CN106743549A - A kind of disc material with power buffering grips transporter - Google Patents
A kind of disc material with power buffering grips transporter Download PDFInfo
- Publication number
- CN106743549A CN106743549A CN201611126181.8A CN201611126181A CN106743549A CN 106743549 A CN106743549 A CN 106743549A CN 201611126181 A CN201611126181 A CN 201611126181A CN 106743549 A CN106743549 A CN 106743549A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- pivoted arm
- vertical movement
- plate
- charging tray
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0267—Pallets
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of automatic access system, the disc material with power buffering being specifically applied in automatic access system grips transporter.It includes support, and support is provided with the angle dispenser with servo drive system.Pivoted arm is connected with the rotating disk of the angle dispenser, the pivoted arm can in the horizontal plane be rotated with rotating disk.It is characterized in that the outer end of the pivoted arm is connected with internal-expansion type clamping jaw, strong buffer gear between internal-expansion type clamping jaw and pivoted arm.The clamp device realizes the gripping operation of charging tray using the tight fit of internal-expansion type clamping jaw and electronic component charging tray centre bore, and reduce extruding, pivoted arm stress when internal-expansion type clamping jaw is contacted with electronic component charging tray using power buffer gear, charging tray and pivoted arm will not be damaged, the smooth degree of size and surface for charging tray does not have particular/special requirement yet, with good versatility and reliability.
Description
Technical field
The present invention relates to a kind of automatic access system, the disk with power buffering in automatic access system is specifically applied to
Formula material grips transporter, is particularly suited for the crawl operation of the electronic component charging tray of SMT industries.
Background technology
SMT（That is electronic circuit surface installation technique, English full name Surface Mount Technology）It is electronics system
Make the infrastructural industries in field.With the development of science and technology, SMT industries are increasingly automated in surface mount production, but
Intelligence degree and efficiency of supply be not high in material storage, supply, and the bottleneck as restriction production, its subject matter is concentrated on
In the crawl of electronic component charging tray.
The grabbing device at present, being applied to the electronic component charging tray of SMT industries generally uses sucker to draw, entirety is captured,
The modes such as side gripping.The mode that sucker is drawn requires that sorption face must be smooth, and the electronics of different manufacturer productions
The smooth position of element charging tray is often inconsistent, and this can have a huge impact to the reliability of sorption, therefore not possess general
Property.The mode of overall crawl and side gripping needs the actuating range of precise control crawl or gripping, otherwise easily causes material
The damage of disk or electronic component.And the diameter and thickness of the electronic component charging tray of different manufacturer productions often have differences, this is just
Need the actuating range according to different charging tray real-time adjustment grasping mechanism or gripping body, it is to avoid the damage of charging tray or electronic component
Wound.This adjustment operation is comparatively laborious, does not also possess versatility and reliability.
The content of the invention
The problem to be solved in the present invention is to provide a kind of disc material with power buffering and grips transporter, the clamp device
The gripping operation of charging tray is realized using the tight fit of internal-expansion type clamping jaw and electronic component charging tray centre bore, and using power buffering
Mechanism reduces extruding, the pivoted arm stress when internal-expansion type clamping jaw is contacted with electronic component charging tray, will not damage charging tray and pivoted arm, right
In the smooth degree of the size of charging tray and surface also without particular/special requirement, with good versatility and reliability.
To solve the above problems, following technical scheme is taken：
Disc material gripping transporter with power buffering of the invention includes support, and support is provided with servo drive system
Angle dispenser.Pivoted arm is connected with the rotating disk of the angle dispenser, the pivoted arm can in the horizontal plane be rotated with rotating disk.It is special
Point is that the outer end of the pivoted arm is connected with internal-expansion type clamping jaw, strong buffer gear between internal-expansion type clamping jaw and pivoted arm.
Further improvement of the present invention scheme is that the internal-expansion type clamping jaw includes clamping jaw cylinder, and the clamping jaw cylinder is in vertical cloth
Put, its lower end is connected with chuck.The chuck is put together by two semicolumns, and its head is tapered, the clamping jaw cylinder control
Two foldings of semicolumn of chuck processed.Stop bit correction plate, the stop bit are fixed with the corresponding clamping jaw cylinder in the chuck upper end
Correction plate is in horizontally disposed.
Further improvement of the present invention scheme is that the power buffer gear includes supporting plate of the cross section in inverted L-shaped,
In being fixedly connected between the vertical part of the supporting plate and the pivoted arm, the transverse part downside of supporting plate is fixed with lift cylinder, the lifting air
Cylinder in be vertically arranged and its piston rod external part be located at downside, lift cylinder piston rod lower end set be connected with vertical movement substrate.
The vertical movement substrate includes level board, and 90 degree of folded plate is connected with one group of relative edge of level board.It is described to hang down
The lower end for having through hole, lift cylinder piston rod at the position of correspondence lift cylinder piston rod on the level board of straight running bases passes through
The through hole and it is fixed with plate of exerting oneself.Spring guide is connected between the level board of the vertical movement substrate and the transverse part of supporting plate,
Side on the supporting plate, lower end and the vertical movement substrate of spring guide are stretched out in the upper end of spring guide through the transverse part of supporting plate
Level board is in be fixedly connected.It is cased with that section of spring guide between the level board of the vertical movement substrate and the transverse part of supporting plate
Compression spring.Pass through what is be vertically arranged between the folded plate on level board one side of the vertical movement substrate and the vertical part of the supporting plate
Line slideway is engaged so that vertical movement substrate can move up and down along the line slideway, the level of the vertical movement substrate
The folded plate of plate another side is in be fixedly connected with the internal-expansion type clamping jaw.The quantity of the spring guide is two, and two springs
Guide rod is located at the both sides of the lift cylinder, and compression spring is cased with two spring guides.
Further improvement project of the invention is that the both sides of the lift cylinder are machined with vertical through holes, vertical through holes
Inside there is guide post；There is through hole at the position of correspondence guide post on the level board of the vertical movement substrate, under guide post
Hold through hole through corresponding level board and with the plate of exerting oneself in being fixedly connected.
Wherein, the clamping jaw cylinder, lift cylinder are respectively connected with controller.
Such scheme is taken, with advantages below：
Because the disc material gripping transporter with power buffering of the invention includes support, support is provided with band servo-drive system
The angle dispenser of system；Pivoted arm is connected with the rotating disk of angle dispenser, the pivoted arm can in the horizontal plane be rotated with rotating disk；Pivoted arm
Outer end be connected with internal-expansion type clamping jaw, strong buffer gear between internal-expansion type clamping jaw and pivoted arm.When using, using band servo-drive system
Pivoted arm is turned to the angle dispenser of system the top of electronic component charging tray so that internal-expansion type clamping jaw is directed at the centre bore of charging tray；
Assistance for lifting mechanism is recycled to lift charging tray or decline chuck so that chuck is stretched into the centre bore of charging tray；Then, drive
Dynamic chuck spreading, you can stabilization, the reliable charging tray by electronic component are gripped, and send into subsequent processing or warehouse.Therefore, the folder
Take device and propose a kind of gripping mode of brand-new electronic component charging tray, i.e., using in internal-expansion type clamping jaw and electronic component charging tray
The gripping operation of charging tray is realized in the tight fit in heart hole, while subtracted using the power buffer gear between internal-expansion type clamping jaw and pivoted arm
Extruding, pivoted arm stress when small internal-expansion type clamping jaw is contacted with electronic component charging tray, it is to avoid the damage of charging tray and pivoted arm.The gripping is filled
Size for charging tray, the smooth degree of thickness and surface etc. are put without special requirement, any producer, any is applicable to
The gripping operation of the charging tray of specification, with good versatility and reliability.
Brief description of the drawings
Fig. 1 is the structural representation that the disc material with power buffering of the invention grips transporter；
Fig. 2 is the left view of Fig. 1；
Fig. 3 be it is of the invention with power buffering disc material gripping transporter in lift cylinder act when schematic perspective view
（State one）；
Fig. 4 be it is of the invention with power buffering disc material gripping transporter in lift cylinder act when schematic perspective view
（State two）.
Specific embodiment
The present invention is described in further details below in conjunction with accompanying drawing.
As depicted in figs. 1 and 2, the disc material gripping transporter with power buffering of the invention includes support 1, support 1
It is provided with the angle dispenser 2 with servo drive system.Pivoted arm 3 is connected with the rotating disk of the angle dispenser 2, the pivoted arm 3
Can in the horizontal plane be rotated with rotating disk.The outer end of the pivoted arm 3 is connected with internal-expansion type clamping jaw, has between internal-expansion type clamping jaw and pivoted arm 3
Power buffer gear.
The internal-expansion type clamping jaw includes clamping jaw cylinder 10, and in being vertically arranged, its lower end is connected with chuck to the clamping jaw cylinder 10
11.The chuck 11 is put together by two semicolumns, and its head is tapered, two of the control of clamping jaw cylinder 10 chuck 11
The folding of semicolumn.Stop bit correction plate 12, stop bit correction plate are fixed with the corresponding clamping jaw cylinder 10 in the upper end of the chuck 11
12 in horizontally disposed.
The power buffer gear include cross section in inverted L-shaped supporting plate 5, the vertical part of the supporting plate 5 with described turn
In being fixedly connected between arm 3, the transverse part downside of supporting plate 5 is fixed with lift cylinder 8, and the lift cylinder 8 is in be vertically arranged and its work
Stopper rod external part is located at downside, and the lower end set of the piston rod of lift cylinder 8 is connected with vertical movement substrate 9.The vertical movement substrate 9
Including level board, 90 degree of folded plate is connected with one group of relative edge of level board.The level of the vertical movement substrate 9
The lower end for having through hole, the piston rod of lift cylinder 8 on plate at the position of the correspondence piston rod of lift cylinder 8 passes through the through hole and is fixed with
Exert oneself plate 14.Spring guide 6, spring guide 6 are connected between the level board of the vertical movement substrate 9 and the transverse part of supporting plate 5
Upper end stretched out in the top of supporting plate 5 through the transverse part of supporting plate 5, the lower end of spring guide 6 and the level of vertical movement substrate 9
Plate is in be fixedly connected.It is cased with that section of spring guide 6 between the level board of the vertical movement substrate 9 and the transverse part of supporting plate 5
Compression spring 4.Pass through vertical cloth between the folded plate on level board one side of the vertical movement substrate 9 and the vertical part of the supporting plate 5
The line slideway 15 put is engaged so that vertical movement substrate 9 can move up and down along the line slideway 15, the vertical movement base
The folded plate of the level board another side of plate 9 is in be fixedly connected with the internal-expansion type clamping jaw.The quantity of the spring guide 6 is two,
And two spring guides 6 are cased with compression spring 4 positioned at the both sides of the lift cylinder 8 on two spring guides 6.
In the present embodiment, there are 90 degree of upper folded plate, water in one side of the level board correspondence pivoted arm 3 of the vertical movement substrate 9
Have 90 degree of lower flap portion on another relative edge of flat board so that vertical movement substrate 9 cross section in "" shape.The upper folded plate
Line slideway 15 by being vertically arranged between the vertical part of supporting plate 5 is engaged so that vertical movement substrate 9 can lead along the straight line
Rail 15 moves up and down, and the lower flap portion is in be fixedly connected with internal-expansion type clamping jaw.Similarly, can also use "" shape structure vertical fortune
Dynamic substrate 9 is just being put or is being inverted, can reach with "" the shape vertical movement identical technique effect of substrate 9.
The stability flexible in order to ensure the piston rod of lift cylinder 8, it is ensured that exerted oneself in action process plate 14 and vertical movement
Substrate 9 occurs without crooked, and the present embodiment is machined with vertical through holes in the both sides of the lift cylinder 8, has in vertical through holes
Guide post 7；There are through hole, the lower end of guide post 7 at the position of correspondence guide post 7 on the level board of the vertical movement substrate 9
Through corresponding level board through hole and with the plate 14 of exerting oneself in being fixedly connected.
Wherein, the clamping jaw cylinder 10 and lift cylinder 8 are respectively connected with controller.
When using, pivoted arm 3 is turned into the upper of electronic component charging tray 13 using the angle dispenser 2 with servo drive system
Side so that internal-expansion type clamping jaw is directed at the centre bore of charging tray 13；Controller is recycled to drive lift cylinder 8 to act, move vertically base
Plate 9 drives internal-expansion type clamping jaw to decline so that chuck 11 is stretched into the centre bore of charging tray 13, now stop bit correction plate 12 and charging tray
13 contact and correct the position of charging tray 13 so that charging tray 13 in horizontal plane, is conducive to follow-up gripping operation all the time；So
Afterwards, clamping jaw cylinder 10 is driven to act using controller so that two semicolumn distendings of chuck 11 are interior with the centre bore of charging tray 13
Wall offsets, you can stablizes, reliably grip the charging tray 13 of electronic component, and send into subsequent processing or warehouse.
Lift cylinder 8 moves vertically during substrate 9 and the decline of internal-expansion type clamping jaw in drive, when stop bit correction plate 12 is gone back
When contact with charging tray 13, vertical movement substrate 9 is acted on by the elastic force of compression spring 4, and remain and exert oneself plate 14
It is in contact, as shown in Figure 3.When lift cylinder 8 drives vertical movement substrate 9 and internal-expansion type clamping jaw to continue to decline, stop bit correction plate
12 with charging tray 13 completely attach to when, such as charging tray 13 is thicker or the actuating length of lift cylinder 8 is excessive, decline produced by overtravel
Cause to be moved on vertical movement substrate 9 and the relative plate 14 of exerting oneself of internal-expansion type clamping jaw, compression spring 4 is compressed, as shown in Figure 4.Now, expect
Power suffered by disk 13, lift cylinder 8 is the elastic force of compression spring 4, rather than rigid stress, i.e., using the knot of compression spring 4
Structure is buffered come power when realizing the action of lift cylinder 8, so as to protect charging tray 13, pivoted arm 3 to be hardly damaged.
Therefore, the gripping turn device proposes a kind of gripping mode of brand-new electronic component charging tray, i.e., using interior swollen
The gripping operation of charging tray is realized in the tight fit of formula clamping jaw and electronic component charging tray centre bore, at the same using internal-expansion type clamping jaw with
Power buffer gear between pivoted arm 3 reduces extruding, the stress of pivoted arm 3 when internal-expansion type clamping jaw is contacted with electronic component charging tray 13, keeps away
Exempt from the damage of charging tray 13 and pivoted arm 3.Smooth degree of size, thickness and surface for charging tray 13 etc. will without special
Ask, the gripping operation of any producer, the charging tray of any specification is applicable to, with good versatility and reliability.
Claims (7)
1. a kind of disc material with power buffering grips transporter, including support（1）, support（1）It is provided with band servo-drive
The angle dispenser of system（2）；The angle dispenser（2）Rotating disk on be connected with pivoted arm（3）, the pivoted arm（3）Can be with rotating disk
Rotate in the horizontal plane；It is characterized in that the pivoted arm（3）Outer end be connected with internal-expansion type clamping jaw, internal-expansion type clamping jaw and pivoted arm
（3）Between strong buffer gear.
2. the disc material with power buffering as claimed in claim 1 grips transporter, it is characterised in that the internal-expansion type folder
Pawl includes clamping jaw cylinder（10）, the clamping jaw cylinder（10）In being vertically arranged, its lower end is connected with chuck（11）；The chuck（11）
It is put together by two semicolumns, its head is tapered, the clamping jaw cylinder（10）Control chuck（11）Two semicolumns
Folding.
3. the disc material with power buffering as claimed in claim 2 grips transporter, it is characterised in that the chuck（11）
The corresponding clamping jaw cylinder in upper end（10）On be fixed with stop bit correction plate（12）, stop bit correction plate（12）In horizontally disposed.
4. the disc material with power buffering as claimed in claim 1 grips transporter, it is characterised in that the power buffer
Structure includes supporting plate of the cross section in inverted L-shaped（5）, the supporting plate（5）Vertical part and the pivoted arm（3）Between connect in fixed
Connect, supporting plate（5）Transverse part downside be fixed with lift cylinder（8）, the lift cylinder（8）In being vertically arranged and its piston rod stretches out
End is located at downside, lift cylinder（8）The lower end set of piston rod is connected with vertical movement substrate（9）；The vertical movement substrate（9）Bag
Level board is included, 90 degree of folded plate is connected with one group of relative edge of level board；The vertical movement substrate（9）Level
Correspondence lift cylinder on plate（8）There are through hole, lift cylinder at the position of piston rod（8）The lower end of piston rod is through the through hole and consolidates
Surely exert oneself plate（14）；The vertical movement substrate（9）Level board and supporting plate（5）Transverse part between be connected with spring guide
（6）, spring guide（6）Upper end pass through supporting plate（5）Transverse part stretch out in supporting plate（5）Top, spring guide（6）Lower end
With vertical movement substrate（9）Level board in being fixedly connected；The vertical movement substrate（9）Level board and supporting plate（5）'s
That section of spring guide between transverse part（6）On be cased with compression spring（4）；The vertical movement substrate（9）Level board one side folding
Plate and the supporting plate（5）Vertical part between by the line slideway that is vertically arranged（15）It is engaged so that vertical movement substrate（9）
Can be along the line slideway（15）Move up and down, the vertical movement substrate（9）Level board another side folded plate it is interior swollen with described
Formula clamping jaw is in be fixedly connected.
5. the disc material with power buffering as claimed in claim 4 grips transporter, it is characterised in that the spring guide
（6）Quantity be two, and two spring guides（6）Positioned at the lift cylinder（8）Both sides, two spring guides（6）On
It is cased with compression spring（4）.
6. the disc material with power buffering as described in claim 4 or 5 grips transporter, it is characterised in that the lifting air
Cylinder（8）Both sides be machined with vertical through holes, have guide post in vertical through holes（7）；The vertical movement substrate（9）Level
Correspondence guide post on plate（7）Position at have through hole, guide post（7）Lower end through corresponding level board through hole and with institute
State plate of exerting oneself（14）In being fixedly connected.
7. the disc material with power buffering as described in claim 2 to 5 grips transporter, it is characterised in that the clamping jaw gas
Cylinder（10）, lift cylinder（8）It is respectively connected with controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611126181.8A CN106743549A (en) | 2016-12-09 | 2016-12-09 | A kind of disc material with power buffering grips transporter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611126181.8A CN106743549A (en) | 2016-12-09 | 2016-12-09 | A kind of disc material with power buffering grips transporter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106743549A true CN106743549A (en) | 2017-05-31 |
Family
ID=58877572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611126181.8A Pending CN106743549A (en) | 2016-12-09 | 2016-12-09 | A kind of disc material with power buffering grips transporter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106743549A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107601032A (en) * | 2017-10-12 | 2018-01-19 | 无锡中鼎集成技术有限公司 | A kind of new energy battery sorting clamping jaw with dimension compensation |
| CN107826734A (en) * | 2017-10-30 | 2018-03-23 | 陈永 | A kind of transmitting device for being easy to wiring board to process |
| CN108161961A (en) * | 2018-02-11 | 2018-06-15 | 宁波中科莱恩机器人有限公司 | Feeding clamping jaw |
| CN108326838A (en) * | 2018-02-11 | 2018-07-27 | 宁波中科莱恩机器人有限公司 | Truss manipulator |
| CN109051884A (en) * | 2018-09-27 | 2018-12-21 | 重庆核宏科技有限公司 | A kind of the brick carrying collet and its application method of outstanding back formula loading system |
| CN111392673A (en) * | 2020-04-23 | 2020-07-10 | 睿科集团(厦门)股份有限公司 | Automatic test tube cover opening and closing device |
| CN114538068A (en) * | 2022-02-08 | 2022-05-27 | 重庆绿森钢化中空玻璃有限公司 | Glass product production and placement device |
| CN115108123A (en) * | 2022-07-29 | 2022-09-27 | 歌尔科技有限公司 | Automatic turnover labeling equipment for material tray |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1393624A1 (en) * | 1986-12-17 | 1988-05-07 | Всесоюзный Проектно-Технологический Институт Тяжелого Машиностроения | Manipulator |
| CN102975193A (en) * | 2012-12-06 | 2013-03-20 | 爱马特（江苏）自动化有限公司 | Mechanical hand device capable of realizing horizontal conveyance along running beam for workpiece conveyance |
| CN204339785U (en) * | 2014-12-10 | 2015-05-20 | 惠州市杰普特电子技术有限公司 | Grabbing device |
| CN105881586A (en) * | 2016-05-26 | 2016-08-24 | 北京新长征天高智机科技有限公司 | Robot end execution protection mechanism with one-way buffering function |
| CN206476479U (en) * | 2016-12-09 | 2017-09-08 | 无锡仰盛智能科技有限公司 | It is a kind of to grip transporter with the disc material that power is buffered |
-
2016
- 2016-12-09 CN CN201611126181.8A patent/CN106743549A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1393624A1 (en) * | 1986-12-17 | 1988-05-07 | Всесоюзный Проектно-Технологический Институт Тяжелого Машиностроения | Manipulator |
| CN102975193A (en) * | 2012-12-06 | 2013-03-20 | 爱马特（江苏）自动化有限公司 | Mechanical hand device capable of realizing horizontal conveyance along running beam for workpiece conveyance |
| CN204339785U (en) * | 2014-12-10 | 2015-05-20 | 惠州市杰普特电子技术有限公司 | Grabbing device |
| CN105881586A (en) * | 2016-05-26 | 2016-08-24 | 北京新长征天高智机科技有限公司 | Robot end execution protection mechanism with one-way buffering function |
| CN206476479U (en) * | 2016-12-09 | 2017-09-08 | 无锡仰盛智能科技有限公司 | It is a kind of to grip transporter with the disc material that power is buffered |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107601032A (en) * | 2017-10-12 | 2018-01-19 | 无锡中鼎集成技术有限公司 | A kind of new energy battery sorting clamping jaw with dimension compensation |
| CN107826734A (en) * | 2017-10-30 | 2018-03-23 | 陈永 | A kind of transmitting device for being easy to wiring board to process |
| CN108161961A (en) * | 2018-02-11 | 2018-06-15 | 宁波中科莱恩机器人有限公司 | Feeding clamping jaw |
| CN108326838A (en) * | 2018-02-11 | 2018-07-27 | 宁波中科莱恩机器人有限公司 | Truss manipulator |
| CN108161961B (en) * | 2018-02-11 | 2021-11-16 | 宁波中科莱恩机器人有限公司 | Material taking clamping jaw |
| CN109051884A (en) * | 2018-09-27 | 2018-12-21 | 重庆核宏科技有限公司 | A kind of the brick carrying collet and its application method of outstanding back formula loading system |
| CN111392673A (en) * | 2020-04-23 | 2020-07-10 | 睿科集团(厦门)股份有限公司 | Automatic test tube cover opening and closing device |
| CN114538068A (en) * | 2022-02-08 | 2022-05-27 | 重庆绿森钢化中空玻璃有限公司 | Glass product production and placement device |
| CN114538068B (en) * | 2022-02-08 | 2024-03-29 | 重庆绿森钢化中空玻璃有限公司 | Glass product production and placement device |
| CN115108123A (en) * | 2022-07-29 | 2022-09-27 | 歌尔科技有限公司 | Automatic turnover labeling equipment for material tray |
| CN115108123B (en) * | 2022-07-29 | 2023-10-27 | 歌尔科技有限公司 | Automatic turnover labeling equipment for trays |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106743549A (en) | A kind of disc material with power buffering grips transporter | |
| CN205952437U (en) | Upward bag mechanism of M type wrapping bag | |
| CN206476479U (en) | It is a kind of to grip transporter with the disc material that power is buffered | |
| CN106743547A (en) | A kind of disc material grips turn device | |
| CN204278032U (en) | A kind of manipulator clamping device | |
| CN104493822A (en) | Chuck gripper device of stacking robot for complex surface | |
| CN207616604U (en) | A kind of adaptive aspirated-air type robot end grasping mechanism | |
| CN206937356U (en) | A kind of good catching robot of steadiness | |
| CN104400791A (en) | Clamping device of manipulator | |
| CN105480716A (en) | Multi-functional assembly machine | |
| CN107745379A (en) | A kind of multi-joint conveying robot | |
| CN111761570B (en) | A manipulator for industry intelligent manufacturing | |
| CN113199497B (en) | Digital twinning-based adsorption mechanical gripper structure for industrial robot | |
| CN107838938A (en) | A kind of robot gripper | |
| CN105789100B (en) | Lead frame for semiconductor packaging system grips system | |
| CN205600722U (en) | Small -size formula manipulator device that snatchs | |
| CN207415400U (en) | Robot device | |
| CN207027510U (en) | A kind of manipulator for numerical control machine | |
| CN208557565U (en) | A kind of suction support formula robot hand | |
| CN210175981U (en) | Material taking device | |
| CN203804987U (en) | Grasping mechanism | |
| CN105060000A (en) | Very high brightness (VHB) gum sheet film tearing mechanism | |
| CN108818988A (en) | A kind of high stable clamping device in silicon chip working process | |
| CN211945388U (en) | Stacking unstacker with vacuum chuck | |
| CN208496782U (en) | Buffering spring sheet positioning fixture and its load carrier |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170531 |
|
| WD01 | Invention patent application deemed withdrawn after publication |