CN104889981A - Net grabbing robot for building wallboard forming system and control method thereof - Google Patents
Net grabbing robot for building wallboard forming system and control method thereof Download PDFInfo
- Publication number
- CN104889981A CN104889981A CN201510273347.8A CN201510273347A CN104889981A CN 104889981 A CN104889981 A CN 104889981A CN 201510273347 A CN201510273347 A CN 201510273347A CN 104889981 A CN104889981 A CN 104889981A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- telescopic cylinder
- original position
- state
- magnetic valve
- 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
Abstract
The invention discloses a robot used for grabbing and placing net-shaped materials of a building wallboard forming system and a control method thereof. The robot comprises a base, a rotating device, a telescopic device and a net grabbing device. The robot is used for grabbing the net-shaped materials conveyed by a net shearing machine in the building wallboard forming process and putting the net-shaped materials into a die frame. By means of the robot and the control method, the non-magnetic net-shaped material grabbing problem is solved, and the defects that an iron net is too thin, the electromagnet absorption force is insufficient after surface chroming is conducted, the absorption face of the iron net is too small due to net bending, deformation and distortion in the conveying process, and it is difficult to clamp are overcome.
Description
Technical field
The present invention relates to the automatic Sheetmaking systems of building wall board, be specifically related to a kind ofly grab Web robot and control method thereof for building wall board formation system.
Background technology
Partition plate for building refers to the prefabricated batten of body of wall for interior of building partition wall, is the main material of non-load bearing inner partition wall of general industry building, residential architecture, public works.Partition plate mainly comprises glass fiber reinforced cement batten, iron wire refinforced cement batten, lightweight concrete batten, compound sandwich light lath etc.Partition plate for building requires that wallboard has the features such as unit weight is light, body of wall is thin, easy construction, except need possessing above-mentioned material feature, also requires that cost is low, and has good mechanical property and physical property.
Along with the development of mechanical automation, building wall board adopts the Sheetmaking systems of automation substantially.When producing wallboard, in order to strengthen the mechanical property of wallboard, often to place Web materials in wallboard inside, in Sheetmaking systems, often adopting and grabbing Web robot to complete the crawl of above-mentioned Web materials.
In prior art, grab that Web robot mainly undertakies capturing by Current Control electromagnet, often there is following problem in aforesaid way: 1. normally used in Sheetmaking systems is chromium plating electric welding iron net, and iron-holder is lower, and absorption affinity is very little.When increasing electromagnet, absorption affinity increases, but due to send in network process can cause iron net to a certain degree bending, stretch and distortion, thus cause electromagnet and iron net contact area to diminish, absorption affinity is still not enough.2. wall board forming reinforcement material, is not limited to iron net, adopts the method for electromagnet not to be suitable for non-ferric net materials and captures.
Summary of the invention
An object of the present invention is to provide a kind ofly grabs Web robot for building wall board formation system, and to solve existing employing electromagnet, to carry out crawl absorption affinity little, can only capture the problem of iron net.
This programme grabs Web robot for building wall board formation system, comprise base, the side of base is provided with the first bearing, first holder top is provided with rotary cylinder, the top of rotary cylinder is connected with rotating shaft, rotating shaft is fixed with support body, the outside of support body is provided with the second bearing, second holder top is provided with the first telescopic cylinder, the piston rod of the first telescopic cylinder is connected by the cylinder bottom of the first connector with the second telescopic cylinder vertically arranged, the piston rod of the second telescopic cylinder is connected with horizontally disposed bracket by the second connector, described bracket is symmetrically arranged with at least two two-way cylinders, the bottom of two-way cylinder is provided with two-way cylinder and drives the scissors hand opening or close.
Beneficial effect of the present invention: adopt the scissors hand of similar scissors as grabbing device, during work, first scissors hand is inserted in the mesh of Web materials, then open at the drive lower scissors hand of two-way cylinder and block mesh, under the drive of the second telescopic cylinder, propose the crawl that can complete Web materials.This programme grab the Web materials that Web robot can capture any material, practical.And solve because iron net iron-holder is low, iron net bends, to be out of shape the electromagnet absorption affinity that causes inadequate, capture unstable problem.
Further, be arranged with sleeve outside rotating shaft, be also provided with gripper shoe in the side of base, the end face of gripper shoe has the curved surface identical with excircle of sleeve curvature, and the end face of gripper shoe and the cylindrical of sleeve offset.Outside rotating shaft, sleeve is set, rotating shaft is played every dirty protective effect.Outside sleeve, arrange gripper shoe, because the end face of gripper shoe and the cylindrical of sleeve offset, gripper shoe is played a supporting role to sleeve, prevents rotating shaft when rotated, sleeve Radial Perturbation.
Further, the present invention also comprises the linear bearing being arranged on the second rest base, and the piston rod of linear bearing end and the first telescopic cylinder is fixed.By setting up linear bearing in the bottom of the second bearing, when the first telescopic cylinder runs, linear bearing can shrink with the first telescopic cylinder, the first telescopic cylinder is played to the effect of motion guide and reinforcing, avoids the long-time lateral force of the first telescopic cylinder and damage.
Further, the present invention also comprises guider, guider comprises the first terminal pad being fixed on the second telescopic cylinder cylinder head and the second terminal pad be fixed on described bracket, first terminal pad is provided with pilot hole, be equipped with guide post in pilot hole, the lower end of guide post is fixed on described second terminal pad.Guider prevents the piston rod of the second telescopic cylinder from rotating in telescopic process, causes the deviation of crawl position, and makes scissors hand can not accurately insert mesh.
Further, the middle part of bracket is provided with " ten " word reinforcement, plays reinforcement effect to bracket.
Further, the present invention also comprises the installing plate be arranged on bracket, installing plate has vertical bar hole, and two-way cylinder is threaded connection to be installed on a mounting board at the screw of bar hole.Because screw thread is connected in bar hole, therefore, the position by up-down adjustment screw regulates the upper-lower position of two-way cylinder.
Further, the end of scissors hand and the piston rod of two-way cylinder are flexible coupling.When avoiding work, scissors hand blocks, and makes the piston rod of two-way cylinder stuck, damages two-way cylinder.
Another object of the present invention is to provide a kind of control method of grabbing Web robot for building wall board formation system, comprises the following steps:
1st step, receives after pickup starts triggering signal, detects rotary cylinder home position sensing, judge whether rotary cylinder is in " original position " state, if current rotary cylinder is not in original position, then wait for that rotary cylinder gets back to original position, if be in original position, then enter the 2nd step;
2nd step, detect the first telescopic cylinder home position sensing, judge whether the first telescopic cylinder is in " original position " state, if in position, do not wait for that telescopic cylinder gets back to home state, if the original position of being in, then open magnetic valve, the first telescopic cylinder stretches out forward, when the first telescopic cylinder stretch out put in place time, enter the 3rd step;
3rd step, detect the second telescopic cylinder home position sensing, judge whether the second telescopic cylinder is in " original position " state, if not state in position, then wait for that the second telescopic cylinder gets back to original position, if the original position of being in, open magnetic valve, second telescopic cylinder stretches out downwards, when cylinder stretch out put in place time, scissors hand extend in the mesh of Web materials, enters the 4th step;
4th step, detect two-way cylinder home position sensing, judge whether two-way cylinder is in " original position " state, if in position, do not wait for that two-way cylinder gets back to original position, if the original position of being in, open magnetic valve, two-way cylinder piston rod stretches out to both sides, is opened by scissors hand, capture Web materials, enter the 5th step;
5th step, close the second telescopic cylinder magnetic valve, the second telescopic cylinder upwards shrinks, and when the second telescopic cylinder is retracted to original position, enters the 6th step;
6th step, closes the first telescopic cylinder magnetic valve, the first telescopic cylinder to recovery contracting, when the first cylinder stretch out be retracted to original position time, enter the 7th step;
7th step, pickup is complete, waits for and send part signal to trigger;
8th step, receives after sending part to start triggering signal, detects pickup and completes buffer status, if pickup does not complete, then waits for that pickup completes, if complete pickup, then enters the 9th step;
9th step, detects rotary cylinder home position sensing, judges whether rotary cylinder is in " original position " state, if current rotary cylinder is not in original position, wait for that rotary cylinder gets back to original position, if be in original position, then open magnetic valve, rotary cylinder is rotated, after putting in place, enter the 10th step;
10th step, detect the first telescopic cylinder home position sensing, judge whether the first telescopic cylinder is in " original position " state, if in position, do not wait for that the first telescopic cylinder gets back to home state, if the original position of being in, then open magnetic valve, the first telescopic cylinder stretches out forward, when the first telescopic cylinder stretch out put in place time, enter the 11st step;
11st step, detect the second telescopic cylinder home position sensing, judge whether telescopic cylinder is in " original position " state, if not state in position, then wait for that the second telescopic cylinder gets back to original position, if the original position of being in, open magnetic valve, the second telescopic cylinder stretches out downwards, when stretch out put in place time, enter the 12nd step;
12nd step, detect two-way cylinder home position sensing, judge whether two-way cylinder is in " original position " state, if not in position, then wait for that two-way cylinder gets back to original position, if the original position of being in, shut electromagnetic valve, two-way cylinder piston steps up to centre, scissors hand is closed up, unclamps Web materials, enter the 13rd step;
13rd step, close the second telescopic cylinder magnetic valve, the second telescopic cylinder upwards shrinks, and when being retracted to original position, enters the 14th step;
14th step, close the first telescopic cylinder magnetic valve, the first telescopic cylinder upwards shrinks, and when being retracted to original position, enters the 15th step;
15th step, send part complete, waits for pickup part triggering signal.
By above-mentioned control method of grabbing Web robot, the crawl of the Web materials of any material can be realized, and adopt scissors hand as grabbing device, capture more firmly stable.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention;
Fig. 2 is schematic diagram when scissors hand opens under two-way cylinder drives in Fig. 1;
Fig. 3 is the scissors hand pickup control flow chart of grabbing Web robot for building wall board formation system in Fig. 1 embodiment;
Fig. 4 is that the scissors hand of grabbing Web robot for building wall board formation system in Fig. 1 embodiment send part control flow chart.
Detailed description of the invention
Below by detailed description of the invention, the present invention is further detailed explanation:
Reference numeral in Figure of description comprises: base 1, first bearing 2, support body 3, gripper shoe 4, rotary cylinder 5, sleeve 6, second bearing 7, first telescopic cylinder 8, linear bearing 9, second telescopic cylinder 10, guide post 11, first terminal pad 12, second terminal pad 13, bracket 14, two-way cylinder 15, scissors hand 16.
As shown in Figure 1 grab Web robot for building wall board formation system, during use, base is for being fixed on the column of briquetting machine in compression molding device.The side of base is welded with the first bearing, and the first holder top is provided with rotary cylinder, and the top of rotary cylinder is connected with rotating shaft, and rotary cylinder is for grabbing the rotation of Web robot's horizontal level.Be arranged with sleeve outside rotating shaft, be also provided with gripper shoe in the side of base, the end face of gripper shoe has the curved surface identical with excircle of sleeve curvature, and the end face of gripper shoe and the cylindrical of sleeve offset.
Rotating shaft is fixed with support body, and the outside of support body is welded with the second bearing, and the second holder top is provided with the first telescopic cylinder, and the first telescopic cylinder is used for the movable of robot.Linear bearing is fixed on the bottom of supporting seat by two pieces of fixing iron rings, the end of linear bearing and the piston rod of the first telescopic cylinder are fixed, and just can stretch with piston, play the effect strengthening piston rod intensity, prevent the piston rod side of the first telescopic cylinder to stressed for a long time, cause cylinder to damage.
The piston rod of the first telescopic cylinder is connected by the cylinder bottom of the first connector with the second telescopic cylinder vertically arranged, and the piston rod of the second telescopic cylinder is connected with horizontally disposed bracket by the second connector, and the middle part of bracket is provided with " ten " word reinforcement.In the present embodiment, also comprise guider, guider comprises the first terminal pad being fixed on the second telescopic cylinder cylinder head and the second terminal pad be fixed on " ten " word reinforcement, first terminal pad is provided with pilot hole, be equipped with guide post in pilot hole, the lower end of guide post is fixed on the second terminal pad.
Corner on bracket is symmetrically arranged with four two-way cylinders, and installing plate, for installing two-way cylinder, installing plate has vertical bar hole, and the screw that installing plate is threaded connection in bar hole is installed on a mounting board.The bottom of two-way cylinder is provided with two-way cylinder and drives the scissors hand opening or close.
Two-way cylinder has two pistons, and after air compressor machine passes into gas from different air admission hole, two pistons can be moved to both sides to intermediary movements with by centre by both sides.Two ends and two-way cylinder two pistons of scissors hand are flexible coupling, when piston open or closing motion time, scissors hand can open and closing motion with piston.
Be illustrated in figure 2 structural representation when scissors hand opens under the drive of the piston rod of two-way cylinder.
In the present embodiment, rotary cylinder, the first telescopic cylinder, the second telescopic cylinder and two-way cylinder are equipped with position sensor, whether are in " original position " or whether each cylinder operationally runs " putting in place " to detect each cylinder.The Web robot that grabs of the present embodiment adopts PLC to control.
As shown in Figure 3 and Figure 4, the control method of grabbing Web robot of the present embodiment building wall board formation system, comprises the following steps:
1st step, receive after pickup starts triggering signal, PLC detects rotary cylinder home position sensing, judge whether rotary cylinder is in " original position " state, if current rotary cylinder is not in original position, then wait for that rotary cylinder gets back to original position, if be in original position, then enter the 2nd step;
2nd step, detect the first telescopic cylinder home position sensing, judge whether the first telescopic cylinder is in " original position " state, if in position, do not wait for that telescopic cylinder gets back to home state, if the original position of being in, then open magnetic valve, the first telescopic cylinder stretches out forward, when the first telescopic cylinder stretch out put in place time, enter the 3rd step;
3rd step, detect the second telescopic cylinder home position sensing, judge whether the second telescopic cylinder is in " original position " state, if not state in position, then wait for that the second telescopic cylinder gets back to original position, if the original position of being in, open magnetic valve, second telescopic cylinder stretches out downwards, when cylinder stretch out put in place time, scissors hand extend in the mesh of Web materials, enters the 4th step;
4th step, detect two-way cylinder home position sensing, judge whether two-way cylinder is in " original position " state, if in position, do not wait for that two-way cylinder gets back to original position, if the original position of being in, open magnetic valve, two-way cylinder piston rod stretches out to both sides, is opened by scissors hand, capture Web materials, enter the 5th step;
5th step, close the second telescopic cylinder magnetic valve, the second telescopic cylinder upwards shrinks, and when the second telescopic cylinder is retracted to original position, enters the 6th step;
6th step, closes the first telescopic cylinder magnetic valve, the first telescopic cylinder to recovery contracting, when the first cylinder stretch out be retracted to original position time, enter the 7th step;
7th step, pickup is complete, and pickup completes register and puts 1, waits for and send part signal to trigger;
8th step, receives after sending part to start triggering signal, detects pickup and completes buffer status, if pickup does not complete, then waits for that pickup completes, if complete pickup, then enters the 9th step;
9th step, detects rotary cylinder home position sensing, judges whether rotary cylinder is in " original position " state, if current rotary cylinder is not in original position, wait for that rotary cylinder gets back to original position, if be in original position, then open magnetic valve, rotary cylinder is rotated, after putting in place, enter the 10th step;
10th step, detect the first telescopic cylinder home position sensing, judge whether the first telescopic cylinder is in " original position " state, if in position, do not wait for that the first telescopic cylinder gets back to home state, if the original position of being in, then open magnetic valve, the first telescopic cylinder stretches out forward, when the first telescopic cylinder stretch out put in place time, enter the 11st step;
11st step, detect the second telescopic cylinder home position sensing, judge whether telescopic cylinder is in " original position " state, if not state in position, then wait for that the second telescopic cylinder gets back to original position, if the original position of being in, open magnetic valve, the second telescopic cylinder stretches out downwards, when stretch out put in place time, enter the 12nd step;
12nd step, detect two-way cylinder home position sensing, judge whether two-way cylinder is in " original position " state, if not in position, then wait for that two-way cylinder gets back to original position, if the original position of being in, shut electromagnetic valve, two-way cylinder piston steps up to centre, scissors hand is closed up, unclamps Web materials, enter the 13rd step;
13rd step, close the second telescopic cylinder magnetic valve, the second telescopic cylinder upwards shrinks, and when being retracted to original position, enters the 14th step;
14th step, close the first telescopic cylinder magnetic valve, the first telescopic cylinder upwards shrinks, and when being retracted to original position, enters the 15th step;
15th step, send part complete, waits for pickup part triggering signal.
Above-described is only embodiments of the invention, and in scheme, the general knowledge such as known concrete structure and characteristic does not do too much description at this.Should be understood that; for a person skilled in the art, under the prerequisite not departing from structure of the present invention, some distortion and improvement can also be made; these also should be considered as protection scope of the present invention, and these all can not affect effect of the invention process and practical applicability.
Claims (8)
1. grab Web robot for building wall board formation system, it is characterized in that, comprise base, the side of base is provided with the first bearing, first holder top is provided with rotary cylinder, the top of rotary cylinder is connected with rotating shaft, rotating shaft is fixed with support body, the outside of support body is provided with the second bearing, second holder top is provided with the first telescopic cylinder, the piston rod of the first telescopic cylinder is connected by the cylinder bottom of the first connector with the second telescopic cylinder vertically arranged, the piston rod of the second telescopic cylinder is connected with horizontally disposed bracket by the second connector, described bracket is symmetrically arranged with at least two two-way cylinders, the bottom of two-way cylinder is provided with two-way cylinder and drives the scissors hand opening or close.
2. according to claim 1ly grab Web robot for building wall board formation system, it is characterized in that, sleeve is arranged with outside described rotating shaft, also gripper shoe is provided with in the side of described base, the end face of described gripper shoe has the curved surface identical with described excircle of sleeve curvature, and the end face of described gripper shoe and the cylindrical of described sleeve offset.
3. according to claim 1ly grab Web robot for building wall board formation system, it is characterized in that, also comprise the linear bearing being arranged on the second rest base, the piston rod of linear bearing end and the first telescopic cylinder is fixed.
4. according to claim 1ly grab Web robot for building wall board formation system, it is characterized in that, also comprise guider, described guider comprises the first terminal pad being fixed on the second telescopic cylinder cylinder head and the second terminal pad be fixed on described bracket, first terminal pad is provided with pilot hole, be equipped with guide post in pilot hole, the lower end of guide post is fixed on described second terminal pad.
5. according to claim 1ly grab Web robot for building wall board formation system, it is characterized in that, the middle part of described bracket is provided with " ten " word reinforcement.
6. according to claim 1ly grab Web robot for building wall board formation system, it is characterized in that, also comprise the installing plate be arranged on bracket, installing plate has vertical bar hole, two-way cylinder is threaded connection to be installed on a mounting board at the screw of bar hole.
7. according to claim 1ly grab Web robot for building wall board formation system, it is characterized in that, the end of described scissors hand and the piston rod of described two-way cylinder are flexible coupling.
8. the control method of grabbing Web robot of the building wall board formation system according to any one of claim 1-7, is characterized in that, comprise the following steps:
1st step, receives after pickup starts triggering signal, detects rotary cylinder home position sensing, judge whether rotary cylinder is in " original position " state, if current rotary cylinder is not in original position, then wait for that rotary cylinder gets back to original position, if be in original position, then enter the 2nd step;
2nd step, detect the first telescopic cylinder home position sensing, judge whether the first telescopic cylinder is in " original position " state, if in position, do not wait for that telescopic cylinder gets back to home state, if the original position of being in, then open magnetic valve, the first telescopic cylinder stretches out forward, when the first telescopic cylinder stretch out put in place time, enter the 3rd step;
3rd step, detect the second telescopic cylinder home position sensing, judge whether the second telescopic cylinder is in " original position " state, if not state in position, then wait for that the second telescopic cylinder gets back to original position, if the original position of being in, open magnetic valve, second telescopic cylinder stretches out downwards, when cylinder stretch out put in place time, scissors hand extend in the mesh of Web materials, enters the 4th step;
4th step, detect two-way cylinder home position sensing, judge whether two-way cylinder is in " original position " state, if in position, do not wait for that two-way cylinder gets back to original position, if the original position of being in, open magnetic valve, two-way cylinder piston rod stretches out to both sides, is opened by scissors hand, capture Web materials, enter the 5th step;
5th step, close the second telescopic cylinder magnetic valve, the second telescopic cylinder upwards shrinks, and when the second telescopic cylinder is retracted to original position, enters the 6th step;
6th step, closes the first telescopic cylinder magnetic valve, the first telescopic cylinder to recovery contracting, when the first cylinder stretch out be retracted to original position time, enter the 7th step;
7th step, pickup is complete, waits for and send part signal to trigger;
8th step, receives after sending part to start triggering signal, detects pickup and completes buffer status, if pickup does not complete, then waits for that pickup completes, if complete pickup, then enters the 9th step;
9th step, detects rotary cylinder home position sensing, judges whether rotary cylinder is in " original position " state, if current rotary cylinder is not in original position, wait for that rotary cylinder gets back to original position, if be in original position, then open magnetic valve, rotary cylinder is rotated, after putting in place, enter the 10th step;
10th step, detect the first telescopic cylinder home position sensing, judge whether the first telescopic cylinder is in " original position " state, if in position, do not wait for that the first telescopic cylinder gets back to home state, if the original position of being in, then open magnetic valve, the first telescopic cylinder stretches out forward, when the first telescopic cylinder stretch out put in place time, enter the 11st step;
11st step, detect the second telescopic cylinder home position sensing, judge whether telescopic cylinder is in " original position " state, if not state in position, then wait for that the second telescopic cylinder gets back to original position, if the original position of being in, open magnetic valve, the second telescopic cylinder stretches out downwards, when stretch out put in place time, enter the 12nd step;
12nd step, detect two-way cylinder home position sensing, judge whether two-way cylinder is in " original position " state, if not in position, then wait for that two-way cylinder gets back to original position, if the original position of being in, shut electromagnetic valve, two-way cylinder piston steps up to centre, scissors hand is closed up, unclamps Web materials, enter the 13rd step;
13rd step, close the second telescopic cylinder magnetic valve, the second telescopic cylinder upwards shrinks, and when being retracted to original position, enters the 14th step;
14th step, close the first telescopic cylinder magnetic valve, the first telescopic cylinder upwards shrinks, and when being retracted to original position, enters the 15th step;
15th step, send part complete, waits for pickup part triggering signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510273347.8A CN104889981B (en) | 2015-05-26 | 2015-05-26 | Net grabbing robot for building wallboard forming system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510273347.8A CN104889981B (en) | 2015-05-26 | 2015-05-26 | Net grabbing robot for building wallboard forming system and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104889981A true CN104889981A (en) | 2015-09-09 |
| CN104889981B CN104889981B (en) | 2017-03-22 |
Family
ID=54023149
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510273347.8A Active CN104889981B (en) | 2015-05-26 | 2015-05-26 | Net grabbing robot for building wallboard forming system and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104889981B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142053A (en) * | 2016-08-03 | 2016-11-23 | 璧垫旦 | A kind of multiple degrees of freedom automatic control manipulator |
| CN106276226A (en) * | 2016-08-24 | 2017-01-04 | 浩科机器人（苏州）有限公司 | A kind of robot gripper |
| CN107571272A (en) * | 2017-09-30 | 2018-01-12 | 迈克医疗电子有限公司 | Grabbing device condition detection method, device and system |
| CN108584412A (en) * | 2018-03-30 | 2018-09-28 | 山东七星实业有限公司 | A kind of lining transfer robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000026826A (en) * | 1998-10-23 | 2000-05-15 | 김형벽 | Robot hand |
| CN2900105Y (en) * | 2006-05-29 | 2007-05-16 | 中冶京诚工程技术有限公司 | Net sheet catching mechanism |
| CN202507275U (en) * | 2011-11-29 | 2012-10-31 | 长城汽车股份有限公司 | Automatic transportation device |
| CN102848387A (en) * | 2011-06-28 | 2013-01-02 | 苏州经贸职业技术学院 | Conveying manipulator system |
| CN203070664U (en) * | 2013-02-07 | 2013-07-17 | 哈尔滨职业技术学院 | Pneumatic mechanical arm experiment demonstration apparatus |
| CN203882524U (en) * | 2014-02-22 | 2014-10-15 | 山东栋梁科技设备有限公司 | Pneumatic manipulator training device using multiple control modes of PLC, single-chip microcomputer and computer |
-
2015
- 2015-05-26 CN CN201510273347.8A patent/CN104889981B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000026826A (en) * | 1998-10-23 | 2000-05-15 | 김형벽 | Robot hand |
| CN2900105Y (en) * | 2006-05-29 | 2007-05-16 | 中冶京诚工程技术有限公司 | Net sheet catching mechanism |
| CN102848387A (en) * | 2011-06-28 | 2013-01-02 | 苏州经贸职业技术学院 | Conveying manipulator system |
| CN202507275U (en) * | 2011-11-29 | 2012-10-31 | 长城汽车股份有限公司 | Automatic transportation device |
| CN203070664U (en) * | 2013-02-07 | 2013-07-17 | 哈尔滨职业技术学院 | Pneumatic mechanical arm experiment demonstration apparatus |
| CN203882524U (en) * | 2014-02-22 | 2014-10-15 | 山东栋梁科技设备有限公司 | Pneumatic manipulator training device using multiple control modes of PLC, single-chip microcomputer and computer |
Non-Patent Citations (1)
| Title |
|---|
| 于会敏等: "《网焊机专用机械手的设计》", 《辽宁科技学院学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142053A (en) * | 2016-08-03 | 2016-11-23 | 璧垫旦 | A kind of multiple degrees of freedom automatic control manipulator |
| CN106142053B (en) * | 2016-08-03 | 2018-05-01 | 嘉兴学院 | A kind of multiple degrees of freedom automatic control manipulator |
| CN106276226A (en) * | 2016-08-24 | 2017-01-04 | 浩科机器人（苏州）有限公司 | A kind of robot gripper |
| CN107571272A (en) * | 2017-09-30 | 2018-01-12 | 迈克医疗电子有限公司 | Grabbing device condition detection method, device and system |
| CN108584412A (en) * | 2018-03-30 | 2018-09-28 | 山东七星实业有限公司 | A kind of lining transfer robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104889981B (en) | 2017-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104889981A (en) | Net grabbing robot for building wallboard forming system and control method thereof | |
| CN202964652U (en) | Automobile half-axle-housing shot blasting machine feeding mechanical arm | |
| CN104859043A (en) | Intelligent building wallboard making control system and method | |
| CN212249274U (en) | Steel sheet shear force wall quick positioning connection structure in assembly type structure | |
| CN104131792B (en) | Hydraulic drill rig upper and lower drilling rod control system, conveyer device and control method automatically | |
| CN105129628A (en) | Prefabricated brick clamping and moving device | |
| CN108999193B (en) | Concrete dam pouring bin transverse joint face concrete intelligent vibrating device | |
| CN113714435A (en) | Special-shaped reinforcement framework forming welding equipment and construction method thereof | |
| CN212682886U (en) | Automatic feeding system for longitudinal steel bars | |
| CN213105259U (en) | Road and bridge steel reinforcement cage main reinforcement coaxial lap welding construction device | |
| CN210560535U (en) | Single-rail double-line automatic drill rod changing system | |
| CN211248726U (en) | Automatic welding machine for special-shaped steel beam | |
| CN207835310U (en) | Rotor assemble mechanism and rotor assembly equipment | |
| CN207812455U (en) | Municipal road construction places machine automatically with digging hole filling pile concrete-pouring template | |
| EP2087952A1 (en) | Method for welding the framework of a reinforced concrete structural element and corresponding welding device and machine | |
| CN219075446U (en) | Prefabricated post reinforcing bar fixture | |
| CN207447999U (en) | A kind of autoloader | |
| CN214489346U (en) | Quick switching floating gripper for friction rod driving of production line of cabin sending area | |
| CN117214009B (en) | Concrete prefab intensity detection device | |
| CN217953792U (en) | Curtain wall water test air tightness detection device | |
| CN219260226U (en) | Bus lifting frame with detection device | |
| CN220647201U (en) | Connecting piece for basement roof pipeline | |
| CN107905674A (en) | A kind of window automatic open device | |
| CN208879563U (en) | Construction steel bar bending apparatus | |
| CN211967920U (en) | Automatic tensioning equipment for prestressed concrete pole |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20151218 Address after: 400700 No. 256 Fangzheng Road, Beibei District, Chongqing Applicant after: CHONGQING DELING TECHNOLOGY CO., LTD. Address before: 400714, 256, fangzheng Road, water and soil Industrial Park, Beibei District, Chongqing Applicant before: Chongqing Co., Ltd of moral new engine people inspection center |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |