CN102765092B - Adsorption device - Google Patents
Adsorption device Download PDFInfo
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- CN102765092B CN102765092B CN201210265278.2A CN201210265278A CN102765092B CN 102765092 B CN102765092 B CN 102765092B CN 201210265278 A CN201210265278 A CN 201210265278A CN 102765092 B CN102765092 B CN 102765092B
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- connecting rod
- central shaft
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- connection rod
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- 238000001179 sorption measurement Methods 0.000 title abstract description 13
- 239000003463 adsorbent Substances 0.000 claims description 55
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000011521 glass Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- Separation Of Gases By Adsorption (AREA)
Abstract
The invention discloses an adsorption device which is arranged on a mobile device to adsorb objects to be transported with different sizes. The adsorption device comprises a central shaft, a plurality of connecting rod groups and a plurality of adsorption units. Wherein, a first end of each linkage is slidably disposed on the central shaft, and each adsorption unit is pivotally connected to a second end of the corresponding linkage. When the first ends of the connecting rod group are located at a first position on the central shaft, the second ends of the connecting rod group are located on the same plane. When each first end of the connecting rod group moves from the first position on the central shaft to the second position on the central shaft, each second end of the connecting rod group is still positioned on the same plane, and the distance between the second ends of the connecting rod group is increased.
Description
Technical field
The present invention relates to a kind of adsorbent equipment, and particularly relate to a kind of adsorbent equipment of object of adsorbable sizes.
Background technology
In general, the adsorbent equipment that display floater can connect with mechanical arm in factory is carried.But the panel of different size need by the adsorption device adsorbs of different size.Therefore to adsorb the panel of different size and shape, panel producer needs the adsorbent equipment changed to manually on mechanical arm, to enable the quantity of the suction nozzle on adsorbent equipment and position corresponding to the panel for adsorbing.
The adsorbent equipment changing mechanical arm is to manually very time-consuming, and can improve the risk of panel damage.In addition, cost cost is also needed to purchase and preserve the adsorbent equipment of different size.Therefore, how to improve the adsorbent equipment of mechanical arm, to reduce costs and to accelerate panel handling process in order to product volume production, be worth inquiring into.
Summary of the invention
The object of the present invention is to provide a kind of adsorbent equipment, to solve the problem that existing absorbing unit only can adsorb the object of single size.
For reaching above-mentioned purpose, the present invention proposes a kind of adsorbent equipment, in order to be installed on a mobile device to adsorb the Backlog Materiel of different size.This adsorbent equipment comprises a central shaft, multiple connection rod set and multiple absorbing unit.Wherein, a first end of each connection rod set is slidedly arranged on central shaft, and each absorbing unit is articulated in one second end of corresponding connection rod set.When each first end of connection rod set is positioned at the primary importance on central shaft, each second end of connection rod set is positioned at same plane.When to move to the second place on central shaft from the primary importance central shaft when each first end of connection rod set, each second end of connection rod set is still positioned at same plane, and the distance between each second end of connection rod set increases.
In one embodiment of this invention, each connection rod set in above-mentioned multiple connection rod set more comprises a first connecting rod and a second connecting rod, wherein first connecting rod has aforementioned first ends and the second end, one the 3rd end of second connecting rod is hubbed at central shaft, and one the 4th end of second connecting rod is articulated in the stage casing of first connecting rod.Therefore, when the first end of first connecting rod slides into the second place by primary importance, second connecting rod can limit the scope of the second end movement of first connecting rod, and is same plane when primary importance.
In one embodiment of this invention, when the first end of each first connecting rod of above-mentioned multiple connection rod set is positioned at the primary importance on central shaft, each first connecting rod and central shaft have one first angle, when the first end of each first connecting rod is positioned at the second place on central shaft, each first connecting rod and central shaft have one second angle, and the first angle is less than the second angle.
In one embodiment of this invention, each connection rod set in above-mentioned multiple connection rod set more comprises a third connecting rod and a double leval jib.One five terminal of third connecting rod is slidedly arranged on central shaft, and 1 of third connecting rod the 6th end is articulated in one the 7th end of double leval jib, and one the 8th end of double leval jib is articulated in the stage casing of aforementioned second connecting rod.
In one embodiment of this invention, each connection rod set in above-mentioned multiple connection rod set more comprises a third connecting rod and a double leval jib.One five terminal of third connecting rod is slidedly arranged on central shaft, and 1 of third connecting rod the 6th end is articulated in one the 7th end of double leval jib, and one the 8th end of double leval jib is articulated in the stage casing of first connecting rod and the 4th end of second connecting rod.
In one embodiment of this invention, each double leval jib in above-mentioned multiple connection rod set comprises two root connecting rods parallel to each other, and aforementioned first connecting rod is through two root connecting rods.
In one embodiment of this invention, the bearing of trend of vertical 6th end of bearing of trend essence of the five terminal of each third connecting rod in above-mentioned multiple connection rod set.
In one embodiment of this invention, above-mentioned adsorbent equipment more comprises multiple Universal caster, and wherein absorbing unit is articulated in the second end of corresponding connection rod set via Universal caster.
In one embodiment of this invention, above-mentioned adsorbent equipment more comprises many air intake ducts, and air intake duct is communicated with absorbing unit to air extractor.
In one embodiment of this invention, the absorbing unit of above-mentioned adsorbent equipment is suction nozzle.
Based on above-mentioned, after adsorbent equipment of the present invention is installed on a mobile device, when the evolution of first end relative to central shaft, the distance between the absorbing unit being articulated in the second end also can change thereupon, therefore can be used for the Backlog Materiel adsorbing sizes.
For above-mentioned feature and advantage of the present invention can be become apparent, special embodiment below, and coordinate appended accompanying drawing to be described in detail below.
Accompanying drawing explanation
Fig. 1 is the stereogram of a kind of adsorbent equipment of one embodiment of the invention;
Fig. 2 is the side view that the first end of the adsorbent equipment of Fig. 1 is positioned at primary importance;
Fig. 3 is the side view that the first end of the adsorbent equipment of Fig. 1 is positioned at the second place;
Fig. 4 is the absorbing unit of Fig. 1 is articulated in connection rod set schematic diagram via Universal caster;
Fig. 5 is the upper schematic diagram that the adsorbent equipment of Fig. 4 installs air intake duct additional.
Main element symbol description
100: adsorbent equipment
110,110a: Backlog Materiel
120: central shaft
130: connection rod set
130a: first connecting rod group
130b: second connecting rod group
131: first connecting rod
131a: first end
131b: the second end
132: second connecting rod
132a: the three end
132b: the four end
133: third connecting rod
133a: the five terminal
133b: the six end
134: the double leval jib
134a: the seven end
134b: the eight end
1341,1342,1361,1362: sub-connecting rod
135: the five connecting rods
135a: the nine end
135b: the ten end
136: the six-bar linkage
136a: the ten one end
136b: the ten two end
140: absorbing unit
150: Universal caster
160: air intake duct
A, B: plane
P1: primary importance
P2: the second place
θ 1: the first angle
θ 2: the second angle
D1, d2: distance
Detailed description of the invention
Fig. 1 is the stereogram of the adsorbent equipment according to one embodiment of the invention.Please refer to Fig. 1, the adsorbent equipment 100 of the present embodiment can be installed on mobile device (not illustrating in Fig. 1), to adsorb the Backlog Materiel 110 of different size.Mobile device is such as mechanical arm, can after adsorbent equipment 100 adsorbs Backlog Materiel 110, the position that mobile adsorbent equipment 100 needs to user with Backlog Materiel 110.The adsorbent equipment 100 of the present embodiment comprises a central shaft 120, multiple connection rod set 130 and multiple absorbing unit 140.Wherein, a first end 131a of each connection rod set 130 is slidedly arranged on central shaft 120, and each absorbing unit 140 is articulated in one second end 131b of corresponding connection rod set 130.
Fig. 2 is the side view that the first end of the adsorbent equipment of Fig. 1 is positioned at primary importance.Fig. 3 is the side view that the first end of the adsorbent equipment of Fig. 1 is positioned at the second place.Please also refer to Fig. 2 and Fig. 3, when each first end 131a of connection rod set 130 is positioned at the primary importance P1 on central shaft 120, each second end 131b of connection rod set 130 is positioned at same plane A.When each first end 131a of connection rod set 130 moves to the second place P2 on central shaft 120 from the primary importance P1 central shaft 120, each second end 131b of connection rod set 130 can remain unchanged or change to some extent relative to the height of central shaft 120, but each second end 131b is still positioned at same plane B, and the distance between each second end 131b of connection rod set 130 increases, and changes into d2 by d1.Plane A and plane B can be same plane, also can be different planes.
Therefore, by the first end 131a of control link group 130 in the position of central shaft 120, the distance between each second end 131b can be changed, and control the distance being articulated in the absorbing unit 140 of each second end 131b thus.When distance between each absorbing unit 140 changes, the adsorbable scope of adsorbent equipment 100 is also changed thereupon.The size of such as, Backlog Materiel 110a in Fig. 3 is greater than the Backlog Materiel 110 in Fig. 2, therefore by controlling the first end 131a of first connecting rod 131 in the position of central shaft 120, makes the adsorption range of adsorbent equipment 100 change from small to big to coordinate the size of Backlog Materiel 110a.
Please more simultaneously with reference to figure 2 and Fig. 3.Specifically, each connection rod set 130 in above-mentioned multiple connection rod set 130 comprises first connecting rod 131 and a second connecting rod 132.Wherein, first connecting rod 131 has first end 131a and the second end 131b, and one the 3rd end 132a of second connecting rod 132 is hubbed at central shaft 120, and one the 4th end 132b of second connecting rod 132 is articulated in the stage casing of first connecting rod 131.Therefore, when the first end 131a of first connecting rod 131 slides into second place P2 by primary importance P1, the second end 131b of first connecting rod 131 draws and moves toward the direction away from central shaft 120 by second connecting rod 132.
Hold above-mentioned, when the first end 131a of each first connecting rod 131 of connection rod set 130 is positioned at the primary importance P1 on central shaft 120, angle folded between each first connecting rod 131 and central shaft 120 is the first angle theta 1.When the first end 131a of first connecting rod 131 is positioned at the second place P2 on central shaft 120, each first connecting rod 131 has one second angle theta 2 with central shaft 120, and the first angle theta 1 is less than the second angle theta 2.That is, when first end 131a is positioned at the primary importance P1 on central shaft 120, first connecting rod 131 is less with the first angle theta 1 of central shaft 120, and the distance between the second end 131b is certainly less.Otherwise when first end 131a is positioned at the second place P2 on central shaft 120, first connecting rod 131 is comparatively large with the second angle theta 2 of central shaft 120, and the distance between the second end 131b is certainly larger.
Refer again to Fig. 1.Specifically, the connection rod set 130 of the present embodiment can be divided into multiple first connecting rod group 130a and multiple second connecting rod group 130b.Each first connecting rod group 130a comprises first connecting rod 131, second connecting rod 132, third connecting rod 133 and a double leval jib 134.Each second connecting rod group 130b comprises first connecting rod 131, second connecting rod 132, the 5th connecting rod 135 and a six-bar linkage 136.In the present embodiment, for coordinating the shape of Backlog Materiel 110, first connecting rod group 130a has different length from the first connecting rod 131 in second connecting rod group 130b.In more detail, the length of the first connecting rod 131 in first connecting rod group 130a is the length of the first connecting rod 131 be greater than in second connecting rod group 130b.Coordinate it to be articulated in the position of central shaft 120, the second diverse location of end 131b meeting position on Backlog Materiel 110 of the first connecting rod 131 of different length, makes the absorbing unit 140 being articulated in the second end 131b can be adsorbed on the diverse location of Backlog Materiel 110.
With regard to the present embodiment, the shape of Backlog Materiel 110 is rectangles, and each diagonal zones of the adsorbable Backlog Materiel of first connecting rod 131 110 in first connecting rod group 130a, in the first connecting rod in second connecting rod group 130b 131 absorption Backlog Materiel 110, the mid point on two long limits.In the present embodiment, connection rod set 130 comprises four first connecting rod group 130a and two second connecting rod group 130b, but in fact designer can according to the shape of Backlog Materiel 110, design suitable first connecting rod group 130a and the quantity of second connecting rod group 130b, make the absorption affinity energy of adsorbent equipment 100 evenly.
Hold above-mentioned, in order to coordinate the first connecting rod 131 of different length, in first connecting rod group 130a and second connecting rod group 130b, the position of the tie point between each connecting rod is not identical.Below by among division first connecting rod group 130a and second connecting rod group 130b, connected mode between each connecting rod and its position of corresponding tie point, and first connecting rod group 130a and the annexation between second connecting rod group 130b and central shaft 120 are described.
As Fig. 1 illustrate, in each first connecting rod group 130a, one five terminal 133a of third connecting rod 133 is slidedly arranged on central shaft 120, and 1 of this third connecting rod 133 the 6th end 133b is articulated in one the 7th end 134a of double leval jib 134, and 1 of double leval jib 134 the 8th end 134b is articulated in the stage casing of second connecting rod 132.In each second connecting rod group 130b, one the 9th end 135a of the 5th connecting rod 135 is slidedly arranged on central shaft 120, and 1 the tenth end 135b of the 5th connecting rod 135 is articulated in 1 the tenth one end 136a of six-bar linkage 136,1 the 12 end 136b of six-bar linkage 136 is articulated in the stage casing of first connecting rod 131 and the 4th end 132b of second connecting rod 132.
In first connecting rod group 130a, double leval jib 134 comprises two root connecting rods 1341 and 1342 parallel to each other, and the first connecting rod 131 corresponding to it is through two root connecting rods 1341 and 1342.In second connecting rod group 130b, six-bar linkage 136 comprises two root connecting rods 1361 and 1362 parallel to each other, and the first connecting rod 131 corresponding to it is through two root connecting rods 1361 and 1362.In addition, third connecting rod 133 and the 5th connecting rod 135 are L-type connecting rod, that is the bearing of trend of the vertical 6th end 133b of the bearing of trend essence of the five terminal 133a of third connecting rod 133, and the vertical tenth end 135b of the bearing of trend essence of the 9th end 135a of the 5th connecting rod 135.
Specifically, double leval jib 134 in first connecting rod group 130a is articulated in the stage casing of third connecting rod 133 and second connecting rod 132, therefore when third connecting rod 133 changes five terminal 133a when the position of central shaft 120, third connecting rod 133 drives double leval jib 134, and now double leval jib 134 drives second connecting rod 132 to make it be fulcrum by the 3rd end 132a.Because second connecting rod 132 is articulated in first connecting rod 131, therefore in the process of second connecting rod 132 rotation, second connecting rod 132 can drive the first end 131a of first connecting rod 131 to slide on central shaft 120, and makes the distance of its second end 131b and central shaft 120 change simultaneously.When the second end 131b of first connecting rod 131 and the distance of central shaft 120 change, the adsorption range of adsorbent equipment 100 can be changed.Therefore in first connecting rod group 130a, third connecting rod 133 and double leval jib 134 have the function of drive.Similarly, in second connecting rod group 130b, by changing the 5th connecting rod 135 relatively by the position of central shaft 120, corresponding first connecting rod 131 can be driven, therefore do not repeat them here.
Fig. 4 is the absorbing unit of Fig. 1 is articulated in connection rod set schematic diagram via Universal caster.Only schematically show one of them Universal caster 150 in Fig. 4, in fact each absorbing unit 140 all can be articulated in the second end 131b of connection rod set 130 via the Universal caster 150 of correspondence.Therefore when the absorbing unit 140 of adsorbent equipment 100 touches the Backlog Materiel 110 for absorption, Universal caster 150 rolls thereupon, make absorbing unit 140 optionally to move and to locate, finally the adsorption plane of each absorbing unit 140 can touch Backlog Materiel 110 equably.
Fig. 5 is the upper schematic diagram that the adsorbent equipment of Fig. 4 installs air intake duct additional.Adsorbent equipment 100 more comprises many air intake ducts 160, and air intake duct 160 is communicated with absorbing unit 140 to air extractor (not illustrating in Fig. 5).When air extractor is bled, the gas between absorbing unit 140 and Backlog Materiel 100 is extracted out by air intake duct 160, now absorbing unit 140, such as suction nozzle, just adsorbable live Backlog Materiel 110.Adsorbing Backlog Materiel 110 with air extractor collocation absorbing unit 140, can, when not damaging the surface of Backlog Materiel 110, coordinating mobile device with mobile Backlog Materiel 110.
The adsorbent equipment 100 of the present embodiment is applicable to such as panel factory, to transport panel product or the glass substrate of the different size in factory, is so not limited thereto.During practical application, the automation control system in factory building can be coordinated, with the panel of the various different sizes produced in factory or glass substrate as controling parameters, control in the connection rod set 130 of adsorbent equipment 100, the first end 131a of each first connecting rod 131 is relative to the position of central shaft 120.Or control third connecting rod 133 and the 5th connecting rod 135 in the position of central shaft, then drive corresponding first connecting rod 131, for changing the adsorption range of adsorbent equipment 100 with third connecting rod 133 and the 5th connecting rod 135.
For example, when the panel size of production line in factory building has 24 cun and 42 cun of two kinds of sizes, if change for the panel size of absorption, as long as user utilizes automation control system to change the position of the first end 131a of each first connecting rod 131, adsorbent equipment 100 i.e. adjustable adsorption range.Coordinate Universal caster 150, air extractor and the absorbing unit 140 in preceding adsorption device 100, just panel can be adsorbed when the surface of not scratching panel, now automation control system controls mobile device again as mechanical arm, panel is transported to desired position, just can reaches the object of transporting product.Certainly, user also can use the position of the control five terminal 133a of third connecting rod 133 and the 9th end 135a of the 5th connecting rod 135 instead to reach identical effect.
In prior art, panel producer needs the panel coordinating different size, changes different adsorbent equipments 100 to manually, not only time-consuming also waste of manpower.If panel producer adopts the adsorbent equipment 100 of the present embodiment, then can save the time changing adsorbent equipment 100, have and save time and simplify manpower to reach cost-effective advantage.
Certainly, the size of panel is not limited to 24 cun and 42 cun, can have the selection of more kinds of size.User according to the actual conditions of production line, according to the size of different Backlog Materiel 110, can define the position of first end 131a relative to central shaft 120 of each first connecting rod 131.Therefore, the Backlog Materiel 100 of the adsorbable variant size of adsorbent equipment 100 of the present embodiment, uses and extremely has elasticity.
In sum, in adsorbent equipment of the present invention, when the first end of its connection rod set changes relative to the position of central shaft, relative distance between each second end changes, the adsorption range of the absorbing unit of the second end being articulated in corresponding connection rod set can be changed, with the Backlog Materiel making adsorbent equipment can adsorb different size thereupon.In addition, more comprise the third connecting rod, double leval jib and the 5th connecting rod and the six-bar linkage that have and drive function in connection rod set, this little connecting rod drives second connecting rod to rotate, and the related first connecting rod that makes changes the position of its first end at central shaft.
Although disclose the present invention in conjunction with above embodiment; but itself and be not used to limit the present invention; this operator is familiar with in any art; without departing from the spirit and scope of the present invention; a little change and retouching can be done, therefore being as the criterion of should defining with the claim of enclosing of protection scope of the present invention.
Claims (8)
1. an adsorbent equipment, in order to be installed on a mobile device to adsorb the Backlog Materiel of different size, this adsorbent equipment comprises:
One central shaft;
Multiple connection rod set, wherein respectively a first end of this connection rod set is slidedly arranged on this central shaft; And
Multiple absorbing unit, wherein respectively this absorbing unit is articulated in one second end of corresponding connection rod set,
When those first ends of those connection rod set are positioned at the primary importance on this central shaft, those second ends of those connection rod set are positioned at same plane,
When those first ends of those connection rod set move to the second place on this central shaft from this primary importance this central shaft, those second ends of those connection rod set are still positioned at same plane, and the distance between those second ends of those connection rod set increases,
Multiple described connection rod set comprises multiple first connecting rod group and multiple second connecting rod group, coordinate described first connecting rod group and described second connecting rod group in the pivot points of described central shaft, the position of described second end on described Backlog Materiel of position on described Backlog Materiel of described second end of described first connecting rod group and described second connecting rod group can differently be determined respectively
Wherein respectively this connection rod set comprises:
First connecting rod, wherein this first connecting rod has this first end and this second end;
Second connecting rod, wherein one the 3rd end of this second connecting rod is hubbed at this central shaft, and one the 4th end of this second connecting rod is articulated in the stage casing of this first connecting rod;
Third connecting rod, wherein a five terminal of this third connecting rod is slidedly arranged on this central shaft; And
Double leval jib, wherein one the 6th end of this third connecting rod is articulated in one the 7th end of this double leval jib, and one the 8th end of this double leval jib is articulated in the stage casing of this second connecting rod.
2. an adsorbent equipment, in order to be installed on a mobile device to adsorb the Backlog Materiel of different size, this adsorbent equipment comprises:
One central shaft;
Multiple connection rod set, wherein respectively a first end of this connection rod set is slidedly arranged on this central shaft; And
Multiple absorbing unit, wherein respectively this absorbing unit is articulated in one second end of corresponding connection rod set,
When those first ends of those connection rod set are positioned at the primary importance on this central shaft, those second ends of those connection rod set are positioned at same plane,
When those first ends of those connection rod set move to the second place on this central shaft from this primary importance this central shaft, those second ends of those connection rod set are still positioned at same plane, and the distance between those second ends of those connection rod set increases,
Multiple described connection rod set comprises multiple first connecting rod group and multiple second connecting rod group, coordinate described first connecting rod group and described second connecting rod group in the pivot points of described central shaft, the position of described second end on described Backlog Materiel of position on described Backlog Materiel of described second end of described first connecting rod group and described second connecting rod group can differently be determined respectively
Wherein respectively this connection rod set comprises:
First connecting rod, wherein this first connecting rod has this first end and this second end;
Second connecting rod, wherein one the 3rd end of this second connecting rod is hubbed at this central shaft, and one the 4th end of this second connecting rod is articulated in the stage casing of this first connecting rod;
Third connecting rod, wherein a five terminal of this third connecting rod is slidedly arranged on this central shaft; And
Double leval jib, wherein one the 6th end of this third connecting rod is articulated in one the 7th end of this double leval jib, and one the 8th end of this double leval jib is articulated in the stage casing of this first connecting rod and the 4th end of this second connecting rod.
3. adsorbent equipment as claimed in claim 1 or 2, when wherein this first end is positioned at this primary importance on this central shaft, this first connecting rod and this central shaft have one first angle, when this first end is positioned at this second place on this central shaft, this first connecting rod and this central shaft have one second angle, and this first angle is less than this second angle.
4. adsorbent equipment as claimed in claim 1 or 2, wherein this double leval jib comprises two root connecting rods parallel to each other, and this first connecting rod is through this little connecting rod.
5. adsorbent equipment as claimed in claim 1 or 2, the wherein bearing of trend of vertical 6th end of the bearing of trend essence of this five terminal of this third connecting rod.
6. adsorbent equipment as claimed in claim 1 or 2, also comprises multiple Universal caster, and wherein those absorbing units are articulated in this second end of corresponding connection rod set via those Universal casters.
7. adsorbent equipment as claimed in claim 1 or 2, also comprises many air intake ducts, is communicated with those absorbing unit to one air extractors.
8. adsorbent equipment as claimed in claim 1 or 2, wherein those absorbing units are suction nozzle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101121368 | 2012-06-14 | ||
| TW101121368A TWI448369B (en) | 2012-06-14 | 2012-06-14 | Suction device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102765092A CN102765092A (en) | 2012-11-07 |
| CN102765092B true CN102765092B (en) | 2015-10-28 |
Family
ID=50157915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210265278.2A Expired - Fee Related CN102765092B (en) | 2012-06-14 | 2012-07-27 | Adsorption device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102765092B (en) |
| TW (1) | TWI448369B (en) |
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| CN107792665A (en) * | 2017-09-08 | 2018-03-13 | 广东工业大学 | A kind of adjustable adsorption module in adsorption site position of connecting rod driving |
| CN107571273B (en) * | 2017-10-17 | 2020-06-16 | 清华大学 | Automatic grabbing device and method for precise and clean assembly of large-diameter optical element |
| CN111252545B (en) * | 2018-12-03 | 2021-10-08 | 菜鸟智能物流控股有限公司 | Vacuum suction device for logistics objects |
| CN111483802A (en) * | 2019-01-28 | 2020-08-04 | 菜鸟智能物流控股有限公司 | Mechanical arm object taking and placing device |
| CN111661606B (en) * | 2020-07-29 | 2023-11-10 | 吉林大学 | Turnover machine for stamping formed products |
| CN114014010B (en) * | 2021-11-19 | 2023-09-01 | 贵州慧联科技有限公司 | Universal elastic sucker mechanism |
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| US6817145B2 (en) * | 2002-08-28 | 2004-11-16 | Chung-Teng Chen | Glasshouse strut |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102765092A (en) | 2012-11-07 |
| TW201350693A (en) | 2013-12-16 |
| TWI448369B (en) | 2014-08-11 |
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