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Workpiece griping manipulator for high-temperature operation

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Publication number
CN104842350A
CN104842350A CN 201510267217 CN201510267217A CN104842350A CN 104842350 A CN104842350 A CN 104842350A CN 201510267217 CN201510267217 CN 201510267217 CN 201510267217 A CN201510267217 A CN 201510267217A CN 104842350 A CN104842350 A CN 104842350A
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manipulator
arranged
griping
cylinder
workpiece
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CN 201510267217
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Chinese (zh)
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蒋立军
汪孝祥
邵金金
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芜湖陀曼精机科技有限公司
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Abstract

The invention discloses a workpiece griping manipulator for high-temperature operation. The workpiece griping manipulator comprises a first grip claw and a second grip claw which are opposite to each other and hinged through a rotating pin; the workpiece griping manipulator further comprises a manipulator mounting plate and a power cylinder, both the rotating pin and the power cylinder are arranged on the manipulator mounting plate, and a driving block used for driving same ends of the first grip claw and the second grip claw to move oppositely is arranged on a piston rod of the power cylinder; a cooling hole is arranged in the rotating pin, a cooling channel is arranged in the manipulator mounting plate, and a nozzle used for spraying is arranged on the manipulator mounting plate. Only one rotating hinged point is arranged on the griping manipulator, so that the manipulator is simple in structure and low in cost, a manipulator joint is less prone to being jammed or loosened, the power cylinder is away from the front half section in distance, service life of the cylinder is prolonged, and the high-temperature workpieces can be gripped stably and reliably.

Description

一种用于高温工作的工件抓取机械手 A method for high-temperature operation of the workpiece gripper robot

技术领域 FIELD

[0001] 本发明涉及自动化设备技术领域,尤其是涉及一种用于高温工作的工件抓取机械手。 [0001] The present invention relates to the field of automation technology equipment, particularly relates to a workpiece for high-temperature operation of the robot gripper.

背景技术 Background technique

[0002] 在工件搬运和自动上下料领域,工件抓取机械手的灵活度和抓取工件的可靠性非常重要,目前在用的几类机械手都是多旋转节点的气动或电动工件抓取机械手,由于旋转节点较多,使得机械手自身重量较大且制造成本偏高。 [0002] In the workpiece transfer and automatic loading and unloading the art, the work gripping robot of flexibility and reliability is important to grab the workpiece, it is a multi-turn node currently in use several types of electric or pneumatic robot manipulator gripping the workpiece, As more nodes of rotation, so that the own weight of the robot is large and the manufacturing cost is high.

[0003] 而且也不适用于温度较高的热锻造自动上下料的工况,因该高温锻造环境温度变化较大,机械手关节较多时,会因为热变形的原因造成机械手卡死或松动,从而导致加料不稳、掉料和夹紧力突变等情况,影响自动上下料的可靠性,严重制约了热锻造行业自动化的实现。 [0003] and is not suitable for high temperature hot forging automatic loading and unloading of the working conditions, because of the large changes in ambient temperature forging temperature, when the large manipulator joints, will cause the robot stuck because of thermal deformation or loosening of reasons, such resulting in feeding instability, the situation is out of the material and the clamping force mutation, affecting the reliability of automatic loading and unloading, and severely restricted the realization of hot forging industry automation.

发明内容 SUMMARY

[0004] 针对现有技术不足,本发明所要解决的技术问题是提供一种用于高温工作的工件抓取机械手,以达到抓取高温工件稳定可靠的目的。 [0004] for the deficiencies of the prior art, the present invention is to provide the technical problem of high temperature for a workpiece gripping manipulator, in order to achieve a stable and reliable gripping of the object of high temperature part.

[0005] 为了解决上述技术问题,本发明所采用的技术方案为: [0005] To solve the above technical problem, the technical solution employed in the present invention are:

[0006] 该用于高温工作的工件抓取机械手,包括相对应的夹爪I和夹爪II,所述夹爪I和夹爪II之间通过转销相铰接,还包括机械手安装板和动力缸,所述转销和动力缸均设在机械手安装板上,所述动力缸的活塞杆上设有用于驱动夹爪I和夹爪II同一端相对运动的驱动块;所述转销上设有冷却孔,所述机械手安装板内设有冷却通道,所述机械手安装板上设有用于喷雾的喷嘴。 [0006] The work for high temperature operation robot gripper, the jaws comprising corresponding I and II jaw, said jaws by a hinge pin between phase I and II jaws, further comprising a mounting plate and drive the robot cylinder, the cylinder and power pins are located in the robot mounting plate, provided with jaws for driving the jaws I and II in the same driving block relative movement on the piston rod end of the power cylinder; disposed on said pin cooling holes, the manipulator mounting plate equipped with cooling channels, the manipulator mounting plate provided with a nozzle for spraying.

[0007] 所述夹爪I和夹爪II的抓取端上均设有手指块。 [0007] The gripping jaws on the jaw of the I and II are provided with finger blocks.

[0008] 所述驱动块为夹紧楔块,与夹紧楔块相配合的夹爪I和夹爪II同一端之间设有拉伸弹費。 [0008] clamping wedge said drive block, the clamping wedge cooperating jaw I and has a tensile elastic jaw II charges between the same end.

[0009] 所述机械手安装板上设有用于检测是否抓到工件的检测器。 [0009] The robot mounting plate provided with a detector for detecting whether a workpiece is caught.

[0010] 所述手指块为耐高温的手指块。 [0010] fingers of the finger block is a block of high temperature.

[0011] 所述手指块通过可拆卸结构安装在夹爪I和夹爪II上。 [0011] The finger is mounted on the jaw blocks I and II by a detachable jaw structure.

[0012] 所述机械手安装板和夹紧楔块之间设有导向结构。 [0012] The robot is provided with a guide structure between the mounting plate and the clamping wedge.

[0013] 本发明与现有技术相比,具有以下优点: [0013] Compared with the prior art the present invention has the following advantages:

[0014] 本抓取机械手只有一个转动铰接点,结构简单,成本低;机械手的前半段与后半段之间有冷却结构,机械手关节不易卡死或松动,同时可保证后半段温度不过高,动力缸与前半段距离很远,提高了气缸的使用寿命,抓取高温工件稳定可靠;机械手爪经过耐高温手指与工件接触,隔热性和通用性好,机械手后半段具有工件有无检测功能,可判断机械手是否已经夹持到工件,提高自动化程度。 [0014] The present gripping manipulator only a rotation hinge point, simple structure and low cost; a cooling structure between the front half and the rear half of the robot, the robot joint easy to get stuck or loose, while ensuring the latter half of the temperature too high , the first-half power cylinder is some distance away, improve the life of the cylinder, stable and reliable gripping of high temperature part; manipulator through finger contact with the workpiece temperature, good thermal insulation properties and versatility, with half of the robot whether the workpiece detection function, the robot may be determined whether the workpiece has been clamped to improve the degree of automation.

附图说明 BRIEF DESCRIPTION

[0015] 下面对本说明书各幅附图所表达的内容及图中的标记作简要说明: [0015] Next, the contents and expressed in FIG various figures of the present specification, a brief description of numerals:

[0016] 图1为本发明抓取机械手结构示意图。 [0016] FIG. 1 is a schematic structural gripping robot of the present invention.

[0017] 图中:1.机械手安装板、2.转销、3.夹爪1、4.夹爪I1、5.手指块、6.随动滚子、7.拉伸弹簧、8.夹紧楔块、9.感应杆、10.工件检测开关、11.气缸。 [0017] FIG: a robot mounting plate, pin 2, 3, 4 jaw jaw I1,5 finger block, the follower roller 6, a tension spring 7, 8 clip..... wedge blocks, 9 induction rod 10. workpiece detecting switch, 11 a cylinder.

具体实施方式 detailed description

[0018] 下面对照附图,通过对实施例的描述,对本发明的具体实施方式作进一步详细的说明。 [0018] The following reference to the drawings, description of embodiments, specific embodiments of the present invention will be further described in detail.

[0019] 如图1所示,该用于高温工作的工件抓取机械手,包括机械手安装板1、动力缸、夹爪I 3、夹爪II 4,其中,夹爪I 3和夹爪II 4相对应设置,夹爪I 3和夹爪II 4之间通过转销2相铰接,转销2固定在机械手安装板I 一端上,两个夹爪之间可以相对转动。 [0019] 1, for the high temperature operation of the workpiece gripper robot, the robot including a mounting plate 1, the power cylinder, I 3 jaws, the jaws II 4, wherein the jaws and the jaws I 3 II 4 corresponding set, I fixed jaw to the robot mounting an end plate I can be relative rotation between the two jaws 3 and 4 between the jaw II hinged by pin 2, pin 2.

[0020] 两个夹爪一端为夹取工件端,两个夹爪的另一端为驱动端,两个夹爪通过驱动端的相对运动,带动两个夹爪一端相对运动,实现夹取工件工作。 [0020] One end of the two jaws of the workpiece gripping ends, two jaws of the other end of the drive end, the two jaws by relative movement of the drive end, driven by the relative movement of the two jaws at one end, the work piece gripping achieved. 该机械手只有一个铰接点,结构简单。 The robot is only one hinge point, a simple structure.

[0021] 动力缸为气缸11,气缸11安装固定在机械手安装板I另一端上,气缸11的活塞杆端部设有用于驱动夹爪I和夹爪II同一端相对运动的驱动块。 [0021] The power cylinder 11 is a cylinder, the cylinder 11 is attached to the robot mounting plate fixed to the other end I, the piston rod end of the cylinder 11 is provided with I and II in the same driving block end opposite the jaws for driving the jaws movement. 该驱动块为夹紧楔块8,与夹紧楔块相配合的夹爪I和夹爪II同一端之间设有拉伸弹簧7。 The drive block 8 as the clamping wedge, the wedge cooperating with the clamping jaws and jaw I tension spring 7 is provided between the same end II. 夹紧楔块两个相对称的斜面分别与两个夹爪相接触,通过夹紧楔块相对转销的运动,来驱动两个夹爪的驱动端的相对运动,从而带动两个夹爪的夹取工件端相对运动。 Said two opposing clamping wedges are in contact with the inclined surface the two jaws, the clamping wedge by the relative movement of pins to drive the two jaws relative movement of the drive end, so as to drive the two clamp jaws take the end of the workpiece relative movement.

[0022] 在两个夹爪相对应的驱动端上均设有随动滚子6,随动滚子6与夹紧楔块8接触,驱动时夹紧楔块与夹爪之间为滚动摩擦,减小驱动阻力以及摩擦,提高工作的稳定性和可靠性。 [0022] clamping jaws on the two ends of the corresponding drive are provided with follower rollers 6, the follower roller 6 in contact with the clamping wedge 8, the clamping when the wedge is driven between the rolling friction and jaw , driving resistance and reducing friction, improving stability and reliability of the work.

[0023] 机械手安装板I和夹紧楔块8之间设有导向结构。 [0023] provided between the guide structure 8 and the robot mounting plate I clamping wedge. 导向结构包括设在机械手安装板I的导向槽,导向槽位于转销与气缸之间,夹紧楔块的下部设有与导向槽相适配的滑块,通过导向槽与滑块的配合对夹紧楔块运动准确导向。 The guide structure comprises a mounting plate provided on the manipulator I guide groove, the guide groove is positioned between the pin and the cylinder, the lower portion of the clamping wedge is provided with a guide groove adapted to slide by the guide groove of the slider to fit clamping wedge accurate motion guide.

[0024] 随动滚子6与夹紧楔块8相切,在拉伸弹簧7的作用下,随动滚子6与夹紧楔块8保持接触,夹紧楔块可沿安装板的导向槽前后滑动,夹紧楔块与气缸的活塞杆相连,气缸前推时,夹紧工件,气缸后退时,在拉伸弹簧7的作用下,放松工件,自动回位。 [0024] follower roller 6 and the tangent to the clamping wedge 8, under the action of the tension spring 7, the follower roller 6 is held in contact with the clamping wedge 8, the clamping wedge may be directed along the mounting plate before and after the groove is connected to the slide, the clamping wedge and the cylinder piston rod is pushed front cylinder, clamp the workpiece, the cylinder retracted, under the action of the tension spring 7, the relaxing of the workpiece, the automatic return.

[0025] 夹爪I 3和夹爪II 4的抓取端上均设有手指块5,手指块5为耐高温的手指块。 [0025] clamping jaws I 3 and the gripping end of the jaw II 4 are block 5 is provided with a finger, the finger is a finger block 5 of refractory blocks. 手指块5通过螺钉固定在夹爪上,损坏后可随时进行更换,维修方便。 Finger block 5 is fixed by screws on the jaws, the damage can be replaced at any time, and easy maintenance. 耐高温的手指块可按工件的外形制造,提高夹紧的可靠性,通过手指块使得两个夹爪不与高温工件直接接触,提高了机械手的使用寿命和适应性。 Manufacturing a finger block shape workpiece temperature can improve the reliability of the clamping, by a finger block of two such jaws are not in direct contact with the high temperature part, increases the life of the robot and adaptability.

[0026] 转销2上设有冷却孔。 2 is provided with cooling holes on the [0026] pin. 冷却孔可为气孔,或者与冷却水管相连,通过流经冷却水带走热量。 Cooling holes can be air holes or connected with the cooling pipe to remove heat from the cooling water flowing through. 机械手的前半段与后半段之间冷却孔,使机械手关节不易卡死或松动,同时可保证后半段温度不过高。 Between the first half and the second half of cooling holes robot, the robot joint easy to get stuck or loose, while ensuring the second half excessively high temperatures.

[0027] 进一步的,在机械手安装板I内设有冷却通道,冷却通道与冷却水管相连,冷却通道内流经冷却水,保证机械手后半段温度不过高,提高机械手工作的可靠性,适用于温度较高的热锻造自动上下料的抓取。 [0027] Further, in the robot mounting plate I equipped with cooling channels connected to a cooling passage of the cooling water flowing through the cooling water in the cooling channel, to ensure that half of the temperature after the robot too high, improving the reliability of the robot work for high temperature hot forging automatic loading and unloading of the gripper.

[0028] 机械手安装板I上设有用于喷雾的喷嘴。 Provided with a nozzle for spraying the [0028] robot mounting plate I. 通过机械手抓取高温的工件时,通过喷嘴喷雾,在高温的工件四周形成有水雾,降低热辐射,改善工人的操作环境。 When gripping the workpiece by the robot high temperature, sprayed through a nozzle, formed in the workpiece surrounded by a high-temperature mist, reducing the heat radiation, improve the operating environment of workers.

[0029] 机械手安装板I上设有用于检测是否抓到工件的检测器;其中,检测器包括感应杆9和工件检测开关10,感应杆9设在活塞杆上,工件检测开关10设在机械手安装板上,两者的位置相对应,通过设定感应杆与工件检测开关的位移关系,可检测机械手是否抓到工件,并将信号反馈给控制系统,提高自动化程度,降低工人的劳动强度,提高生产效率。 Is provided for detecting the [0029] I a robot mounting plate whether caught workpiece detector; wherein the detector comprises a sensing lever detection switch 9 and the workpiece 10, sensing rod disposed on the piston rod 9, the workpiece detecting switch 10 provided in the manipulator mounting plate, corresponding to both positions, by setting the relationship between the displacement of the workpiece sensing lever detection switch can detect if the robot is caught workpiece, and a feedback signal to the control system, increase the degree of automation, reduce labor intensity, Increase productivity.

[0030] 上面结合附图对本发明进行了示例性描述,显然本发明具体实现并不受上述方式的限制,只要采用了本发明的构思和技术方案进行的各种非实质性的改进,或未经改进将本发明的构思和技术方案直接应用于其它场合的,均在本发明的保护范围之内。 Binding [0030] The above figures of the present invention has been exemplarily described, the present invention is embodied clearly not limited to the above embodiment, as long as using the spirit and aspect of the present invention various non-substantial improvements, or the improved techniques and concepts of the present invention is directly applicable to other applications, it is within the scope of the present invention.

Claims (7)

1.一种用于高温工作的工件抓取机械手,包括相对应的夹爪I和夹爪II,所述夹爪I和夹爪II之间通过转销相铰接,其特征在于:还包括机械手安装板和动力缸,所述转销和动力缸均设在机械手安装板上,所述动力缸的活塞杆上设有用于驱动夹爪I和夹爪II同一端相对运动的驱动块;所述转销上设有冷却孔,所述机械手安装板内设有冷却通道,所述机械手安装板上设有用于喷雾的喷嘴。 1. A method for high temperature work gripping robot, including the corresponding jaw I and II jaw, the jaw is articulated by pins between the jaws I and II, characterized by: further comprising a manipulator mounting plate and cylinder power, cylinder power and the pins are located in the robot mounting plate, provided with jaws for driving the jaws I and II in the same driving block relative movement on the piston rod end of the power cylinder; the the pin is provided with cooling holes, the manipulator mounting plate equipped with cooling channels, the manipulator mounting plate provided with a nozzle for spraying.
2.如权利要求1所述用于高温工作的工件抓取机械手,其特征在于:所述夹爪I和夹爪II的抓取端上均设有手指块。 2. The high temperature for a workpiece gripping manipulator claim, wherein: said gripping end of the jaw on the jaw I and II are provided with finger blocks.
3.如权利要求1所述用于高温工作的工件抓取机械手,其特征在于:所述驱动块为夹紧楔块,与夹紧楔块相配合的夹爪I和夹爪II同一端之间设有拉伸弹簧。 3. The high temperature operation for a workpiece gripping robot as claimed in claim, characterized in that: said drive block clamping wedge, the wedge cooperating with the clamping jaws I and II at the same end of the jaw room with a tension spring.
4.如权利要求1所述用于高温工作的工件抓取机械手,其特征在于:所述机械手安装板上设有用于检测是否抓到工件的检测器。 4. The high temperature operation for a workpiece gripping robot as claimed in claim, characterized in that: the manipulator mounting plate provided with a detector for detecting whether a workpiece is caught.
5.如权利要求2所述用于高温工作的工件抓取机械手,其特征在于:所述手指块为耐高温的手指块。 5. The workpiece 2 for high-temperature operation of the robot gripping claim, wherein: said finger is a finger block of refractory blocks.
6.如权利要求2所述用于高温工作的工件抓取机械手,其特征在于:所述手指块通过可拆卸结构安装在夹爪I和夹爪II上。 6. The workpiece 2 for high-temperature operation of the robot gripping claim, wherein: said finger block is removably mounted on the jaw structures I and II by the jaws.
7.如权利要求3所述用于高温工作的工件抓取机械手,其特征在于:所述机械手安装板和夹紧楔块之间设有导向结构。 7. The workpiece 3 for high-temperature operation of the robot gripping claim, wherein: said robot is provided with a clamping mounting plate and wedge between the guide structure.
CN 201510267217 2015-05-22 2015-05-22 Workpiece griping manipulator for high-temperature operation CN104842350A (en)

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CN203045828U (en) * 2013-01-18 2013-07-10 立本集团有限公司 Clamping mechanism of automatic pipe cutter
CN203649278U (en) * 2013-12-26 2014-06-18 中国重汽集团济南动力有限公司 Cooling device for forging line loading manipulator
CN103817691A (en) * 2014-03-06 2014-05-28 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof
CN203843140U (en) * 2014-05-27 2014-09-24 苏州小鹰铸造装备有限公司 Die casting product taking mechanism
CN203973554U (en) * 2014-06-06 2014-12-03 温州职业技术学院 Enhanced manipulator based on self-cooling paw
CN203994560U (en) * 2014-06-23 2014-12-10 亿和精密工业(苏州)有限公司 Manipulator material taking jig
CN204604325U (en) * 2015-05-22 2015-09-02 芜湖陀曼精机科技有限公司 A work piece snatchs manipulator for high temperature work

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105538335A (en) * 2016-02-22 2016-05-04 上海理工大学 Flavoring and casing detachable multi-functional gripper for laboratories
CN106003664A (en) * 2016-07-29 2016-10-12 苏州高通机械科技有限公司 Special manipulator for bottle preform

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