CN107901068A - A kind of more parts adsorb the adsorption structure and method of pickup at the same time - Google Patents
A kind of more parts adsorb the adsorption structure and method of pickup at the same time Download PDFInfo
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- CN107901068A CN107901068A CN201711188632.5A CN201711188632A CN107901068A CN 107901068 A CN107901068 A CN 107901068A CN 201711188632 A CN201711188632 A CN 201711188632A CN 107901068 A CN107901068 A CN 107901068A
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- gas
- sucker
- gas circuit
- connection part
- installing plate
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
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Abstract
The present invention provides the adsorption structure and method that a kind of more parts adsorb pickup at the same time, belong to precision assembly technology field.A kind of more parts adsorb the adsorption structure of pickup, including absorption body unit and absorption head unit at the same time；The absorption body unit includes sucker installing plate and inserting type pipe joint；Absorption head unit includes sucker transfer block, gas connection part, baffle ring and sucker.Absorption body unit is used for fixed absorption head unit and provides the gas circuit of vacuum suction gas；Adsorbing head unit can realize that the absorption to more component assembly bodies of different shape and size is picked up by adjusting the relative position of baffle ring and sucker and gas connection part.Absorption picking task is carried out using the present invention, multiple parts not linked into an integrated entity can be adsorbed at the same time, and does not change the relative position between part in operation process, pollutant will not be introduced；And multiple parts are once picked up, reduces the time for replacing adsorption head, improves efficiency of assembling.
Description
Technical field
The present invention relates to the adsorption structure and method that a kind of more parts adsorb pickup at the same time, belongs to precision assembly technology neck
Domain.
Background technology
Automatic assembling occupies increasingly consequence in manufacturing industry, and the success rate of assembling is not only with putting together machines people's
Repetitive positioning accuracy is related, and also the structure with assembling jig and end effector has substantial connection.Such as the flexibility of aircraft is automatic
Assembling, is exactly the flexibility using industrial robot, configures the end effector of specific function, realizes the assemblings such as drilling, riveting
Task.【New etc., Nanjing Aero-Space University's journal, 2014, Vol.46, No.2,181-189 are built in Shen】Good end is designed to hold
Row device, can reliably pick up one or more parts, directly influence the efficiency and precision for improving assembling at the same time.
Li Ruiqin【Li Ruiqin etc., Huabei Polytechnical College journal, 1999, Vol.20, No.4,368-370】Think can be dress
End effector with robot creates fixture database so that robot when capture different parts can quickly and accurately from storehouse oneself
It is dynamic to replace clamper, so as to expand the application range of robot hand, improve the efficiency of assembling for the people that puts together machines.Wang Yue【Wang Yue
Deng, automated manufacturing, 2016, Vol.38, No.3,86-88】Automatic inserting operation for small shaped electronic component will
Ask, devise the handgrip of plug-in robot, be integrated with CCD NI Vision Builder for Automated Inspections, fibre optical sensor detecting system and crusherbull zone
System, it can be achieved that special-shaped electronic component it is reliable capture, be accurately positioned, component stitch collision detection, inserting detect in place
Etc. function.Wu Tianqiang【Wu Tian is strong etc., Measurement And Control of The Jet Flotation Column, 2015, No.12,116-117】A kind of three finger-types rotation paw is reported,
Its 3 fingers can revolve round the sun around axis and synchronous rotation, realize opening and the gathering of three fingers, and paw self-centering can capture a variety of several
What regular object, and there is auto-lock function, complete the functions such as the pre-assembled of nut.
In conclusion the research for the various end effectors of industrial robot pickup object operation receives in recent years
Extensive concern, the design for the clamping jaw of different work, clamp and adsorption head is varied, but all things considered, its specificity compared with
By force, and generally it can only once pick up a part or connect an integral component.
In some assembling works, it is contemplated that the cleannes of fitting surface, no extraneous metal ion be introduced into or air in
Grain pollution fitting surface, while adsorption head replacement is reduced, operating efficiency is improved, it is necessary to which pickup at the same time more than 2 is not connected integral
Part, therefore the present invention proposes that a kind of more parts adsorb the adsorption structure of pickup at the same time, can once pick up multiple be not connected with into
Overall part, and do not change the mutual alignment between three parts, so as to expand the clamping range of end effector, make automatic
The application range of assembly system is more extensive.
The content of the invention
The present invention provides a kind of adsorption structure and method for adsorbing pickup at the same time for more parts, complete by vacuum adsorption force
Picked up while paired multiple parts, so that multiple parts be carried at the same time and be discharged into designated position.
Technical scheme：
A kind of adsorption structure for adsorbing pickup at the same time for more parts, including absorption body unit and absorption head unit；
The absorption body unit includes sucker installing plate and inserting type pipe joint；
One end of the sucker installing plate is equipped with threaded hole, for sucker installing plate to be installed on mechanical arm configuration,
Support is provided for adsorption structure；The other end of sucker installing plate is provided with recess hole, and side is equipped with the gas circuit A of perforation recess hole；Institute
The one end for the inserting type pipe joint stated is sealingly mounted at the gas circuit A ends of sucker installing plate, other end connection tracheae, and tracheae is equipped with
Air valve, is realized in vacuum suction gas transport to sucker installing plate；
The absorption head unit includes sucker transfer block, gas connection part, baffle ring and sucker；
The sucker transfer block is made of boss structure and bottom plate, the groove of the boss structure and sucker installing plate
Hole coordinates, and boss structure is equipped with the gas circuit B communicated with gas circuit A；The threaded hole of sucker installing plate side coordinates with dogbolt
Fixing sucking disk transfer block；The bottom plate is equipped with gas circuit C, and gas circuit C passes to bottom plate lower surface, and is communicated with gas circuit B；
The gas connection part is cylindrical-shaped structure, is fixed on the bottom plate of sucker transfer block；Along gas connection part axis
Communicated to equipped with gas circuit D, gas circuit D with gas circuit C；It is hollow cavity inside gas connection part, gas circuit D is penetrated through with inside cavity,
When adsorption structure adsorbs and picks up more component assembly bodies, cavity can accommodate the part that size is high in more component assembly bodies；
Gas connection part is circumferentially with gas circuit E, and gas circuit E is communicated with cavity, is used for realization vacuum suction gas from gas circuit D
Gas circuit E is transmitted to by gas connection part internal cavity；
The sucker is tube-in-tube structure, is sleeved on outside gas connection part；The upper end of sucker and the upper end of gas connection part
Interference fit, has the function that fixing sucking disk and prevents gas leakage；The lower end of sucker is the skirt border structure of thin wall shape, for closely wrapping
The external structure of more component assembly bodies is wrapped up in, prevents gas leakage, vacuum suction gas is transmitted in the cavity of sucker from gas circuit E, is realized
Vacuum suction；
The baffle ring is annular element, position and height for fixing sucking disk, threaded hole is provided with baffle ring, with gas
Connectedness coordinates, and is fixed on by plunger on gas connection part.
The gas circuit A is communicated by inserting type pipe joint with external vacuum adsorbed gas, and with the gas of sucker transfer block
Road B is communicated, and realizes that external vacuum adsorbed gas is transmitted to sucker transfer block from gas circuit A；Gas circuit B is communicated with gas circuit C, realizes vacuum
Adsorbed gas is transmitted to gas circuit C inside sucker transfer block from gas circuit B；Gas circuit D is communicated with gas circuit C, realizes vacuum suction gas
Gas circuit D is transmitted to from gas circuit C；Gas connection part is circumferentially with gas circuit E, and gas circuit E is communicated with cavity, is used for realization vacuum suction
Gas is transmitted to gas circuit E from gas circuit D by gas connection part internal cavity；Vacuum suction gas is transmitted to sucker 6 from gas circuit E
In cavity, vacuum suction is realized.
A kind of adsorption method for adsorbing pickup at the same time for more parts, includes the following steps：
The first step：Installation absorption body unit, sucker installing plate is installed on mechanical arm configuration by bolt, and at random
Tool arm moves, then inserting type pipe joint is installed on sucker installing plate, realizes that vacuum suction gas is transmitted to sucker from air valve
On installing plate.
Second step：Installation absorption head unit, sucker transfer block and gas connection part are bolted, and realize that vacuum is inhaled
Attached gas, into gas connection part, baffle ring and sucker is installed on gas connection part from sucker transfer block internal transmission, wherein
It is interference fit between sucker and gas connection part, prevents that sucker from dropping or gas leakage, the boss structure of sucker transfer block is inserted into
In the groove of sucker installing plate, alignment venthole A and venthole B, then tighten the dogbolt of sucker installing plate opposite side and fix
Sucker transfer block, completes the installation of adsorption head.
3rd step：More component assembly bodies are made of part A, cohesive material and part B, and cohesive material is used for union piece A
With part B, after cohesive material is inviscid, it is necessary to which more component assembly bodies are moved to target location at room temperature, in temperature and pressure
The lower cohesive material of effect links into an integrated entity other parts on part A, part B and target location.
4th step：Adjusted and fixed baffle ring and sucker are opposite with gas connection part according to the height of more component assembly bodies
Position so that part A to be picked up cannot block the venthole D of gas connection part, and the skirt border structure of sucker lower end can be completely
The outside of part B to be picked up is wrapped up, prevents sucker gas leakage；In adsorption process, since part A and part B are not connected with, and part A
Outside diameter be less than part B internal diameter, even if part A lifts trend under adsorption capacity, due between part A and part B immediately
There is gap gas leakage, so as to prevent the phenomenon that part A blocks venthole D in adsorption process to occur.
5th step：After more component assembly bodies to be picked up are assembled, position to be picked up is placed on, opens air valve, vacuum is inhaled
Attached gas is delivered in the cavity of sucker according to the route of air valve-gas circuit A- gas circuit B- gas circuit C- gas circuit D- gas circuits E, mechanically moving
Arm, makes adsorption head be directed at more component assembly bodies to be picked up, will after the skirt border structure of sucker lower end wraps up part B to be picked up
More component assembly bodies are moved to target location, close air valve, discharge assembly, complete pickup and place work.
Beneficial effects of the present invention：The present invention can adsorb multiple parts not linked into an integrated entity at the same time, and pickup,
Do not change the mutual alignment between part during mobile and release, part interface will not be introduced contaminants into；Multiple parts are once picked up,
Reduce the time for replacing adsorption head, reduce installation step and time, improve efficiency of assembling.
Brief description of the drawings
Fig. 1 is the adsorption structure schematic diagram for adsorbing pickup at the same time for more parts.
Fig. 2 is sucker mounting plates structure schematic diagram.
Fig. 3 is inserting type pipe joint structure diagram.
Fig. 4 is sucker transfer block structure diagram.
Fig. 5 is gas connection part structure diagram.
Fig. 6 is baffle ring structure diagram.
Fig. 7 is sucker structure schematic diagram.
Fig. 8 is part A schematic diagrames to be picked up.
Fig. 9 is cohesive material to be picked up.
Figure 10 is part B schematic diagrames to be picked up.
Figure 11 is more component assembly bodies to be picked up.
In figure：1 sucker installing plate；2 inserting type pipe joints；3 sucker transfer blocks；4 gas connection parts；5 baffle rings；6 suckers；7
Part A；8 cohesive materials；9 part B.
Specific embodiment
Describe the specific embodiment of the present invention in detail with reference to technical solution and attached drawing 1-11.
A kind of adsorption structure for adsorbing pickup at the same time for more parts, including absorption body unit and adsorption head list
Member；
The absorption body unit, including sucker installing plate 1, inserting type pipe joint 2；
There is threaded hole in one end of the sucker installing plate 1, and in the structures such as mechanical arm, branch is provided for adsorption structure
Support；The boss structure of sucker transfer block 3 is installed in the groove of sucker installing plate 1, and passes through the screw thread of 1 side of sucker installing plate
Hole installation bolt carrys out fixing sucking disk transfer block 3；Inserting type pipe joint 2 is connect on the outside of gas circuit A, connects external vacuum adsorbed gas, it is interior
Side is docked with 3 gas circuit B of sucker transfer block, realizes that external vacuum adsorbed gas is transmitted to sucker transfer block 3 from gas circuit A；
The inserting type pipe joint 2, one end are screw thread, and on 1 gas circuit A of sucker installing plate, the other end is tubulose
Structure, is connected with air valve by tracheae, realizes that vacuum suction gas is transmitted on sucker installing plate 1 from air valve；
The absorption head unit, including sucker transfer block 3, gas connection part 4, baffle ring 5, sucker 6；
The sucker transfer block 3 is provided with the rectangular structural member of air channel for inside, and ventilation is provided with inside sucker transfer block 3
Groove, realizes that vacuum suction gas is transmitted to gas circuit C inside sucker transfer block 3 from gas circuit B, sucker transfer block 3 by bolt with
Gas connection part 4 connects, and realizes that vacuum suction gas is transmitted to gas circuit D from gas circuit C；
The gas connection part 4 is cylindrical-shaped structure, and upper end is provided with venthole D, and passes through bolt and sucker transfer block 3
Connection, realizes that vacuum suction gas is transmitted to gas circuit D from gas circuit C, circular cylindrical cavity, venthole D is provided with inside gas connection part 4
Penetrated through with inside cavity, when more component assembly bodies are picked up in absorption, it is higher that inside cavity accommodates size in more component assembly bodies
Part, cavity both sides are provided with air channel E, and vacuum suction gas is transmitted to gas circuit from gas circuit D by 4 internal cavity of gas connection part
E；
The baffle ring 5 is annular element, position and height for fixing sucking disk 6, and threaded hole is provided with baffle ring 5, with
Gas connection part 4 coordinates, and is fixed on by plunger on gas connection part 4；
The sucker 6 is tube-in-tube structure, and hole and the gas connection part 4 of upper end are interference fitted, and plays fixing sucking disk 6 and prevents
There are the skirt border structure of thin wall shape in the effect of gas leakage, 6 lower end of sucker, for the external structure of the more component assembly bodies of tight, prevent
Leak-stopping gas, vacuum suction gas are transmitted in the cavity of sucker 6 from gas circuit E, realize vacuum suction.
The adsorption structure realizes the method that more parts adsorb pickup at the same time, more component assembly bodies shown in Fig. 8,9,10
Exemplified by, toughness material 8 between wherein part A7 and part B9, as shown in figure 11, includes the following steps：
The first step：Sucker installing plate 1 is installed in the structures such as mechanical arm by bolt so that sucker installing plate 1 can
It is installed on as mechanical arm moves freely, then by inserting type pipe joint 2 on sucker installing plate 1, realizes vacuum suction gas from gas
Valve is transmitted on sucker installing plate.
Second step：Sucker transfer block 3 and gas connection part 4 are bolted, realize vacuum suction gas from sucker
Baffle ring 5 and sucker 6 are installed on gas connection part 4 by 3 internal transmission of transfer block into gas connection part 4, wherein sucker 6 with
It is interference fit between gas connection part 4, prevents that sucker 6 from dropping or gas leakage.
3rd step：The opposite position of baffle ring 5 and sucker 6 and gas connection part 4 is adjusted according to the height of more component assembly bodies
Put so that part A7 to be picked up cannot block the venthole D of gas connection part 4, and the skirt border structure of 6 lower end of sucker can be completely
The outside of part B9 to be picked up is wrapped up, prevents sucker gas leakage.
4th step：Baffle ring 5 and sucker 6 are adjusted with after the relative position of gas connection part 4, baffle ring 5 is fixed with plunger
Position so that baffle ring 5 and sucker 6 keep relative position constant, and the rectangular boss of sucker transfer block 3 is inserted into sucker installing plate
In 1 groove, alignment venthole A and venthole B, then tighten the dogbolt fixing sucking disk switching of 1 opposite side of sucker installing plate
Block 3, completes the installation of adsorption head.
5th step：After more component assembly bodies to be picked up are assembled, position to be picked up is placed on, opens air valve, vacuum is inhaled
Attached gas is delivered in the cavity of sucker 6 according to the route of air valve-gas circuit A- gas circuit B- gas circuit C- gas circuit D- gas circuits E, moving machine
Tool arm, makes adsorption head be directed at more component assembly bodies to be picked up, treats that the skirt border structure of 6 lower end of sucker wraps up part B9 to be picked up
Afterwards, more component assembly bodies are moved to placement location, close air valve, mechanical arm returns to initial position, completes pickup and places work.
Claims (2)
1. a kind of adsorption structure for adsorbing pickup at the same time for more parts, it is characterised in that including absorption body unit and absorption
Head unit；
The absorption body unit includes sucker installing plate (1) and inserting type pipe joint (2)；
One end of the sucker installing plate (1) is equipped with threaded hole, for sucker installing plate (1) to be installed on mechanical arm configuration
On, provide support for adsorption structure；The other end of sucker installing plate (1) is provided with recess hole, and side is equipped with the gas of perforation recess hole
Road A；One end of the inserting type pipe joint (2) is sealingly mounted at the gas circuit A ends of sucker installing plate (1), other end connection gas
Pipe, tracheae are equipped with air valve, realize in vacuum suction gas transport to sucker installing plate (1)；
The absorption head unit includes sucker transfer block (3), gas connection part (4), baffle ring (5) and sucker (6)；
The sucker transfer block (3) is made of boss structure and bottom plate, and the boss structure is recessed with sucker installing plate (1)
Slot coordinates, and boss structure is equipped with the gas circuit B communicated with gas circuit A；The threaded hole and dogbolt of sucker installing plate (1) side
Coordinate fixing sucking disk transfer block (3)；The bottom plate is equipped with gas circuit C, and gas circuit C passes to bottom plate lower surface, and with gas circuit B phases
It is logical；
The gas connection part (4) is cylindrical-shaped structure, is fixed on the bottom plate of sucker transfer block (3)；Along gas connection part
(4) it is axially arranged with gas circuit D, gas circuit D is communicated with gas circuit C；Be hollow cavity inside gas connection part (4), in gas circuit D and cavity
Portion penetrates through, and when adsorption structure adsorbs and picks up more component assembly bodies, cavity can accommodate the part that size is high in more component assembly bodies；
Gas connection part (4) is circumferentially with gas circuit E, and gas circuit E is communicated with cavity, is used for realization vacuum suction gas from gas circuit D
Gas circuit E is transmitted to by gas connection part (4) internal cavity；
The sucker (6) is tube-in-tube structure, and it is exterior to be sleeved on gas connection part (4)；The upper end of sucker (6) and gas connection part
(4) upper end interference fit, has the function that fixing sucking disk (6) and prevents gas leakage；The lower end of sucker (6) is the shirt rim of thin wall shape
Structure, for the external structure of the more component assembly bodies of tight, prevents gas leakage, vacuum suction gas is transmitted to suction from gas circuit E
In the cavity of disk (6), vacuum suction is realized；
The baffle ring (5) is annular element, and position and height for fixing sucking disk (6), baffle ring are provided with threaded hole on (5),
Coordinate with gas connection part (4), and be fixed on by plunger on gas connection part (4)；
The gas circuit A is communicated by inserting type pipe joint (2) with external vacuum adsorbed gas, and with sucker transfer block (3)
Gas circuit B is communicated, and realizes that external vacuum adsorbed gas is transmitted to sucker transfer block (3) from gas circuit A；Gas circuit B is communicated with gas circuit C, real
Existing vacuum suction gas is transmitted to gas circuit C in sucker transfer block (3) inside from gas circuit B；Gas circuit D is communicated with gas circuit C, realizes vacuum
Adsorbed gas is transmitted to gas circuit D from gas circuit C；Gas connection part (4) is circumferentially with gas circuit E, and gas circuit E is communicated with cavity, is used for
Realize that vacuum suction gas is transmitted to gas circuit E from gas circuit D by gas connection part (4) internal cavity；Vacuum suction gas is from gas
Road E is transmitted in the cavity of sucker (6), realizes vacuum suction.
2. using a kind of suction method of adsorption structure for adsorbing pickup at the same time for more parts described in claim 1, it is special
Sign is, includes the following steps：
The first step：Installation absorption body unit, sucker installing plate (1) is installed on mechanical arm configuration by bolt, and at random
Tool arm moves, then inserting type pipe joint (2) is installed on sucker installing plate (1), realizes that vacuum suction gas is transmitted from air valve
To sucker installing plate (1)；
Second step：Installation absorption head unit, sucker transfer block (3) and gas connection part (4) are bolted, realize vacuum
Baffle ring (5) and sucker (6), into gas connection part (4), are installed on gas by adsorbed gas from sucker transfer block (3) internal transmission
On connectedness (4), it is interference fit wherein between sucker (6) and gas connection part (4), prevents that sucker (6) from dropping or gas leakage, will
In the groove of the boss structure insertion sucker installing plate (1) of sucker transfer block (3), alignment venthole A and venthole B, then tighten
The dogbolt fixing sucking disk transfer block (3) of sucker installing plate (1) opposite side, completes the installation of adsorption head；
3rd step：More component assembly bodies are made of part A (7), cohesive material (8) and part B (9), and cohesive material (8) is used to connect
Pipe fitting A (7) and part B (9), cohesive material (8) is inviscid, it is necessary to which more component assembly bodies are moved to target location at room temperature
Afterwards, cohesive material (8) connects part A (7), part B (9) with other parts on target location under temperature and pressure effect
Integrally；
4th step：Baffle ring (5) and sucker (6) and gas connection part (4) are adjusted and fix according to the height of more component assembly bodies
Relative position so that part A (7) to be picked up cannot block the venthole D of gas connection part (4), and sucker (6) lower end
The outside of the fully wrapped around part B (9) to be picked up of skirt border structure energy, prevents sucker gas leakage；In adsorption process, due to part A (7) and
Part B (9) is not connected, and the outside diameter of part A (7) is less than the internal diameter of part B (9), even if part A (7) has lift under adsorption capacity
The trend of rising, due to occurring gap gas leakage immediately between part A (7) and part B (9), so as to prevent part A (7) adsorbing
During block venthole D phenomenon occur；
5th step：After more component assembly bodies to be picked up are assembled, position to be picked up is placed on, opens air valve, vacuum suction gas
Body is delivered in the cavity of sucker (6) according to the route of air valve-gas circuit A- gas circuit B- gas circuit C- gas circuit D- gas circuits E, mechanically moving
Arm, makes adsorption head be directed at more component assembly bodies to be picked up, treats that the skirt border structure of sucker (6) lower end wraps up part B (9) to be picked up
Afterwards, more component assembly bodies are moved to target location, close air valve, discharge assembly, completed pickup and place work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711188632.5A CN107901068B (en) | 2017-11-24 | 2017-11-24 | Adsorption structure and method for simultaneously adsorbing and picking multiple parts |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711188632.5A CN107901068B (en) | 2017-11-24 | 2017-11-24 | Adsorption structure and method for simultaneously adsorbing and picking multiple parts |
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| Publication Number | Publication Date |
|---|---|
| CN107901068A true CN107901068A (en) | 2018-04-13 |
| CN107901068B CN107901068B (en) | 2020-11-03 |
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ID=61847584
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| CN201711188632.5A Active CN107901068B (en) | 2017-11-24 | 2017-11-24 | Adsorption structure and method for simultaneously adsorbing and picking multiple parts |
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| CN110296137A (en) * | 2019-07-22 | 2019-10-01 | 南京岳满科技有限公司 | Passenger train axle temperature control device and passenger train with it |
| WO2019205154A1 (en) * | 2018-04-28 | 2019-10-31 | 深圳蓝胖子机器人有限公司 | Composite suction cup, composite suction cup assembly, and mechanical arm |
| CN113118669A (en) * | 2019-12-30 | 2021-07-16 | 中核北方核燃料元件有限公司 | Rod bundle carrying clamp picked up by integrated end plate |
| CN116968008A (en) * | 2023-09-22 | 2023-10-31 | 深圳市鸿富胜科技有限公司 | Coupler processing grabbing manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019205154A1 (en) * | 2018-04-28 | 2019-10-31 | 深圳蓝胖子机器人有限公司 | Composite suction cup, composite suction cup assembly, and mechanical arm |
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| CN113118669A (en) * | 2019-12-30 | 2021-07-16 | 中核北方核燃料元件有限公司 | Rod bundle carrying clamp picked up by integrated end plate |
| CN116968008A (en) * | 2023-09-22 | 2023-10-31 | 深圳市鸿富胜科技有限公司 | Coupler processing grabbing manipulator |
| CN116968008B (en) * | 2023-09-22 | 2023-11-24 | 深圳市鸿富胜科技有限公司 | Coupler processing grabbing manipulator |
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| Publication number | Publication date |
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| CN107901068B (en) | 2020-11-03 |
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