CN106428764B - A kind of loudspeaker automatically grab robot hand - Google Patents
A kind of loudspeaker automatically grab robot hand Download PDFInfo
- Publication number
- CN106428764B CN106428764B CN201611006099.1A CN201611006099A CN106428764B CN 106428764 B CN106428764 B CN 106428764B CN 201611006099 A CN201611006099 A CN 201611006099A CN 106428764 B CN106428764 B CN 106428764B
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- CN
- China
- Prior art keywords
- loudspeaker
- robot hand
- supporting plate
- push rod
- slotted disk
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
- B65B35/38—Arranging and feeding articles in groups by grippers by suction-operated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of loudspeaker automatically grab robot hand, and it includes the supporting plate being fixedly connected in robot that the loudspeaker, which automatically grab robot hand, and the adsorption structure that adsorption paper support is used on the supporting plate, and the magnetic structure of absorption loudspeaker is removably arranged in；The adsorption structure includes the second push rod that sucker and the promotion adsorption structure stretch, and second push rod is socketed in the second loop bar of scalable second push rod with cylinder.The full automatic working that loudspeaker upload crawl, carrying and the vanning sent from conveyer belt is realized, saves a large amount of artificial and labour, and be obviously improved production efficiency；It not only realizes and automatically grabs loudspeaker, but also accomplish to automatically grab the paper support of dress loudspeaker；Whole process utilizes the control system with signal detection and sensing element, realizes the automation of operation；Number of speakers can be carried to reach single by changing structure, improved efficiency.
Description
Technical field
The present invention relates to a kind of loudspeaker to grab robot hand.
Background technique
Traditional loudspeaker vanning stacking relies on artificial stacking, by the loudspeaker produced putting into specified paper support one by one
In grid, thus speed and efficiency are all not high enough, to guarantee large-scale batch production, just will increase cost of labor；Now
The gripper of robot used in manufacturing field cannot be used directly for the crawl and stacking of loudspeaker, and general robot is i.e. enabled real
Existing loudspeaker are grabbed and are put, and can't be realized in terms of accurate positionin.Manual operation is replaced also to realize machine using robot
Paper support is deposited into designated position and is accurately positioned by people, therefore, can be grabbed loudspeaker there are currently no one kind and be filled the paper of loudspeaker
Support, and can guarantee the robot hand of loudspeaker accurate positioning being placed in paper support.
In terms of replacing being accomplished manually the vanning and stacking whole flow process of loudspeaker, it would be desirable to design a kind of automation equipment system
System, be able to achieve loudspeaker automatically deliver, by robot by loudspeaker fill piling box, the automatic positioning of paper support, robot carry paper support,
Paper support automatic push and stacking etc. are a series of to be automatically brought into operation process；In the whole process, it not only needs to realize and be automatically brought into operation, also want
Ask the accurate of operation, accurate positioning, with the functions such as detection and automatic control.The present invention wishes to design and can solve wherein
One or more problems.
Summary of the invention
In order to overcome the above-mentioned deficiency of the prior art, the purpose of the present invention is to provide one kind to be able to achieve automatic transporting loudspeaker
And vanning is accurately positioned, the robot hand of automatic and accurate detection operation situation in place.
The technical solution of present invention realization above-mentioned purpose are as follows:
A kind of loudspeaker automatically grab robot hand, and it includes being fixedly connected on machine that the loudspeaker, which automatically grab robot hand,
The adsorption structure that adsorption paper support is used on the supporting plate, and absorption loudspeaker are removably arranged in supporting plate on device people
Magnetic structure；The adsorption structure includes the second push rod that sucker and the promotion adsorption structure stretch, and described second pushes away
Bar is socketed in the second loop bar of scalable second push rod with cylinder.
The tension structure for being tensioned paper support grid is additionally provided on the supporting plate；The tension structure include with it is described
The concentric slotted disk of magnetic structure, the length being flexibly connected with the slotted disk are slightly larger than the locating rod of the magnetic structure, push institute
State the first push rod of slotted disk rotation and with cylinder and the first loop bar for pushing first push rod to move back and forth；The slotted disk
It is movably connected on the upside of the supporting plate, is provided with multiple traction grooveds concentric with the slotted disk, the positioning on the slotted disk
Bar is movably connected in the traction grooved；First loop bar is fixed on the supporting plate；It is also provided on the supporting plate
For limiting the guide groove of the positioning throw of lever, the guide groove is linear.
The tension structure further includes the guiding rail close to traction grooved setting, is provided in the locating rod and institute
The guiding pair of guiding rail socket is stated, is fixed with the follower pin being movably connected in the traction grooved on the guiding pair, it is described
Guiding pair is moved in the set rectilinear path of restriction lower edge of the guiding rail, and limits the motion profile of the locating rod.?
The downside of the supporting plate is provided with multiple corner brackets for being used to support infrared radiation detection apparatus, on the corner bracket with the magnetic knot
The infrared radiation detection apparatus is provided at the same plane of structure end；The two sides of any magnetic structure are symmetrical at least provided with two
The infrared radiation detection apparatus of distribution, any infrared radiation detection apparatus are electrically connected the control cabinet.
The tension structure is one or is set side by side multiple；When the tension structure be it is multiple, in any slot
The follower lever for connecting multiple slotted disks is hinged on disk.
The tension structure is one or more；
The reinforcing disk connecting for reinforcing the supporting plate with the robot, the reinforcing are fixed on the supporting plate
Disk and the slotted disk coaxial inner conductor.
The magnetic structure includes upper cavity and lower chamber, and the upper cavity and the lower chamber are fastenedly connected；Described
It is provided with cylinder block in upper cavity and pushes the cylinder push-rod of the T-shaped structure moved back and forth by the cylinder block, in institute
It states and is provided with magnetite in lower chamber, the magnetite is fixed on the cylinder push-rod, and the cylinder block is electrically connected control cabinet.
The bottom end face of the lower chamber is the jig of sealing, and the jig can be concave or plane.
The robot is electrically connected the control cabinet, and first loop bar is electrically connected the control cabinet, second loop bar
It is electrically connected the control cabinet, any adsorption structure is electrically connected the control cabinet.
The present invention have compared with prior art it is below the utility model has the advantages that
The full automatic working that loudspeaker upload crawl, carrying and the vanning sent from conveyer belt is realized, is saved a large amount of
Artificial and labour, and it has been obviously improved production efficiency；It not only realizes and automatically grabs loudspeaker, but also accomplish to automatically grab dress
The paper support of loudspeaker；Whole process utilizes the control system with signal detection and sensing element, realizes the automation of operation；It can
Number of speakers are carried to reach single by changing structure, are improved efficiency.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is schematic perspective view of the invention；
Fig. 3 is schematic perspective view of the invention；
Fig. 4 is magnetic structure cross-sectional view；
Fig. 5 is adsorption structure stereoscopic schematic diagram；
Fig. 6 is the overall schematic of corresponding device of the present invention.
Specific embodiment
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Embodiment 1:
Referring to Fig.1, a kind of loudspeaker automatically grab robot hand, which is that robot top is removably arranged in
Structure, it includes supporting plate 1, adsorption structure 2, magnetic structure 4 that this loudspeaker, which automatically grabs robot hand, it is preferable that further includes
Locking structure.The effects of referring to Fig. 6, structure of the invention is the paw section of robot, plays crawl, carrying, positioning and counts.
Referring to Fig. 5, the adsorption structure 2 includes the second push rod 22 that sucker 21 and the promotion adsorption structure 2 stretch,
Second push rod 22 is socketed in the second loop bar 23 of scalable second push rod 22 with cylinder.Preferably, described
Sucker 21 is to be arranged at four angles of the supporting plate 1, and robot turns to above paper support pile under the control of control cabinet,
Second loop bar 23 pushes the second push rod 22 to move downward in the presence of cylinder, drives sucker 21 to move downward, sucker 21 is close
When the bottom of squared paper support, robot stopping is acted, and is provided with negative pressure catheter in sucker 21, makes to inhale by controlling negative pressure solenoid valve
Disk 21 generates negative pressure, and paper support is adsorbed on the adsorption structure 2.Negative pressure at any adsorption structure 2 does not reach requirement, and inhales
Attached structure 2 can complete the movement of adsorption paper support again, at this point, paper support is attracted on the gripper of robot.Then robot band
Paper support turn to above workbench, later adsorption structure 2 negative pressure solenoid valve close the sucker 21 made without negative pressure, paper support
It places on the table；Paper support is located in commitment positions automatically by the location structure on workbench, guarantees that the maximum of grid opens
State and accurate positionin.
Referring to figs. 1 to Fig. 3, tension structure and magnetic structure 4 are provided on the supporting plate 1.The tension structure includes
The concentric slotted disk 31 with the magnetic structure 4, the length being flexibly connected with the slotted disk 31 are determined slightly larger than the magnetic structure 4
Position bar 32 pushes the first push rod 33 of the rotation of slotted disk 31 and has cylinder and first push rod 33 is pushed to move back and forth
The first loop bar 34；The slotted disk 31 is movably connected in 11 upside of supporting plate, is provided with multiple and institute on the slotted disk 31
The concentric traction grooved 35 of slotted disk 31 is stated, the locating rod 32 is movably connected in the traction grooved 35；First loop bar 34 is solid
It is scheduled on the supporting plate 11；The guide groove 36 for limiting 32 stroke of locating rod is also provided on the supporting plate 11,
The guide groove 36 is linear.Preferably, the tension structure is 3, and the tension structure further includes close to the traction
The guiding rail 37 that slot 35 is arranged is provided with the guiding pair 38 with the guiding rail 37 socket in the locating rod 32, described
The follower pin 39 being movably connected in the traction grooved 35 is fixed on guiding pair 38, the guiding pair 38 is in the guiding rail
The set rectilinear path movement of 37 restriction lower edge, and limit the motion profile of the locating rod 32.
Referring to Fig. 6, conveyer belt transmits loudspeaker to transmission end of tape, and robot hand hovers over above loudspeaker, the first push rod
33 push the first loop bar 34 to stretch out, and it is dynamic that the first loop bar 34 drives slotted disk 31 to turn around the center of a circle, and the traction grooved 35 on slotted disk 31 drives
Follower pin 39 rotates；Follower pin 39 is fixedly connected on guiding pair 38, and guiding pair 38 is on guiding rail 37 along the side of guide rail
To translation, the locating rod 32 on guiding pair 38 is limited at the reciprocating motion of same guiding rail 37 identical conduct direction, locating rod
32 direction of motion be close to the center of circle or far from the center of circle, therefore, the flexible realization locating rod 32 of the first push rod 33 it is close or remote
From the center of circle, the opening of tension structure or the movement of contraction are completed.The length of the locating rod 32 is greater than the magnetic structure 4, with
Guarantee the regular event of locating rod 32 when loudspeaker magnetic is on the magnetic structure 4.
The magnetic structure 4 includes upper cavity and lower chamber, and the upper cavity and the lower chamber are fastenedly connected；Described
It is provided with cylinder block 41 in upper cavity and pushes the cylinder push-rod of the T-shaped structure moved back and forth by the cylinder block 41
42, magnetite 43 is provided in the lower chamber, the magnetite 43 is fixed on the cylinder push-rod 42.The bottom of the lower chamber
End surface is the jig 44 of sealing, and the jig 44 can be concave or plane.Referring to Fig. 4, the cylinder block 41 of magnetic structure 4 is pushed away
Dynamic cylinder push-rod 42 moves back and forth, and the top of cylinder push-rod 42 secures magnetite 43, when cylinder push-rod 42 is in magnetic structure 4 most
When upper end, far from jig 44, loudspeaker can not be adsorbed on gripper at this time.Cylinder push-rod 42 pushes magnetite 43 to move to bottom
When, i.e., close to jig 44,43 energy normal sorption loudspeaker of magnetite, loudspeaker are attracted on magnetic structure 4 at this time, and jig 44 can be
With the concave surface of loudspeaker same shape, it is also possible to plane.Preferably, jig 44 is sealing structure, it is ensured that 4 nothing of magnetic structure
Dirt does not influence its operation, without periodic cleaning.
The downside of the supporting plate 11 is provided with multiple corner brackets 51 for being used to support infrared radiation detection apparatus 52, at the angle
The infrared radiation detection apparatus 52 is provided with at the 4 end same plane of magnetic structure on frame 51；Any magnetic structure 4
Two sides are at least provided with two symmetrical infrared radiation detection apparatus 52.Infrared radiation detection apparatus 52 is for detecting whether there is loudspeaker suction
Whether attached or loudspeaker are detached from gripper；When grabbing loudspeaker, the signal between two infrared radiation detection apparatus 52 is interrupted by loudspeaker, is illustrated as
Function completes the crawl of loudspeaker, otherwise to complete to grab again；When unclamping loudspeaker, the signal between two infrared radiation detection apparatus 52 is
It is smooth, illustrate to successfully complete opened loudspeaker, completes and be placed into loudspeaker in specified grid.
In the case where the first loop bar 34 drives the effect of the first push rod 33, the locating rod 32 of tension structure is in far from the center of circle shape gripper
State, i.e. open configuration, the magnetite 43 of magnetic structure 4 are in close to 44 position of jig, and loudspeaker are attracted on gripper；Preferably,
Include multiple tension structures and magnetic structure 4 on gripper, can once grab multiple loudspeaker.Absorption is completed, and the first push rod 33 is shunk,
It drives locating rod 32 close to the center of circle, is in contraction state, locating rod 32 is close in loudspeaker or is close to state at this time, according to loudspeaker
The difference of shape, each locating rod 32 may be the same or different at a distance from the center of circle, and locating rod 32 can be changed according to concrete shape
37 position of position and guiding rail.Loudspeaker are adsorbed on gripper, and robot drives gripper to turn to above paper support, and paper support is positioned
In commitment positions, tension structure is in open configuration, the grid of paper support is strutted, and then the magnetite 43 of magnetic structure 4 is transported upwards
Dynamic, loudspeaker can not be adsorbed on magnetic structure 4 to be dropped in paper support by self gravity, and infrared radiation detection apparatus 52, which detects, have been acted
At tension structure is in contraction state, and locating rod 32 is moved to close to the center of circle, and then gripper moves upwards.Entire stroke completes
The crawl of paper support is put and is positioned, and also completes loudspeaker and grabs from conveyer belt, accurately places paper feed support.It realizes without people
Work operation, is automatically performed the crawl of loudspeaker and puts.
Embodiment 2: being arranged multiple first loop bars 34 on the supporting plate 1, any first loop bar 34 drives the first push rod 33
It moving back and forth, any first push rod 33 is hinged on slotted disk 31, i.e., each slotted disk 31 connects first push rod 33,
Remaining structure is same as Example 1.Setting may be implemented first push rod 33 and drive the rotation of slotted disk 31 in this way, and then drive
The open-shaped state of any tension structure or contraction state；May be implemented individually to control in this way each tension structure independently grab or
Loudspeaker are decontroled, the quantity that gripper grabs each time can be the same or different.
Embodiment 3: the tension structure be one, it is two or more, it is preferable that tension structure be three.Tension structure
Quantity it is more, can guarantee that the quantity of crawl is more, efficiency is also higher, but grab it is excessive while load-bearing it is also bigger, occur
Also more difficult and adjustment after failure, therefore preferably embodiment, tension structure are three.The quantity of the present embodiment is not limited to
Three, the tension structure greater than three also belongs to protection scope of the present invention.
It is provided between multiple slotted disks 31 while the follower lever 6 of hinged multiple slotted disks 31, passes through first push rod 33
Slotted disk 31 hinged therewith is driven, which drives follower lever 6 to rotate, and follower lever 6 drives other any slotted disks 31 to move.It is real
Now multiple tension structures are driven to rotate using first push rod 33, i.e., gripper can grab and loosen simultaneously multiple loudspeakers each time
, while synchronous progress, power consumption is saved, is improved efficiency.
It is provided with the reinforcing disk 7 for reinforcing connection between gripper and robot, reinforces disk 7 and is fixed on gripper, make
Biggish power and torque can be born by obtaining gripper.Remaining structure is same as Example 1.
The implementation of the present invention is not limited to this, and above content according to the invention is known using the ordinary skill of this field
Knowledge and customary means, under the premise of not departing from above-mentioned basic fundamental thought of the invention, the present invention can also make other a variety of shapes
Modification, replacement or the change of formula, all fall within rights protection scope of the present invention.
Claims (10)
1. a kind of loudspeaker automatically grab robot hand, it is characterised in that: it includes solid that the loudspeaker, which automatically grab robot hand,
Surely the supporting plate (1) being connected in robot, it is dismountable that the absorption knot for being used for adsorption paper support is set on the supporting plate (1)
Structure (2), and the magnetic structure (4) of absorption loudspeaker；
The adsorption structure (2) includes sucker (21) and the second push rod (22) for pushing the adsorption structure (2) flexible, described
Second push rod (22) is socketed in the second loop bar (23) of scalable second push rod (22) with cylinder；
Supporting plate is additionally provided with tension structure on (1)；The tension structure includes slotted disk (31), locating rod (32) and the first push rod
(33)；Slotted disk (31) and locating rod (32) movement is driven to realize the tensioning to paper support by the first push rod (33).
2. a kind of loudspeaker according to claim 1 automatically grab robot hand, it is characterised in that: slotted disk (31) with it is described
Magnetic structure (4) is arranged concentrically, and the length that locating rod (32) is flexibly connected with the slotted disk (31) is slightly larger than the magnetic structure
(4), the first push rod (33) can push the slotted disk (31) to rotate；The tension structure further includes with cylinder and pushing described the
The first loop bar (34) that one push rod (33) moves back and forth；The slotted disk (31) is movably connected on the upside of the supporting plate (1), described
Multiple traction grooveds (35) concentric with the slotted disk (31) are provided on slotted disk (31), the locating rod (32) is movably connected in institute
It is inner to state traction grooved (35)；First loop bar (34) is fixed on the supporting plate (1)；
The guide groove (36) for limiting the locating rod (32) stroke, the guide groove are also provided on the supporting plate (1)
It (36) is linear.
3. a kind of loudspeaker according to claim 2 automatically grab robot hand, it is characterised in that: the tension structure is also
Including the guiding rail (37) close to the traction grooved (35) setting, it is provided with and the guiding rail on the locating rod (32)
(37) guiding pair (38) being socketed is fixed with the follower pin being movably connected in the traction grooved (35) on the guiding pair (38)
(39), the guiding pair (38) the guiding rail (37) the set rectilinear path movement of restriction lower edge, and limit it is described fixed
The motion profile of position bar (32).
4. a kind of loudspeaker according to claim 2 automatically grab robot hand, it is characterised in that: in the supporting plate
(1) downside is provided with multiple corner brackets (51) for being used to support infrared radiation detection apparatus (52), on the corner bracket (51) with it is described
The infrared radiation detection apparatus (52) are provided at the same plane of magnetic structure (4) end；The two sides of any magnetic structure (4) are extremely
There are two the symmetrical infrared radiation detection apparatus (52), any infrared radiation detection apparatus (52) to be electrically connected control cabinet for few setting.
5. automatically grabbing robot hand according to a kind of any loudspeaker of claim 2 to 4, it is characterised in that: described
Locking structure is one or is set side by side multiple；When the tension structure be it is multiple, be hinged on any slotted disk (31)
Connect the follower lever (6) of multiple slotted disks (31).
6. automatically grabbing robot hand according to a kind of any loudspeaker of claim 2 to 4, it is characterised in that: described
Locking structure is one or more.
7. a kind of loudspeaker according to claim 2 automatically grab robot hand, it is characterised in that: the supporting plate (1)
On be fixed with the reinforcing disk (7) connecting for reinforcing the supporting plate (1) with the robot, the reinforcing disk (7) with it is described
Slotted disk (31) coaxial inner conductor.
8. a kind of loudspeaker according to claim 1 automatically grab robot hand, it is characterised in that: the magnetic structure
It (4) include upper cavity and lower chamber, the upper cavity and the lower chamber are fastenedly connected；Cylinder is provided in the upper cavity
Body (41) and the cylinder push-rod (42) that the T-shaped structure moved back and forth is pushed by the cylinder block (41), in the cavity of resorption
It is provided with magnetite (43) in vivo, the magnetite (43) is fixed on the cylinder push-rod (42), cylinder block (41) electrical connection
Control cabinet.
9. a kind of loudspeaker according to claim 8 automatically grab robot hand, it is characterised in that: the bottom of the lower chamber
End surface is the jig (44) of sealing, and the jig (44) is concave or plane.
10. a kind of loudspeaker according to claim 4 automatically grab robot hand, it is characterised in that: the robot electricity
The control cabinet is connected, first loop bar (34) is electrically connected the control cabinet, and second loop bar (23) is electrically connected the control
Cabinet processed, any adsorption structure (2) are electrically connected the control cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611006099.1A CN106428764B (en) | 2016-11-15 | 2016-11-15 | A kind of loudspeaker automatically grab robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611006099.1A CN106428764B (en) | 2016-11-15 | 2016-11-15 | A kind of loudspeaker automatically grab robot hand |
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| Publication Number | Publication Date |
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| CN106428764A CN106428764A (en) | 2017-02-22 |
| CN106428764B true CN106428764B (en) | 2019-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611006099.1A Active CN106428764B (en) | 2016-11-15 | 2016-11-15 | A kind of loudspeaker automatically grab robot hand |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106686518B (en) * | 2017-02-28 | 2019-05-28 | 金博 | A kind of earphone horn collection device |
| CN107717160A (en) * | 2017-11-17 | 2018-02-23 | 深圳市策维科技有限公司 | A kind of apparatus and method of automatic welding Mobile phone horn |
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| CN103303534A (en) * | 2013-07-09 | 2013-09-18 | 镇江市丹徒区上党五塘茶林场 | Tinfoil sucking mechanism of tea packaging machine |
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| CN205310289U (en) * | 2015-11-11 | 2016-06-15 | 江苏汇博机器人技术股份有限公司 | Nimble changeable robot clamp |
| CN106005641A (en) * | 2016-06-29 | 2016-10-12 | 廊坊盛森磨具有限公司 | Annular ring brand feeding device |
| CN206265398U (en) * | 2016-11-15 | 2017-06-20 | 广州数控设备有限公司 | A kind of loudspeaker capture robot hand automatically |
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- 2016-11-15 CN CN201611006099.1A patent/CN106428764B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20108552U1 (en) * | 2001-05-22 | 2001-12-20 | Festo Ag & Co | Handling device |
| CN103303534A (en) * | 2013-07-09 | 2013-09-18 | 镇江市丹徒区上党五塘茶林场 | Tinfoil sucking mechanism of tea packaging machine |
| CN105600441A (en) * | 2015-10-18 | 2016-05-25 | 河南省众邦伟业科技有限公司 | Building wall material intelligent production line pneumatic magnetic suction plate device |
| CN205310289U (en) * | 2015-11-11 | 2016-06-15 | 江苏汇博机器人技术股份有限公司 | Nimble changeable robot clamp |
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| CN206265398U (en) * | 2016-11-15 | 2017-06-20 | 广州数控设备有限公司 | A kind of loudspeaker capture robot hand automatically |
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| CN106428764A (en) | 2017-02-22 |
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