CN105058400A - Angle-adjustable manipulator - Google Patents

Angle-adjustable manipulator Download PDF

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Publication number
CN105058400A
CN105058400A CN201510418558.6A CN201510418558A CN105058400A CN 105058400 A CN105058400 A CN 105058400A CN 201510418558 A CN201510418558 A CN 201510418558A CN 105058400 A CN105058400 A CN 105058400A
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China
Prior art keywords
mount pad
sucker
fixed
manipulator
tumbler
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Granted
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CN201510418558.6A
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Chinese (zh)
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CN105058400B (en
Inventor
叶永安
李欢
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Foshan Pratic CNC Science and Technology Co Ltd
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Foshan Pratic CNC Science and Technology Co Ltd
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Priority to CN201510418558.6A priority Critical patent/CN105058400B/en
Publication of CN105058400A publication Critical patent/CN105058400A/en
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Publication of CN105058400B publication Critical patent/CN105058400B/en
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  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)

Abstract

Disclosed is an angle-adjustable manipulator. The angle-adjustable manipulator comprises an air cylinder mounting seat, a connecting shaft, a sucker mounting seat, suckers and a rotating part, wherein the multiple suckers are fixed to the sucker mounting seat, one end of the connecting shaft is vertically fixed to the middle of the air cylinder mounting seat, the other end of the connecting shaft penetrates the middle of the sucker mounting seat to be fixed to the rotating part, and the rotating part is fixed to the sucker mounting seat. Multiple-contact stable sucking of a workpiece is achieved, transferring is smoothly finished, steps of the whole process are simple, and the efficiency is high.

Description

A kind of manipulator of adjustable angle
Technical field
The present invention relates to the manipulator field driving sucker, particularly relate to a kind of manipulator of adjustable angle.
Background technology
Along with the development of modern manufacturing industry, a lot of action is simple, the station that repeatability is strong, and the operation such as pickup, location, placement as workpiece all adopts manipulator to replace manual operation.During by sucker picking up work piece, need first to be put down by multiple sucker to contact with surface of the work, in most cases, the suction inlet on it is all in the same level scope of operation, causes suction-operated not good in adsorption process because contact surface is few.
And when needing the absorption bevelled workpiece of tool, sucker mount pad drives the sucker on it to move closer to the inclined plane of workpiece, and due to the absorption surface of workpiece be inclined plane, some suckers first touch the high position in inclined plane and form extruding, while these suckers extruding inclined plane, according to the relativity of power, inclined plane also can give sucker with support force upwards simultaneously, according to the transitivity of power, sucker mount pad also can be subject to power upwards, thus hinder sucker mount pad to continue to move downward, the inclined plane of lower position cannot contact with sucker, then move up workpiece time grasp force inadequate, workpiece easily drops.
Summary of the invention
For above-mentioned defect, the object of the invention is to the manipulator proposing a kind of adjustable angle, the inclined-plane that can adapt to workpiece during this robot drives sucker regulates the height of sucker, completes the pickup of workpiece, enhances productivity.
For reaching this object, the present invention by the following technical solutions:
A kind of manipulator of adjustable angle; Comprise cylinder mount pad, connecting axle, sucker mount pad, sucker and tumbler, some described suckers are fixed on described sucker mount pad;
One end of described connecting axle is vertically fixed on the middle part of described cylinder mount pad, and the other end through the middle part of described sucker mount pad, and is fixed on described tumbler, and described tumbler is fixed on described sucker mount pad.
Further, described tumbler is spherical bearing or universal joint.
Further, also comprise the axis of guide, one end of the described axis of guide is vertically fixed on described cylinder mount pad, and the other end is installed in U-type groove; Described U-type groove is arranged on the edge of described sucker mount pad, and the openend of U-type groove is towards the arranged outside of described sucker mount pad.
Further, the both sides that two described axis of guides are fixed on described cylinder mount pad are relatively provided with.
Further, the center of described sucker mount pad bottom surface is protruded to the direction that workpiece is placed and is formed cavity body structure, and described tumbler is fixed in described cavity body structure.
Further, described sucker is suction type sucker.
Further, be provided with flange seat and be fixed on described cylinder mount pad, and fixing side is the lateral surface of relatively described sucker mount pad.
The present invention is by foregoing, and to the stable absorption of the multiconductor of workpiece, complete transfer smoothly, whole process steps is simple, and efficiency is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of one embodiment of the present of invention;
Fig. 2 is the longitudinal sectional view of one embodiment of the present of invention.
Wherein: cylinder mount pad 1, connecting axle 2, sucker mount pad 3, sucker 4; Top-pressure part 5, pneumatic springs 51, depression bar 52; Tumbler 6, the axis of guide 7, U-type groove 8, cavity body structure 9, backing plate 10, flange seat 11, workpiece 12.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
The constitutionally stable manipulator of a kind of adjustable angle; Comprise cylinder mount pad 1, connecting axle 2, sucker mount pad 3, sucker 4, telescopic top-pressure part 5 and tumbler 6, some described suckers 4 are fixed on described sucker mount pad 3; In the present embodiment, described tumbler 6 is spherical bearing or universal joint;
One end of described connecting axle 2 is vertically fixed on the middle part of described cylinder mount pad 1, and the other end through the middle part of described sucker mount pad 3, and is fixed on described tumbler 6, and described tumbler 6 is fixed on described sucker mount pad 3;
Described top-pressure part 5 is arranged between described cylinder mount pad 1 and sucker mount pad 3, and one end of described top-pressure part 5 is vertically fixed on described cylinder mount pad 1, and the other end is formed to extrude with described sucker mount pad 3 and contacts.
Workpiece 12 is inclined plane for the surface of adsorbing relative to sucker mount pad 3, when needing travelling workpiece 12, cylinder mount pad 1 is driven to drive each parts mounted thereto to move straight down, the sucker 4 on sucker mount pad 3 is made to move closer to the inclined plane of workpiece 12, and due to the absorption surface of workpiece 12 be inclined plane, some suckers 4 first touch the high position in inclined plane and form extruding, while these suckers 4 extrude inclined plane, according to the relativity of power, inclined plane also can give sucker 4 with support force upwards simultaneously, according to the transitivity of power, sucker mount pad 3 also can be subject to power upwards, thus hinder sucker mount pad 3 to continue to move downward, the inclined plane of lower position cannot contact with sucker, then move up workpiece 12 time grasp force inadequate, workpiece 12 easily drops.
As shown in Figures 1 and 2, in the technical program, one end of described connecting axle 2 is vertically fixed on the center of described cylinder mount pad 1, the other end is fixed on described tumbler 6 through behind the center of described sucker mount pad 3, and described tumbler 6 is fixed on the side of described sucker mount pad 3 described cylinder mount pad 1 dorsad, then when some suckers 4 first touch the high position in inclined plane and form extruding, after sucker mount pad 3 can be subject to power F1 upwards, due to the revolute pair that the tumbler 6 that sucker mount pad 3 is fixing is formed with the other end of connecting axle 2, then when connecting axle 2 keeps vertical state, the side of sucker mount pad 3 can under the effect being subject to F1, the opposite side of sucker mount pad 3 can be tilted to lower position one end of inclined plane, the sucker 4 of the opposite side being arranged on sucker mount pad 3 is just in time made to contact with workpiece 12, after again vacuum pumping being carried out to each sucker 4, complete the stable absorption of the multiconductor of workpiece 12, complete transfer smoothly, whole process steps is simple, efficiency is high.
And described top-pressure part 5 is arranged between described cylinder mount pad 1 and sucker mount pad 3, one end of top-pressure part 5 is vertically fixed on described cylinder mount pad 1, the other end is formed to extrude with described sucker mount pad 3 and contacts, then top-pressure part 5 moment is to the downward pressure of sucker mount pad 3, these pressure stabilitys position of sucker mount pad 3, rocking of left-right and front-back can not be there is, make the accurate absorption position caught on workpiece 12 of sucker 4.
Described top-pressure part 5 has pneumatic springs 51 and depression bar 52 head and the tail to be formed by connecting, and wherein, one end of pneumatic springs 51 is fixed on described cylinder mount pad 1, and depression bar 52 is located between described cylinder mount pad 1 and sucker mount pad 3.Top-pressure part 5 is made up of pneumatic springs 51 and depression bar 52 two parts, and pneumatic springs 51 provides elastic force, and can change the different pneumatic springs 51 of value of elastic according to concrete operating mode, depression bar 52 also can be changed in the case of damages at any time, easy to use.
Also comprise the axis of guide 7, one end of the described axis of guide 7 is vertically fixed on described cylinder mount pad 1, and the other end is installed in U-type groove 8; Described U-type groove 8 is arranged on the edge of described sucker mount pad 3, and the openend of U-type groove 8 is towards the arranged outside of described sucker mount pad 3.As shown in Figure 1, the other end of gathering sill 7 is limited in U-type groove 8, limits the rotation of cylinder mount pad 1, improves the accuracy that sucker 4 catches the absorption position on workpiece 12, raises the efficiency.
Be provided with the both sides that two described axis of guides 7 are fixed on described cylinder mount pad 1 relatively, four top-pressure parts 5 are one group with two and are oppositely arranged on described cylinder mount pad 1, and described top-pressure part 5 is arranged between two described axis of guides 7.
Structure is simple, and four top-pressure parts 5 form enough support forces, stablize the position of sucker mount pad 3, and rocking of left-right and front-back can not occur, and makes the accurate absorption position caught on workpiece 12 of sucker 4; Relatively fix two axis of guides 7, accordingly two U-type groove 8 are set at the edge of sucker mount pad 3, define the position of sucker mount pad 3 better and can not rotate, improve the accuracy that sucker 4 catches the absorption position on workpiece 12, raise the efficiency.
The center of described sucker mount pad 3 bottom surface is protruded to the direction that workpiece 12 is placed and is formed cavity body structure 9, and described tumbler 6 is fixed in described cavity body structure 9.
In the present embodiment, cavity body structure 9 is frame structure, this frame structure is that formation is protruded to the direction that workpiece 12 is placed in the center of described sucker mount pad 3 bottom surface, then the other end of connecting axle 2 is easier with the effect being placed on tumbler 6 forces occurring in cavity body structure 9, accelerate the speed that the lower one end of workpiece 12 inclined plane contacts with sucker 4, improve the efficiency of pickup.
Described sucker 4 is suction type sucker.Suction type sucker, convenient and practical, be the preferred version of quick pickup.
Be provided with backing plate 10 between described top-pressure part 5 and sucker mount pad 3, described backing plate 10 is fixed on described sucker mount pad 3; Described top-pressure part 5 is formed directly to extrude with backing plate 10 and contacts, and forms non-immediate extrude and contact with described sucker mount pad 3.
The mounting design of backing plate 10, the on the one hand padded platform of sucker mount pad 3, suitably can shorten the length of top-pressure part 5; On the other hand, shorten the distance between sucker mount pad 3 and level pressure part 5 lower surface, the scalable effect of level pressure part 5 is more obvious.
Be provided with flange seat 11 and be fixed on described cylinder mount pad 1, and fixing side is the lateral surface of relatively described sucker mount pad 2.Whole manipulator is fixed on other retractor devices by flange seat 11, and flange seat 11 is conventional accessory, so when manipulator is fixed by flange seat 11, assembling is flexibly, applied widely.。
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present invention, and these modes all will fall within protection scope of the present invention.
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present invention, and these modes all will fall within protection scope of the present invention.

Claims (7)

1. a manipulator for adjustable angle, is characterized in that: comprise cylinder mount pad, connecting axle, sucker mount pad, sucker and tumbler, and some described suckers are fixed on described sucker mount pad;
One end of described connecting axle is vertically fixed on the middle part of described cylinder mount pad, and the other end through the middle part of described sucker mount pad, and is fixed on described tumbler, and described tumbler is fixed on described sucker mount pad.
2. the manipulator of a kind of adjustable angle according to claim 1, is characterized in that: described tumbler is spherical bearing or universal joint.
3. the manipulator of a kind of adjustable angle according to claim 1, is characterized in that: also comprise the axis of guide, and one end of the described axis of guide is vertically fixed on described cylinder mount pad, and the other end is installed in U-type groove; Described U-type groove is arranged on the edge of described sucker mount pad, and the openend of U-type groove is towards the arranged outside of described sucker mount pad.
4. the manipulator of a kind of adjustable angle according to claim 2, is characterized in that: be provided with the both sides that two described axis of guides are fixed on described cylinder mount pad relatively.
5. the manipulator of a kind of adjustable angle according to claim 1, is characterized in that: the center of described sucker mount pad bottom surface is protruded to the direction that workpiece is placed and formed cavity body structure, and described tumbler is fixed in described cavity body structure.
6. the manipulator of a kind of adjustable angle according to claim 1, is characterized in that: described sucker is suction type sucker.
7. the manipulator of a kind of adjustable angle according to claim 1, is characterized in that: be provided with flange seat and be fixed on described cylinder mount pad, and fixing side is the lateral surface of relatively described sucker mount pad.
CN201510418558.6A 2015-07-16 2015-07-16 A kind of manipulator of adjustable angle Active CN105058400B (en)

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Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105336657A (en) * 2015-12-09 2016-02-17 北京中电科电子装备有限公司 Semiconductor gripping device
CN105383945A (en) * 2015-12-17 2016-03-09 合肥奥博特自动化设备有限公司 Grapnel type grasper
CN105600435A (en) * 2015-12-31 2016-05-25 苏州博众精工科技有限公司 Gripping device and product gripping method thereof
CN106003017A (en) * 2016-05-31 2016-10-12 中国计量学院 Expandable mechanical gripper
CN106949136A (en) * 2017-04-26 2017-07-14 深圳市明信测试设备有限公司 A kind of sucker quick-change mechanism
CN107088889A (en) * 2017-06-29 2017-08-25 迅得机械(东莞)有限公司 A kind of camera lens parts feeding manipulator
CN107139200A (en) * 2017-06-08 2017-09-08 杭州久耀自动化设备有限公司 A kind of vacuum grabbing device
CN107585554A (en) * 2017-04-26 2018-01-16 鲁东大学 Pressure leading type Space Rotating compensates fixture
CN107690377A (en) * 2017-04-27 2018-02-13 深圳配天智能技术研究院有限公司 Part grasping means and robot system, fixture based on robot system
CN108608451A (en) * 2018-04-28 2018-10-02 常熟理工学院 A kind of sucking disc type mechanical hand of plane self-adapted adjusting
CN109877871A (en) * 2019-04-10 2019-06-14 南京赫曼机器人自动化有限公司 A kind of universal adsorbent equipment
CN111120428A (en) * 2020-01-06 2020-05-08 广东博智林机器人有限公司 Hydraulic adjusting mechanism and paving and pasting robot with same
CN111452311A (en) * 2020-04-11 2020-07-28 杭州富阳华美五金塑料厂 Auxiliary material taking machine for injection mold
CN112045705A (en) * 2020-10-19 2020-12-08 浙江工业大学 Quick mechanical sucker device based on image recognition pneumatic adjustment automatic positioning
CN112318098A (en) * 2020-11-19 2021-02-05 珠海格力智能装备有限公司 Angle compensation tool and air conditioner production equipment
CN112605915A (en) * 2020-12-09 2021-04-06 南京三好新材料有限公司 Installation assembly of perovskite solar cell and use method thereof
CN113928853A (en) * 2021-10-11 2022-01-14 江苏如天光电科技有限公司 Turnover mechanism
CN114014010A (en) * 2021-11-19 2022-02-08 贵州慧联科技有限公司 Universal elastic sucker mechanism
CN114714074A (en) * 2022-03-07 2022-07-08 宁波均普智能制造股份有限公司 Automatic production line of electric compressor and electric compressor
CN115556130A (en) * 2022-12-06 2023-01-03 苏州浪潮智能科技有限公司 Arm is transported to work piece and inclined plane adsorbs manipulator thereof
CN116141295A (en) * 2023-04-19 2023-05-23 江南大学 Multi-branch configuration variable cooperative operation mechanical arm system
CN117184903A (en) * 2023-11-07 2023-12-08 四川名人居门窗有限公司 Glass suction disc vehicle
CN117302997A (en) * 2023-11-16 2023-12-29 大研机器人(定远县)有限责任公司 Flexible adsorption type stacking and carrying robot

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CN204183570U (en) * 2014-07-29 2015-03-04 泓荔斯通(天津)机械设备有限公司 A kind of sheet metal part assembling and disassembling manipulator
CN104552320A (en) * 2015-01-15 2015-04-29 中江志诚钢化玻璃制品有限公司 Pneumatic rotary absorbing system
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CN102470997A (en) * 2009-07-02 2012-05-23 韩国气压系统有限公司 Vacuum gripper device capable of angular displacement
CN103347660A (en) * 2011-02-11 2013-10-09 宝洁公司 Gripper assembly for moving device
JP2012218112A (en) * 2011-04-08 2012-11-12 Fanuc Ltd Robot hand including floating mechanism
CN202114734U (en) * 2011-06-24 2012-01-18 江苏腾通包装机械有限公司 Sucker type manipulator
CN203221516U (en) * 2013-05-14 2013-10-02 京东方科技集团股份有限公司 Mechanical arm
CN204183570U (en) * 2014-07-29 2015-03-04 泓荔斯通(天津)机械设备有限公司 A kind of sheet metal part assembling and disassembling manipulator
CN204382284U (en) * 2015-01-09 2015-06-10 哈尔滨职业技术学院 Car body catching robot is used in Sucked type vehicle assembling
CN104552320A (en) * 2015-01-15 2015-04-29 中江志诚钢化玻璃制品有限公司 Pneumatic rotary absorbing system

Cited By (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105336657A (en) * 2015-12-09 2016-02-17 北京中电科电子装备有限公司 Semiconductor gripping device
CN105383945A (en) * 2015-12-17 2016-03-09 合肥奥博特自动化设备有限公司 Grapnel type grasper
CN105383945B (en) * 2015-12-17 2018-07-13 合肥奥博特自动化设备有限公司 A kind of claw hook type handgrip
CN105600435B (en) * 2015-12-31 2017-12-22 苏州博众精工科技有限公司 Grabbing device and its method for capturing product
CN105600435A (en) * 2015-12-31 2016-05-25 苏州博众精工科技有限公司 Gripping device and product gripping method thereof
CN106003017A (en) * 2016-05-31 2016-10-12 中国计量学院 Expandable mechanical gripper
CN107585554A (en) * 2017-04-26 2018-01-16 鲁东大学 Pressure leading type Space Rotating compensates fixture
CN106949136B (en) * 2017-04-26 2022-11-29 深圳市明信测试设备股份有限公司 Quick replacement mechanism for sucker
CN106949136A (en) * 2017-04-26 2017-07-14 深圳市明信测试设备有限公司 A kind of sucker quick-change mechanism
CN107690377A (en) * 2017-04-27 2018-02-13 深圳配天智能技术研究院有限公司 Part grasping means and robot system, fixture based on robot system
CN107139200A (en) * 2017-06-08 2017-09-08 杭州久耀自动化设备有限公司 A kind of vacuum grabbing device
CN107088889A (en) * 2017-06-29 2017-08-25 迅得机械(东莞)有限公司 A kind of camera lens parts feeding manipulator
CN107088889B (en) * 2017-06-29 2023-03-31 迅得机械(东莞)有限公司 Lens part feeding manipulator
CN108608451A (en) * 2018-04-28 2018-10-02 常熟理工学院 A kind of sucking disc type mechanical hand of plane self-adapted adjusting
CN109877871A (en) * 2019-04-10 2019-06-14 南京赫曼机器人自动化有限公司 A kind of universal adsorbent equipment
CN111120428B (en) * 2020-01-06 2021-09-28 广东博智林机器人有限公司 Hydraulic adjusting mechanism and paving and pasting robot with same
CN111120428A (en) * 2020-01-06 2020-05-08 广东博智林机器人有限公司 Hydraulic adjusting mechanism and paving and pasting robot with same
CN111452311B (en) * 2020-04-11 2020-12-22 杭州富阳华美五金塑料厂 Auxiliary material taking machine for injection mold
CN111452311A (en) * 2020-04-11 2020-07-28 杭州富阳华美五金塑料厂 Auxiliary material taking machine for injection mold
CN112045705A (en) * 2020-10-19 2020-12-08 浙江工业大学 Quick mechanical sucker device based on image recognition pneumatic adjustment automatic positioning
CN112045705B (en) * 2020-10-19 2024-05-14 浙江工业大学 Quick mechanical sucker device based on image recognition and pneumatic adjustment and automatic positioning
CN112318098B (en) * 2020-11-19 2024-05-07 珠海格力智能装备有限公司 Angle compensation tool and air conditioner production equipment
CN112318098A (en) * 2020-11-19 2021-02-05 珠海格力智能装备有限公司 Angle compensation tool and air conditioner production equipment
CN112605915A (en) * 2020-12-09 2021-04-06 南京三好新材料有限公司 Installation assembly of perovskite solar cell and use method thereof
CN113928853A (en) * 2021-10-11 2022-01-14 江苏如天光电科技有限公司 Turnover mechanism
CN114014010A (en) * 2021-11-19 2022-02-08 贵州慧联科技有限公司 Universal elastic sucker mechanism
CN114014010B (en) * 2021-11-19 2023-09-01 贵州慧联科技有限公司 Universal elastic sucker mechanism
CN114714074A (en) * 2022-03-07 2022-07-08 宁波均普智能制造股份有限公司 Automatic production line of electric compressor and electric compressor
CN114714074B (en) * 2022-03-07 2023-09-22 宁波均普智能制造股份有限公司 Automatic production line of electric compressor and electric compressor
CN115556130A (en) * 2022-12-06 2023-01-03 苏州浪潮智能科技有限公司 Arm is transported to work piece and inclined plane adsorbs manipulator thereof
CN116141295A (en) * 2023-04-19 2023-05-23 江南大学 Multi-branch configuration variable cooperative operation mechanical arm system
CN117184903B (en) * 2023-11-07 2024-02-13 四川名人居门窗有限公司 Glass suction disc vehicle
CN117184903A (en) * 2023-11-07 2023-12-08 四川名人居门窗有限公司 Glass suction disc vehicle
CN117302997A (en) * 2023-11-16 2023-12-29 大研机器人(定远县)有限责任公司 Flexible adsorption type stacking and carrying robot

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