is connected with cylinder, and said cylinder is fixed on the connecting rod, and the joint of said duplex joint is connected with said movable sucker; Said cylinder drives the angle that said duplex joint is regulated said movable sucker angle c; Said position-limit mechanism comprises the spacing block set of being located at the connecting rod end, is located at the active connection place of movable sucker and be positioned at the screw base and the screw of said spacing block set both sides respectively, has a screw hole on the said screw base, and said screw is screwed in the said screw hole.
Above-mentioned roof gluing is with robot sucker paw, wherein, main body frame between the 3rd group of sucker and the 4th group of sucker, be provided with one be used for vision correction camera.
Above-mentioned roof gluing is with robot sucker paw; Wherein, Between second group of sucker and the 3rd group of sucker, be provided with a mousing-hook device at main body frame, said mousing-hook device comprises that the mounting rod that is fixed on the main body frame, two are individually fixed in the rotary cylinder at said mounting rod two ends and are located at two mousing-hooks on the rotary part of said rotary cylinder respectively.
Above-mentioned roof gluing is with robot sucker paw; Wherein, The both sides of the connecting rod of said the 4th group of sucker also are respectively equipped with a mousing-hook device, and said mousing-hook device comprises that two sections are individually fixed in the rotary cylinder at said mounting rod two ends and are located at two mousing-hooks on the rotary part of said rotary cylinder respectively from the extended mounting rod in connecting rod both sides of said the 4th group of sucker, two respectively.
Compared with prior art, the present invention has the following advantages:
1. adopt robot sucker paw to grasp roof and carry out the gluing assembling, meet the production line new model when switching, need not to change anchor clamps and can grasp, the gluing requirement; And original roof cross beam gluing special plane can not realize that product switches;
2. adopt 2D take a picture identification and vision correction system, make paw possess intelligent functions, paw can accurately be implemented extracting according to the identification of taking a picture and look calibration system; And original roof cross beam gluing special plane does not have 2D photograph identification and looks calibration system, moves up workpiece by manual work;
3. the design of paw sucker stand has angular adjustment and up-down float function, the roof gluing operation of compatible tens vehicles of ability; And original roof cross beam gluing special plane only satisfies single product.
Description of drawings
Below in conjunction with the accompanying drawing and the specific embodiment the present invention is further described.
Fig. 1 is a perspective view of the present invention;
Fig. 2 is the local enlarged diagram of A among Fig. 1;
Fig. 3 is the front view of Fig. 1;
Fig. 4 is that the present invention implements one of sketch map;
Fig. 5 be the present invention implement sketch map two.
The specific embodiment
Consult Fig. 1 to Fig. 3; A kind of roof gluing is with robot sucker paw; Comprise main body frame 5 and be located at the adpting flange that is connected with robot 51 at main body frame upper surface middle part, also comprise first group of sucker being located at successively from left to right on the main body frame bottom face 1, second group of sucker 2, mousing-hook device 6, the 3rd group of sucker 3 and the 4th group of sucker 4.
Above-mentioned roof gluing with robot sucker paw in; Said first group of sucker 1 comprises connecting rod 11 and two vacuum cups 12 that are fixed in the main body frame leftmost side; Two said first group vacuum cups 12 are fixedly connected with connecting rod 11; And be symmetricly set in both sides, main body frame 5 front and back, the sucker face of said two vacuum cups 12 is towards the lower right side, and and be a perpendicular to the angle between the straight line of main body frame bottom face; Said angle a is 7 °～9 °, and this group sucker is used for the suction of grabbing of extended type roof.
Above-mentioned roof gluing with robot sucker paw in, said second group of sucker 2 comprise be fixed on the main body frame 5 and adjacent to the connecting rod 21 on first group of sucker 1 right side, respectively flexibly connect and be symmetrically set in connecting rod 21 two ends the movable sucker of two of both sides, main body frame 5 front and back 25, to be located at movable sucker 25 other and be fixed in the angle pendulum regulating mechanism on the connecting rod 21 and be located at the position-limit mechanism of said connecting rod 21 and said movable sucker 25 junctions; The sucker face of two said second group movable suckers 25 is towards the lower right side; And and be b perpendicular to the angle between the straight line of main body frame bottom face; Said angle b is 8 °; Said angle pendulum regulating mechanism comprises cylinder 26 and the duplex joint 27 that is connected with cylinder 26, and said cylinder 26 is fixed on the connecting rod 21, and the joint of said duplex joint 27 is connected with said movable sucker 25; Said cylinder 26 drives the angle that said duplex joint 27 is regulated said movable sucker 25 angle b; Said position-limit mechanism comprises the spacing block set 22 of being located at connecting rod 21 ends, is located at the active connection place of movable sucker 25 and be positioned at the screw base 24 and the screw 23 of said spacing block set 22 both sides respectively, has a screw hole on the said screw base 24, and said screw 23 is screwed in the said screw hole.Through the acting in conjunction of angle pendulum regulating mechanism and position-limit mechanism, the angle b of movable sucker 25 can remain on swing in 8 ° ± 5 ° scopes, and the roof contact-making surface of adjustment activity sucker 25 and different curve coincide thus.
Above-mentioned roof gluing with robot sucker paw in; Said the 3rd group of sucker 3 comprise be fixed on the main body frame 5 and adjacent to the cradling piece 31 on second group of sucker 2 right side, be located at cradling piece 31 two ends and center respectively and have two binding clasps 32 of through hole and two motion bars 34 that an end all is fixed with sucker 33; The other end of said two motion bars 34 passes the through hole of corresponding binding clasp 32 respectively, and this end of motion bar 34 is equipped with the pole cap 35 of a diameter greater than above-mentioned through hole; When binding clasp 32 cut out, said sucker 3 moved up and down in said through hole with said motion bar 34 and floats; When binding clasp 32 started, said sucker 33 was fixed with said motion bar 34.Have through the 3rd group of sucker 3 of above-mentioned design and to fluctuate and locking function, can satisfy the height difference of various roofs.
Above-mentioned roof gluing with robot sucker paw in, said the 4th group of sucker 4 comprise the connecting rod 41 that is fixed in main body frame 5 rightmost sides, respectively flexibly connect and be symmetrically set in connecting rod 41 two ends the movable sucker of two of both sides, main body frame 5 front and back 45, to be located at movable sucker 45 other and be fixed in the angle pendulum regulating mechanism on the connecting rod 41 and be located at the position-limit mechanism of said connecting rod 41 and said movable sucker 45 junctions; The sucker of two said the 4th group movable suckers 45 faces downside left; And and be c perpendicular to the angle between the straight line of main body frame 5 bottom faces; Said angle c is 8 °; Said angle pendulum regulating mechanism comprises cylinder 46 and the duplex joint 47 that is connected with cylinder 46, and said cylinder 46 is fixed on the connecting rod 41, and the joint of said duplex joint 47 is connected with said movable sucker 45; Said cylinder 46 drives the angle that said duplex joint 47 is regulated said movable sucker 45 angle c; Said position-limit mechanism comprises the spacing block set 42 of being located at connecting rod 41 ends, is located at the active connection place of movable sucker 45 and be positioned at the screw base 44 and the screw 43 of said spacing block set 42 both sides respectively, has a screw hole on the said screw base 44, and said screw 43 is screwed in the said screw hole.Through the acting in conjunction of angle pendulum regulating mechanism and position-limit mechanism, the angle c of movable sucker 45 can remain on swing in 8 ° ± 5 ° scopes, and the roof contact-making surface of adjustment activity sucker 45 and different curve coincide thus.
Above-mentioned roof gluing with robot sucker paw in; Between second group of sucker 2 and the 3rd group of sucker 3, be provided with a mousing-hook device 6 at main body frame 5; Said mousing-hook device 6 comprises that the mounting rod that is fixed on the main body frame 5 61, two are individually fixed in the rotary cylinder 63 at said mounting rod 61 two ends and are located at two mousing-hooks 62 on the rotary part of rotary cylinder 61 respectively, and said mousing-hook 62 can be rotated along with the startup of rotary cylinder 61.Before picking up roof, this mousing-hook is collapsed state, after roof is picked up, and mousing-hook Rotate 180 °, roof can not come off in the time of can preventing effectively that the paw sucker is malfunctioning.
Above-mentioned roof gluing with robot sucker paw in; The both sides of the connecting rod 41 of said the 4th group of sucker 4 also are respectively equipped with a mousing-hook device 7; Said mousing-hook device 7 comprises that two sections are individually fixed in the rotary cylinder 72 at said mounting rod 73 two ends and are located at two mousing-hooks 71 on the rotary part of said rotary cylinder 72 respectively from the extended mounting rod in connecting rod 41 both sides of said the 4th group of sucker 73, two respectively, and said mousing-hook 71 can be rotated along with the startup of rotary cylinder 72.Before picking up roof, this mousing-hook is collapsed state, after roof is picked up, and mousing-hook Rotate 180 °, roof can not come off in the time of can preventing effectively that the paw sucker is malfunctioning.
Above-mentioned roof gluing with robot sucker paw in; Between the 3rd group of sucker 3 and the 4th group of sucker 4, be provided with a camera unit at main body frame 5; This camera unit comprises the camera mount 52 that is fixed in main body frame 5 and is installed on the camera 53 on the camera mount 52 that the roof image of said camera 53 picked-ups is through the intellectual analysis of vision correction system; The seized condition of automatically calibrating paw accurately grasps roof and carries out gluing.
Embodiment 1
Consult Fig. 4 and Fig. 5, the course of work of robot roof gluing sucker paw: at first, roof thin plate (workpiece) layer is placed on the bin car, and the bin car is pushed in the locating slot of appointment by manual work.Robot roof gluing sucker paw is when grabbing workpiece; Above bin, workpiece is taken pictures earlier; And image and the standard picture that has deposited in in advance compared; Thereby identify the position, physical plane of the model specification and the workpiece of workpiece, according to result of calculation, paw is adjusted attitude automatically workpiece is grasped.In the extracting process; Robot is according to the difference of the model specification of workpiece, some curve surface of workpiece changed greatly or length variation product greatly, like conventional roof 82, extended type roof 81 etc.; Can carry out the angle adjustment of sucker or the selection that sucker is inhaled point voluntarily; The unsteady sucker of paw interlude can automatically adjust according to the height of curve surface of workpiece, after the suction dish work of taking seriously, under the effect of magnetic valve; To the float support locking of sucker of binding clasp, guarantee workpiece grasp and the process of motion in invariant shift shape not.Robot roof gluing sucker paw grasps roof on the back and carries, and workpiece is stood up the concave surface of roof (be up) and moves to the coating gun below, by the 2D camera on the coating gun support workpiece is carried out taking pictures second time and carries out gluing and discern.Then, robot moves by the track of regulation, and the glue rifle carries out gluing to workpiece, and after gluing finished, robot turned over back body with workpiece and puts on the roof conveyer belt, and empty-handed pawl is got back to the top of roof bin.An operation cycle finishes.
Above embodiment only supplies to explain the present invention's usefulness; But not limitation of the present invention; The technical staff in relevant technologies field under the situation that does not break away from the spirit and scope of the present invention, can also make various conversion or modification; Therefore all technical schemes that are equal to also should belong to category of the present invention, should be limited each claim.
Claims (4)
1. a roof gluing is with robot sucker paw; Comprise main body frame and the adpting flange that is connected with robot of being located at middle part, main body frame upper surface, it is characterized in that, also comprise first group, second group, the 3rd group and the 4th group of sucker being located on the main body frame bottom face; Wherein
Said first group of sucker comprises head rod and two vacuum first suckers that are fixed in the main body frame rightmost side;
Two said first group vacuum first suckers are fixedly connected with head rod; And be symmetricly set in both sides, main body frame front and back; The sucker face of said two vacuum first suckers is towards the lower right side; And and be a perpendicular to the angle between the straight line of main body frame bottom face, said angle a is 7 °～9 °;
Said second group of sucker comprise be fixed on the main body frame and adjacent to second connecting rod on first group of sucker right side, respectively flexibly connect and be symmetrically set in the second connecting rod two ends both sides before and after the main body frame two second movable suckers, to be located at the second movable sucker other and be fixed in first angle pendulum regulating mechanism on second connecting rod and be located at said second connecting rod and first position-limit mechanism of the said second movable sucker junction;
The sucker face of two second said second group movable suckers is towards the lower right side; And and be b perpendicular to the angle between the straight line of main body frame bottom face; Said angle b is 8 °; Said first angle pendulum regulating mechanism comprises first cylinder and the first duplex joint that is connected with first cylinder, and said first cylinder is fixed on second connecting rod, and the joint of the said first duplex joint is connected with the said second movable sucker; Said first cylinder drives the angle that the said first duplex joint is regulated the said second movable sucker angle b; Said first position-limit mechanism comprises the spacing block set of being located at the second connecting rod end, is located at the active connection place of the second movable sucker and be positioned at the screw base and the screw of said spacing block set both sides respectively, has a screw hole on the said screw base, and said screw is screwed in the said screw hole;
Said the 3rd group of sucker comprise be fixed on the main body frame and adjacent to the cradling piece on second group of sucker right side, be located at cradling piece two ends and center respectively and have two binding clasps of through hole and two motion bars that an end all is fixed with the 3rd sucker; The other end of said two motion bars passes the through hole of corresponding binding clasp respectively, and this end of motion bar is equipped with the pole cap of a diameter greater than above-mentioned through hole; When binding clasp cut out, said the 3rd sucker moved up and down in said through hole with said motion bar and floats; When binding clasp started, said the 3rd sucker was fixed with said motion bar;
Said the 4th group of sucker comprise the 4th connecting rod that is fixed in the main body frame rightmost side, respectively flexibly connect and be symmetrically set in the 4th connecting rod two ends both sides before and after the main body frame two the 4th movable suckers, to be located at the 4th movable sucker other and be fixed in second angle pendulum regulating mechanism on the 4th connecting rod and be located at said the 4th connecting rod and second position-limit mechanism of the said the 4th movable sucker junction;
The sucker of two the 4th said the 4th group movable suckers faces downside left; And and be c perpendicular to the angle between the straight line of main body frame bottom face; Said angle c is 8 °; Said second angle pendulum regulating mechanism comprises second cylinder and the second duplex joint that is connected with second cylinder, and said second cylinder is fixed on the 4th connecting rod, and the joint of the said second duplex joint is connected with the said the 4th movable sucker; Said second cylinder drives the angle that the said second duplex joint is regulated the said the 4th movable sucker angle c; Said second position-limit mechanism comprises the spacing block set of being located at the 4th connecting rod end, is located at the active connection place of the 4th movable sucker and be positioned at the screw base and the screw of said spacing block set both sides respectively, has a screw hole on the said screw base, and said screw is screwed in the said screw hole.
2. roof gluing as claimed in claim 1 is characterized in that with robot sucker paw, main body frame between the 3rd group of sucker and the 4th group of sucker, be provided with one be used for vision correction camera.
3. according to claim 1 or claim 2 roof gluing is with robot sucker paw; It is characterized in that; Between second group of sucker and the 3rd group of sucker, be provided with a mousing-hook device at main body frame, said mousing-hook device comprises that the mounting rod that is fixed on the main body frame, two are individually fixed in the rotary cylinder at said mounting rod two ends and are located at two mousing-hooks on the rotary part of said rotary cylinder respectively.
4. according to claim 1 or claim 2 roof gluing is with robot sucker paw; It is characterized in that; The both sides of the 4th connecting rod of said the 4th group of sucker also are respectively equipped with a mousing-hook device, and said mousing-hook device comprises that two sections are individually fixed in the rotary cylinder at said mounting rod two ends and are located at two mousing-hooks on the rotary part of said rotary cylinder respectively from the extended mounting rod in the 4th connecting rod both sides of said the 4th group of sucker, two respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100551361A CN101954341B (en) | 2009-07-21 | 2009-07-21 | robot sucker claw for coating automobile roof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100551361A CN101954341B (en) | 2009-07-21 | 2009-07-21 | robot sucker claw for coating automobile roof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101954341A CN101954341A (en) | 2011-01-26 |
| CN101954341B true CN101954341B (en) | 2012-01-11 |
Family
ID=43482071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100551361A Active CN101954341B (en) | 2009-07-21 | 2009-07-21 | robot sucker claw for coating automobile roof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101954341B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102218721A (en) * | 2011-05-19 | 2011-10-19 | 上海发那科机器人有限公司 | Robot stator punching sheet transporting claw device |
| CN105149137A (en) * | 2015-09-22 | 2015-12-16 | 上海理工大学 | Creeping type large-size workpiece surface painting robot |
| CN105314398B (en) * | 2015-11-06 | 2017-11-28 | 重庆长安汽车股份有限公司 | Multi-vehicle-type flexibility top cover gripping apparatus |
| CN106141645B (en) * | 2016-06-15 | 2019-05-03 | 上海发那科机器人有限公司 | A kind of automatic setup system and method |
| CN108381592A (en) * | 2017-02-03 | 2018-08-10 | 哈尔滨智龙自动化设备有限公司 | Robot adaptive battery connecting plate assembles actuator |
| CN107381036A (en) * | 2017-06-16 | 2017-11-24 | 北京福田戴姆勒汽车有限公司 | A kind of heavy truck top cover lift transport device |
| CN107139185B (en) * | 2017-06-19 | 2023-05-26 | 上海发那科机器人有限公司 | Robot glass painting system |
| CN107139186B (en) * | 2017-06-19 | 2023-09-12 | 上海发那科机器人有限公司 | Robot glass painting paw |
| CN108907403B (en) * | 2018-08-08 | 2023-08-22 | 电子科技大学中山学院 | Using method of long tube full-automatic intelligent welding equipment |
| CN108907409B (en) * | 2018-08-08 | 2023-08-18 | 电子科技大学中山学院 | Using method of visual positioning control structure of long tube full-automatic intelligent welding equipment |
| CN111391193B (en) * | 2020-04-01 | 2020-11-20 | 常州市新创智能科技有限公司 | Automatic demolding device and method for I-shaped stringer lower core mold |
| CN112871823A (en) * | 2020-12-25 | 2021-06-01 | 无锡奥环智能科技有限公司 | Be used for abluent full-automatic intelligent cleaning machine of axle factory front axle |
| CN114014139A (en) * | 2021-11-24 | 2022-02-08 | 江苏科技大学 | Three-dimensional curved plate carrying device for ship |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101091942A (en) * | 2006-12-07 | 2007-12-26 | 廊坊智通机器人系统有限公司 | Glue spreading and positioning system of robot |
| CN101199962A (en) * | 2007-12-21 | 2008-06-18 | 安徽江淮自动化装备有限公司 | Glue spread system glass turnover mechanism |
-
2009
- 2009-07-21 CN CN2009100551361A patent/CN101954341B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101091942A (en) * | 2006-12-07 | 2007-12-26 | 廊坊智通机器人系统有限公司 | Glue spreading and positioning system of robot |
| CN101199962A (en) * | 2007-12-21 | 2008-06-18 | 安徽江淮自动化装备有限公司 | Glue spread system glass turnover mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101954341A (en) | 2011-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101954341B (en) | robot sucker claw for coating automobile roof | |
| CN203650513U (en) | Mechanical gripper and industrial robot for mounting circuit for electronic product | |
| CN107571246B (en) | Part assembling system and method based on double-arm robot | |
| JP5779386B2 (en) | Electrical component mounting machine | |
| EP2363250A2 (en) | Production system comprising a workpiece stocker, a dual-arm robot and a second robot | |
| CN104209270B (en) | Componentselected mechanism and method for separating, Part supplying system | |
| EP2193888A3 (en) | Multiple arm robot arrangement | |
| US4364707A (en) | Object transport apparatus | |
| CN109523580A (en) | A kind of calculation method of image capture module, image capture module and sorting system | |
| CN111822256A (en) | Camera module dispensing system based on turntable | |
| CN105314398A (en) | Multi-vehicle flexible roof gripper | |
| CN103273310A (en) | Micro-part automatic aligning device and method based on multipath micro-vision | |
| CN101908492A (en) | Components packaging system | |
| CN109531614A (en) | A kind of multistation composite machine hand end equipment applied to automated package | |
| CN113781558B (en) | Robot vision locating method with decoupling gesture and position | |
| CN110962127A (en) | Auxiliary calibration device for tail end pose of mechanical arm and calibration method thereof | |
| CN206645534U (en) | A kind of unordered grabbing device of robot based on double camera | |
| JP6154130B2 (en) | Electronic component mounting apparatus and electronic component mounting method | |
| CN104205317A (en) | Die supply device | |
| CN103283317B (en) | component mounting apparatus | |
| CN206325798U (en) | A kind of air blowing chamfered edge device on coating machine | |
| CN209380774U (en) | A kind of multistation composite machine hand end equipment applied to automated package | |
| CN208338529U (en) | Movable-type intelligent irrigation device with mechanical arm | |
| CN113771042A (en) | Vision-based method and system for clamping tool by mobile robot | |
| CN104245154A (en) | Coating device and coating method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |