CN107378934A - Manipulator electromagnetic lifter structure - Google Patents
Manipulator electromagnetic lifter structure Download PDFInfo
- Publication number
- CN107378934A CN107378934A CN201710721513.5A CN201710721513A CN107378934A CN 107378934 A CN107378934 A CN 107378934A CN 201710721513 A CN201710721513 A CN 201710721513A CN 107378934 A CN107378934 A CN 107378934A
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- China
- Prior art keywords
- manipulator
- main body
- lifter structure
- electromagnetic lifter
- hydraulic
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of manipulator electromagnetic lifter structure, the manipulator electromagnetic lifter structure includes the installation base plate (3) and push-pull electromagnet (1) that top is provided with manipulator (4), push-pull electromagnet includes being wound with the electromagnet main body (11) of magnet coil and through electromagnet main body and being capable of the motion bar (12) that moves to axial of opposed electromagnets main body, electromagnet main body is connected to installation base plate, the head (121) and bar tail (122) of motion bar are located at the both sides of the installation base plate respectively, head is connected with manipulator (4), bar tail is provided with stop part (123).The present invention is powered or powered off by setting push-pull electromagnet on installation base plate, and by the magnet coil in electromagnet main body so that the motion of head.Head is connected with manipulator, and the lifting action of manipulator is realized by the motion of above-mentioned head.The manipulator electromagnetic lifter structure is simple in construction, and use is easy to adjust, and cost is low, can realize the lifting action of manipulator.
Description
Technical field
The present invention relates to mechanical field, and in particular to a kind of manipulator electromagnetic lifter structure.
Background technology
Modern industry develops rapidly, and product of the semiconductor devices as high and new technology, demand increasingly improves, therefore people
The automatization level of semiconductor processing equipment is increasingly improved.
Transfer structure of the manipulator as semiconductor processing equipment, the efficiency for fetching and delivering piece greatly improved, while be also batch
Measure efficient production and provide possibility, reduce the quantity using staff, also provided for the use of semiconductor equipment
Convenience.
Manipulator on the market is varied at present, but some manipulators include high-grade, precision and advanced technology and manufacturing cost compared with
It is high；Some transport mechanism functions are simple but complicated, manufacturing cost is high, reliability is low, service life is also low；Some equipment
Be equipped with high-grade, precision and advanced full-automatic mechanical hand finished product, undoubtedly cause equipment cost it is higher, waste it is high-grade, precision and advanced automatically into
Other a wide range of functions of product manipulator.
The content of the invention
It is an object of the invention to provide a kind of manipulator electromagnetic lifter structure, the manipulator electromagnetic lifter structure includes top
Installation base plate and push-pull electromagnet provided with manipulator, the push-pull electromagnet include the electromagnet for being wound with magnet coil
Main body and through the electromagnet main body and can the motion bar that moves to axial of relatively described electromagnet main body, the electricity
Magnet main body is connected to the installation base plate, and the head and bar tail of the motion bar are located at the both sides of the installation base plate respectively,
The head is connected with the manipulator, and the bar tail is provided with stop part.The manipulator electromagnetic lifter structure is simple in construction, uses
Easy to adjust, cost is low, can realize the lifting action of manipulator.
In the manipulator electromagnetic lifter structure of the present invention, it is preferably, the head is provided with the support contacted with the manipulator
Piece.
In the manipulator electromagnetic lifter structure of the present invention, it is preferably, the supporting spring is isosceles triangle supporting spring, the head
It is connected with the drift angle of the isosceles triangle supporting spring, the transverse direction of two base angles of the isosceles triangle supporting spring along the manipulator
Direction is extended.
In the manipulator electromagnetic lifter structure of the present invention, it is preferably, between the electromagnet main body and the stop part also
Provided with spring.
In the manipulator electromagnetic lifter structure of the present invention, it is preferably, the manipulator electromagnetic lifter structure also includes hydraulic pressure
Buffer, the hydraulic bjuffer include hydraulic buffer main body and moving lever, and the hydraulic buffer main body is connected to described
Installation base plate, one end of the hydraulic buffer main body are provided with hydraulic regulating portion, the moving lever can relatively described hydraulic pressure delay
The other end axial movement of device main body is rushed, the moving lever includes tache motorice, and the tache motorice is connected with the manipulator.
In the manipulator electromagnetic lifter structure of the present invention, it is preferably, the manipulator electromagnetic lifter structure includes two institutes
Hydraulic bjuffer is stated, horizontal direction of two hydraulic bjuffers along the manipulator is separately positioned on the plug-type electromagnetism
The both sides of iron, and two hydraulic bjuffers are arranged as three-legged structure with the push-pull electromagnet.
In the manipulator electromagnetic lifter structure of the present invention, it is preferably the tache motorice point of two hydraulic bjuffers
It is not arranged at two base angles of the isosceles triangle supporting spring.
In the manipulator electromagnetic lifter structure of the present invention, it is preferably, the moving lever of two hydraulic bjuffers
Two base angles that tache motorice is each passed through the isosceles triangle supporting spring are fixed on the manipulator.
In the manipulator electromagnetic lifter structure of the present invention, it is preferably, the lifting distance of the moving lever is more than the activity
The lifting distance of bar.
In the manipulator electromagnetic lifter structure of the present invention, it is preferably, the manipulator electromagnetic lifter structure also includes level
The axis of guide and horizontally-guided sliding block, the horizontally-guided sliding block is connected to the installation base plate, and can be led along the level
It is slidably mounted on to axle on the horizontally-guided axle.
Pass through above-mentioned technical proposal, the present invention on installation base plate by setting push-pull electromagnet so that works as electromagnet
Magnet coil in main body can produce magnetic field moment when being powered, the magnetic field will produce attraction to motion bar, and head is pushed away
To the position away from electromagnet main body；It can lose magnetism moment when the magnet coil power-off in electromagnet main body, while also lose
Attraction has been gone, and head has been recovered to home position, the i.e. position close to electromagnet main body.Head is connected with manipulator, is led to
The lifting action of manipulator is realized in the motion for crossing above-mentioned head.The manipulator electromagnetic lifter structure is simple in construction, uses regulation
Convenient, cost is low, can realize the lifting action of manipulator.
Brief description of the drawings
Fig. 1 is the front view according to the manipulator electromagnetic lifter structure of the preferred embodiment of the present invention；
Fig. 2 is the left view according to the manipulator electromagnetic lifter structure of the preferred embodiment of the present invention；
Fig. 3 is the top view according to the manipulator electromagnetic lifter structure of the preferred embodiment of the present invention；
Fig. 4 is in the manipulator electromagnetic lifter structure according to the preferred embodiment of the present invention, in pushing away for the state of stretching
The structural representation of pull-type electromagnet；
Fig. 5 is pushing away in retracted mode in the manipulator electromagnetic lifter structure according to the preferred embodiment of the present invention
The structural representation of pull-type electromagnet；
Fig. 6 is in the manipulator electromagnetic lifter structure according to the preferred embodiment of the present invention, in the slow of the state of stretching
Rush the structural representation of device；
Fig. 7 is pushing away in retracted mode in the manipulator electromagnetic lifter structure according to the preferred embodiment of the present invention
The structural representation of pull-type electromagnet.
Reference：
1~push-pull electromagnet, 2~hydraulic bjuffer, 3~installation base plate, 4~manipulator, 5~supporting spring, 6~level are led
To axle, 7~horizontally-guided sliding block, 11~electromagnet main body, 12~motion bar, 121~head, 122~bar tail, 123~stop
Portion, 21~hydraulic buffer main body, 22~moving lever, 23~hydraulic regulating end, 221~tache motorice.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it will be appreciated that described herein
Specific embodiment only to explain the present invention, is not intended to limit the present invention.Described embodiment is only the present invention one
Divide embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making
The all other embodiment obtained under the premise of creative work, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to illustrate, the horizontal direction of manipulator 4 refers to mechanical torch in the present invention
Magnetic elevator structure places the width of opportunity tool hand 4 under normal operating condition.That is, referring to the side in Fig. 1 perpendicular to paper
To the length direction of paper in Fig. 3.The orientation or position relationship of the instruction such as term " on ", " under ", " level ", " vertical " are base
In orientation shown in the drawings or position relationship, description description of the invention and simplified, rather than instruction or hint are for only for ease of
Signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this
The limitation of invention.
In addition, in the description of the invention, it is necessary to explanation, unless otherwise clearly defined and limited, term " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Fig. 1 is according to the front view of the manipulator electromagnetic lifter structure of the preferred embodiment of the present invention, and Fig. 2 is according to this
The left view of the manipulator electromagnetic lifter structure of the preferred embodiment of invention, Fig. 3 is according to the preferred embodiment of the present invention
Manipulator electromagnetic lifter structure top view, Fig. 4 is the manipulator electromagnetic lifter according to the preferred embodiment of the present invention
In structure, the structural representation of the push-pull electromagnet in the state of stretching.As shown in Figures 1 to 4, manipulator electromagnetism of the invention
Elevating mechanism includes the installation base plate 3 and push-pull electromagnet 1 that top is provided with manipulator 4, and push-pull electromagnet 1 includes being wound with
The electromagnet main body 11 of magnet coil and through electromagnet main body 11 and can opposed electromagnets main body 11 move to axial
Motion bar 12, electromagnet main body 11 is connected to installation base plate 3, and the head 121 and bar tail 122 of motion bar 12 are respectively positioned at installation
The both sides of substrate 3, head 121 are connected with manipulator 4, and bar tail 122 is provided with stop part 123.
The present invention on installation base plate 3 by setting push-pull electromagnet 1 so that the electromagnetic wire in electromagnet main body 11
Circle can produce magnetic field moment when being powered, the magnetic field will produce attraction to motion bar 12, and head 121 is pushed to away from electromagnetism
The position of iron main body 11；It can be lost magnetism moment when the magnet coil power-off in electromagnet main body 11, while be lost suction
Gravitation, and head 121 is recovered to home position, the i.e. position close to electromagnet main body 11.Head 121 is connected with manipulator 4,
The lifting action of manipulator 4 is realized by the motion of above-mentioned head 121.The manipulator electromagnetic lifter structure is simple in construction, makes
With easy to adjust, cost is low, can realize the lifting action of manipulator 4.
As shown in figure 3, the manipulator 4 in the manipulator electromagnetic lifter structure of the present invention includes arm and finger, arm bag
Include arm end, arm arm body and arm front end.The width of arm end is more than the width of arm arm body, the width of arm front end
Can or the width of arm front end equal with the width of arm arm body be slightly larger than the width of arm arm body, but be less than hand
The width of arm end.In one embodiment of the invention, head 121 is connected with the arm end of manipulator 4, for example, weldering
Connect, clamping etc..Preferably, head 121 and the arm end of manipulator 4 are bolted to connection.
In the preferred embodiment of the present invention, head 121 is provided with the supporting spring 5 contacted with manipulator 4.By in bar
The supporting spring 5 that contact with manipulator 4 is set on first 121, increases head 121 and the contact area of manipulator 4 so that manipulator 4 by
Power is uniform, so that the lifting action of manipulator 4 is more steady.Wherein, supporting spring 5 should be by being unlikely to deform and weight is more frivolous
Material be made, such as steel plate, composite plate etc..
In order that obtaining, manipulator 4 is more uniformly stressed and supporting spring 5 is easy to make and good appearance, is preferably supporting spring 5 is etc.
Lumbar triangle shape supporting spring, head 121 are connected with the drift angle of isosceles triangle supporting spring, and two base angles of isosceles triangle supporting spring are along machinery
The horizontal direction of hand 4 is extended.When head 121 is directed away from the direction motion of electromagnet main body 11, while supporting spring 5 is promoted to transport
It is dynamic so that the arm permanent balance of the equably promotion robot 4 of supporting spring 5 rises.
In order that obtaining the arm end of manipulator 4 also can smoothly decline, it is preferable that electromagnet main body 11 and stop part
Spring is additionally provided between 123.Moment magnetic field can be produced when the magnet coil in electromagnet main body 11 is powered, the magnetic field will be right
Motion bar 12 produces attraction, and pushes head 121 to the position away from electromagnet main body 11, while the stop part of bar tail 122
Spring at 123 is compressed；It can be lost magnetism moment when the magnet coil power-off in electromagnet main body 11, that is, lose attraction
Power so that the spring compressed at stop part 123 is upheld so that head 121 is recovered to home position, i.e., close to electromagnet main body
11 position.
In a preferred embodiment of the invention, referring to Fig. 1 to Fig. 3 and Fig. 6 to Fig. 7, manipulator electromagnetic lifter structure
Hydraulic bjuffer 2 can also be included, hydraulic bjuffer 2 includes hydraulic buffer main body 21 and moving lever 22, hydraulic bjuffer master
Body 21 is connected to installation base plate 3, and one end of hydraulic buffer main body 21 is provided with hydraulic regulating portion 23, and moving lever 22 can be with respect to liquid
The other end axial movement of compression buffer main body 21, moving lever 22 include tache motorice 221, and tache motorice 221 is connected with manipulator 4.
Wherein, the tache motorice 221 of moving lever 22 is also connected to the arm end of manipulator 4.Due to the energy of moving lever 22 of hydraulic bjuffer
The other end of enough opposing hydraulic buffer main bodies 21 axially does stretching motion, while the inner sealing of hydraulic buffer main body 21 has
Liquid oil, pass through the specific type of flow of liquid oil so that the motion of moving lever 22 when being happened suddenly or powerful external force,
Cushioning effect can be played, and the speed stabilizing of moving lever 22 is moved.Due to the material of manipulator 4 can have it is a variety of, no
The materials such as steel, aluminium, titanium of becoming rusty will influence the weight of manipulator 4, therefore will also influence the electromagnetism of manipulator 4 lifting dynamics, hydraulic cushion
The value of the adjustable pressure of device 2 is also by difference.Wherein, hydraulic regulating portion 23 can adjust the pressure of hydraulic bjuffer 2.So that this hair
Bright manipulator electromagnetic lifter structure can be applied to different operating modes, strengthen versatility.
The present invention uses the hydraulic bjuffer of pressure-adjustable, the convenient attraction for adjusting push-pull electromagnet 1 and plug-type
Compensator or trimmer pressure in the screen resilience of electromagnet 1, to reach the purpose of the speed stabilizing of manipulator 4 motion.
Referring to Fig. 2 and Fig. 3, in a preferred embodiment of the invention, manipulator electromagnetic lifter structure includes two hydraulic pressure
Buffer 2, horizontal direction of two hydraulic bjuffers 2 along manipulator 4 are separately positioned on the both sides of push-pull electromagnet 1, and
Two hydraulic bjuffers 2 are not arranged on the same straight line with push-pull electromagnet 1.The present invention using by two hydraulic bjuffers 2 with
Push-pull electromagnet 1 is not fixed on same straight line, i.e. the fixed position of two hydraulic bjuffers 2 and push-pull electromagnet 1
Fixed position form three-legged structure (one side) at 3 points, with secure mechanical hand 4.Two hydraulic bjuffers 2 had now both played buffering
Effect, while motion guide effect is also functioned to, keep manipulator 4 horizontal and steady.
When head 121 is provided with the supporting spring 5 contacted with manipulator 4, the tache motorice 221 of two hydraulic bjuffers 2 is set respectively
Put at two base angles of isosceles triangle supporting spring.Caused impulsive force is moved to buffer the head 121 of motion bar 12 so that
Manipulator 4 can be lifted smoothly.Wherein, the tache motorice 221 of the moving lever 22 of two hydraulic bjuffers 2 can be to weld or block
It is connected on manipulator 4.But in a preferred embodiment of the invention, especially, the fortune of the moving lever 22 of two hydraulic bjuffers 2
Two base angles that moved end 221 is each passed through isosceles triangle supporting spring are fixed on manipulator 4.To alleviate the tache motorice of moving lever 22
Connection stress between 221 and manipulator 4, increase the lifting surface area between the tache motorice 221 and manipulator 4 of moving lever 22.
In a preferred embodiment of the invention, the lifting distance of moving lever 22 is more than the lifting distance of motion bar 12.It is living
The lifting distance of lever 12 can be 5mm~40mm, and the lifting distance of moving lever 22 can be 5mm~80mm.But the present invention is simultaneously
Be not limited to this, the lifting distance of motion bar 12 and the lifting distance of moving lever 22 can be adjusted according to specific operating mode and
Design.Specifically, the stroke that manipulator moves up and down is determined by the stroke of electromagnet, and the stroke of hydraulic bjuffer is big
In the stroke of electromagnet.In practice, the stroke of integral elevating can based on the flexible stroke of electromagnet, be determined.Preferably, liquid
The stroke of compression buffer is more than the stroke of electromagnet, leaves certain buffering surplus, so as to which the convenient assembling effect to reality is entered
Row regulation.
Referring to Fig. 1 to Fig. 3, manipulator electromagnetic lifter structure can also include horizontally-guided axle 6 and horizontally-guided sliding block 7,
Horizontally-guided sliding block 7 is connected to installation base plate 3, and can be slidably mounted on along horizontally-guided axle 6 on horizontally-guided axle 6.
Installation base plate 3 is the rectangular slab across horizontally-guided axle 6 in the present invention.Electromagnet main body 11 and hydraulic buffer main body 21 are equal
It is fixedly mounted on installation base plate 3, installation base plate 3 is connected to horizontally-guided sliding block 7.Due to head 121 and tache motorice 221 with
The arm end connection of manipulator 4 so that, being capable of driving mechanical hand when horizontally-guided sliding block 7 slides along horizontally-guided axle 6 is horizontal
4 horizontal movements, so as to realize that the horizontal axis of manipulator 4 slides.Coordinating between horizontally-guided sliding block 7 and horizontally-guided axle 6 is
The key of the horizontal movement of manipulator 4 is, it is necessary to which the coefficient of friction of horizontally-guided sliding block 7 is small, and anti-wear performance is good, such as horizontally-guided sliding block
Ball linear bearing, linear slide bearing can also be used, with special plastic slide film by coordinating between 7 and horizontally-guided axle 6
Linear bearing etc..
, wherein it is desired to explanation, the mechanism for realizing the horizontal movement of manipulator 4 of the invention is not limited to sliding block and led
This kind of mode to axle.It can also use such as the driving of steel band horizontal conveyor, slider-crank mechanism driving.
The present invention on installation base plate 3 by setting push-pull electromagnet 1 so that the electromagnetic wire in electromagnet main body 11
Circle can produce magnetic field moment when being powered, the magnetic field will produce attraction to motion bar 12, and head 121 is pushed to away from electromagnetism
The position of iron main body 11；It can be lost magnetism moment when the magnet coil power-off in electromagnet main body 11, while be lost suction
Gravitation, and head 121 is recovered to home position, the i.e. position close to electromagnet main body 11.Head 121 is connected with manipulator 4,
The lifting action of manipulator 4 is realized by the motion of above-mentioned head 121.The manipulator electromagnetic lifter structure is simple in construction, makes
With easy to adjust, cost is low, can realize the lifting action of manipulator 4.
Secondly, further through hydraulic bjuffer 2 is set on installation base plate 3, because the moving lever 22 of hydraulic bjuffer 2 can
The other end of opposing hydraulic buffer main body 21 axially does stretching motion, while the inner sealing of hydraulic buffer main body 21 has liquid
Body oil, passes through the specific type of flow of liquid oil so that the motion of moving lever 22, can when being happened suddenly or powerful external force
To play cushioning effect, and the speed stabilizing of moving lever 22 is moved.Hydraulic regulating portion 23 can adjust hydraulic bjuffer 2
Pressure.Enable the manipulator electromagnetic lifter structure of the present invention to be applied to different operating modes, strengthen versatility.
Finally, by setting horizontally-guided axle and horizontally-guided sliding block, and horizontally-guided axle and horizontally-guided sliding block it
Between cooperation realize the horizontal movement of manipulator 4.
The present invention can realize that the manipulator electromagnetic lifter structure of horizontal movement can apply to plurality of devices.Such as can be with
Applied to semiconductor equipments such as etching machine, coating machine, cleaning machine, detection device, electroplating machines.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, the change or replacement that can readily occur in, all should
It is included within the scope of the present invention.
Claims (10)
- A kind of 1. manipulator electromagnetic lifter structure, it is characterised in thatThe manipulator electromagnetic lifter structure includes the installation base plate (3) and push-pull electromagnet (1) that top is provided with manipulator (4), The push-pull electromagnet (1) includes being wound with the electromagnet main body (11) of magnet coil and through the electromagnet main body (11) and can be relative to the motion bar (12) of the electromagnet main body (11) axial movement, the electromagnet main body (11) is even The installation base plate (3) is connected to, the head (121) and bar tail (122) of the motion bar (12) are located at the installation base plate respectively (3) both sides, the head (121) are connected with the manipulator (4), and the bar tail (122) is provided with stop part (123).
- 2. manipulator electromagnetic lifter structure according to claim 1, it is characterised in thatThe head (121) is provided with the supporting spring (5) contacted with the manipulator (4).
- 3. manipulator electromagnetic lifter structure according to claim 2, it is characterised in thatThe supporting spring (5) is isosceles triangle supporting spring, and the head (121) is connected with the drift angle of the isosceles triangle supporting spring, Horizontal direction of two base angles of the isosceles triangle supporting spring along the manipulator (4) is extended.
- 4. manipulator electromagnetic lifter structure according to claim 3, it is characterised in thatSpring is additionally provided between the electromagnet main body (11) and the stop part (123).
- 5. manipulator electromagnetic lifter structure according to claim 4, it is characterised in thatThe manipulator electromagnetic lifter structure also includes hydraulic bjuffer (2), and the hydraulic bjuffer (2) includes hydraulic bjuffer Main body (21) and moving lever (22), the hydraulic buffer main body (21) are connected to the installation base plate (3), the hydraulic cushion One end of device main body (21) is provided with hydraulic regulating portion (23), and the moving lever (22) being capable of relatively described hydraulic buffer main body (21) other end axial movement, the moving lever (22) include tache motorice (221), the tache motorice (221) and the machinery Hand (4) connects.
- 6. manipulator electromagnetic lifter structure according to claim 5, it is characterised in thatThe manipulator electromagnetic lifter structure includes two hydraulic bjuffers (2), and two hydraulic bjuffers (2) are along institute The horizontal direction for stating manipulator (4) is separately positioned on the both sides of the push-pull electromagnet (1), and two hydraulic cushions Device (2) is arranged as three-legged structure with the push-pull electromagnet (1).
- 7. manipulator electromagnetic lifter structure according to claim 6, it is characterised in thatThe tache motorice (221) of two hydraulic bjuffers (2) is separately positioned on two of the isosceles triangle supporting spring At base angle.
- 8. manipulator electromagnetic lifter structure according to claim 7, it is characterised in thatThe tache motorice (221) of the moving lever (22) of two hydraulic bjuffers (2) is each passed through the isosceles triangle Two base angles of supporting spring are fixed on the manipulator (4).
- 9. manipulator electromagnetic lifter structure according to claim 8, it is characterised in thatThe lifting distance of the moving lever (22) is more than the lifting distance of the motion bar (12).
- 10. manipulator electromagnetic lifter structure according to claim 9, it is characterised in thatThe manipulator electromagnetic lifter structure also includes horizontally-guided axle (6) and horizontally-guided sliding block (7), and the horizontally-guided is slided Block (7) is connected to the installation base plate (3), and installed in described in a manner of it can be slided along the horizontally-guided axle (6) On horizontally-guided axle (6).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710721513.5A CN107378934A (en) | 2017-08-22 | 2017-08-22 | Manipulator electromagnetic lifter structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710721513.5A CN107378934A (en) | 2017-08-22 | 2017-08-22 | Manipulator electromagnetic lifter structure |
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| CN107378934A true CN107378934A (en) | 2017-11-24 |
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| CN201710721513.5A Pending CN107378934A (en) | 2017-08-22 | 2017-08-22 | Manipulator electromagnetic lifter structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789360A (en) * | 2018-08-30 | 2018-11-13 | 苏州胜璟电磁科技有限公司 | A kind of electromagnet manipulator |
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