CN106144473A - A kind of mechanical hand location grasping mechanism - Google Patents

A kind of mechanical hand location grasping mechanism Download PDF

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Publication number
CN106144473A
CN106144473A CN201610702007.7A CN201610702007A CN106144473A CN 106144473 A CN106144473 A CN 106144473A CN 201610702007 A CN201610702007 A CN 201610702007A CN 106144473 A CN106144473 A CN 106144473A
Authority
CN
China
Prior art keywords
roller
grasping
location
mechanical hand
plate
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
Application number
CN201610702007.7A
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Chinese (zh)
Other versions
CN106144473B (en
Inventor
郑贵军
杨金玉
郑建明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Longkun automation equipment Co., Ltd
Original Assignee
Suzhou Lang Kun Automation Equipment Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou Lang Kun Automation Equipment Co Ltd filed Critical Suzhou Lang Kun Automation Equipment Co Ltd
Priority to CN201610702007.7A priority Critical patent/CN106144473B/en
Publication of CN106144473A publication Critical patent/CN106144473A/en
Application granted granted Critical
Publication of CN106144473B publication Critical patent/CN106144473B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0019End effectors other than grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B69/00Unpacking of articles or materials, not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22Devices influencing the relative position or the attitude of articles during transit by conveyors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/902Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2207/00Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
    • B65G2207/14Combination of conveyors

Abstract

The invention discloses a kind of mechanical hand location grasping mechanism, including carrier pipeline, carrier pipeline includes the feeding roller table conveyer belt set gradually, driven roller-way and location roller bed conveyors, location roller bed conveyors includes rack platform, rack platform surface configuration has some roller-ways, roller-way is connected with power drive mechanism, it is provided with lifting body below some roller-ways, lifting body top is provided with some top boards, top board is arranged between adjacent two roller-ways, clamping plate also it are provided with on roller-way two ends, two clamping plate are located at carrier pipeline on the first belt gear and are provided above dyestripping identification mechanism, roller bed conveyors side, location is additionally provided with base, six axis robot it is provided with on base, grasping mechanism it is provided with on six axis robot.Good positioning effect of the present invention, precision is high, and reduces manpower intervention, little to product injury.

Description

A kind of mechanical hand location grasping mechanism
Technical field
The present invention relates to haulage equipment field, be specifically related to a kind of mechanical hand location grasping mechanism.
Background technology
Before many large-scale product warehousings or use, as packing all due to outside carrier, so needing to arrange And identification, the mode of operation that existing general employing is artificial, but owing to product stacking is higher, there is bigger inconvenience, and product Surface has layer protecting film, can find information, extremely inconvenience after needing to tear on the identification code on surface, and manual Dyestripping is the most difficult, easily damages product surface.And when carrying typically also by a dead lift, need stronger work Power, although mechanical hand can replace manually, but nowadays mechanical hand cannot be competent at for bigger article, grasp stability pole Difference, fragile.
Summary of the invention
It is an object of the invention to the problem above overcoming prior art to exist, it is provided that a kind of mechanical hand location gripper Structure, good positioning effect of the present invention, precision is high, and reduces manpower intervention, little to product injury.
For realizing above-mentioned technical purpose, reaching above-mentioned technique effect, the present invention is achieved through the following technical solutions:
A kind of mechanical hand location grasping mechanism, including carrier pipeline, described carrier pipeline includes that set gradually enters Material roller bed conveyors, driven roller-way and location roller bed conveyors, described location roller bed conveyors includes rack platform, described support Platform surface is provided with some roller-ways, and described roller-way is connected with power drive mechanism, is provided with jacking below some described roller-ways Mechanism, described lifting body top is provided with some top boards, and described top board is arranged between adjacent two roller-ways, on roller-way two ends Also being provided with clamping plate, described cleat surface is provided with some roller-ways and dodges hole, and two described clamping plate are all set on the axis of guide, Being provided with axle sleeve between the described axis of guide and clamping plate, described axle sleeve is connected with Boards wall, described clamping plate is additionally provided with fixing Fixture block, described fixing fixture block is folded on the first belt gear, and the discharge end side of described location roller bed conveyors is arranged Having stop part, described carrier pipeline to be provided above dyestripping identification mechanism, roller bed conveyors side, described location is additionally provided with Base, described base is provided with six axis robot, described six axis robot is provided with grasping mechanism.
Further, described top board being evenly arranged with guide wheel, described guide wheel rotates along roller-way axial direction and arranges.
Further, described dyestripping identification mechanism includes portal frame, described portal frame is provided with and moves in the X-axis direction Slip girder, described slip girder is provided with the slip auxiliary girder moved along Z-direction, described slip auxiliary girder is provided with support Installing plate, is provided with two detection beams moved along Y direction, described detection beam is provided with two bottom described support mounting plate The individual mounting bracket moved in the X-axis direction, described mounting bracket is provided with sucker and barcode scanning camera.
Further, it is provided with lift cylinder between described mounting bracket and sucker, is provided with bottom described lift cylinder Horizontal adjustment plate, described horizontal adjustment plate is provided with Long Circle hole, is provided with spring avoiding mechanism, institute in described Long Circle hole State sucker to be arranged on bottom spring avoiding mechanism.
Further, described grasping mechanism includes basic framework, and described basic framework is along the dual-side of X-direction Being provided with guide rail, described guide rail is arranged along Y direction, and two described guide rails are provided with the first slide unit With the second slide unit, two described first slide units and first capture frame and connect, and two described second slide units and second capture frame and connect, Described first crawl frame and second captures and is provided with grasping plate on frame, also sets up in the basic framework that described guide rail is corresponding The second belt gear, the belt top of described second belt gear and bottom sandwiched respectively is had to be fixed with the first transmission Jig arm and the second transmission jig arm, described first transmission jig arm is fixedly installed on the first crawl frame, and described second transmission jig arm sets Put and capture on frame second.
Further, mounting plane plate is set in the middle part of described basic framework, is provided with in the middle of described mounting plane plate and weighs Sensor, is additionally provided with axle joined assemblies between described mounting plane plate and basic framework.
The invention has the beneficial effects as follows:
Move to bottom, be stopped by stop part bottom it, it is achieved rear and front end by carrier by the conveyer belt of roller-way structure Spacing, then by lifting body and clip board engagement, it is possible to make carrier lift up and realize the spacing of right position so that carry Tool position is always consistent, reduces the demand that mechanical hand efficiently positions, and accelerates grasp speed, promotes and captures effect.Use Driving belt mechanism is as the power of clamping plate, it is ensured that two clamping plate can synchronize mutually to move, and by the second motor-driven And proximity transducer, it is possible to the carrier adapting to arbitrary dimension uses, and the suitability is wide.By two lead screw gear and two The upper roof beam structure being respectively provided with bottom lead screw gear achieves omnibearing movement on horizontal plane, it is possible to adapt to the product of various sizes Product use, and dyestripping uses vacuum cup, will not damage product surface, it is to avoid artificial bad generation, when by fixed Behind roller bed conveyors location, position, it is possible to remove the location positioning between support mounting plate and location roller bed conveyors from, reduce location Mechanism gets involved, and improves precision.Arranged by the second belt gear enable to the grasping plate of both sides can relative motion, it is possible to Capture various sizes of product.When axle joined assemblies makes to capture, it is possible to have certain leeway of rocking, reduce weight to mechanical hand Impulsive force, improves service life.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of description, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after. The detailed description of the invention of the present invention is shown in detail in by following example and accompanying drawing thereof.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in embodiment of the present invention technology, in embodiment technology being described below The required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only some realities of the present invention Execute example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these accompanying drawings Obtain other accompanying drawing.
Fig. 1 is the overall structure schematic diagram of the present invention;
Fig. 2 is the location roller-way conveyer structure schematic diagram of the present invention;
Fig. 3 is the clamping plate part-structure schematic diagram of the present invention;
Fig. 4 is the suction cup portion structural representation of the present invention;
Fig. 5 is the grasping mechanism part-structure schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.
Referring to figs. 1 through shown in Fig. 5, a kind of mechanical hand location grasping mechanism, including carrier pipeline 1, carrier pipeline bag Including feeding roller table conveyer belt 2, driven roller-way 3 and the location roller bed conveyors 4 set gradually, location roller bed conveyors includes support Platform 5, rack platform surface configuration has some roller-ways 6, and roller-way is connected with power drive mechanism, is provided with top below some roller-ways Rising mechanism, lifting body top is provided with some top boards 7, and top board is arranged between adjacent two roller-ways, on roller-way two ends the most all Being provided with clamping plate 8, cleat surface is provided with some roller-ways and dodges hole 9, and two clamping plate are all set on the axis of guide 10, the axis of guide with Being provided with axle sleeve 11 between clamping plate, axle sleeve is connected with Boards wall, and clamping plate are additionally provided with fixing fixture block 12, fixing fixture block sandwiched On the first belt gear 13, the discharge end side of location roller bed conveyors is provided with stop part 14, on carrier pipeline Side is provided with dyestripping identification mechanism 15, and roller bed conveyors side, location is additionally provided with base 16, base is provided with six shaft mechanicals Hands 17, six axis robot is provided with grasping mechanism 18, and six axis robot side is additionally provided with puts roller bed frame 44.
Wherein, carrier is sent on stop part by location roller bed conveyors, it is achieved one end positions, then lifting body action Rise, it is possible to making top board by carrier jack-up, after carrier departs from conveyer belt, driving belt mechanism action, driving belt rotates through Fixing fixture block makes two clamping plate mutually draw close, and the position of carrier is limited adjustment by clamping plate further, is folded in location roller-way transmission Centre, makes every a batch of carrier all can be in same position on top board, it is simple to detection beam and mounting bracket are to carrier surface The thin film of product adsorbs and tears, and is identified information, also allows for grasping mechanism and captures.
Being evenly arranged with guide wheel 19 on top board, guide wheel rotates along roller-way axial direction and arranges, and holds up when guide wheel heads on carrier After, the pinching action of clamping plate can make carrier slide on guide wheel, and frictional force is little, and therefore the active force of clamping plate can reduce, dynamic Make more smooth and easy.
Dyestripping identification mechanism includes portal frame 20, and portal frame is provided with the slip girder 21 moved in the X-axis direction, and slides It is provided with the slip auxiliary girder 22 moved along Z-direction on girder, slip auxiliary girder is provided with support mounting plate 23, support mounting plate Bottom is provided with two detection beams 24 moved along Y direction, detection beam is provided with two installations moved in the X-axis direction and props up Frame 25, mounting bracket is provided with sucker 26 and barcode scanning camera 27.Detection beam and mounting bracket are mutually moved along X and Y-axis Cooperation realizes horizontal plane and moves, and is removed by the thin film of product surface by sucker, is produced by barcode scanning camera while removing Product information.
It is provided with lift cylinder 28 between mounting bracket and sucker, bottom lift cylinder, is provided with horizontal adjustment plate 29, water Being provided with Long Circle hole 30 on flat adjustable plate, be provided with spring avoiding mechanism 31 in Long Circle hole, sucker is arranged on spring and dodges Actuator base, vacuum cup can be firmly pressed on the film of product by lift cylinder, and spring avoiding mechanism then avoids vacuum to inhale Pressure on dish crosses macrolesion product, improves stability in use.
Grasping mechanism includes basic framework 32, and basic framework is provided with guide rail 33 along the dual-side of X-direction, Guide rail is arranged along Y direction, and two guide rails are provided with the first slide unit and the second slide unit, two the first slide units with First captures frame 36 connects, and two the second slide units and second capture frame 37 and connect, and the first crawl frame and second captures and is all provided with on frame It is equipped with grasping plate 38, in the basic framework that guide rail is corresponding, is additionally provided with the second belt gear 39, the second belt transmission The belt top of mechanism and bottom sandwiched respectively are fixed with the first transmission jig arm 40 and the second transmission jig arm 41, the first transmission jig arm Being fixedly installed on the first crawl frame, the second transmission jig arm is arranged on the second crawl frame.Integrated model can extend along Y direction And shortening, adapt to the product gripping of all size.
Mounting plane plate 42 is set in the middle part of basic framework, in the middle of mounting plane plate, is provided with LOAD CELLS, mounting plane Axle joined assemblies 43 it is additionally provided with, it is possible to just can learn the concrete weight of product when capturing between plate and basic framework, convenient fast Victory, and axle connects group when making to capture, it is possible to and having certain leeway of rocking, reduce the weight impulsive force to mechanical hand, raising makes Use the life-span.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention. Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one The widest scope caused.

Claims (6)

1. a mechanical hand location grasping mechanism, it is characterised in that: include that carrier pipeline, described carrier pipeline include successively The feeding roller table conveyer belt arranged, driven roller-way and location roller bed conveyors, described location roller bed conveyors includes rack platform, Described rack platform surface configuration has some roller-ways, described roller-way to be connected with power drive mechanism, sets below some described roller-ways Being equipped with lifting body, described lifting body top is provided with some top boards, and described top board is arranged between adjacent two roller-ways, roller Also being provided with clamping plate on two ends, road, described cleat surface is provided with some roller-ways and dodges hole, and two described clamping plate are all set in On the axis of guide, being provided with axle sleeve between the described axis of guide and clamping plate, described axle sleeve is connected with Boards wall, and described clamping plate also set Being equipped with fixing fixture block, described fixing fixture block is folded on the first belt gear, the discharge end of described location roller bed conveyors Side is provided with stop part, and described carrier pipeline is provided above dyestripping identification mechanism, roller bed conveyors side, described location It is additionally provided with base, described base is provided with six axis robot, described six axis robot is provided with grasping mechanism.
A kind of mechanical hand location the most according to claim 1 grasping mechanism, it is characterised in that: it is uniformly arranged on described top board Having guide wheel, described guide wheel rotates along roller-way axial direction and arranges.
A kind of mechanical hand location the most according to claim 1 grasping mechanism, it is characterised in that: described dyestripping identification mechanism bag Include portal frame, described portal frame is provided with the slip girder moved in the X-axis direction, described slip girder is provided with along Z axis The slip auxiliary girder of direction motion, described slip auxiliary girder is provided with support mounting plate, is provided with two bottom described support mounting plate The individual detection beam moved along Y direction, described detection beam is provided with two mounting brackets moved in the X-axis direction, described peace It is provided with sucker and barcode scanning camera on dress support.
A kind of mechanical hand location the most according to claim 3 grasping mechanism, it is characterised in that: described mounting bracket and sucker Between be provided with lift cylinder, be provided with horizontal adjustment plate bottom described lift cylinder, described horizontal adjustment plate be provided with length Circular port, is provided with spring avoiding mechanism in described Long Circle hole, described sucker is arranged on bottom spring avoiding mechanism.
A kind of mechanical hand location the most according to claim 1 grasping mechanism, it is characterised in that: described grasping mechanism bag Including basic framework, described basic framework is provided with guide rail along the dual-side of X-direction, and described guide rail is along Y-axis Direction is arranged, and two described guide rails are provided with the first slide unit and the second slide unit, two described first slide units and first Crawl frame connects, and two described second slide units and second capture frame and connect, and described first crawl frame and second captures and is all provided with on frame It is equipped with grasping plate, in the basic framework that described guide rail is corresponding, is additionally provided with the second belt gear, described second belt The belt top of drive mechanism and bottom sandwiched respectively are fixed with the first transmission jig arm and the second transmission jig arm, described first transmission Jig arm is fixedly installed on the first crawl frame, and described second transmission jig arm is arranged on the second crawl frame.
A kind of mechanical hand location the most according to claim 5 grasping mechanism, it is characterised in that: set in the middle part of described basic framework Put mounting plane plate, be provided with LOAD CELLS in the middle of described mounting plane plate, between described mounting plane plate and basic framework It is additionally provided with axle joined assemblies.
CN201610702007.7A 2016-08-22 2016-08-22 A kind of manipulator positions grasping mechanism Active CN106144473B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201610702007.7A CN106144473B (en) 2016-08-22 2016-08-22 A kind of manipulator positions grasping mechanism

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CN106144473B CN106144473B (en) 2018-02-27

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106891058A (en) * 2017-02-24 2017-06-27 温州市科泓机器人科技有限公司 Metal plate collects full-automatic assembly line
CN108555557A (en) * 2018-03-30 2018-09-21 歌尔股份有限公司 Tooling workbench
CN109607172A (en) * 2018-12-17 2019-04-12 成都保得物流有限公司 A kind of assembly line automatic dischargingapparatus
CN111169970A (en) * 2020-01-10 2020-05-19 广东伟创五洋智能设备有限公司 Automatic pad-changing rotating machine
CN111591537A (en) * 2020-05-23 2020-08-28 滁州尚诺自动化设备有限公司 Film-coated metal plate film scribing device and using method thereof

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CN103698916A (en) * 2013-12-23 2014-04-02 苏州博众精工科技有限公司 Pipeline type LCD (Liquid Crystal Display) mounting equipment
CN204701859U (en) * 2015-05-08 2015-10-14 西可通信技术设备(河源)有限公司 A kind of case for mobile telephone wiring
CN105501519A (en) * 2016-01-07 2016-04-20 苏州市璟硕自动化设备有限公司 Automatic packing system
CN104567697B (en) * 2015-01-21 2016-05-25 苏州博众精工科技有限公司 The poor checkout equipment of a kind of part height
CN206050806U (en) * 2016-08-22 2017-03-29 苏州朗坤自动化设备有限公司 A kind of mechanical hand positions grasping mechanism

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Publication number Priority date Publication date Assignee Title
GB1311918A (en) * 1969-08-25 1973-03-28 Moeller & Neumann Gmbh Positioning device for aligning plates on a rollway
CN103698916A (en) * 2013-12-23 2014-04-02 苏州博众精工科技有限公司 Pipeline type LCD (Liquid Crystal Display) mounting equipment
CN104567697B (en) * 2015-01-21 2016-05-25 苏州博众精工科技有限公司 The poor checkout equipment of a kind of part height
CN204701859U (en) * 2015-05-08 2015-10-14 西可通信技术设备(河源)有限公司 A kind of case for mobile telephone wiring
CN105501519A (en) * 2016-01-07 2016-04-20 苏州市璟硕自动化设备有限公司 Automatic packing system
CN206050806U (en) * 2016-08-22 2017-03-29 苏州朗坤自动化设备有限公司 A kind of mechanical hand positions grasping mechanism

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106891058A (en) * 2017-02-24 2017-06-27 温州市科泓机器人科技有限公司 Metal plate collects full-automatic assembly line
CN106891058B (en) * 2017-02-24 2018-12-04 温州市科泓机器人科技有限公司 Metal plate collects full-automatic assembly line
CN108555557A (en) * 2018-03-30 2018-09-21 歌尔股份有限公司 Tooling workbench
CN109607172A (en) * 2018-12-17 2019-04-12 成都保得物流有限公司 A kind of assembly line automatic dischargingapparatus
CN111169970A (en) * 2020-01-10 2020-05-19 广东伟创五洋智能设备有限公司 Automatic pad-changing rotating machine
CN111169970B (en) * 2020-01-10 2021-07-27 广东伟创五洋智能设备有限公司 Automatic pad-changing rotating machine
CN111591537A (en) * 2020-05-23 2020-08-28 滁州尚诺自动化设备有限公司 Film-coated metal plate film scribing device and using method thereof

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