CN103803294B - For carrying the laterally turning-over device of plate workpiece - Google Patents
For carrying the laterally turning-over device of plate workpiece Download PDFInfo
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- CN103803294B CN103803294B CN201210445724.8A CN201210445724A CN103803294B CN 103803294 B CN103803294 B CN 103803294B CN 201210445724 A CN201210445724 A CN 201210445724A CN 103803294 B CN103803294 B CN 103803294B
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Abstract
The present invention relates to the laterally turning-over device for carrying plate workpiece, it comprises support, travel mechanism, rollover mechanism, motor, first order transmission component, second stage transmission component, third stage transmission component and sensor.Described motor, has output shaft; Described first order transmission component, comprising: the first Transmission, is sheathed on described output shaft regularly; Clutch shaft bearing, its inner ring is sheathed on described hollow shaft assembly regularly; Second Transmission, is sheathed on the outer ring of described clutch shaft bearing regularly; And first driving band, all engage with one end of described first Transmission and the second Transmission.Laterally turning-over device for carrying plate workpiece provided by the invention adopts Multi-stage transmission assembly to realize multi-stage speed-reducing, make whole apparatus structure compacter, and first order transmission component is sheathed on output shaft regularly, optimize the object of output shaft radial space, make the space availability ratio of output shaft radial direction high.
Description
Technical field
The present invention relates to the Handling device of plate workpiece, particularly a kind of laterally turning-over device for carrying plate workpiece.
Background technology
Along with the develop rapidly of automatic technology, the automated manufacturing degree of factory to plate workpiece is had higher requirement, and the operating efficiency of Handling device will have impact on the Whole Performance of plate workpiece manufacturer.Tradition adopts the mode of production production efficiency of a dead lift low, and is difficult to improve carrying quality, has been not suitable with present manufacturing demand.The plate workpiece Handling device of development automation has become the trend of modern production.
At present, market there is the plate workpiece Handling device of Multiple Type and quantity, as the plate workpiece conveying robot that BROOKS company of the U.S. produces, the end-effector of these machineries mostly has three spatial degrees of freedom, can realize the vertical lifting of workpiece, horizontal feed, horizontal surface translation.Need the occasion of more freedom at end-effector, during as carried out rollover and the pitching of workpiece, these automatic mechanisms are often difficult to be competent at.
US Patent No. 6318951 proposes one " microelectronic workpiece transfer robot ", the end-effector of this robot can overturn, reason is on the finger of robot, installed the drive motor and harmonic speed reducer that drive its rollover, increase due to end load will improve the rigid requirements to arm, add the cost of equipment simultaneously, the arm of this robot only has a large arm and finger in addition, does not have forearm, and such transmission arrangments obviously reduces the working space of robot.
Summary of the invention
Therefore, there is the less problem of work time space in the laterally turning-over device overcoming existing carrying plate workpiece in the turning device that the embodiment of the present invention provides.
Particularly, a kind of laterally turning-over device for carrying plate workpiece that the embodiment of the present invention proposes, comprising: support, travel mechanism, rollover mechanism, motor, first order transmission component, second stage transmission component, third stage transmission component and sensor.Described support has mounting hole.Described travel mechanism also comprises: shifting axle, removable along its length, and described shifting axle penetrates rotatably described mounting hole; Cylinder, described cylinder has cylinder rod, and described cylinder rod is fixedly connected with one end of described shifting axle, and described in described air cylinder driven, shifting axle moves.Described rollover mechanism comprises: hollow shaft assembly, and described hollow shaft assembly penetrates rotatably described mounting hole, and relatively described shifting axle is sheathed on described shifting axle movably, and one end of described hollow shaft assembly is fixedly connected with described cylinder.Described motor, has output shaft.Described first order transmission component, also comprises: the first Transmission, to be sheathed on regularly on described motor and can to turn round around described output shaft; Clutch shaft bearing, its inner ring is sheathed on described hollow shaft assembly regularly; Second Transmission, is sheathed on the outer ring of described clutch shaft bearing regularly; And first driving band, all engage with one end of described first Transmission and the second Transmission.Described second stage transmission component, comprising: anchor shaft, and one end is fixedly connected with described support; Second bearing, its inner ring is sheathed on described anchor shaft regularly; 3rd Transmission, is sheathed on the outer ring of described second bearing regularly; And second driving band, all engage with the other end of described second Transmission and one end of described 3rd Transmission.Described third stage transmission component, comprising: the 4th Transmission, is sheathed on described hollow shaft assembly regularly; And the 3rd driving band, all engage with the other end of described 3rd Transmission and described 4th Transmission.Sensor, is fixedly connected with described cylinder, for judging whether peripheral plate workpiece is clamped by rollover mechanism.
In embodiments of the present invention, described hollow shaft assembly also comprises: the first hollow shaft, and one end is fixedly connected with described cylinder; Adapter sleeve, one end is contained in the other end of described first hollow shaft; Second hollow shaft, penetrates rotatably described mounting hole, and is sheathed on described adapter sleeve regularly; And flip piece, one end is fixedly connected with the other end of described adapter sleeve, and the other end is used for being fixedly connected with peripheral forked type part; Wherein, the inner ring of described clutch shaft bearing and described 4th Transmission are sheathed on described first hollow shaft all regularly.
In embodiments of the present invention, described rollover part also comprises the 3rd bearing that inner ring is sheathed on described second hollow shaft regularly, outer ring is fixedly connected with the sidewall of described mounting hole.
In embodiments of the present invention, described hollow shaft assembly also comprises the fixed mount that one end is fixedly connected with one end of described first hollow shaft, and the other end of described fixed mount is fixedly connected with described cylinder; Described shifting axle wears described fixed mount movably.
In embodiments of the present invention, described fixed mount comprises the set collar that is fixedly connected with one end of described first hollow shaft and one end is removably fixedly connected with the other end of described set collar, and the other end of described strut member is fixedly connected with described cylinder.
In embodiments of the present invention, described support comprises panel and bezel ring, and described mounting hole is opened on panel; Described bezel ring, is covered on described mounting hole, and is fixedly connected with the side of described panel.
In embodiments of the present invention, described support also comprises the clamping element be fixedly connected with the opposite side of described panel, the outer ring of described 3rd bearing of described clamping element clamping.
In embodiments of the present invention, described 3rd bearing is two, described support also comprises and being contained in described mounting hole and the steady ring be sheathed on described first hollow shaft, described steady ring is between described two the 3rd bearings, and both sides are fixedly connected with the outer ring of described two the 3rd bearings respectively.
In embodiments of the present invention, described clutch shaft bearing is two, and the two ends of described second Transmission are sheathed on the outer ring of described second Transmission respectively regularly.
In embodiments of the present invention, described rollover mechanism also comprises the attaching parts be fixedly connected with described support by described motor.
The laterally turning-over device for carrying plate workpiece that the above embodiment of the present invention provides, by arranging the Multi-stage transmission mode of first order transmission component, second stage transmission component and third stage transmission component, realize the multi-stage speed-reducing of laterally turning-over device, make this laterally turning-over device integral structure compacter, simultaneously, owing to being sheathed on regularly on the output shaft of motor by first order transmission component, optimize the object of output shaft radial space, make the space availability ratio of output shaft radial direction high.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to technological means of the present invention can be better understood, and can be implemented according to the content of specification sheets, and can become apparent to allow above and other object of the present invention, feature and advantage, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, be described in detail as follows.
Accompanying drawing explanation
Fig. 1 is the exploded view of the turning device that the embodiment of the present invention proposes.
Fig. 2 is the structural representation of the turning device that the embodiment of the present invention proposes.
Fig. 3 is the partial enlarged drawing in Fig. 2 Zhong-1 block territory.
Fig. 4 is the partial enlarged drawing in another region in Fig. 2.
Fig. 5 is the perspective view of the laterally turning-over device that the embodiment of the present invention proposes.
Detailed description of the invention
For further setting forth the present invention for the technological means reaching predetermined goal of the invention and take and effect, below in conjunction with accompanying drawing and preferred embodiment, to propose according to the present invention for carrying its detailed description of the invention of laterally turning-over device of plate workpiece, structure, feature and effect, be described in detail as follows.
Aforementioned and other technology contents, Characteristic for the present invention, can clearly present in following cooperation describes in detail with reference to graphic preferred embodiment.By the explanation of detailed description of the invention, when can to the present invention for the technological means reaching predetermined object and take and effect be able to more deeply and concrete understanding, however institute's accompanying drawings be only to provide with reference to and the use of explanation, be not used for being limited the present invention.
For carrying the laterally turning-over device of plate workpiece, by arranging the Multi-stage transmission mode of the first transmission component, the second transmission component and the 3rd transmission component, realize the multi-stage speed-reducing of laterally turning-over device, make this laterally turning-over device integral structure compacter, simultaneously, owing to being sheathed on regularly on the output shaft of motor by first order transmission component, optimize the object of output shaft radial space, make the space availability ratio of output shaft radial direction high.Therefore, be described especially exemplified by example below, but the present invention is not as limit.
Fig. 1 is the exploded view of the turning device that the embodiment of the present invention proposes.Fig. 2 is the structural representation of the turning device that the embodiment of the present invention proposes.Fig. 3 is the partial enlarged drawing in Fig. 2 Zhong-1 block territory.Fig. 4 is the partial enlarged drawing in another region in Fig. 2.Fig. 5 is the perspective view of the laterally turning-over device that the embodiment of the present invention proposes.
See also Fig. 1 ~ Fig. 5, the turning device 100 for carrying plate workpiece that the present embodiment provides, comprising: support 110, travel mechanism 120, rollover mechanism (figure does not mark), motor 140, first order transmission component 150, second stage transmission component 160, third stage transmission component 170 and sensor 180.
Support 110 comprises panel 111, bezel ring, 112, clamping element 113 and steady ring 114.
Panel 111 offers mounting hole 115.Mounting hole 115 is roughly rounded.In the particular embodiment, a side of panel 111 is provided with round boss 116, and mounting hole 115 is opened on round boss 116, and runs through panel 111.
Bezel ring, 112 is covered on mounting hole 115, and is fixedly connected with panel 111.Particularly, bezel ring, 112 is fixedly connected with round boss 116.In a preferred embodiment, bezel ring, 112 realizes being fixedly connected with between round boss 116 by screw.Be appreciated that the connection that other connection mode can also be adopted to realize between bezel ring, 112 and round boss 116, such as, by bezel ring, 112 and round boss 116 weld together.
Clamping element 113 is fixedly connected with the one side of panel 111 away from bezel ring, 112.In the present embodiment, clamping element 113 offers some screws, by screw, clamping element 113 is fixed on panel 111.Be appreciated that can also adopt other connection mode realize on clamping element 113 and panel 111 between fixing, such as weld.Steady ring 114 is contained in mounting hole 115.
Travel mechanism 120 comprises shifting axle 121 and cylinder 122.
Shifting axle 121 is removable along its length, and shifting axle 121 penetrates rotatably mounting hole 115; Cylinder 122 has cylinder rod 123, and cylinder rod 123 is fixedly connected with one end of shifting axle 121, realizes shifting axle 121 and move along its length under the driving of cylinder 122.
Rollover mechanism comprises hollow shaft assembly 131 and attaching parts 1301.
Hollow shaft assembly 131 penetrates rotatably mounting hole 115, and hollow shaft assembly 131 also relative movement axle 121 is sheathed on shifting axle 121 movably, and one end of hollow shaft assembly 131 is fixedly connected with cylinder 122.
Particularly, hollow shaft assembly 131 comprises the first hollow shaft 132, adapter sleeve 133, second hollow shaft 134, flip piece 135, fixed mount 136.First hollow shaft 132, adapter sleeve 133, second hollow shaft 134 and flip piece 135 are on same axis.
Particularly, one end of the first hollow shaft 132 is fixedly connected with cylinder 122, and its other end is set on one end of adapter sleeve 133 regularly, and steady ring 114 is sheathed on the first hollow shaft 132; Second hollow shaft 134 penetrates rotatably mounting hole 115, and is sheathed on adapter sleeve 133 regularly; Flip piece 135, its one end is fixedly connected with the other end of adapter sleeve 133, and the other end is used for being fixedly connected with peripheral forked type part.Be appreciated that can be fixed by screw thread the mode connected or adopt other port to cooperatively interact between the first hollow shaft 132, adapter sleeve 133, second hollow shaft 134 and flip piece 135 port achieves a fixed connection.When carrying out upset work, first hollow shaft 132, adapter sleeve 133, second hollow shaft 134 and flip piece 135 rotate simultaneously, and the angle of rotating is consistent, state each other in geo-stationary, drives the rotation of peripheral forked type part (not shown) like this by the upset of hollow shaft assembly 131.
Fixed mount 136 is fixedly connected with one end of the first hollow shaft 132, and the other end of fixed mount 136 is fixedly connected with cylinder 122; Shifting axle 121 wears fixed mount 136 movably.
Fixed mount 136 comprises set collar 137 and strut member 138.
Particularly, set collar 137 is sheathed on one end of the first hollow shaft 132 regularly, in the present embodiment, the mode that set collar 137 can be threaded connection is sheathed on one end of the first hollow shaft 132 regularly, be appreciated that other connection mode can also to be adopted between set collar 137 and the first hollow shaft 132 to realize therebetween fixing.
One end of strut member 138 is removably fixedly connected with the other end of set collar 137, and its other end is fixedly connected with cylinder 122.
Rollover mechanism also comprises the 3rd bearing 139, the inner ring of the 3rd bearing 139 is sheathed on the second hollow shaft 134 regularly, its outer ring is fixedly connected with the sidewall of mounting hole 115, and the clamping element 113 of support 110 clamps the outer ring of the 3rd bearing 139,3rd bearing 139 is two, and steady ring 114 is between two the 3rd bearings 139, and its both sides are fixedly connected with the outer ring of two the 3rd bearings 139 respectively.
Motor 140 has output shaft 141, for driving this laterally turning-over device, realizes being fixedly connected with between motor 140 with support 110 by attaching parts 1301, and in the present embodiment, motor 140 is preferably servomotor.
First order transmission component 150, comprises the first Transmission 151, clutch shaft bearing 152, second Transmission 153 and the first driving band 154.
First Transmission 151 is sheathed on the output shaft 141 of motor 140 regularly, and rotates with output shaft 141; Clutch shaft bearing 152 has outer ring and inner ring, and its inner ring is sheathed on hollow shaft assembly 131 regularly.Particularly, the inner ring of clutch shaft bearing 152 is set on the first hollow shaft 132 regularly, and the second Transmission 153 is set on the outer ring of clutch shaft bearing 152 regularly; First driving band 154 all engages with one end of the first Transmission 151 and the second Transmission 153.In the particular embodiment, clutch shaft bearing 152 has 2, and the two ends that compartment of terrain is sheathed on the first hollow shaft 132, second Transmission 153 are sheathed on the outer ring of two clutch shaft bearings 152 respectively.
Be appreciated that under the driving of motor 140, the first Transmission 151 rotates with the output shaft 141 of motor 140, by the engagement between the first driving band 154 and the first Transmission 151, drives the second Transmission 153 to rotate.
Second stage transmission component 160 comprises anchor shaft 161, second bearing 162, the 3rd Transmission 163 and the second driving band 164.
Its one end of anchor shaft 161 is fixedly connected on support 110, and particularly, one end of anchor shaft 161 is fixedly connected with a side of panel 111; The inner ring of the second bearing 162 is sheathed on anchor shaft 161 regularly; 3rd Transmission 163 is sheathed on the outer ring of the second bearing 162 regularly; Second driving band 164 all engages with the other end of the second Transmission 153 and one end of the 3rd Transmission 163.Be appreciated that the second Transmission 153 drives the 3rd Transmission 163 to carry out speed change gyroscopic movement by the second driving band 164, and now anchor shaft 161 and panel 111 all keep quiescence.
Third stage transmission component 170 comprises: the 4th Transmission 171 and the 3rd driving band 172.
4th Transmission 171 is sheathed on hollow shaft assembly 131 regularly, and particularly, the 4th Transmission 171 is sheathed on the first hollow shaft 132 regularly; The other end and the 4th Transmission 171 of the 3rd driving band 172 and the 3rd Transmission 163 all engage.
Be appreciated that under the engagement of the 3rd driving band 172, the 3rd Transmission 163 drives the 4th Transmission 171 to make gyroscopic movement, has just driven the rotation of hollow shaft assembly 131.
Sensor 180 is fixedly connected with cylinder 122, for judging whether peripheral plate workpiece is clamped by rollover mechanism.
Be appreciated that, cylinder 122 drives cylinder rod 123 and shifting axle 121 to do straight-line motion, when after peripheral forked type part clamping plate workpiece, cylinder rod 123 and shifting axle 121 stop motion, because cylinder rod 123 inside is provided with magnet ring (not shown), its magnetic line of force can pass cylinder 122, and now sensor 180 can detect the position of magnet ring; When peripheral forked type part does not clamp plate workpiece, cylinder 122 drives cylinder rod 123 and shifting axle 121 to continue to do straight-line motion, arriving certain position cylinder rod 123 is trapped in cylinder 122, now the position of magnet ring is detected by detector 180, and sensor 180 converts above-mentioned magnetic signal to electric signal and flows to peripheral controllers and carries out Logic judgment.
In embodiments of the present invention, under the driving of motor 140, the first Transmission 151 rotates with the output shaft 141 of motor 140, by the engagement between the first driving band 154 and the first Transmission 151, drives the second Transmission 153 to do speed change gyroscopic movement; Under engagement between the second driving band 164 and the 3rd Transmission 163, the 3rd Transmission 163 is driven to make gyroscopic movement, under engagement between the 3rd driving band 172 and the 4th Transmission 171, drive the 4th Transmission 171 to make gyroscopic movement, just driven the rotation of hollow shaft assembly 131.Like this under the effect of the first Transmission 151, second Transmission 153, the 3rd Transmission 163 and the 4th Transmission 171, drive the upset of whole hollow shaft assembly 131, thus driven the upset of the peripheral forked type part for capturing plate workpiece be fixedly connected with flip piece 135, so just achieve the work of whole turning device.
The laterally turning-over device 100 for carrying plate workpiece that the above embodiment of the present invention provides, by arranging the Multi-stage transmission mode of first order transmission component 150, second stage transmission component 160 and third stage transmission component 170, realize the multi-stage speed-reducing of laterally turning-over device 100, make this laterally turning-over device 100 integral structure compacter, simultaneously, due to first order transmission component 150 is sheathed on the output shaft 141 of motor 140 regularly, optimize the object of output shaft 141 radial space, make the space availability ratio of output shaft 141 radial direction high.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (10)
1. for carrying a laterally turning-over device for plate workpiece, it is characterized in that, comprising:
Support, has mounting hole;
Travel mechanism, comprising:
Shifting axle, removable along its length, described shifting axle penetrates rotatably described mounting hole;
Cylinder, has cylinder rod, and described cylinder rod is fixedly connected with one end of described shifting axle, and described in described air cylinder driven, shifting axle moves;
Rollover mechanism, comprising:
Hollow shaft assembly, penetrates rotatably described mounting hole, and relatively described shifting axle is sheathed on described shifting axle movably, and one end of described hollow shaft assembly is fixedly connected with described cylinder;
Motor, has output shaft;
First order transmission component, comprising:
First Transmission, is sheathed on motor regularly, and turns round around described output shaft;
Clutch shaft bearing, its inner ring is sheathed on described hollow shaft assembly regularly;
Second Transmission, is sheathed on the outer ring of described clutch shaft bearing regularly; And
First driving band, all engages with one end of described first Transmission and the second Transmission;
Second stage transmission component, comprising:
Anchor shaft, one end is fixedly connected with described support;
Second bearing, its inner ring is sheathed on described anchor shaft regularly;
3rd Transmission, is sheathed on the outer ring of described second bearing regularly; And
Second driving band, all engages with the other end of described second Transmission and one end of described 3rd Transmission;
Third stage transmission component, comprising:
4th Transmission, is sheathed on described hollow shaft assembly regularly; And
3rd driving band, all engages with the other end of described 3rd Transmission and described 4th Transmission; And
Sensor, is fixedly connected with described cylinder, for judging whether peripheral plate workpiece is clamped by rollover mechanism.
2. the laterally turning-over device for carrying plate workpiece according to claim 1, is characterized in that: described hollow shaft assembly comprises:
First hollow shaft, one end is fixedly connected with described cylinder;
Adapter sleeve, one end is contained in the other end of described first hollow shaft;
Second hollow shaft, penetrates rotatably described mounting hole, and is sheathed on described adapter sleeve regularly; And
Flip piece, one end is fixedly connected with the other end of described adapter sleeve, and the other end is used for being fixedly connected with peripheral forked type part;
Wherein, the inner ring of described clutch shaft bearing and described 4th Transmission are sheathed on described first hollow shaft all regularly.
3. the laterally turning-over device for carrying plate workpiece according to claim 2, is characterized in that: described rollover part also comprises the 3rd bearing that inner ring is sheathed on described second hollow shaft regularly, outer ring is fixedly connected with the sidewall of described mounting hole.
4. the laterally turning-over device for carrying plate workpiece according to claim 2, it is characterized in that: described hollow shaft assembly also comprises the fixed mount that one end is fixedly connected with one end of described first hollow shaft, the other end of described fixed mount is fixedly connected with described cylinder; Described shifting axle wears described fixed mount movably.
5. the laterally turning-over device for carrying plate workpiece according to claim 4, it is characterized in that: described fixed mount comprises the strut member that the set collar that is fixedly connected with one end of described first hollow shaft and one end are removably fixedly connected with the other end of described set collar, and the other end of described strut member is fixedly connected with described cylinder.
6. the laterally turning-over device for carrying plate workpiece according to claim 3, it is characterized in that: described support comprises panel and bezel ring, described mounting hole is opened on panel; Described bezel ring, is covered on described mounting hole, and is fixedly connected with the side of described panel.
7. the laterally turning-over device for carrying plate workpiece according to claim 6, is characterized in that, described support also comprises the clamping element be fixedly connected with the opposite side of described panel, the outer ring of described 3rd bearing of described clamping element clamping.
8. the laterally turning-over device for carrying plate workpiece according to claim 7, it is characterized in that, described 3rd bearing is two, described support also comprises and being contained in described mounting hole and the steady ring be sheathed on described first hollow shaft, described steady ring is between described two the 3rd bearings, and both sides are fixedly connected with the outer ring of described two the 3rd bearings respectively.
9. the laterally turning-over device for carrying plate workpiece according to claim 1, is characterized in that, described clutch shaft bearing is two, and the two ends of described second Transmission are sheathed on the outer ring of two clutch shaft bearings respectively regularly.
10. the laterally turning-over device for carrying plate workpiece according to claim 1, is characterized in that, described rollover mechanism also comprises the attaching parts be fixedly connected with described support by described motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210445724.8A CN103803294B (en) | 2012-11-08 | 2012-11-08 | For carrying the laterally turning-over device of plate workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210445724.8A CN103803294B (en) | 2012-11-08 | 2012-11-08 | For carrying the laterally turning-over device of plate workpiece |
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| Publication Number | Publication Date |
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| CN103803294A CN103803294A (en) | 2014-05-21 |
| CN103803294B true CN103803294B (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210445724.8A Active CN103803294B (en) | 2012-11-08 | 2012-11-08 | For carrying the laterally turning-over device of plate workpiece |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105000365A (en) * | 2015-06-05 | 2015-10-28 | 苏州亚思科精密数控有限公司 | Turnover table for machine tool |
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| CN202491239U (en) * | 2011-12-29 | 2012-10-17 | 沈阳新松机器人自动化股份有限公司 | Atmospheric double-arm manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1411420A (en) * | 1998-07-11 | 2003-04-16 | 塞米用具公司 | Robots for microelectronic workpiece handling |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2762970Y (en) * | 2004-11-04 | 2006-03-08 | 大连理工大学 | Transferring robot |
| CN201887034U (en) * | 2010-11-19 | 2011-06-29 | 华中科技大学 | Chip absorption device with chip turning function |
| CN102528793A (en) * | 2010-12-15 | 2012-07-04 | 沈阳新松机器人自动化股份有限公司 | End effector overturnable mechanism for carrying plate-shaped workpiece |
| CN102173345A (en) * | 2011-02-25 | 2011-09-07 | 华中科技大学 | Pneumatic linear driven chip picking and turning device |
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| CN103803294A (en) | 2014-05-21 |
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