CN104626097A - Loading and unloading mechanical hand - Google Patents
Loading and unloading mechanical hand Download PDFInfo
- Publication number
- CN104626097A CN104626097A CN201310574309.7A CN201310574309A CN104626097A CN 104626097 A CN104626097 A CN 104626097A CN 201310574309 A CN201310574309 A CN 201310574309A CN 104626097 A CN104626097 A CN 104626097A
- Authority
- CN
- China
- Prior art keywords
- assembling
- transmission arm
- gripper shoe
- disassembling manipulator
- underframe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 89
- 230000001105 regulatory effect Effects 0.000 claims description 16
- 238000000605 extraction Methods 0.000 claims description 15
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000000712 assembly Effects 0.000 abstract 5
- 238000000429 assembly Methods 0.000 abstract 5
- 230000008859 change Effects 0.000 description 6
- 241000209094 Oryza Species 0.000 description 3
- 235000007164 Oryza sativa Nutrition 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 235000009566 rice Nutrition 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000001138 tear Anatomy 0.000 description 1
Abstract
The invention provides a loading and unloading mechanical hand which comprises taking and placing assemblies used for taking and placing detected workpieces, transmission arms with the taking and placing assemblies arranged at the first ends of the transmission arms, supporting assemblies movably connected with the transmission arms and a drive part in drive connection with the transmission arms. Due to the arrangement of the drive part, the drive part drives the taking and placing assemblies to move, the detected workpieces such as steam valve decks are repeatedly disassembled and assembled, the labor intensity of workers is relieved, and work efficiency, the automation degree of the loading and unloading mechanical hand and economic benefits of an enterprise are improved. Due to the fact that the transmission arms and the supporting assemblies are movably connected, the motion reliability of the transmission arms is guaranteed, and the use reliability of the loading and unloading mechanical hand is guaranteed. Meanwhile, the loading and unloading mechanical hand has the advantages of being simple in structure and low in manufacturing cost.
Description
Technical field
The present invention relates to workpiece sensing technical field, more specifically, relate to a kind of assembling and disassembling manipulator.
Background technology
Steam valve cap (detected workpiece) service life is carried out when detecting in prior art, need to carry out manually free-hand operation of repeatedly loading and unloading steam valve cap to rice cooker series products, to complete detection, thus cause that intensity of workers is large, operating efficiency, automaticity are low, have a strong impact on the economic benefit of enterprise.
Summary of the invention
The present invention aims to provide a kind of assembling and disassembling manipulator, causes large, the ineffective problem of intensity of workers to solve in prior art the manually detected workpiece of free-hand handling repeatedly.
For solving the problems of the technologies described above, the invention provides a kind of assembling and disassembling manipulator, comprising: pick and place assembly for what pick and place detected workpiece; Transmission arm, picks and places the first end that assembly is arranged on transmission arm; Supporting component, transmission arm is flexibly connected with supporting component; Drive division, drive division drives with transmission arm and is connected.
Further, pick and place assembly to comprise: press section; Extraction unit, the extraction end of extraction unit and the press-side interval of press section are arranged.
Further, press section is briquetting, and briquetting is arranged on the end of the first end of transmission arm along the bearing of trend of transmission arm.
Further, extraction unit is arranged on the end of the first end of transmission arm for hook, the bearing of trend linked up with along transmission arm, and the hooking end of hook stretches out towards the side at briquetting place.
Further, transmission arm is slidably arranged on supporting component.
Further, supporting component comprises: supporting plate; Guide part, guide part is arranged on supporting plate, and transmission arm is slidably connected by guide part and supporting plate.
Further, guide part comprises multiple spaced lead, forms guide space between multiple lead, and the second end of transmission arm is slidably arranged in guide space.
Further, transmission arm is arc transmission arm.
Further, assembling and disassembling manipulator also comprises underframe, and supporting plate is arranged on underframe position-movablely, and the direction of motion picking and placeing assembly is vertical with the upper surface of underframe arranges.
Further, supporting component also comprises support sloping platform, and supporting plate is slidably arranged on underframe by supporting sloping platform.
Further, support sloping platform and comprise: the first gripper shoe, supporting plate is arranged in the first gripper shoe; Second gripper shoe, the first end of the first gripper shoe is connected with the first end of the second gripper shoe, and the second gripper shoe is slidably arranged on underframe, and has angle between the first gripper shoe and the second gripper shoe; For regulating the regulating connecting rod of angle, the second end of the first gripper shoe is connected with the second end of the second gripper shoe by regulating connecting rod.
Further, assembling and disassembling manipulator also comprises locking member, and the upper surface of underframe has slippage elongated hole, to support in sloping platform is slidably arranged in underframe slippage elongated hole by locking member and to lock.
Pick and place assembly for picking and placeing detected workpiece in the present invention, pick and place the first end that assembly is arranged on transmission arm, transmission arm is flexibly connected with supporting component, and drive division drives with transmission arm and is connected.Owing to being provided with drive division, thus drive division drives and picks and places assembly action, thus repeated disassembled and assembled is realized to detected workpiece (such as: steam valve cap), and then the labour intensity alleviating staff, the economic benefit that improves operating efficiency, improve the automaticity of assembling and disassembling manipulator, improve enterprise.Because transmission arm is flexibly connected with supporting component, thus ensure that the motion credibility of transmission arm, thus ensure that the dependability of assembling and disassembling manipulator.Meanwhile, the assembling and disassembling manipulator in the present invention has that structure is simple, the feature of low cost of manufacture.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 diagrammatically illustrates the structural representation of the assembling and disassembling manipulator in the present invention;
Fig. 2 diagrammatically illustrates the structural representation of the assembling and disassembling manipulator of another angle in the present invention; And
Fig. 3 diagrammatically illustrates supporting plate in the present invention, transmission arm, picks and places the annexation schematic diagram of assembly.
Reference numeral in figure: 10, pick and place assembly; 11, press section; 12, extraction unit; 20, transmission arm; 30, supporting component; 31, supporting plate; 32, guide part; 32a, lead; 33, sloping platform is supported; 33a, the first gripper shoe; 33b, the second gripper shoe; 33c, regulating connecting rod; 33d, adjustment support; 34, containment vessel; 40, drive division; 50, underframe; 51, slippage elongated hole; 60, locking member.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
The invention provides a kind of assembling and disassembling manipulator.In embodiment as shown in Figure 1 to Figure 3, assembling and disassembling manipulator comprises and picks and places assembly 10, transmission arm 20, supporting component 30 and drive division 40, pick and place assembly 10 for picking and placeing detected workpiece, pick and place the first end that assembly 10 is arranged on transmission arm 20, transmission arm 20 is flexibly connected with supporting component 30, and drive division 40 drives with transmission arm 20 and is connected.Owing to being provided with drive division 40, thus drive division 40 drives and picks and places assembly 10 action, thus repeated disassembled and assembled is realized to detected workpiece (such as: steam valve cap), and then the labour intensity alleviating staff, the economic benefit that improves operating efficiency, improve the automaticity of assembling and disassembling manipulator, improve enterprise.Because transmission arm 20 is flexibly connected with supporting component 30, thus ensure that the motion credibility of transmission arm 20, thus ensure that the dependability of assembling and disassembling manipulator.Meanwhile, the assembling and disassembling manipulator in the present invention has that structure is simple, the feature of low cost of manufacture.
The assembly 10 that picks and places in the present invention comprises press section 11 and extraction unit 12, and the extraction end of extraction unit 12 and the press-side interval of press section 11 are arranged.Owing to being provided with press section 11, thus when detected workpiece is placed on installed position, press section 11 presses down and can by detected workpiece press-in installation site, thus realize installing operation; Owing to being provided with extraction unit 12, thus extraction unit 12 being moved and detected workpiece is mentioned, thus realize disassembling operations.
In embodiment as shown in figures 1 and 3, press section 11 is briquetting, and briquetting is arranged on the end of the first end of transmission arm 20 along the bearing of trend of transmission arm 20.Because briquetting to be arranged on the end of the first end of transmission arm 20 along the bearing of trend of transmission arm 20, thus when transmission arm 20 moves, briquetting can move along with the motion of transmission arm 20, and the direction of motion of briquetting is the bearing of trend of transmission arm 20, thus ensure that the force application stabilization of briquetting, improve the dependability picking and placeing assembly 10.In the example of steam valve cap detection in service life, the end of exerting pressure of briquetting contacts with the caping of steam valve cap, is pressed into by steam valve cap in the steam valve opening of rice cooker lid.
In embodiment as shown in figures 1 and 3, extraction unit 12 is hook, and the bearing of trend linked up with along transmission arm 20 is arranged on the end of the first end of transmission arm 20, and the hooking end of hook stretches out towards the side at briquetting place.Because the hooking end of hook stretches out towards the side at briquetting place, thus the hooking end linked up with can with detected absorption surface, when transmission arm 20 moves to the direction away from detected workpiece, detected workpiece can be mentioned by hook, thus ensure that the dependability picking and placeing assembly 10.Because hook to be arranged on the end of the first end of transmission arm 20 along the bearing of trend of transmission arm 20, thus the force direction linked up with when extracting detected workpiece is consistent with the direction of motion of transmission arm 20, thus ensure that the force application stabilization of hook, further increase the dependability picking and placeing assembly 10.
Transmission arm 20 in the present invention is slidably arranged on supporting component 30.Because transmission arm 20 and supporting component 30 are slidably connected, thus the two not only connects reliable, also assures that the kinetic stability of transmission arm 20, thus ensure that operational stability and the dependability of assembling and disassembling manipulator.
In embodiment as shown in figures 1 and 3, supporting component 30 comprises supporting plate 31 and guide part 32, and guide part 32 is arranged on supporting plate 31, and transmission arm 20 is slidably connected by guide part 32 and supporting plate 31.Because transmission arm 20 is slidably connected by guide part 32 and supporting plate 31, thus ensure that the motion credibility of transmission arm 20, thus ensure that the operational stability of assembling and disassembling manipulator.
In embodiment as shown in Figure 3, guide part 32 comprises multiple spaced lead 32a, forms guide space between multiple lead 32a, and the second end of transmission arm 20 is slidably arranged in guide space.By regulating the position relationship between multiple lead 32a, shape and the position of guide space can be changed, thus change the direction of motion of transmission arm 20, make the assembling and disassembling manipulator in the present invention have the good feature of adjustability.Owing to using multiple lead 32a as guide part, thus reduce the contact area of transmission arm 20 and guide part, thus reduce frictional resistance, avoid the transmission arm 20 that weares and teares, and ensure that the motion credibility of transmission arm 20.Certainly, guide part 32 can also be guide slide, and transmission arm 20 is slidably arranged in guide slide.
In embodiment as shown in Figure 1, supporting component 30 also comprises containment vessel 34, and containment vessel 34 is located on supporting plate 31, and forms motion cavity between containment vessel 34 and supporting plate 31, and the second end of guide part 32, transmission arm 20 is all positioned at this motion cavity.Owing to being provided with containment vessel 34; thus guide part 32 and transmission arm 20 are protected; thus avoid guide part 32 and transmission arm 20 to damage by external force collision or foreign matter is attached on guide part 32 and transmission arm 20 and causes retard motion, thus improve the dependability of assembling and disassembling manipulator.
In embodiment as shown in Figure 1 to Figure 3, transmission arm 20 is arc transmission arm.Because transmission arm 20 is arc transmission arm, thus pick and place assembly 10 when vertical direction moves, arc transmission arm can be inclined in space, thus reduces the whole height of assembling and disassembling manipulator, makes the topology layout of assembling and disassembling manipulator more reasonable.
In embodiment as shown in Figure 1, assembling and disassembling manipulator also comprises underframe 50, and supporting plate 31 is arranged on underframe 50 position-movablely, and the direction of motion picking and placeing assembly 10 is vertical with the upper surface of underframe 50 arranges.Owing to being provided with underframe 50, thus ensure that the installation stability of supporting plate 31, and then ensure that transmission arm 20 and the motion credibility picking and placeing assembly 10.Due to supporting plate 31 position-movable be arranged on underframe 50, thus make transmission arm 20 and pick and place assembly 10 position-movable in horizontal plane, thus facilitate staff to regulate the position of supporting plate 31, better detected workpiece is operated to make picking and placeing assembly 10, and then improve the dependability of assembling and disassembling manipulator.Preferably, the products such as the lower end of underframe 50 has spatial accommodation, such as rice cooker can be placed in this spatial accommodation.
Preferably, supporting plate 31 is multiple, multiple supporting plate 31 is provided with corresponding transmission arm 20 and picks and places assembly 10.In embodiment as depicted in figs. 1 and 2, supporting plate 31, transmission arm 20 and pick and place assembly 10 and be two, the namely assembling and disassembling manipulator of double.Because the assembling and disassembling manipulator in the present invention can be arranged to multistation, thus can carry out charge and discharge operations to multiple detected workpiece simultaneously, and then improve detection efficiency.
Supporting component 30 in the present invention also comprises support sloping platform 33, and supporting plate 31 is slidably arranged on underframe 50 by supporting sloping platform 33.Support sloping platform 33 owing to being provided with, thus can change the connection angle of supporting plate 31 and underframe 50, thus change the direction of motion of transmission arm 20.Because supporting plate 31 is slidably arranged on underframe 50 by supporting sloping platform 33, thus when support sloping platform 33 arranges multiple supporting plate 31, staff only needs to adjust the position supporting sloping platform 33 and can unify to regulate to the position of multiple supporting plate 31, thus improves operating efficiency.
In embodiment as depicted in figs. 1 and 2, support sloping platform 33 and comprise the first gripper shoe 33a, the second gripper shoe 33b and regulating connecting rod 33c, supporting plate 31 is arranged on the first gripper shoe 33a, the first end of the first gripper shoe 33a is connected with the first end of the second gripper shoe 33b, second gripper shoe 33b is slidably arranged on underframe 50, and between the first gripper shoe 33a and the second gripper shoe 33b, there is angle, second end of the first gripper shoe 33a is connected with second end of the second gripper shoe 33b by regulating connecting rod 33c, and regulating connecting rod 33c is for regulating the size of angle.Owing to can be changed the connection angle between the first gripper shoe 33a and the second gripper shoe 33b by regulating connecting rod 33c, thus the angle of inclination and rational height that support sloping platform 33 can be changed, thus change supporting plate 31 disposed thereon angle of inclination, change transmission arm 20 and pick and place the direction of motion of assembly 10, and then the assembling and disassembling manipulator in the present invention is had adjustability is good, dependability is high feature, the instructions for use of different detected workpiece can be met.
Preferably, regulating connecting rod 33c is the assembly of screw rod and nut screw connection.First gripper shoe 33a is connected with the two ends of screw rod respectively with the second gripper shoe 33b, is screwed in the position on screw rod by adjusting nut, can change the size of the angle between the first gripper shoe 33a and the second gripper shoe 33b.Because the first gripper shoe 33a is connected with nut screw connection by screw rod with the second gripper shoe 33b, thus not only ensure that the connection reliability of the two, also make support sloping platform 33 have adjustability is good, dependability is high feature.
In embodiment as shown in Figure 2, support sloping platform 33 and also comprise adjustment support 33d, regulate support 33d to be connected with the first gripper shoe 33a, the second gripper shoe 33b is connected with adjustment support 33d by regulating connecting rod 33c.Regulate support 33d owing to being provided with, thus ensure that the dependability of regulating connecting rod 33c.
Assembling and disassembling manipulator in the present invention also comprises locking member 60, and the upper surface of underframe 50 has slippage elongated hole 51, to support in sloping platform 33 is slidably arranged in underframe 50 slippage elongated hole 51 by locking member 60 and to lock.In embodiment as shown in Figure 1, lock in the second gripper shoe 33b supporting sloping platform 33 is slidably arranged in underframe 50 slippage elongated hole 51 by locking member 60.Preferably, the assembly that coordinates for bolts and nuts of locking member 60.Bolt is located in slippage elongated hole 51 and is connected with underframe 50 by the second gripper shoe 33b.Underframe 50 and support sloping platform 33, by fastening nut, can be locked, thus ensure transmission arm 20 and the motion credibility picking and placeing assembly 10 by staff.
Preferably, drive division 40 is motor.Further, drive division 40 is torque motor.
In embodiment as shown in Figure 3, the second end of transmission arm 20 has rack segments, and assembling and disassembling manipulator also comprises and above-mentioned tooth bar meshed gears; gear is arranged on supporting plate 31 pivotly; and being positioned at motion cavity, drive division 40 driven wheel rotates, and drive division 40 is arranged on containment vessel 34.Because gear, tooth bar coordinate power transmission to stablize, thus ensure that the motion credibility of assembling and disassembling manipulator.
Assembling and disassembling manipulator in the present invention also comprises controller, switch element and power supply, and power supply, switch element and motor are arranged in series; Controller is connected with switch element, the closed or disconnection for gauge tap element.Owing to being provided with controller, motion control is carried out to assembling and disassembling manipulator, thus ensure that the functional reliability of assembling and disassembling manipulator, improve the automaticity of assembling and disassembling manipulator.Because power supply, switch element and motor are arranged in series, thus when the on off state of switch element changes, motor drives transmission arm 20 to carry out stretching motion, thus makes to pick and place the operation that assembly 10 loads and unloads repeatedly to detected workpiece, and then ensure that the dependability of assembling and disassembling manipulator.Preferably, controller is control chip.Controller is connected with motor, for controlling motor forward or reverse.
Assembling and disassembling manipulator in the present invention also comprises input block and counting element, and input block is connected with controller, for the closed number of times of configuration switch element, the rotating forward time of motor and reversing time; Counting element is connected with controller, for sending a signal to controller when the closed number of times of switch element reaches setting value, is in normally open to make controller gauge tap element.Owing to being provided with input block, thus can setting the rotating forward time of the closed number of times of switch element, motor and reversing time, thus improve the dependability of assembling and disassembling manipulator.Certainly, by parameters such as the closing time intervals of input block configuration switch element, thus Man machine interaction and the dependability of assembling and disassembling manipulator can also be further increased.Preferably, input block is setting button.Preferably, counting element is counter.
Assembling and disassembling manipulator in the present invention also comprises display unit, and display unit is connected with controller, for the closed number of times of the closed number of times of the switch element of display setting and/or the switch element of counting element physical record.Owing to being provided with display unit, thus staff can inquire about the duty of assembling and disassembling manipulator by display unit, thus improves Man machine interaction and the dependability of assembling and disassembling manipulator.Certainly, display unit can also the information such as rotating forward time of motor of display setting and reversing time.Preferably, display unit is charactron.
Assembling and disassembling manipulator in the present invention is bag buzzer also, for operating input block, display unit display information, motor rotate forward put in place, motor reversal puts in place, motor power on/off etc. time, sound production prompt.
Preferably, switch element is relay.Because relay has the function on timing break-make road, thus can control the running status of motor, thus realize repeatedly the operation of workpiece loading and unloading.Staff realizes the control to relay by controller.
Assembling and disassembling manipulator in the present invention also comprises emergency stop switch, and emergency stop switch is connected with controller, for cutoff circuit and power supply.When assembling and disassembling manipulator fault or meet accident accident time, staff, by triggering emergency stop switch, to realize the manual intervention to assembling and disassembling manipulator, thus reduces accident rate, improves the dependability of assembling and disassembling manipulator.
Assembling and disassembling manipulator in the present invention also comprises memory cell, and memory cell is connected with controller.Owing to being provided with memory cell, the running state information such as the real time data of the closed number of times thus set, closing time interval, counting element all can be stored in memory cell, so that staff's inquiry, thus ensure that the dependability of assembling and disassembling manipulator.Further, when the assembling and disassembling manipulator anxious stopping time, the running state information in anxious stopping time also can be preserved by memory cell, can recover the running status before power-off when device reruns, thus improves the operational reliability of assembling and disassembling manipulator, decreases manual intervention.
Assembling and disassembling manipulator in the present invention have easy for installation, control simple, power-fail memory function, automaticity are high, the feature of low cost of manufacture.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. an assembling and disassembling manipulator, is characterized in that, comprising:
Assembly (10) is picked and placeed for what pick and place detected workpiece;
Transmission arm (20), described in pick and place the first end that assembly (10) is arranged on described transmission arm (20);
Supporting component (30), described transmission arm (20) is flexibly connected with described supporting component (30);
Drive division (40), described drive division (40) drives with described transmission arm (20) and is connected.
2. assembling and disassembling manipulator according to claim 1, is characterized in that, described in pick and place assembly (10) and comprising:
Press section (11);
Extraction unit (12), the extraction end of described extraction unit (12) and the press-side interval of described press section (11) are arranged.
3. assembling and disassembling manipulator according to claim 2, is characterized in that, described press section (11) are briquetting, and described briquetting is arranged on the end of the first end of described transmission arm (20) along the bearing of trend of described transmission arm (20).
4. assembling and disassembling manipulator according to claim 3, it is characterized in that, described extraction unit (12) is hook, described hook is arranged on the end of the first end of described transmission arm (20) along the bearing of trend of described transmission arm (20), and the hooking end of described hook stretches out towards the side at described briquetting place.
5. assembling and disassembling manipulator according to claim 1, is characterized in that, described transmission arm (20) is slidably arranged on described supporting component (30).
6. assembling and disassembling manipulator according to claim 5, is characterized in that, described supporting component (30) comprising:
Supporting plate (31);
Guide part (32), described guide part (32) is arranged on described supporting plate (31), and described transmission arm (20) is slidably connected by described guide part (32) and described supporting plate (31).
7. assembling and disassembling manipulator according to claim 6, it is characterized in that, described guide part (32) comprises multiple spaced lead (32a), and form guide space between multiple described lead (32a), the second end of described transmission arm (20) is slidably arranged in described guide space.
8. assembling and disassembling manipulator according to claim 1, is characterized in that, described transmission arm (20) is arc transmission arm.
9. assembling and disassembling manipulator according to claim 6, it is characterized in that, described assembling and disassembling manipulator also comprises underframe (50), described supporting plate (31) is arranged on described underframe (50) position-movablely, and described in pick and place that the direction of motion of assembly (10) is vertical with the upper surface of described underframe (50) to be arranged.
10. assembling and disassembling manipulator according to claim 9, is characterized in that, described supporting component (30) also comprises support sloping platform (33), and described supporting plate (31) is slidably arranged on described underframe (50) by described support sloping platform (33).
11. assembling and disassembling manipulators according to claim 10, is characterized in that, described support sloping platform (33) comprising:
First gripper shoe (33a), described supporting plate (31) is arranged on described first gripper shoe (33a);
Second gripper shoe (33b), the first end of described first gripper shoe (33a) is connected with the first end of described second gripper shoe (33b), described second gripper shoe (33b) is slidably arranged on described underframe (50), and has angle between described first gripper shoe (33a) and described second gripper shoe (33b);
For regulating the regulating connecting rod (33c) of described angle, the second end of described first gripper shoe (33a) is connected by second end of described regulating connecting rod (33c) with described second gripper shoe (33b).
12. assembling and disassembling manipulators according to claim 10, it is characterized in that, described assembling and disassembling manipulator also comprises locking member (60), the upper surface of described underframe (50) has slippage elongated hole (51), locks in the described slippage elongated hole (51) that described support sloping platform (33) is slidably arranged in described underframe (50) by described locking member (60).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310574309.7A CN104626097B (en) | 2013-11-15 | 2013-11-15 | Loading and unloading mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310574309.7A CN104626097B (en) | 2013-11-15 | 2013-11-15 | Loading and unloading mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104626097A true CN104626097A (en) | 2015-05-20 |
| CN104626097B CN104626097B (en) | 2017-01-11 |
Family
ID=53205564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310574309.7A Expired - Fee Related CN104626097B (en) | 2013-11-15 | 2013-11-15 | Loading and unloading mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104626097B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0800893A2 (en) * | 1996-04-10 | 1997-10-15 | Chiron-Werke GmbH & Co. KG | Machine tool with a workspace |
| FR2917988A1 (en) * | 2007-06-28 | 2009-01-02 | Jean Philippe Roux | APPARATUS FOR HANDLING A WORKING HEAD. |
| US20130053866A1 (en) * | 2011-08-24 | 2013-02-28 | The Chinese University Of Hong Kong | Surgical robot with hybrid passive/active control |
| CN203092552U (en) * | 2013-01-14 | 2013-07-31 | 东莞市安利通用机械设备有限公司 | Cooling overturning mechanical arm |
| CN203125525U (en) * | 2013-03-11 | 2013-08-14 | 北京机械工业自动化研究所 | Vehicle lithium battery assembly manipulator for horizontal multi-joint robot |
| CN103252770A (en) * | 2013-04-15 | 2013-08-21 | 佛山市鼎峰机器人有限公司 | Workpiece stamping intelligent control process and intelligent control manipulator |
| CN203527456U (en) * | 2013-11-15 | 2014-04-09 | 珠海格力电器股份有限公司 | Loading and unloading manipulator |
-
2013
- 2013-11-15 CN CN201310574309.7A patent/CN104626097B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0800893A2 (en) * | 1996-04-10 | 1997-10-15 | Chiron-Werke GmbH & Co. KG | Machine tool with a workspace |
| FR2917988A1 (en) * | 2007-06-28 | 2009-01-02 | Jean Philippe Roux | APPARATUS FOR HANDLING A WORKING HEAD. |
| US20130053866A1 (en) * | 2011-08-24 | 2013-02-28 | The Chinese University Of Hong Kong | Surgical robot with hybrid passive/active control |
| CN203092552U (en) * | 2013-01-14 | 2013-07-31 | 东莞市安利通用机械设备有限公司 | Cooling overturning mechanical arm |
| CN203125525U (en) * | 2013-03-11 | 2013-08-14 | 北京机械工业自动化研究所 | Vehicle lithium battery assembly manipulator for horizontal multi-joint robot |
| CN103252770A (en) * | 2013-04-15 | 2013-08-21 | 佛山市鼎峰机器人有限公司 | Workpiece stamping intelligent control process and intelligent control manipulator |
| CN203527456U (en) * | 2013-11-15 | 2014-04-09 | 珠海格力电器股份有限公司 | Loading and unloading manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104626097B (en) | 2017-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206662673U (en) | A kind of bonnet automatic assembly equipment | |
| CN107288830B (en) | A kind of energy storage electric cylinder | |
| CN104626154B (en) | Press manipulator and automatic keying life detecting device | |
| CN204235982U (en) | A kind of contraposition attaching device | |
| CN203527456U (en) | Loading and unloading manipulator | |
| CN203363360U (en) | Intelligent linear electric actuator mechanism | |
| CN207618724U (en) | A kind of rubber strip automation feeder equipment | |
| CN104626097A (en) | Loading and unloading mechanical hand | |
| CN117564642A (en) | Robot automatic assembly device and method for server cabinet plate | |
| CN106113032A (en) | A kind of fixed point displacement mechanical arm mechanism | |
| CN206259277U (en) | A kind of twin-power switch interlock | |
| CN201409640Y (en) | Mechanical column lock protecting device for intelligent movable rack | |
| CN207256273U (en) | A kind of manipulator | |
| CN209111069U (en) | A kind of machining rotary machine hand | |
| CN211366176U (en) | Automatic plate loading and plate extracting machine | |
| CN207932931U (en) | A kind of crane travelling limiter | |
| CN202643149U (en) | Rotation type lifting conveying vacuum transporter | |
| CN203697008U (en) | Pressing manipulator | |
| CN202643070U (en) | Vacuum sucking disc device | |
| CN202055623U (en) | Pickproof protecting device for handle of safety box | |
| CN108002237A (en) | A kind of crane travelling limiter | |
| CN203751681U (en) | Automatic assembly machine for smoke detector | |
| CN207467082U (en) | One kind connects salt bag clamping device | |
| CN101543370B (en) | Intelligent automatic shoe cover machine | |
| CN211489246U (en) | Automatic stamping production equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |