CN102717392A - Multifunctional clamp for component encapsulating robot - Google Patents
Multifunctional clamp for component encapsulating robot Download PDFInfo
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- CN102717392A CN102717392A CN2012102292611A CN201210229261A CN102717392A CN 102717392 A CN102717392 A CN 102717392A CN 2012102292611 A CN2012102292611 A CN 2012102292611A CN 201210229261 A CN201210229261 A CN 201210229261A CN 102717392 A CN102717392 A CN 102717392A
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Abstract
The invention relates to a multifunctional clamp for a component encapsulating robot. An industrial robot is mounted on a main body framework; a flexible object grabbing clamp assembly is vertically mounted on the main body framework; a heavy grabbing clamp assembly and a frangible object grabbing clamp framework are respectively arranged on the main body framework in an up-down moving manner; and a frangible object grabbing clamp assembly is vertically mounted on the frangible object grabbing clamp framework. Preferably, a sucker lifting mechanism is mounted on the main body framework and is connected with a heavy grabbing clamp of the heavy grabbing clamp assembly, so as to drive the heavy grabbing clamp to move up and down; and a framework lifting mechanism is mounted on the main body framework and is connected with the frangible object grabbing clamp framework, so as to drive the frangible object grabbing clamp framework to move up and down. The multifunctional clamp is designed uniquely, is simple in structure, and can reduce the labor cost and improve the working efficiency under the premise that the precision and the stability of component production are improved, thereby being suitable for large scale popularization and application.
Description
Technical field
The present invention relates to electrical apparatus industry and solar energy industry component package production technical field, particularly component package equipment technical field specifically is meant a kind of component package robot multi-functional clamp.
Background technology
In the production process of component package, the material assembled package of several kinds of different performances of needs employing together usually.
Electronic enterprises assembly and solar energy industry photovoltaic module generally are to rely on manual operations or by other frock production model, need a large amount of labours at present, and the quality to product does not guarantee that output efficiency is low simultaneously.And the weight of material that load-bearing is bigger in assembly is also bigger, and artificial assembled components labour intensity is big.During to the artificial assembling of frangible material, inefficiency, compliance rate is low, and this material price general charged is more expensive.
Therefore, the problems referred to above and defective in order to solve existence need provide a kind of device, under the precision and stable prerequisite that improve assembly production, reduce the personnel selection cost, increase work efficiency.
Summary of the invention
The objective of the invention is to have overcome above-mentioned shortcoming of the prior art; A kind of component package robot multi-functional clamp is provided, and this component package robot multi-functional clamp design is ingenious, simple for structure; Under the precision and stable prerequisite that improve assembly production; Reduce the personnel selection cost, increase work efficiency, be suitable for large-scale promotion application.
To achieve these goals; Component package of the present invention robot multi-functional clamp; Be characterized in; Comprise that industrial robot, main body framework, weight grasp anchor clamps assembly, flexibility grasping body anchor clamps assembly, fragility grasping body anchor clamps skeleton and fragility grasping body anchor clamps assembly; Said industrial robot is installed on the said main body framework; Said flexibility grasping body anchor clamps assembly vertically is installed on the said main body framework, and said weight grasps the anchor clamps assembly and said fragility grasping body anchor clamps skeleton is removably set on up and down respectively on the said main body framework, and said fragility grasping body anchor clamps assembly vertically is installed on the said fragility grasping body anchor clamps skeleton.
The weight of here mentioning is meant: the weight of object own is bigger, and the intensity and toughness of itself is high, when grasping, can not be out of shape, can not leak vacuum, and main difficulty is to overcome its gravity acting.Like photovoltaic glass, plastic plate, iron plate etc.
The flexibility object of here mentioning is meant: object itself is in light weight but its strength and stiffness are low, distortion when grasping, the bleed vacuum of sometimes can breathing freely.Main difficulty is to overcome to grasp to be out of shape to need tiling at last again.Like photovoltaic EVA, nylon film, barrier paper etc.
The fragility object of here mentioning is meant: object its intensity in light weight itself and rigidity are low, and one bumps promptly brokenly, mainly is to guarantee its yield rate when grasping.Like solar energy single crystal body silicon electromagnetic plate etc.
Preferable, said component package robot multi-functional clamp also comprises flange, and said industrial robot is fixed on the said main body framework through said flange.
Preferable; Said main body framework comprises some section bars and some section bar connecting plates; Said section bar interconnects through said section bar connecting plate; Said industrial robot is installed on the said section bar, and said flexibility grasping body anchor clamps assembly vertically is installed on the said section bar, and said weight grasps the anchor clamps assembly and said fragility grasping body anchor clamps skeleton is removably set on up and down on the said section bar respectively.
Preferable; Said component package robot multi-functional clamp also comprises the sucker elevating mechanism; Said weight grasps the source of the gas that the anchor clamps assembly comprises that mutual gas circuit connects and grasps anchor clamps with weight, and said sucker elevating mechanism is installed on the said main body framework and connects said weight and grasps anchor clamps and be used to drive said weight extracting anchor clamps and move up and down.
Preferable; Said flexibility grasping body anchor clamps assembly comprises source of the gas, ripple sucker, holder, connecting rod, support set and buffering elastomeric element; Said holder is fixed on the said main body framework; Said support set is fixed on below the said holder; Said connecting rod is removable up and down to be plugged in said support set and the said holder and spacing by said holder upper end, and lower end and gas circuit that said ripple sucker is installed in said connecting rod connect said source of the gas, and said cushion parts are between said support set and said connecting rod and respectively against said support set and said connecting rod.
Better, said cushion parts are springs, said spring housing is located on the said connecting rod also respectively against said support set and said connecting rod.
Preferable; Said component package robot multi-functional clamp also comprises the skeleton elevating mechanism, and said skeleton elevating mechanism is installed on the said main body framework and connects said fragility grasping body anchor clamps skeleton and is used to drive said fragility grasping body anchor clamps skeleton and moves up and down.
Preferable, said fragility grasping body anchor clamps assembly comprises source of the gas and the sponge sucker that mutual gas circuit connects, said sponge sucker vertically is installed on the said fragility grasping body anchor clamps skeleton.
Preferable, said component package robot multi-functional clamp also comprises fixture, and said fragility grasping body anchor clamps assembly vertically is fixed on the said fragility grasping body anchor clamps skeleton through said fixture.
Preferable; Said component package robot multi-functional clamp also comprises controlling organization, and said controlling organization circuit connects said industrial robot, said weight grasps anchor clamps assembly, said flexibility grasping body anchor clamps assembly and said fragility grasping body anchor clamps assembly.
Beneficial effect of the present invention specifically is:
1, component package of the present invention robot multi-functional clamp comprises that industrial robot, main body framework, weight grasp anchor clamps assembly, flexibility grasping body anchor clamps assembly, fragility grasping body anchor clamps skeleton and fragility grasping body anchor clamps assembly; Said industrial robot is installed on the said main body framework; Said flexibility grasping body anchor clamps assembly vertically is installed on the said main body framework; Said weight grasps the anchor clamps assembly and said fragility grasping body anchor clamps skeleton is removably set on up and down respectively on the said main body framework, and said fragility grasping body anchor clamps assembly vertically is installed on the said fragility grasping body anchor clamps skeleton, thereby can realize the extracting of weight, flexibility object and fragility object; Design ingenious; Simple for structure, under the precision and stable prerequisite that improve assembly production, reduce the personnel selection cost; Increase work efficiency, be suitable for large-scale promotion application.
2, the said flexibility grasping body anchor clamps assembly of component package of the present invention robot multi-functional clamp comprises source of the gas, ripple sucker, holder, connecting rod, support set and buffering elastomeric element; Said holder is fixed on the said main body framework; Said support set is fixed on below the said holder, and said connecting rod is removable up and down to be plugged in said support set and the said holder and spacing by said holder upper end, and lower end and gas circuit that said ripple sucker is installed in said connecting rod connect said source of the gas; Said cushion parts are between said support set and said connecting rod and respectively against said support set and said connecting rod; Thereby can realize the extracting of flexibility object, design ingenious, simple for structure; Under the precision and stable prerequisite that improve assembly production; Reduce the personnel selection cost, increase work efficiency, be suitable for large-scale promotion application.
3, the said fragility grasping body anchor clamps assembly of component package of the present invention robot multi-functional clamp comprises source of the gas and the sponge sucker that mutual gas circuit connects, and said sponge sucker vertically is installed on the said fragility grasping body anchor clamps skeleton, thereby can realize the extracting of fragility object; Design ingenious; Simple for structure, under the precision and stable prerequisite that improve assembly production, reduce the personnel selection cost; Increase work efficiency, be suitable for large-scale promotion application.
Description of drawings
Fig. 1 is the schematic perspective view of a specific embodiment of the present invention.
Fig. 2 is the local enlarged diagram one of specific embodiment shown in Figure 1.
Fig. 3 is the local enlarged diagram two of specific embodiment shown in Figure 1.
Fig. 4 is the local enlarged diagram three of specific embodiment shown in Figure 1.
The specific embodiment
In order more to be expressly understood technology contents of the present invention, the special following examples of lifting specify.
See also Fig. 1-shown in Figure 4; Component package of the present invention robot multi-functional clamp comprises that industrial robot 1, main body framework 2, weight grasp anchor clamps assembly 3, flexibility grasping body anchor clamps assembly 4, fragility grasping body anchor clamps skeleton 5 and fragility grasping body anchor clamps assembly 6; Said industrial robot 1 is installed on the said main body framework 2; Said flexibility grasping body anchor clamps assembly 4 vertically is installed on the said main body framework 2; Said weight grasps anchor clamps assembly 3 and is removably set on up and down respectively on the said main body framework 2 with said fragility grasping body anchor clamps skeleton 5, and said fragility grasping body anchor clamps assembly 6 vertically is installed on the said fragility grasping body anchor clamps skeleton 5.
Said industrial robot 1 can adopt any suitable existing commercially available industrial robot; See also shown in Figure 1; In the specific embodiment of invention; The hardware and software of industrial robot 1 employing world sophisticated machine people manufacturer (German KUKA, Japanese Kawasaki) provides power and movement locus for the carrying and the assembling of system.Adopt the flexibility of six-shaft industrial robot, robot can walk any route and can make assembly become any angle to seal at grabbing assembly.Can adapt to simultaneously actual place adjustment robot location, assemble, encapsulate and bring flexibility at the various dissimilar materials of robot gripping.
Said industrial robot 1 is installed on the said main body framework 2 can adopt any suitable structure; See also Fig. 1-shown in Figure 2; In specific embodiment of the present invention; Said component package robot multi-functional clamp also comprises flange 22, and said industrial robot 1 is fixed on the said main body framework 2 through said flange 22.
Said main body framework 2 can adopt any suitable structure; See also Fig. 1-shown in Figure 2; In specific embodiment of the present invention; Said main body framework 2 comprises some section bars 21 and some section bar connecting plates 23, and said section bar 21 interconnects (section bar 21 can vertically and horizontally arrangedly connect) through said section bar connecting plate 23, and said industrial robot 1 is installed on the said section bar 21; Said flexibility grasping body anchor clamps assembly 4 vertically is installed on the said section bar 21, and said weight grasps anchor clamps assembly 3 and is removably set on up and down respectively on the said section bar 21 with said fragility grasping body anchor clamps skeleton 5.
Said weight extracting anchor clamps assembly 3 is removably set on up and down on the said main body framework 2 and can adopts any suitable structure; See also Fig. 1 and shown in Figure 4; In specific embodiment of the present invention; Said component package robot multi-functional clamp also comprises sucker elevating mechanism 32; Said weight grasps the source of the gas (not shown) that anchor clamps assembly 3 comprises that mutual gas circuit connects and grasps anchor clamps 31 with weight, and said sucker elevating mechanism 32 is installed on the said main body framework 2 and connects said weight and grasps anchor clamps 31 and be used to drive said weight extracting anchor clamps 31 and move up and down.
Said sucker elevating mechanism 32 can adopt any suitable elevating mechanism; See also Fig. 1 and shown in Figure 4; In specific embodiment of the present invention, said sucker elevating mechanism 32 is cylinders, can be fixed on the section bar 21 of said main body framework 2 through cylinder fixed head 34.
Said flexibility grasping body anchor clamps assembly 4 can adopt any suitable structure; See also Fig. 1 and shown in Figure 4; In specific embodiment of the present invention; Said flexibility grasping body anchor clamps assembly 4 comprises source of the gas (not shown), ripple sucker 41, holder 42, connecting rod 43, support set 44 and buffering elastomeric element 45; Said holder 42 is fixed on the said main body framework 2; Said support set 44 is fixed on below the said holder 42; Said connecting rod is removable being plugged in said support set 44 and the said holder 42 and by said holder 42 upper ends spacing (for example in connecting rod 43 upper ends flange being set) about in the of 43, and lower end and gas circuit that said ripple sucker 41 is installed in said connecting rod 43 connect said source of the gas, and said cushion parts 45 are between said support set 44 and said connecting rod 43 and respectively against said support set 44 and said connecting rod 43.
Said cushion parts 45 can adopt any suitable components; See also Fig. 1 and shown in Figure 4; In specific embodiment of the present invention, said cushion parts 45 are springs, and said spring housing is located on the said connecting rod 43 also respectively against said support set 44 and said connecting rod 43.
Said fragility grasping body anchor clamps skeleton 5 is removably set on up and down on the said main body framework 2 and can adopts any suitable structure; See also Fig. 1 and shown in Figure 3; In specific embodiment of the present invention; Said component package robot multi-functional clamp also comprises skeleton elevating mechanism 53, and said skeleton elevating mechanism 53 is installed on the said main body framework 2 and connects said fragility grasping body anchor clamps skeleton 5 and is used to drive said fragility grasping body anchor clamps skeleton 5 and moves up and down.
Said skeleton elevating mechanism 53 can adopt any suitable elevating mechanism; See also Fig. 1 and shown in Figure 3; In specific embodiment of the present invention; Said skeleton elevating mechanism 53 is cylinders, can be installed on the section bar 21 of main body framework 2 through cylinder connecting plate 52, and said fragility grasping body anchor clamps skeleton 5 can be a framework section bar.
Said fragility grasping body anchor clamps assembly 6 can adopt any suitable structure; See also Fig. 1 and shown in Figure 4; In specific embodiment of the present invention; Said fragility grasping body anchor clamps assembly 6 comprises source of the gas (not shown) and the sponge sucker 61 that mutual gas circuit connects, and said sponge sucker 61 vertically is installed on the said fragility grasping body anchor clamps skeleton 5.
Said fragility grasping body anchor clamps assembly 6 vertically is installed on the said fragility grasping body anchor clamps skeleton 5 can adopt any suitable structure; See also Fig. 1 and shown in Figure 4; In specific embodiment of the present invention; Said component package robot multi-functional clamp also comprises fixture 62, and said fragility grasping body anchor clamps assembly 6 vertically is fixed on the said fragility grasping body anchor clamps skeleton 5 through said fixture 62.
In order to realize full-automatic control; Preferable; Said component package robot multi-functional clamp also comprises the controlling organization (not shown), and said controlling organization circuit connects said industrial robot 1, said weight grasps anchor clamps assembly 3, said flexibility grasping body anchor clamps assembly 4 and fragility grasping body anchor clamps assembly 6.In specific embodiment of the present invention, said controlling organization circuit connects said industrial robot 1, said sucker elevating mechanism 32, said skeleton elevating mechanism 53 and said source of the gas (can be a plurality of.Also can be shared one).
Using the present invention can be different and different by client's technology in the operation cycle order of the assembly assembling of giving dissimilar materials, below be operation cycle of example explanation with a kind of technology of solar photovoltaic assembly: grasp photovoltaic glass, carrying, release, extracting eva film, carrying, assembling and discharge, grasp solar-electricity magnetic sheet group, carrying, assembling and discharge, grasp eva film, carrying, assembling and discharge, grasp TPT plate, carrying, assembling and discharge.Do further to detail in the face of these 15 processes down.
Grasp photovoltaic glass: at first discharge and make weight grasp sucker 31 below ripple sucker 41, guarantee skeleton elevating mechanism 53 lifting states simultaneously, guarantee that weight grasps sucker 31 below through sucker elevating mechanism 32, in running order.Weight extracting this moment sucker 31 grasps and leaves original position with photovoltaic glass.
Carrying: industrial robot 1 is carried to assembling table top (not shown) with photovoltaic glass.
Discharge: controlling organization grasps sucker 31 disconnected vacuum blowback compressed air to weight accurately puts to assembling table photovoltaic glass.
Grasp eva film: at first promote and make weight grasp sucker 31 to be hidden in ripple sucker 41 tops, to guarantee skeleton elevating mechanism 53 lifting states simultaneously, guarantee ripple sucker 41 below through sucker elevating mechanism 32, in running order.Ripple sucker 41 grasped and left original position with eva film this moment.
Carrying: industrial robot 1 is carried to eva film the top of assembling table photovoltaic glass.
Discharge: controlling organization accurately is assembled on the photovoltaic glass eva film to ripple sucker 41 disconnected vacuum blowback compressed air.
Grasp solar-electricity magnetic sheet group: at first promote and make weight grasp sucker 31 to be hidden in ripple sucker 41 tops, to guarantee skeleton elevating mechanism 53 decline states simultaneously, guarantee sponge sucker 61 below through sucker elevating mechanism 32, in running order.Sponge sucker 61 grasped and left original position with solar-electricity magnetic sheet group this moment.
Carrying: the top that industrial robot 1 is carried to the assembling table eva film with the solar-electricity magnetic sheet group assembling of accurately arranging.
Discharge: controlling organization is accurately arranged solar-electricity magnetic sheet group to sponge sucker 61 disconnected vacuum and is assembled on the eva film.
Grasp eva film: at first promote and make weight grasp sucker 31 to be hidden in ripple sucker 41 tops, to guarantee skeleton elevating mechanism 53 lifting states simultaneously, guarantee ripple sucker 41 below through sucker elevating mechanism 32, in running order.Ripple sucker 41 grasped and left original position with eva film this moment.
Carrying: industrial robot 1 is carried to eva film the top of assembling table solar-electricity magnetic sheet group.
Discharge: controlling organization accurately is assembled on the solar-electricity magnetic sheet group eva film to ripple sucker 41 disconnected vacuum blowback compressed air.
Grasp the TPT plate: at first promote and make weight grasp sucker 31 to be hidden in ripple sucker 41 tops, to guarantee skeleton elevating mechanism 53 lifting states simultaneously, guarantee ripple sucker 41 below through sucker elevating mechanism 32, in running order.Ripple sucker 41 grasped and left original position with the TPT plate this moment.
Carrying: industrial robot 1 is carried to the TPT plate top of assembling table eva film.
Discharge: controlling organization accurately is assembled on the eva film TPT plate to ripple sucker 41 disconnected vacuum blowback compressed air.
Component package of the present invention robot multi-functional clamp comprises that industrial robot 1, main body framework 2, weight grasp anchor clamps assembly 3, flexibility grasping body anchor clamps assembly 4, fragility grasping body anchor clamps skeleton 5 and fragility grasping body anchor clamps assembly 6.Industrial robot 1 can provide continuously or the power resources of being interrupted, and is useful in the different working scene and walks different paths.Nipper major impetus source is source of the gas, can guarantee the cleaning of assembly assembling, encapsulation.Regulate weight through sucker elevating mechanism 32 and grasp anchor clamps assembly 3 positions; Realize that weight grasps highly switching between anchor clamps assembly 3 and flexibility grasping body anchor clamps assembly 4 and the fragility grasping body anchor clamps assembly 6; Regulate fragility grasping body anchor clamps assembly 6 positions through skeleton elevating mechanism 53; Realize that fragility grasping body anchor clamps assembly 6 and weight grasp highly switching between anchor clamps assembly 3 and the flexibility grasping body anchor clamps assembly 4, the machine of realizing is accomplished the extracting and the assembly assembling of three kinds of dissimilar materials.Skeleton is a section bar, and the anchor clamps assembly arranges that on skeleton the installation site is easy to adjust, and the component capability that adapts to various different sizes is strong.The present invention is under precision and stable prerequisite that the raising assembly is produced, and the big problem of labour intensity of producing before solving has reduced the personnel selection cost, has improved operating efficiency, and it is ingenious reasonable to design, and is suitable for large-scale promotion application.
The present invention can be used for the assembly assembling; Difference according to the physical dimension of component object; Change different size corresponding parameters; Can assemble dissimilar assemblies, be fit to the operation of the automated production of assembly, be specially adapted to continuously uninterrupted operation occasion, high, the demanding operating mode of package stability of automated production requirement.
To sum up, the multi-functional clamp design of component package of the present invention robot is ingenious, simple for structure, improving under precision that assembly produces and the stable prerequisite, reduces the cost of choosing, and increases work efficiency, and is suitable for large-scale promotion application.
In this specification, the present invention is described with reference to its certain embodiments.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, specification and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (10)
1. component package robot multi-functional clamp; It is characterized in that; Comprise that industrial robot, main body framework, weight grasp anchor clamps assembly, flexibility grasping body anchor clamps assembly, fragility grasping body anchor clamps skeleton and fragility grasping body anchor clamps assembly; Said industrial robot is installed on the said main body framework; Said flexibility grasping body anchor clamps assembly vertically is installed on the said main body framework, and said weight grasps the anchor clamps assembly and said fragility grasping body anchor clamps skeleton is removably set on up and down respectively on the said main body framework, and said fragility grasping body anchor clamps assembly vertically is installed on the said fragility grasping body anchor clamps skeleton.
2. component package according to claim 1 robot multi-functional clamp is characterized in that, said component package robot multi-functional clamp also comprises flange, and said industrial robot is fixed on the said main body framework through said flange.
3. component package according to claim 1 robot multi-functional clamp; It is characterized in that; Said main body framework comprises some section bars and some section bar connecting plates, and said section bar interconnects through said section bar connecting plate, and said industrial robot is installed on the said section bar; Said flexibility grasping body anchor clamps assembly vertically is installed on the said section bar, and said weight grasps the anchor clamps assembly and said fragility grasping body anchor clamps skeleton is removably set on up and down on the said section bar respectively.
4. component package according to claim 1 robot multi-functional clamp; It is characterized in that; Said component package robot multi-functional clamp also comprises the sucker elevating mechanism; Said weight grasps the source of the gas that the anchor clamps assembly comprises that mutual gas circuit connects and grasps anchor clamps with weight, and said sucker elevating mechanism is installed on the said main body framework and connects said weight and grasps anchor clamps and be used to drive said weight extracting anchor clamps and move up and down.
5. component package according to claim 1 robot multi-functional clamp; It is characterized in that; Said flexibility grasping body anchor clamps assembly comprises source of the gas, ripple sucker, holder, connecting rod, support set and buffering elastomeric element; Said holder is fixed on the said main body framework; Said support set is fixed on below the said holder; Said connecting rod is removable up and down to be plugged in said support set and the said holder and spacing by said holder upper end, and lower end and gas circuit that said ripple sucker is installed in said connecting rod connect said source of the gas, and said cushion parts are between said support set and said connecting rod and respectively against said support set and said connecting rod.
6. component package according to claim 5 robot multi-functional clamp is characterized in that said cushion parts are springs, and said spring housing is located on the said connecting rod and respectively against said support set and said connecting rod.
7. component package according to claim 1 robot multi-functional clamp; It is characterized in that; Said component package robot multi-functional clamp also comprises the skeleton elevating mechanism, and said skeleton elevating mechanism is installed on the said main body framework and connects said fragility grasping body anchor clamps skeleton and is used to drive said fragility grasping body anchor clamps skeleton and moves up and down.
8. component package according to claim 1 robot multi-functional clamp; It is characterized in that; Said fragility grasping body anchor clamps assembly comprises source of the gas and the sponge sucker that mutual gas circuit connects, and said sponge sucker vertically is installed on the said fragility grasping body anchor clamps skeleton.
9. component package according to claim 1 robot multi-functional clamp; It is characterized in that; Said component package robot multi-functional clamp also comprises fixture, and said fragility grasping body anchor clamps assembly vertically is fixed on the said fragility grasping body anchor clamps skeleton through said fixture.
10. component package according to claim 1 robot multi-functional clamp; It is characterized in that; Said component package robot multi-functional clamp also comprises controlling organization, and said controlling organization circuit connects said industrial robot, said weight grasps anchor clamps assembly, said flexibility grasping body anchor clamps assembly and said fragility grasping body anchor clamps assembly.
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| CN104526707B (en) * | 2014-10-28 | 2016-06-15 | 芜湖赛德交通设备有限公司 | A kind of robotic end picks up machine |
| CN104400795A (en) * | 2014-11-06 | 2015-03-11 | 上海复合材料科技有限公司 | Fast moving composite mobile manipulator and production method thereof |
| CN106081611A (en) * | 2016-07-21 | 2016-11-09 | 中山市鑫光智能系统有限公司 | A kind of turnaround system automatically |
| CN106956287A (en) * | 2017-04-01 | 2017-07-18 | 佛山华数机器人有限公司 | A kind of adjustable robot draws fixture |
| CN108237543A (en) * | 2018-01-16 | 2018-07-03 | 刘肖俊 | It is a kind of with high-reliability and high stability can mechanical processing put together machines people |
| CN108422431A (en) * | 2018-03-29 | 2018-08-21 | 淮阴师范学院 | A kind of smart-cut robot |
| CN110722262A (en) * | 2019-11-12 | 2020-01-24 | 东莞市盛雄激光先进装备股份有限公司 | Clout clearance mechanism |
| CN111037591A (en) * | 2019-12-23 | 2020-04-21 | 杭州电子科技大学 | Soft material and micro-curved surface hard material gripping device |
| CN111619079A (en) * | 2019-12-31 | 2020-09-04 | 苏州高通机械科技有限公司 | Six-axis robot for wheel injection molding |
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Application publication date: 20121010 |