CN104802159B - Textile rubber roll special manipulator - Google Patents
Textile rubber roll special manipulator Download PDFInfo
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- CN104802159B CN104802159B CN201510197337.0A CN201510197337A CN104802159B CN 104802159 B CN104802159 B CN 104802159B CN 201510197337 A CN201510197337 A CN 201510197337A CN 104802159 B CN104802159 B CN 104802159B
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- drive mechanism
- rubber roll
- crossbeam
- mechanical hand
- slide unit
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Abstract
The invention discloses a kind of textile rubber roll special manipulator, including：Pedestal, column, crossbeam, mobile platform, mechanical hand slide unit, the first drive mechanism, the second drive mechanism, the first drive mechanism, the second drive mechanism and the 3rd drive mechanism, pedestal are provided with X direction guiding rails, and mobile platform is arranged on X direction guiding rails；Column is vertically fixed on pedestal；Crossbeam is slidably mounted on column, and crossbeam is connected with the first drive mechanism by the first drive mechanism；Mechanical hand slide unit is slidably mounted on crossbeam, and mechanical hand slide unit is connected with the second drive mechanism by the second drive mechanism；Mechanical hand slide unit is provided with grasping mechanism, and grasping mechanism includes magnechuck and grabbing assembly；Grabbing assembly includes the first gripper components and the second gripper components, and the first gripper components are fixedly connected with mechanical hand slide unit, and the second gripper components are driven by the 3rd drive mechanism.The present invention effectively increases work efficiency, saves human cost.
Description
Technical field
The present invention relates to textile technology field, more particularly to textile rubber roll special manipulator.
Background technology
Rubber roll is mainly used in the fields such as papermaking, printing, grain processing, metallurgy and textile printing and dyeing.Due to rubber roll be mostly with
Magnetic metal material is core, be cladded with rubber Jing sulfuration and made by roll product, in addition chemistry aging using being easy to too long
The erosion of medicine, causes rotten glue to fall " slag ", and such rubber roll had better not be reused, and otherwise have a strong impact on print quality.Therefore
Batch is periodically carried out to rubber roll and reprocesses maintenance.Needing in maintenance process is reprocessed will be the good rubber roll of pile enterprising to maintained equipment
Row is delivered.
Traditional delivery mode is to adopt manually to be delivered, and its working method is：Operator repeatedly will again and again
Rubber roll of the pile on pallet is delivered in rubber roll processing maintained equipment.Not only efficiency is low for this delivery mode, and employee's labor
Fatigue resistance is big, anthropic factor is more, production cost is high.
The content of the invention
Based on the technical problem that above-mentioned background technology is present, the present invention proposes textile rubber roll special manipulator, to substitute original
The working method of the double delivery of artificial.
The present invention proposes textile rubber roll special manipulator, including：Pedestal, column, crossbeam, mobile platform, mechanical rubber sleeve
Platform, the first drive mechanism, the second drive mechanism, the first drive mechanism, the second drive mechanism and the 3rd drive mechanism, wherein：
The side of pedestal is provided with X direction guiding rails, and mobile platform is slidably mounted on X direction guiding rails；
Column is located at the side of X direction guiding rails and is vertically fixed on pedestal；
Crossbeam is located at the top of X direction guiding rails and is slidably mounted on column, and crossbeam passes through the first drive mechanism and the
One drive mechanism is connected and is driven on column along Z-direction displacement by the first drive mechanism；
Mechanical hand slide unit is slidably mounted on crossbeam, and mechanical hand slide unit passes through the second drive mechanism and the second drive mechanism
It is connected and is driven on crossbeam along Y direction displacement by the second drive mechanism, and deformation trace, the horizontal stroke of mechanical hand slide unit
The deformation trace and mobile platform of beam is mutually orthogonal in the sliding trace of X direction guiding rails；
Mechanical hand slide unit is provided with grasping mechanism near the side of pedestal, and grasping mechanism includes inhaling for the electromagnetism for capturing rubber roll
Disk and the grabbing assembly for capturing rubber roll pallet, grabbing assembly are located at the side of magnechuck, and grabbing assembly is inhaled with electromagnetism
Gap is reserved between disk；Grabbing assembly includes being set up in parallel the first gripper components and the second gripper components, the first gripper components
It is fixedly connected with mechanical hand slide unit, the second gripper components are flexibly connected with mechanical hand slide unit and are driven by the 3rd drive mechanism can phase
Displacement is carried out to the first gripper components.
Preferably, magnechuck is list structure.
Preferably, the first gripper components and the second gripper components include mounting blocks and the gripping being fixed on below mounting blocks
Plate.
Preferably, the 3rd drive mechanism is B axle servomotor；Mechanical hand slide unit includes slide and row frame, and row frame is fixed on
Below slide, row frame is provided with screw rod transmission component, and screw rod transmission component is connected with the output shaft of B axle servomotor；Electromagnetism is inhaled
Disk fixes the one end for frame of being expert at；First gripper components are located near the side of magnechuck and are fixedly connected with row frame；Second grabs
Take part to be oppositely arranged with the first gripper components and be connected with screw rod transmission component.
Preferably, column is provided with Z-direction guide rail, and Z-direction guide rail is perpendicular to pedestal；Crossbeam is slidably mounted on Z-direction guide rail simultaneously
It is connected with the first drive mechanism, the first drive mechanism is connected with the first drive mechanism, the first drive mechanism is fixed on the top of column
End, the first drive mechanism are Z axis servomotor.
Preferably, Z-direction guide rail includes the Z-direction guide pillar of two bright finish.
Preferably, the first drive mechanism is arranged between two Z-direction guide pillars and is respectively parallel to two Z-direction guide pillars, and first
Drive mechanism includes the first screw mandrel, the first feed screw nut, the first screw mandrel fixed seat, the first screw mandrel by the first screw mandrel fixed seat with
Column is fixed, and one end of the first screw mandrel is connected with the output shaft of Z axis servomotor；First feed screw nut is sleeved on the first screw mandrel
On；Crossbeam is fixedly connected with the first feed screw nut.
Preferably, crossbeam is provided with Y-direction guide rail, and Y-direction guide rail is parallel to pedestal；Mechanical hand slide unit is slidably mounted on Y-direction and leads
It is connected on rail and with the second drive mechanism, the second drive mechanism is connected with the second drive mechanism, the second drive mechanism is fixed on horizontal stroke
One end of beam, the second drive mechanism are Y-axis servomotor.
Preferably, Y-direction guide rail includes the Y-direction guide pillar of two bright finish.
Preferably, the second drive mechanism is arranged between two Y-direction guide pillars and is respectively parallel to two Y-direction guide pillars, and second
Drive mechanism includes the second screw mandrel, the second feed screw nut, the second screw mandrel fixed seat, the second screw mandrel by the second screw mandrel fixed seat with
Column is fixed, and one end of the second screw mandrel is connected with the output shaft of Y-axis servomotor；Second feed screw nut is sleeved on the second screw mandrel
On；Mechanical hand slide unit is fixedly connected with the second feed screw nut.
Preferably, also include the 4th drive mechanism for driving mobile platform to move on X direction guiding rails.
Preferably, also including the switch board being fixed on pedestal.
Preferably, also including man machine interface.
The present invention delivers forward the pallet equipped with rubber roll by mobile platform and controls the position of rubber roll；By crossbeam vertical
The drive grasping mechanism that moves up and down on post is vertically moved up or down along Z-direction in the top position of rubber roll or pallet；By machinery
Move back and forth drive grasping mechanism of the rubber sleeve platform on crossbeam is moved in rubber roll or pallet upper horizontal；Grasping mechanism is by vertical
Lift and move horizontally adjustment of the realization to crawl position and the movement to grabbing workpiece is put；Grasping mechanism bag in the present invention
The magnechuck for capturing rubber roll and the grabbing assembly for capturing rubber roll pallet are included, can respectively to rubber roll and for loading
The pallet of rubber roll carries out classification crawl, to improve the operational efficiency of mechanical hand.
In sum, the present invention compared with prior art have it is following a little：
1st, the present invention only needs manually to fill the pallet stack of rubber roll to mobile platform, delivers rubber roll process automatically complete
Into can effectively improve work efficiency and save human cost.
2nd, the grasping mechanism in the present invention includes magnechuck and grabbing assembly, you can to capture rubber roll, and can capture use
In the pallet for loading rubber roll, the empty pallet of unloading rubber roll can be removed by switching between the two, glue is mounted with to next layer
The pallet of roller carries out capturing rubber roll action, so as to realize carrying out continuous grasping movement to multilamellar rubber roll pallet, effectively increases
The operational efficiency of mechanical hand.
3rd, the rubber roll with Multiple Type of the invention is processed, maintained equipment is supported the use, highly versatile.
Description of the drawings
Fig. 1 is the structural representation of textile rubber roll special manipulator proposed by the present invention；
Fig. 2 is the structural representation of mechanical hand slide unit described in textile rubber roll special manipulator proposed by the present invention；
Fig. 3 is the action diagram that magnechuck described in textile rubber roll special manipulator proposed by the present invention draws rubber roll；
Fig. 4 is that textile rubber roll special manipulator proposed by the present invention captures rubber roll action diagram；
Fig. 5 is that textile rubber roll special manipulator proposed by the present invention fixed point throws in rubber roll action diagram；
Fig. 6 is that textile rubber roll special manipulator proposed by the present invention captures empty pallet action diagram；
Fig. 7 is that textile rubber roll special manipulator proposed by the present invention fixed point throws in empty pallet action diagram.
Specific embodiment
Below, technical scheme is described in detail by specific embodiment.
As shown in figs. 1-7, Fig. 1 is the structural representation of textile rubber roll special manipulator proposed by the present invention；Fig. 2 is this
The structural representation of mechanical hand slide unit described in the textile rubber roll special manipulator of bright proposition；Fig. 3 is weaving proposed by the present invention
Magnechuck described in rubber roll special manipulator draws the action diagram of rubber roll；Fig. 4 is textile rubber roll special machine proposed by the present invention
Tool handss capture rubber roll action diagram；Fig. 5 is that textile rubber roll special manipulator proposed by the present invention fixed point throws in rubber roll action diagram；Fig. 6
Empty pallet action diagram is captured for textile rubber roll special manipulator proposed by the present invention；Fig. 7 is that textile rubber roll proposed by the present invention is special
Empty pallet action diagram is thrown in mechanical hand fixed point.
Reference picture 1-3, the textile rubber roll special manipulator that the embodiment of the present invention is proposed, including：Pedestal 1, column 2, crossbeam
3rd, mobile platform 4, mechanical hand slide unit 5, the first drive mechanism 6, the second drive mechanism 7, the first drive mechanism 8, the second driving machine
Structure 9, the 3rd drive mechanism 10 and the 4th drive mechanism 16, wherein：The side of pedestal 1 is provided with X direction guiding rails 11；First drive mechanism
6 include the first screw mandrel 61, the first feed screw nut, the first screw mandrel fixed seat 62；Second drive mechanism 7 include the second screw mandrel 71,
Two feed screw nuts, the second screw mandrel fixed seat 72；First drive mechanism 8 is Z axis servomotor, and the second drive mechanism 9 is Y-axis servo
Motor, the 3rd drive mechanism 10 is B axle servomotor；
Mobile platform 4 is slidably mounted on X direction guiding rails 11 and is driven along X direction guiding rails 11 by the 4th drive mechanism 16
Displacement；By the driving of the 4th drive mechanism 16, delivering is equipped with the pallet of rubber roll and controls the gripping of rubber roll mobile platform 4 forward
Position.
Column 2 is located at the side of X direction guiding rails 11 and is vertically fixed on pedestal 1, and column 2 is provided with Z-direction guide rail 21, Z-direction
Guide rail 21 is perpendicular to pedestal 1；Crossbeam 3 is located at the top of X direction guiding rails 11 and is slidably mounted on Z-direction guide rail 21, and crossbeam 3
It is fixedly connected with the first feed screw nut, the first feed screw nut is sleeved on the first screw mandrel 61, the first screw mandrel 61 passes through the first screw mandrel
Fixed seat 62 is fixed with column 2, and one end of the first screw mandrel 61 is connected with the output shaft of Z axis servomotor；Crossbeam 3 is in column 2
It is upper to be driven along Z-direction vertical shift by Z axis servomotor.
Crossbeam 3 is provided with Y-direction guide rail 31, and Y-direction guide rail 31 is slidably mounted on Y-direction and leads parallel to pedestal 1, mechanical hand slide unit 5
On rail 31, and mechanical hand slide unit 5 is fixedly connected with the second feed screw nut, and the second feed screw nut is sleeved on the first screw mandrel 61, and
One end of first screw mandrel 61 is connected with the output shaft of Z axis servomotor；Mechanical hand slide unit 5 passes through Z axis servomotor on crossbeam 3
Driving move horizontally along Y direction；And the deformation trace of mechanical hand slide unit 5, the deformation trace of crossbeam 3 and mobile platform 4
It is mutually orthogonal in the sliding trace of X direction guiding rails 11.
Mechanical hand slide unit 5 includes slide 51 and row frame 52, and row frame 52 is fixed on below slide 51, and screw mandrel biography is set on row frame 52
Dynamic component 53, screw rod transmission component 53 are connected with the output shaft of B axle servomotor；Row frame 52 is provided near the side of pedestal 1 and grabs
Taking mechanism includes the magnechuck 12 for capturing rubber roll and the grabbing assembly 13 for capturing rubber roll pallet, wherein, electromagnetism is inhaled
Disk 12 fixes the one end of frame 52 of being expert at, and magnechuck 12 is list structure, and the axial direction of magnechuck 12 is metal-cored with rubber roll
Axially vertical setting, to realize once drawing the purpose of many rubber rolls 17；Grabbing assembly 13 is located at the side of magnechuck 12, grabs
Taking component 13 includes being set up in parallel the first gripper components 131 and the second gripper components 132, and the first gripper components 131 and second are grabbed
Taking part 132 includes mounting blocks and the gripping plate being fixed on below mounting blocks；First gripper components 131 are located at inhales near electromagnetism
The side of disk 12 and gap is reserved between magnechuck 12, the first gripper components 131 are fixedly connected with row frame 52, and second grabs
Take part 132 to be oppositely arranged with the first gripper components 131 and be connected with screw rod transmission component 53；Second gripper components 132 pass through B
The driving of axle servomotor relative first gripper components 131 of being expert on frame 52 carry out displacement, so as to the width adjustment according to pallet
Therebetween distance.
In order that can intuitively observe mechanical hand ruuning situation, facilitate operator's setting relevant parameter to operator；This reality
Also include man machine interface 15 in applying example.
With reference to Fig. 4, rubber roll action is captured：Y-axis servomotor drives mechanical rubber sleeve platform 5 in crossbeam 3 by the second screw mandrel 71
On move along Y direction, until magnechuck 12 is moved to the rubber roll crawl position of Y direction；Z axis servomotor passes through first
Screw mandrel 61 drives crossbeam 3 to move along Z-direction on column 2, until magnechuck 12 is moved to the rubber roll crawl position of Z-direction
Put, magnechuck 12 is powered and captures several rubber rolls 17.
With reference to Fig. 5, fixed point throws in rubber roll action：After magnechuck 12 captures several rubber rolls 17, Z axis servomotor is by the
One screw mandrel 61 drives crossbeam 3 to move along Z axis, until magnechuck 12 be moved to Z-direction put rubber roll position；Y-axis servomotor
Drive mechanical rubber sleeve platform 5 to move by the second screw mandrel 71, until magnechuck 12 be moved to Y direction put rubber roll position；Electricity
12 power-off of magnetic-disc, rubber roll fall into release position；Mechanical hand slide unit 5 re-move to rubber roll next time capture position, so far one it is complete
Whole rubber roll crawl process is completed.
With reference to Fig. 6, the grasping movement of empty pallet：Logical second screw mandrel 71 of Y-axis servomotor drives mechanical rubber sleeve platform 5 along Y-axis
Direction is moved, until the grabbing assembly 13 on mechanical hand slide unit 5 is moved to Y-axis crawl position；Z axis servomotor passes through the first screw mandrel
61 drive crossbeam 3 to move along Z-direction, until grabbing assembly 13 is moved to Z axis crawl position, B axle servomotor is passed by screw mandrel
Dynamic component 53 drives the second gripper components 132 that the cooperation with the first gripper components 131 is moved through to the first gripper components 131
Empty pallet is grabbed 18 to clamp and pick up.
With reference to Fig. 7, fixed point throws in empty pallet action：Y-axis is watched motor and drives mechanical rubber sleeve platform 5 along Y by the second screw mandrel 71
Direction of principal axis is moved, until grabbing assembly 13 reaches Y-axis emptying tray position；Z axis servomotor drives horizontal stroke by the first screw mandrel 61
Beam 3 is moved along Z-direction, until grabbing assembly 13 reaches Z axis emptying tray position；B axle servomotor passes through screw rod transmission group
Part 53 drives the second gripper components 132 to move to the direction away from the first gripper components 131, makes empty pallet fall into release position.
The present invention delivers forward the pallet equipped with rubber roll by mobile platform 4 and controls the position of rubber roll；Existed by crossbeam 3
The drive grasping mechanism that moves up and down on column 2 is vertically moved up or down along Z-direction in the top position of rubber roll or pallet；By machine
Move back and forth drive grasping mechanism of the tool rubber sleeve platform 5 on crossbeam 3 is moved in rubber roll or pallet upper horizontal；Grasping mechanism passes through
It is vertically moved up or down and moves horizontally adjustment of the realization to crawl position and the movement to grabbing workpiece is put；Gripper in the present invention
Structure includes the magnechuck 12 for capturing rubber roll and the grabbing assembly 13 for capturing rubber roll pallet, can respectively to rubber roll and
Pallet for loading rubber roll carries out classification crawl, effectively improves the operational efficiency of mechanical hand.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, technology according to the present invention scheme and its
Inventive concept equivalent or change in addition, should all be included within the scope of the present invention.
Claims (9)
1. textile rubber roll special manipulator, it is characterised in that include：Pedestal (1), column (2), crossbeam (3), mobile platform (4),
Mechanical hand slide unit (5), the first drive mechanism (6), the second drive mechanism (7), the first drive mechanism (8), the second drive mechanism (9)
With the 3rd drive mechanism (10), wherein：
The side of pedestal (1) is provided with X direction guiding rails (11), and mobile platform (4) is slidably mounted on X direction guiding rails (11)；
Column (2) is positioned at the side of X direction guiding rails (11) and is vertically fixed on pedestal (1)；
Crossbeam (3) is positioned at the top of X direction guiding rails (11) and is slidably mounted on column (2), and crossbeam (3) is by the first transmission
Mechanism (6) is connected with the first drive mechanism (8) and is driven on column (2) along Z-direction by the first drive mechanism (8)
Displacement；
Mechanical hand slide unit (5) is slidably mounted on crossbeam (3), and mechanical hand slide unit (5) is by the second drive mechanism (7) and second
Drive mechanism (9) is connected and is driven on crossbeam (3) along Y direction displacement by the second drive mechanism (9), and mechanical hand
The deformation trace of slide unit (5), the deformation trace of crossbeam (3) and mobile platform (4) X direction guiding rails (11) sliding trace mutually just
Hand over；
Mechanical hand slide unit (5) is provided with grasping mechanism near the side of pedestal (1), and grasping mechanism is included for capturing the electromagnetism of rubber roll
Sucker (12) and the grabbing assembly (13) for capturing rubber roll pallet, grabbing assembly (13) positioned at the side of magnechuck (12),
And gap is reserved between grabbing assembly (13) and magnechuck (12)；Grabbing assembly (13) is including being set up in parallel the first crawl section
Part (131) and the second gripper components (132), the first gripper components (131) are fixedly connected with mechanical hand slide unit (5), the second crawl
Part (132) is flexibly connected with mechanical hand slide unit (5) and is driven by the 3rd drive mechanism (10) can relative first gripper components
(131) carry out displacement；
3rd drive mechanism (10) is B axle servomotor；Mechanical hand slide unit (5) includes slide (51) and row frame (52), row frame
(52) it is fixed on below slide (51), row frame (52) is provided with screw rod transmission component (53), screw rod transmission component (53) is watched with B axle
Take the output shaft connection of motor；One end of fixed frame (52) of being expert at of magnechuck (12)；First gripper components (131) are positioned at close
The side of magnechuck (12) and it is fixedly connected with row frame (52)；Second gripper components (132) and the first gripper components (131) phase
To arranging and being connected with screw rod transmission component (53).
2. textile rubber roll special manipulator according to claim 1, it is characterised in that magnechuck (12) is strip knot
Structure.
3. textile rubber roll special manipulator according to claim 1, it is characterised in that the first gripper components (131) and
Two gripper components (132) include mounting blocks and the gripping plate being fixed on below mounting blocks.
4. textile rubber roll special manipulator according to claim 1, it is characterised in that column (2) is provided with Z-direction guide rail
(21), Z-direction guide rail (21) is perpendicular to pedestal (1)；Crossbeam (3) be slidably mounted on Z-direction guide rail (21) and with the first drive mechanism
(6) connect, the first drive mechanism (6) is connected with the first drive mechanism (8), and the first drive mechanism (8) is fixed on the top of column (2)
End, the first drive mechanism (8) is Z axis servomotor.
5. textile rubber roll special manipulator according to claim 4, it is characterised in that Z-direction guide rail (21) includes two light
The Z-direction guide pillar in face.
6. textile rubber roll special manipulator according to claim 5, it is characterised in that the first drive mechanism (6) is arranged on
Between two Z-direction guide pillars and be respectively parallel to two Z-direction guide pillars, the first drive mechanism (6) including the first screw mandrel (61), first
Stem nut, the first screw mandrel fixed seat (62), the first screw mandrel (61) are fixed with column (2) by the first screw mandrel fixed seat (62), the
One end of one screw mandrel (61) is connected with the output shaft of Z axis servomotor；First feed screw nut is sleeved on the first screw mandrel (61)；It is horizontal
Beam (3) is fixedly connected with the first feed screw nut.
7. textile rubber roll special manipulator according to claim 1, it is characterised in that crossbeam (3) is provided with Y-direction guide rail
(31), Y-direction guide pillar of the Y-direction guide rail (31) including two bright finish, Y-direction guide rail (31) is parallel to pedestal (1)；Mechanical hand slide unit (5)
It is slidably mounted in Y-direction guide rail (31) and is connected with the second drive mechanism (7), the second drive mechanism (7) and the second drive mechanism
(9) connect, the second drive mechanism (9) is fixed on one end of crossbeam (3), and the second drive mechanism (9) is Y-axis servomotor.
8. textile rubber roll special manipulator according to claim 7, it is characterised in that the second drive mechanism (7) is arranged on
Between two Y-direction guide pillars and be respectively parallel to two Y-direction guide pillars, the second drive mechanism (7) including the second screw mandrel (71), second
Stem nut, the second screw mandrel fixed seat (72), the second screw mandrel (71) are fixed with column (2) by the second screw mandrel fixed seat (72), the
One end of two screw mandrels (71) is connected with the output shaft of Y-axis servomotor；Second feed screw nut is sleeved on the second screw mandrel (71)；Machine
Tool rubber sleeve platform (5) is fixedly connected with the second feed screw nut.
9. the textile rubber roll special manipulator according to any one of claim 1-8, it is characterised in that also include for driving
The 4th drive mechanism (16) that dynamic mobile platform (4) is moved on X direction guiding rails (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510197337.0A CN104802159B (en) | 2015-04-23 | 2015-04-23 | Textile rubber roll special manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510197337.0A CN104802159B (en) | 2015-04-23 | 2015-04-23 | Textile rubber roll special manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104802159A CN104802159A (en) | 2015-07-29 |
| CN104802159B true CN104802159B (en) | 2017-04-05 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510197337.0A Expired - Fee Related CN104802159B (en) | 2015-04-23 | 2015-04-23 | Textile rubber roll special manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN104802159B (en) |
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| CN105329664A (en) * | 2015-11-19 | 2016-02-17 | 长乐力天针纺有限公司 | Cloth rolling machine with manipulator |
| CN106808467A (en) * | 2016-11-30 | 2017-06-09 | 广东正业科技股份有限公司 | A kind of grasping mechanism |
| CN106946042A (en) * | 2017-03-09 | 2017-07-14 | 杭州精卫特机床有限公司 | Band steel finished product hay stacker |
| CN106945063A (en) * | 2017-03-23 | 2017-07-14 | 林娟娟 | Manipulator |
| CN107323932B (en) * | 2017-06-22 | 2023-10-13 | 杭州三拓科技有限公司 | Automatic grabbing three-dimensional warehouse for carrying dye barrels |
| CN107696021A (en) * | 2017-09-12 | 2018-02-16 | 青岛普力捷自动化科技有限公司 | A kind of double Z axis altimetric compensation formula translation loading and unloading manipulators |
| JP7167924B2 (en) * | 2017-09-21 | 2022-11-09 | ソニーグループ株式会社 | ROBOT HAND, ROBOT DEVICE, AND ELECTRONIC DEVICE MANUFACTURING METHOD |
| CN107866816A (en) * | 2017-12-23 | 2018-04-03 | 安徽航大智能科技有限公司 | A kind of manipulator for capturing multilayer new energy battery modules and its thermally conductive sheet |
| CN107932544A (en) * | 2017-12-23 | 2018-04-20 | 安徽航大智能科技有限公司 | A kind of manipulator for shifting and fixing for new energy battery modules |
| CN108341252A (en) * | 2018-04-03 | 2018-07-31 | 浙江日发精密机械股份有限公司 | A kind of more applicability material machines |
| CN109129418A (en) * | 2018-08-15 | 2019-01-04 | 天长市天力液压机械有限责任公司 | A kind of two-axis rubber roller catching robot |
| CN109019004A (en) * | 2018-09-27 | 2018-12-18 | 霸州市辉月网络技术有限公司 | A kind of pile transhipment mechanical device with flexible clamping gripper |
| CN109590995A (en) * | 2018-12-25 | 2019-04-09 | 雷果科技无锡有限公司 | A kind of manipulator |
| CN109968322B (en) * | 2019-04-24 | 2021-05-28 | 苏州云骐智能科技有限公司 | Automatic data server conveying robot and application system control method thereof |
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| JPS61277566A (en) * | 1985-06-04 | 1986-12-08 | Asahi Eng Kk | Chuck siding mechanism of multi-shift device |
| JPH043210A (en) * | 1990-04-20 | 1992-01-08 | Nec Corp | Handling type orthogonal robot |
| EP0512126B1 (en) * | 1991-05-02 | 1996-01-31 | LIGMATECH MASCHINENBAU GmbH | Device for manipulating panel shaped workpieces |
| JP2004306213A (en) * | 2003-04-09 | 2004-11-04 | Shinsei Koki Kk | Device for casting and removing workpiece |
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| FR2960173B1 (en) * | 2010-05-21 | 2013-12-20 | Rise Ba | SYSTEM FOR PREHENDING FIXED OBJECTS ON A ROBOTIC ASSEMBLY, COMPRISING TWO MEANS OF GRIPPING |
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| CN204748617U (en) * | 2015-04-23 | 2015-11-11 | 天长市天力液压机械有限责任公司 | Special manipulator of textile rubber roll |
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2015
- 2015-04-23 CN CN201510197337.0A patent/CN104802159B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104802159A (en) | 2015-07-29 |
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