CN106827603A - Steel ring automatic grabbing device is used in a kind of wheel production - Google Patents

Steel ring automatic grabbing device is used in a kind of wheel production Download PDF

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Publication number
CN106827603A
CN106827603A CN201710024857.0A CN201710024857A CN106827603A CN 106827603 A CN106827603 A CN 106827603A CN 201710024857 A CN201710024857 A CN 201710024857A CN 106827603 A CN106827603 A CN 106827603A
Authority
CN
China
Prior art keywords
motor
steel ring
clamping jaw
boatswain chair
automatic grabbing
Prior art date
Application number
CN201710024857.0A
Other languages
Chinese (zh)
Other versions
CN106827603B (en
Inventor
李进
Original Assignee
大楚神驰车轮股份有限公司
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Filing date
Publication date
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Priority to CN201710024857.0A priority Critical patent/CN106827603B/en
Publication of CN106827603A publication Critical patent/CN106827603A/en
Application granted granted Critical
Publication of CN106827603B publication Critical patent/CN106827603B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29DPRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
    • B29D30/00Producing pneumatic or solid tyres or parts thereof
    • B29D30/0016Handling tyres or parts thereof, e.g. supplying, storing, conveying
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046Revolute coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123Linear actuators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126Rotary actuators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29DPRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
    • B29D30/00Producing pneumatic or solid tyres or parts thereof
    • B29D30/0016Handling tyres or parts thereof, e.g. supplying, storing, conveying
    • B29D2030/0044Handling tyre beads, e.g., storing, transporting, transferring and supplying to the toroidal support or to the drum

Abstract

The present invention relates to grasping mechanism technical field, steel ring automatic grabbing device is used in a kind of especially wheel production, including column, the two ends of the column are separately fixed on the bottom surface in workshop and crossbeam, it is rotatablely equipped with boatswain chair on the column, the boatswain chair is respectively arranged at two ends with horizontal drive mechanism and counterweight, and the horizontal drive mechanism is connected with grasping mechanism by electric expansion bar, rotary drive mechanism and control box are additionally provided with the boatswain chair, PLC and power interface are provided with the control box;Directly the steel ring on conveyer belt can be captured by grasping mechanism, it is easy to use without auxiliary mould, and steel ring can be transported to specified location and put down, manpower is saved, and steel ring is captured by the way of clamping inner ring and avoid the steel ring caused by race deformation from scrapping.

Description

Steel ring automatic grabbing device is used in a kind of wheel production
Technical field
Steel ring automatic grabbing device is used the present invention relates to grabbing device technical field, more particularly to a kind of production of wheel.
Background technology
During tyres for passenger cars production shaping, it is often necessary to steel ring is carried and steel ring is placed in specified location Assigned operation is carried out, is all that Lap Time degree is slow in craft, and is also easy to using upper steel ring by hand in current tyres for passenger cars shaping flow Steel ring is run into, it causes that the full automation of tire building, labor intensive and man-hour, low production efficiency cannot be realized, is produced into This height.
The content of the invention
The invention aims to solving to have the shortcomings that to be unable to automatic transporting in the prior art, picking and placeing steel ring, and carry A kind of wheel production steel ring automatic grabbing device for going out.
To achieve these goals, present invention employs following technical scheme:
A kind of wheel production steel ring automatic grabbing device, including column are designed, the two ends of the column are separately fixed at On the bottom surface in workshop and crossbeam, it is rotatablely equipped with boatswain chair on the column, the boatswain chair is respectively arranged at two ends with horizontal drive machine Structure and counterweight, the horizontal drive mechanism are connected with grasping mechanism by electric expansion bar, rotation is additionally provided with the boatswain chair and is driven Motivation structure and control box, are provided with PLC and power interface in the control box;
The grasping mechanism includes installing plate, and the installing plate two ends are fixed on electric expansion boom end, the installing plate The first motor is provided with, the installing plate is connected with chassis, the first sliding block is set with first guide rail by the first guide rail, First motor is connected by the first reciprocal leading screw with the first sliding block, and first sliding block has been hinged at four clamping jaws, The tray bottom is provided with infrared distance measuring sensor, and the side on the chassis is provided with four slide rails, the slide rail end face and side Face is equipped with the opening of strip, and two openings are mutually perpendicular to, and slide bar, the folder are installed with the opening of the slide rail side Pawl is installed in the opening of slide rail end face, and the opening of strip also is provided with the clamping jaw, and the slide bar is also installed on clamping jaw In opening;
First motor and electric expansion bar are electrically connected with PLC, and PLC is electrically connected with power interface Connect.
Preferably, the horizontal drive mechanism includes the oblong openings set on boatswain chair, and the two ends of oblong openings set There is first support, connected by the second guide rail between two first supports, the second sliding block is set with second guide rail, Second motor is installed, second motor is connected by the second reciprocal leading screw and the second sliding block in one of them described first support Connect, the electric expansion bar is located at the second slider bottom, second motor is electrically connected with PLC.
Preferably, the rotary drive mechanism includes the casing being located on boatswain chair and the driven gear being located on column, institute State and second support is provided with casing, rotating shaft is provided with by bearing in the second support, rotating shaft is respectively arranged at two ends with driving Gear and pinion, the pinion are engaged with driven gear, and motor mount is additionally provided with the bottom of shell, and motor is installed The 3rd motor is installed on seat, the end of the 3rd motor is fixed with travelling gear, and the travelling gear is nibbled with drive gear Close, the control box is arranged on the corner of casing, the 3rd motor is electrically connected with PLC.
Preferably, the clamping jaw is arc strip, and outwards turnover, in hook-shaped, passes through to turn at the bill of clamping jaw for the end of clamping jaw Axle is provided with roller.
Preferably, the clamping jaw includes the clamping jaw main body of arc strip, and clamping jaw body end is provided with one by rotating shaft Movable hook, the bill of movable hook is provided with roller by rotating shaft, and tension spring is connected between movable hook and clamping jaw main body, activity Hook is provided with limit opening at rotating shaft, and clamping jaw main body is provided with two alignment pins in limit opening.
Preferably, the boatswain chair bottom is connected with control panel by wire, and the control panel includes five control buttons, institute State control button to be connected with power supply by wire, first motor, the second motor and the 3rd motor are pressed with a control respectively Button is electrically connected, and the electric expansion bar is just being connected on a control button, reversal connection is on a control button.
Preferably, conveyer belt is located at grasping mechanism lower section, and conveyer belt is provided with optoelectronic switch.
Steel ring automatic grabbing device is used in a kind of wheel production proposed by the present invention, and beneficial effect is:By grasping mechanism Directly the steel ring on conveyer belt can be captured, it is easy to use without auxiliary mould, and steel ring can be transported to specified Position is put down, and saves manpower, and steel ring is captured by the way of clamping inner ring avoids the steel ring caused by race deformation from scrapping.
Brief description of the drawings
Fig. 1 is a kind of structural representation of wheel production steel ring automatic grabbing device proposed by the present invention;
Fig. 2 is a kind of structural representation of the grasping mechanism of wheel production steel ring automatic grabbing device proposed by the present invention Figure;
Fig. 3 is a kind of structural representation on the chassis of wheel production steel ring automatic grabbing device proposed by the present invention;
Fig. 4 is that a kind of structure of the horizontal drive mechanism of wheel production steel ring automatic grabbing device proposed by the present invention is shown It is intended to;
Fig. 5 is that a kind of structure of the rotary drive mechanism of wheel production steel ring automatic grabbing device proposed by the present invention is shown It is intended to;
Fig. 6 is a kind of the first structural representation of the clamping jaw of wheel production steel ring automatic grabbing device proposed by the present invention Figure;
Fig. 7 is a kind of second structural representation of the clamping jaw of wheel production steel ring automatic grabbing device proposed by the present invention Figure.
In figure:Boatswain chair 1, horizontal drive mechanism 2, rotary drive mechanism 3, counterweight 4, column 5, control panel 6, optoelectronic switch 7, Conveyer belt 8, grasping mechanism 9, electric expansion bar 10, installing plate 11, clamping jaw 12, chassis 13, the first reciprocal leading screw 14, the first sliding block 15th, the first guide rail 16, the first motor 17, slide bar 18, slide rail 19, roller 20, the second guide rail 21, the second sliding block 22, the second motor 23rd, the second reciprocal leading screw 24, first support 25, control box 26, casing 27, the 3rd motor 28, travelling gear 29, drive gear 30th, second support 31, pinion 32, driven gear 33.
Specific embodiment
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 Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.
Reference picture 1-6, a kind of wheel production steel ring automatic grabbing device, including column 5, the two ends of column 5 are solid respectively It is scheduled on the bottom surface in workshop and crossbeam, is rotatablely equipped with boatswain chair 1 on column 5, boatswain chair 1 is respectively arranged at two ends with horizontal drive mechanism 2 and counterweight 4, horizontal drive mechanism 2 is connected with grasping mechanism 9, rotary driving machine is additionally provided with boatswain chair 1 by electric expansion bar 10 PLC and power interface are provided with structure 3 and control box 26, control box 26;The regulation grasping mechanism 9 of horizontal drive mechanism 2 Horizontal level, rotary drive mechanism 3 rotates to be transferred on the steel ring after crawl needs lay down location, and PLC can be Siemens S7- 400 type PLC.
The two ends of installing plate 11 are fixed on the end of electric expansion bar 10, and installing plate 11 is provided with the first motor 17, installing plate 11 Chassis 13 is connected with by the first guide rail 16, the first sliding block 15 is set with the first guide rail 16, the first motor 17 is past by first Multifilament thick stick 14 is connected with the first sliding block 15, and the first sliding block 15 has been hinged at four clamping jaws 12, and the bottom of chassis 13 is provided with infrared Line distance measuring sensor, the side on chassis 13 is provided with four slide rails 19, and the end face of slide rail 19 and side are equipped with the opening of strip, and Two openings are mutually perpendicular to, and slide bar 18 is installed with the opening of the side of slide rail 19, and clamping jaw 12 is installed on the opening of the end face of slide rail 19 It is interior, the opening of strip also is provided with clamping jaw 12, slide bar 18 is also installed in the opening of clamping jaw 12, and clamping jaw 12 is arc strip, Outwards turnover, in hook-shaped, roller 20 is provided with the bill of clamping jaw 12 by rotating shaft for the end of clamping jaw 12.Electric expansion bar 10 is controlled The height of clamping jaw processed 12, the first motor 17 drives the first sliding block 15 to move back and forth the folding for realizing clamping jaw 12, when the first sliding block 15 When being in extreme higher position, clamping jaw 12 is shunk together to be put into the inner ring of steel ring, when the first sliding block 15 is in lowest order, clamping jaw 13 open, and to block the crawl that steel ring realizes steel ring, chassis 13 is provided with infrared distance measuring sensor so as to more accurately Positioning, roller 20 prevents bill from scratching steel ring.
First motor 17 and electric expansion bar 10 are electrically connected with PLC, and PLC is electrically connected with power interface Connect.
Horizontal drive mechanism 2 includes the oblong openings set on boatswain chair 1, and the two ends of oblong openings are provided with first support 25, connected by the second guide rail 21 between two first supports 25, the second sliding block 22 is set with the second guide rail 21, one of them Second motor 23 is installed, the second motor 23 is connected by the second reciprocal leading screw 24 with the second sliding block 22 in first support 25, electricity Dynamic expansion link 10 is located at the bottom of the second sliding block 22, and the second motor 23 is electrically connected with PLC.Second motor 23 drives second to slide Block 22 moves reciprocatingly to control the horizontal level of grasping mechanism 9.
Rotary drive mechanism 3 includes the casing 27 being located on boatswain chair 1 and the driven gear 33 being located on column 5, casing 27 Second support 31 is inside provided with, rotating shaft is provided with by bearing in second support 31, rotating shaft is respectively arranged at two ends with drive gear 30 With pinion 32, pinion 32 engages with driven gear 33, and casing 27 is additionally provided with motor mount in bottom, on motor mount 3rd motor 28 is installed, the end of the 3rd motor 28 is fixed with travelling gear 29, and travelling gear 29 is engaged with drive gear 30, Control box 26 is arranged on the corner of casing 27, and the 3rd motor 28 is electrically connected with PLC.Because driven gear 33 is fixed on vertical On post 5, second support 31 is fixed on casing 27, and the 3rd motor 28 is rotated, by travelling gear 29 and the biography of drive gear 30 Lead, so as to drive boatswain chair 1 to be rotated around column 5.Steel ring is transferred in specified location after grasping mechanism 9 captures steel ring so Side, then grasping mechanism 9 is acted and puts down steel ring.
The bottom of boatswain chair 1 is connected with control panel 6 by wire, and control panel 6 includes five control buttons, and control button is by leading Line is connected with power supply, and the first motor 17, the second motor 23 and the 3rd motor 28 are electrically connected with a control button respectively, electronic to stretch Contracting bar 10 is just being connected on a control button, reversal connection is on a control button.Five control buttons correspond to a motor respectively Startup or electric expansion bar 10 elongate or shorten, the manually operated of whole device can be realized by control panel 6.
Conveyer belt 8 is located at the lower section of grasping mechanism 9, and conveyer belt 8 is provided with optoelectronic switch 7.The communicated band 8 of steel ring is conveyed, when Conveyer belt 8 stops conveying when encountering optoelectronic switch 7, and steel ring is parked in the lower section of grasping mechanism 9.
Reference picture 7, is that clamping jaw 12 is wrapped with unique difference of a upper embodiment as another preferred embodiment of the invention The clamping jaw main body of bracket strip, clamping jaw body end is provided with a movable hook by rotating shaft, and the bill of movable hook is by turning Axle is provided with roller 20, and tension spring is connected between movable hook and clamping jaw main body, and movable hook is provided with spacing opening at rotating shaft Mouthful, clamping jaw main body is provided with two alignment pins in limit opening.Movable hook is tightened up under the pulling force of spring, and such clamping jaw 12 can be with Receive to obtain steel ring tightlier smaller to be adapted to inner ring.Two alignment pins play the purpose that limitation movable hook is rotated, and correspond to clamp respectively The positioning under positioning and open configuration under state.
Workflow:Steel ring is transported to conveyer belt 8 lower section of grasping mechanism 9, electric expansion bar 10 and horizontal drive machine The control grabbing device 9 of structure 2 is moved down and steel ring is captured, and steel ring is moved to specified station by rotary drive mechanism 3 afterwards, crawl Device 9 unclamps steel ring, realizes the automatic crawl and conveying of steel ring.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto, Any one skilled in the art the invention discloses technical scope in, technology according to the present invention scheme and its Inventive concept is subject to equivalent or change, should all be included within the scope of the present invention.

Claims (7)

1. steel ring automatic grabbing device, including column (5) are used in a kind of wheel production, it is characterised in that:The two ends of the column (5) It is separately fixed on the bottom surface in workshop and crossbeam, boatswain chair (1), the two ends of the boatswain chair (1) is rotatablely equipped with the column (5) Horizontal drive mechanism (2) and counterweight (4) are respectively equipped with, the horizontal drive mechanism (2) is connected with by electric expansion bar (10) Grasping mechanism (9), is additionally provided with rotary drive mechanism (3) and control box (26), the control box (26) on the boatswain chair (1) and sets There are PLC and power interface;
The grasping mechanism (9) includes installing plate (11), and installing plate (11) two ends are fixed on electric expansion bar (10) end, The installing plate (11) is provided with the first motor (17), and the installing plate (11) is connected with chassis by the first guide rail (16) (13) the first sliding block (15), is set with first guide rail (16), first motor (17) is by the first reciprocal leading screw (14) it is connected with the first sliding block (15), first sliding block (15) has been hinged at four clamping jaws (12), the chassis (13) Bottom is provided with infrared distance measuring sensor, and the side of the chassis (13) is provided with four slide rails (19), slide rail (19) end face It is mutually perpendicular to the opening that side is equipped with strip, and two openings, cunning is installed with the opening of slide rail (19) side Bar (18), the clamping jaw (12) is installed in the opening of slide rail (19) end face, and opening for strip also is provided with the clamping jaw (12) Mouthful, the slide bar (18) is also installed in the opening of clamping jaw (12);
First motor (17) and electric expansion bar (10) are electrically connected with PLC, and PLC is electric with power interface Connection.
2. steel ring automatic grabbing device is used in a kind of wheel production according to claim 1, it is characterised in that:The level is driven Oblong openings of the motivation structure (2) including setting on boatswain chair (1), the two ends of oblong openings are provided with first support (25), two Connected by the second guide rail (21) between the first support (25), the second sliding block is set with second guide rail (21) (22) the second motor (23), is installed on one of them described first support (25), second motor (23) is past by second Multifilament thick stick (24) is connected with the second sliding block (22), and the electric expansion bar (10) is located at the second sliding block (22) bottom, described second Motor (23) is electrically connected with PLC.
3. steel ring automatic grabbing device is used in a kind of wheel production according to claim 1, it is characterised in that:The rotation is driven Motivation structure (3) includes the casing (27) being located on boatswain chair (1) and the driven gear (33) being located on column (5), the casing (27) second support (31) is provided with, rotating shaft is provided with by bearing on the second support (31), the two ends of rotating shaft set respectively There are drive gear (30) and pinion (32), the pinion (32) is engaged with driven gear (33), casing (27) bottom Motor mount is inside additionally provided with, the 3rd motor (28) is installed on motor mount, the end of the 3rd motor (28) is fixed There is travelling gear (29), the travelling gear (29) is engaged with drive gear (30), and the control box (26) is installed in casing (27) corner, the 3rd motor (28) electrically connects with PLC.
4. steel ring automatic grabbing device is used in a kind of wheel production according to claim 1, it is characterised in that:The clamping jaw (12) it is arc strip, outwards turnover, in hook-shaped, rolling is provided with the bill of clamping jaw (12) by rotating shaft for the end of clamping jaw (12) Wheel (20).
5. steel ring automatic grabbing device is used in a kind of wheel production according to claim 1, it is characterised in that:The clamping jaw (12) the clamping jaw main body including arc strip, clamping jaw body end is provided with a movable hook, the bill of movable hook by rotating shaft Roller (20) is provided with by rotating shaft, tension spring is connected between movable hook and clamping jaw main body, movable hook sets at rotating shaft Limited location opening, clamping jaw main body is provided with two alignment pins in limit opening.
6. steel ring automatic grabbing device is used in a kind of wheel production according to claim 1, it is characterised in that:The boatswain chair (1) bottom is connected with control panel (6) by wire, and the control panel (6) includes five control buttons, and the control button passes through Wire is connected with power supply, first motor (17), the second motor (23) and the 3rd motor (28) respectively with a control button Electrical connection, the electric expansion bar (10) is just being connected on a control button, reversal connection is on a control button.
7. steel ring automatic grabbing device is used in a kind of wheel production according to claim 1, it is characterised in that:Conveyer belt (8) Grasping mechanism (9) lower section is located at, conveyer belt (8) is provided with optoelectronic switch (7).
CN201710024857.0A 2017-01-13 2017-01-13 A kind of wheel production steel ring automatic grabbing device Active CN106827603B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710024857.0A CN106827603B (en) 2017-01-13 2017-01-13 A kind of wheel production steel ring automatic grabbing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710024857.0A CN106827603B (en) 2017-01-13 2017-01-13 A kind of wheel production steel ring automatic grabbing device

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CN106827603A true CN106827603A (en) 2017-06-13
CN106827603B CN106827603B (en) 2019-01-11

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107378930A (en) * 2017-06-20 2017-11-24 安徽悦尔伟塑料机械有限公司 Suitable for the manipulator of tubing
CN108296859A (en) * 2018-01-03 2018-07-20 佛山杰致信息科技有限公司 A kind of mechanical arm production fixing device
CN108326835A (en) * 2018-05-09 2018-07-27 安徽华源物流有限责任公司 A kind of sorting manipulator having regulatory function
CN110243612A (en) * 2019-06-21 2019-09-17 武汉轻工大学 Vehicle braking drags detection device
CN110316432A (en) * 2019-08-12 2019-10-11 绍兴谨圣包装机械有限公司 A kind of cartoning sealing machine
CN111409013A (en) * 2020-05-07 2020-07-14 陈壮 Heavy truck rim barreling polishing equipment

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Publication number Priority date Publication date Assignee Title
JPS5253358A (en) * 1975-10-24 1977-04-28 Tokico Ltd Grasping device
SU1229036A1 (en) * 1983-06-10 1986-05-07 Всесоюзный Институт Технологии Строительного И Дорожного Машиностроения Куйбышевского Научно-Производственного Объединения По Механизации И Автоматизации Производства Manipulator gripping device
SU1237417A1 (en) * 1984-12-18 1986-06-15 Московский Ордена Трудового Красного Знамени Институт Химического Машиностроения Gripping device
JP2001334483A (en) * 2000-05-30 2001-12-04 Takigawa Kogyo Co Ltd Device for separating and transferring annular molding material
CN101380735A (en) * 2008-09-22 2009-03-11 北京航空航天大学 Butt-joint grasping and holding integration mechanism based on ring enclosure
US20120256434A1 (en) * 2008-07-02 2012-10-11 Davian Enterprises, LLC Transfer Ring Having Advantaged Cam Follower-Camming Groove Aspect and Method
CN104070520A (en) * 2014-06-18 2014-10-01 青岛双星橡塑机械有限公司 Tire servo manipulator
CN203956920U (en) * 2014-07-17 2014-11-26 林栋� A kind of adjustable palletizing mechanical pawl

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5253358A (en) * 1975-10-24 1977-04-28 Tokico Ltd Grasping device
SU1229036A1 (en) * 1983-06-10 1986-05-07 Всесоюзный Институт Технологии Строительного И Дорожного Машиностроения Куйбышевского Научно-Производственного Объединения По Механизации И Автоматизации Производства Manipulator gripping device
SU1237417A1 (en) * 1984-12-18 1986-06-15 Московский Ордена Трудового Красного Знамени Институт Химического Машиностроения Gripping device
JP2001334483A (en) * 2000-05-30 2001-12-04 Takigawa Kogyo Co Ltd Device for separating and transferring annular molding material
US20120256434A1 (en) * 2008-07-02 2012-10-11 Davian Enterprises, LLC Transfer Ring Having Advantaged Cam Follower-Camming Groove Aspect and Method
CN101380735A (en) * 2008-09-22 2009-03-11 北京航空航天大学 Butt-joint grasping and holding integration mechanism based on ring enclosure
CN104070520A (en) * 2014-06-18 2014-10-01 青岛双星橡塑机械有限公司 Tire servo manipulator
CN203956920U (en) * 2014-07-17 2014-11-26 林栋� A kind of adjustable palletizing mechanical pawl

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107378930A (en) * 2017-06-20 2017-11-24 安徽悦尔伟塑料机械有限公司 Suitable for the manipulator of tubing
CN108296859A (en) * 2018-01-03 2018-07-20 佛山杰致信息科技有限公司 A kind of mechanical arm production fixing device
CN108326835A (en) * 2018-05-09 2018-07-27 安徽华源物流有限责任公司 A kind of sorting manipulator having regulatory function
CN110243612A (en) * 2019-06-21 2019-09-17 武汉轻工大学 Vehicle braking drags detection device
CN110316432A (en) * 2019-08-12 2019-10-11 绍兴谨圣包装机械有限公司 A kind of cartoning sealing machine
CN111409013A (en) * 2020-05-07 2020-07-14 陈壮 Heavy truck rim barreling polishing equipment

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