CN107901068B - Adsorption structure and method for simultaneously adsorbing and picking multiple parts - Google Patents
Adsorption structure and method for simultaneously adsorbing and picking multiple parts Download PDFInfo
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- CN107901068B CN107901068B CN201711188632.5A CN201711188632A CN107901068B CN 107901068 B CN107901068 B CN 107901068B CN 201711188632 A CN201711188632 A CN 201711188632A CN 107901068 B CN107901068 B CN 107901068B
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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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Abstract
The invention provides an adsorption structure and method for simultaneously adsorbing and picking up multiple parts, and belongs to the technical field of precision assembly. An adsorption structure for simultaneously adsorbing and picking up multiple parts comprises an adsorption body unit and an adsorption head unit; the adsorption body unit comprises a sucker mounting plate and an inserted pipe joint; the adsorption head unit comprises a sucker adapter block, a gas communication piece, a baffle ring and a sucker. The adsorption body unit is used for fixing the adsorption head unit and providing a gas path for vacuum adsorption of gas; the relative position of the suction head unit accessible adjustment fender ring and sucking disc and gas intercommunication piece realizes picking up the absorption of the many parts assembly body of different shapes and size. The invention is used for carrying out the adsorption and pickup operation, can simultaneously adsorb a plurality of parts which are not connected into a whole, does not change the relative position among the parts in the operation process, and does not introduce pollutants; and a plurality of parts are picked up at one time, so that the time for replacing the adsorption head is reduced, and the assembly efficiency is improved.
Description
Technical Field
The invention relates to an adsorption structure and method for simultaneously adsorbing and picking up multiple parts, and belongs to the technical field of precision assembly.
Background
Automatic assembly plays an increasingly important role in manufacturing industry, and the assembly success rate is not only related to the repeated positioning precision of an assembly robot, but also has close relation with the structures of an assembly fixture and an end effector. For example, flexible automatic assembly of an airplane is realized by configuring an end effector with a specific function by using the flexibility of an industrial robot, and assembly tasks such as drilling, riveting and the like are realized. [ SHIBUTXING, NANJING ACOSAS BIRTH PROBLEM, 2014, Vol.46, No.2, 181-189 ] A well-designed end effector can reliably pick up one or more parts at the same time, and directly influences the improvement of the assembly efficiency and precision.
The Lerui piano (Lerui piano, etc., the journal of the North China institute of technology, 1999, Vol.20, No.4, 368-. Wangyue (Wangyue and the like), manufacturing automation 2016, Vol.38, No.3, 86-88 aims at the automatic insertion operation requirement of small-sized special-shaped electronic components, a gripper of an insertion robot is designed, a CCD machine vision system, an optical fiber sensor detection system and a collision buffer system are integrated, and the functions of reliable gripping, accurate positioning, component pin collision detection, in-place insertion detection and the like of the special-shaped electronic components can be realized. Wutianqiang (Wutianqiang et al, electromechanical information 2015, No.12, 116-.
In summary, the research on various end effectors for the operation of picking up objects by an industrial robot has been receiving much attention in recent years, and the design of the jaws, grippers and suction heads for different operations is various, but in general, the exclusive use is strong, and only one part or one assembly that has been integrally connected can be picked up at a time.
In some assembly operations, considering the cleanliness of an assembly surface, no external metal ions are introduced or particles in air pollute the assembly surface, meanwhile, the replacement of an adsorption head is reduced, the operation efficiency is improved, more than 2 parts which are not connected into a whole are required to be picked up simultaneously, therefore, the invention provides an adsorption structure for simultaneously adsorbing and picking up a plurality of parts, a plurality of parts which are not connected into a whole can be picked up at one time, the mutual positions among three parts are not changed, the clamping range of an end effector is expanded, and the application range of an automatic assembly system is wider.
Disclosure of Invention
The invention provides an adsorption structure and an adsorption method for simultaneously adsorbing and picking up multiple parts, which are used for simultaneously picking up the multiple parts through vacuum adsorption force so as to simultaneously convey and release the multiple parts to a specified position.
The technical scheme of the invention is as follows:
an adsorption structure for simultaneously adsorbing and picking up multiple parts comprises an adsorption body unit and an adsorption head unit;
the adsorption body unit comprises a sucker mounting plate and an inserted pipe joint;
one end of the sucker mounting plate is provided with a threaded hole for mounting the sucker mounting plate on the mechanical arm structure and providing support for the adsorption structure; the other end of the sucker mounting plate is provided with a groove hole, and the side surface of the sucker mounting plate is provided with an air passage A which penetrates through the groove hole; one end of the plug-in pipe joint is hermetically arranged at the end A of the air path of the sucker mounting plate, the other end of the plug-in pipe joint is connected with an air pipe, and an air valve is arranged on the air pipe to realize the transmission of vacuum adsorption gas into the sucker mounting plate;
the adsorption head unit comprises a sucker switching block, a gas communicating piece, a baffle ring and a sucker;
the sucking disc adapter block consists of a boss structure and a bottom plate, the boss structure is matched with a groove hole of the sucking disc mounting plate, and the boss structure is provided with a gas circuit B communicated with the gas circuit A; the threaded hole on the side surface of the sucker mounting plate is matched with the stop bolt to fix the sucker adapter block; the bottom plate is provided with a gas path C which is communicated to the lower surface of the bottom plate and is communicated with the gas path B;
the gas communication piece is of a cylindrical structure and is fixed on a bottom plate of the sucker switching block; a gas path D is arranged along the axial direction of the gas communicating piece and communicated with the gas path C; the interior of the gas communication piece is a hollow cavity, the gas path D is communicated with the interior of the cavity, and when the adsorption structure adsorbs and picks up the multi-part assembly body, the cavity can accommodate parts with high sizes in the multi-part assembly body;
the gas circuit E is communicated with the cavity and used for realizing transmission of vacuum adsorption gas from the gas circuit D to the gas circuit E through the inner cavity of the gas communicating piece;
the sucker is of a sleeve structure and is sleeved outside the gas communication piece; the upper end of the sucker is in interference fit with the upper end of the gas communicating piece, and the sucker is fixed and the gas leakage is prevented; the lower end of the sucking disc is of a thin-wall skirt structure and is used for tightly wrapping the external structure of the multi-part assembly body to prevent air leakage, and vacuum adsorption gas is transmitted into the cavity of the sucking disc from the gas path E to realize vacuum adsorption;
the baffle ring is an annular part and is used for fixing the position and the height of the sucker, and a threaded hole is formed in the baffle ring, is matched with the gas communicating piece and is fixed on the gas communicating piece through a plunger.
The gas path A is communicated with external vacuum adsorption gas through the plug-in pipe joint and is communicated with a gas path B of the sucker transfer block, so that the external vacuum adsorption gas is transmitted to the sucker transfer block from the gas path A; the gas circuit B is communicated with the gas circuit C, so that vacuum adsorption gas is transmitted from the gas circuit B to the gas circuit C in the sucker adapter block; the gas path D is communicated with the gas path C to realize the transmission of vacuum adsorption gas from the gas path C to the gas path D; the gas circuit E is communicated with the cavity and used for realizing transmission of vacuum adsorption gas from the gas circuit D to the gas circuit E through the inner cavity of the gas communicating piece; and the vacuum adsorption gas is transmitted into the cavity of the sucker 6 from the gas path E, so that vacuum adsorption is realized.
An adsorption method for multi-part simultaneous adsorption pickup, comprising the steps of:
the first step is as follows: the installation adsorbs body unit, passes through the bolt with the sucking disc mounting panel and installs structurally at the arm to remove along with the arm, install bayonet coupling on the sucking disc mounting panel again, realize that vacuum adsorption gas transmits to the sucking disc mounting panel from the pneumatic valve on.
The second step is that: the installation adsorption head unit, pass through bolted connection with sucking disc switching piece and gaseous intercommunication piece, realize that vacuum adsorption gas from sucking disc switching piece inside transmission to gaseous intercommunication piece in, will keep off ring and sucking disc and install on gaseous intercommunication piece, wherein be interference fit between sucking disc and the gaseous intercommunication piece, prevent that the sucking disc from dropping or leaking gas, in inserting the boss structure of sucking disc switching piece into the recess of sucking disc mounting panel, aim at air vent A and air vent B, the fixed sucking disc switching piece of locking bolt of screwing up sucking disc mounting panel opposite side again, accomplish the installation of adsorption head.
The third step: the multi-part assembly is composed of a part A, a viscous material and a part B, wherein the viscous material is used for connecting the part A and the part B, the viscous material is not viscous at room temperature, and after the multi-part assembly is required to be moved to a target position, the part A, the part B and other parts on the target position are connected into a whole by the viscous material under the action of temperature and pressure.
The fourth step: the relative positions of the baffle ring and the sucking disc and the gas communicating piece are adjusted and fixed according to the height of the multi-part assembly body, so that the part A to be picked cannot block a vent hole D of the gas communicating piece, and a skirt structure at the lower end of the sucking disc can completely wrap the outside of the part B to be picked, so that the sucking disc is prevented from leaking gas; in the adsorption process, because part A and part B are not connected, and part A's external diameter is less than part B's internal diameter, even part A has the trend of lifting up under the adsorption affinity, because gap gas leakage has appeared immediately between part A and the part B to the phenomenon that part A blockked up air vent D in the adsorption process takes place.
The fifth step: after the multi-part assembly body to be picked up is assembled, the multi-part assembly body to be picked up is placed at a position to be picked up, the air valve is opened, vacuum adsorption gas is transmitted into the cavity of the sucking disc according to the route of the air valve-air passage A-air passage B-air passage C-air passage D-air passage E, the mechanical arm is moved to enable the adsorption head to be aligned to the multi-part assembly body to be picked up, after the part B to be picked up is wrapped by the skirt edge structure at the lower end of the sucking disc, the multi-part assembly body is moved to a target position, the air valve is.
The invention has the beneficial effects that: the invention can simultaneously adsorb a plurality of parts which are not connected into a whole, does not change the mutual positions of the parts when picking up, moving and releasing, and does not introduce pollutants into the interfaces of the parts; a plurality of parts are picked up at one time, so that the time for replacing the adsorption head is reduced, the assembly steps and time are reduced, and the assembly efficiency is improved.
Drawings
Fig. 1 is a schematic view of an adsorption structure for simultaneous adsorption pickup of multiple parts.
Fig. 2 is a schematic view of a suction cup mounting plate structure.
Fig. 3 is a schematic view of a structure of a male coupling.
Fig. 4 is a schematic view of the structure of the suction cup adapter block.
Fig. 5 is a schematic view of the gas communication member structure.
Fig. 6 is a schematic view of a retainer ring structure.
Fig. 7 is a schematic view of a suction cup structure.
Fig. 8 is a schematic view of a part a to be picked up.
Fig. 9 is a viscous material to be picked up.
Fig. 10 is a schematic view of a part B to be picked up.
Figure 11 is a multiple part assembly to be picked up.
In the figure: 1, mounting a sucker; 2, inserting a pipe joint; 3, a sucker switching block; 4 a gas communication member; 5, a baffle ring; 6, a sucker; 7 part A; 8, a viscous material; 9 part B.
Detailed Description
The following describes in detail a specific embodiment of the present invention in conjunction with the technical solutions and the accompanying fig. 1-11.
An adsorption structure for simultaneously adsorbing and picking up multiple parts comprises an adsorption body unit and an adsorption head unit;
the adsorption body unit comprises a sucker mounting plate 1 and a plug-in pipe joint 2;
one end of the sucker mounting plate 1 is provided with a threaded hole, and the sucker mounting plate is mounted on a mechanical arm and other structures and provides support for an adsorption structure; the boss structure of the sucker adapter block 3 is arranged in the groove of the sucker mounting plate 1, and the sucker adapter block 3 is fixed through a threaded hole mounting bolt on the side surface of the sucker mounting plate 1; the outer side of the air path A is inserted into the inserted pipe joint 2 and connected with external vacuum adsorption gas, and the inner side of the air path A is butted with an air path B of the sucker transfer block 3, so that the external vacuum adsorption gas is transmitted to the sucker transfer block 3 from the air path A;
one end of the plug-in pipe joint 2 is provided with threads and is installed on the air passage A of the sucker mounting plate 1, and the other end of the plug-in pipe joint is of a tubular structure and is connected with the air valve through an air pipe, so that vacuum adsorption gas is transmitted to the sucker mounting plate 1 from the air valve;
the adsorption head unit comprises a sucker switching block 3, a gas communicating piece 4, a baffle ring 5 and a sucker 6;
the sucker adapter block 3 is a rectangular structural member with an air channel formed inside, the air channel is formed inside the sucker adapter block 3, so that vacuum adsorption gas is transmitted from the gas channel B to the gas channel C inside the sucker adapter block 3, the sucker adapter block 3 is connected with the gas communicating piece 4 through a bolt, and the vacuum adsorption gas is transmitted from the gas channel C to the gas channel D;
the gas communicating piece 4 is of a cylindrical structure, the upper end of the gas communicating piece is provided with a vent hole D, the gas communicating piece is connected with the sucker switching block 3 through a bolt, vacuum adsorption gas is transmitted to the gas path D from the gas path C, a cylindrical cavity is formed inside the gas communicating piece 4, the vent hole D is communicated with the inside of the cavity, when a multi-part assembly body is adsorbed and picked up, parts with higher sizes in the multi-part assembly body are contained in the cavity, vent grooves E are formed in two sides of the cavity, and the vacuum adsorption gas is transmitted to the gas path E from the gas path D through the cavity inside the gas communicating piece 4;
the baffle ring 5 is an annular part and is used for fixing the position and the height of the sucker 6, and a threaded hole is formed in the baffle ring 5, is matched with the gas communicating piece 4 and is fixed on the gas communicating piece 4 through a plunger;
sucking disc 6 be sleeve structure, the hole of upper end and 4 interference fits of gas intercommunication spare play fixed sucking disc 6 and the effect that prevents to leak gas, 6 lower extremes of sucking disc have the shirt rim structure of thin wall form for closely wrap up the exterior structure of the multi-part assembly body, prevent to leak gas, vacuum adsorption gas is in the cavity of sucking disc 6 is transmitted from gas circuit E, realizes vacuum adsorption.
The method for realizing the simultaneous absorption and pickup of multiple parts by the absorption structure takes a multiple-part assembly shown in fig. 8, 9 and 10 as an example, wherein a viscous material 8 is arranged between a part a7 and a part B9, as shown in fig. 11, and comprises the following steps:
the first step is as follows: install sucking disc mounting panel 1 on the arm isotructure through the bolt for sucking disc mounting panel 1 can be along with the arm freely removes, installs bayonet coupling 2 on sucking disc mounting panel 1 again, realizes that vacuum adsorption gas transmits to the sucking disc mounting panel from the pneumatic valve on.
The second step is that: pass through bolted connection with sucking disc switching piece 3 and gaseous intercommunication piece 4, realize that vacuum adsorption is gaseous from sucking disc switching piece 3 inside transmission to gaseous intercommunication piece 4, will keep off ring 5 and sucking disc 6 and install on gaseous intercommunication piece 4, wherein be interference fit between sucking disc 6 and the gaseous intercommunication piece 4, prevent that sucking disc 6 from dropping or leaking gas.
The third step: the relative positions of the baffle ring 5 and the suction cup 6 and the gas communication piece 4 are adjusted according to the height of the multi-part assembly body, so that the part A7 to be picked cannot block the vent hole D of the gas communication piece 4, and the skirt structure at the lower end of the suction cup 6 can completely wrap the outside of the part B9 to be picked, and the suction cup is prevented from leaking gas.
The fourth step: after adjusting the relative position of the retaining ring 5 and the sucking disc 6 with the gas communicating piece 4, fixing the position of the retaining ring 5 by using a plunger so that the retaining ring 5 and the sucking disc 6 keep the relative position unchanged, inserting the rectangular boss of the sucking disc adapter block 3 into the groove of the sucking disc mounting plate 1, aligning the vent hole A and the vent hole B, screwing down the stop bolt on the other side of the sucking disc mounting plate 1 to fix the sucking disc adapter block 3, and completing the installation of the adsorption head.
The fifth step: after a multi-part assembly body to be picked up is assembled, the multi-part assembly body to be picked up is placed at a position to be picked up, an air valve is opened, vacuum adsorption gas is transmitted into a cavity of a sucker 6 according to the route of the air valve-air passage A-air passage B-air passage C-air passage D-air passage E, a mechanical arm is moved to enable an adsorption head to be aligned with the multi-part assembly body to be picked up, after a part B9 to be picked up is wrapped by a skirt structure at the lower end of the sucker 6, the multi-part assembly body is moved to a placing position, the air valve is closed, and the mechanical.
Claims (2)
1. An adsorption structure for simultaneously adsorbing and picking up multiple parts is characterized by comprising an adsorption body unit and an adsorption head unit;
the adsorption body unit comprises a sucker mounting plate (1) and a plug-in pipe joint (2);
one end of the sucker mounting plate (1) is provided with a threaded hole for mounting the sucker mounting plate (1) on the mechanical arm structure and providing support for the adsorption structure; the other end of the sucker mounting plate (1) is provided with a groove hole, and the side surface of the sucker mounting plate is provided with an air passage A which runs through the groove hole; one end of the plug-in pipe joint (2) is hermetically arranged at the end A of the air path of the sucker mounting plate (1), the other end of the plug-in pipe joint is connected with an air pipe, and an air valve is arranged on the air pipe to realize the transmission of vacuum adsorption gas into the sucker mounting plate (1);
the adsorption head unit comprises a sucker switching block (3), a gas communicating piece (4), a baffle ring (5) and a sucker (6);
the sucker adapter block (3) consists of a boss structure and a bottom plate, the boss structure is matched with a groove hole of the sucker mounting plate (1), and the boss structure is provided with a gas circuit B communicated with the gas circuit A; a threaded hole in the side surface of the sucker mounting plate (1) is matched with a stop bolt to fix the sucker adapter block (3); the bottom plate is provided with a gas path C which is communicated to the lower surface of the bottom plate and is communicated with the gas path B;
the gas communication piece (4) is of a cylindrical structure and is fixed on a bottom plate of the sucker switching block (3); a gas path D is arranged along the axial direction of the gas communicating piece (4) and is communicated with the gas path C; the interior of the gas communicating piece (4) is a hollow cavity, the gas path D is communicated with the interior of the cavity, and when the adsorption structure adsorbs and picks up the multi-part assembly body, the cavity can accommodate parts with high sizes in the multi-part assembly body;
the gas path E is arranged on the circumferential direction of the gas communicating piece (4) and communicated with the cavity and used for transmitting vacuum adsorption gas from the gas path D to the gas path E through the cavity in the gas communicating piece (4);
the sucker (6) is of a sleeve structure and is sleeved outside the gas communication piece (4); the upper end of the sucker (6) is in interference fit with the upper end of the gas communicating piece (4), and the sucker (6) is fixed and the gas leakage is prevented; the lower end of the sucker (6) is of a thin-wall skirt structure and is used for tightly wrapping the external structure of a multi-part assembly body to prevent air leakage, and vacuum adsorption gas is transmitted into the cavity of the sucker (6) from the gas path E to realize vacuum adsorption;
the baffle ring (5) is an annular part and is used for fixing the position and the height of the sucker (6), a threaded hole is formed in the baffle ring (5), the baffle ring is matched with the gas communicating piece (4), and the baffle ring is fixed on the gas communicating piece (4) through a plunger;
the gas path A is communicated with external vacuum adsorption gas through the plug-in pipe joint (2) and is communicated with a gas path B of the sucker switching block (3), so that the external vacuum adsorption gas is transmitted to the sucker switching block (3) from the gas path A; the gas path B is communicated with the gas path C to realize that vacuum adsorption gas is transmitted from the gas path B to the gas path C in the sucking disc adapter block (3); the gas path D is communicated with the gas path C to realize the transmission of vacuum adsorption gas from the gas path C to the gas path D; the gas path E is arranged on the circumferential direction of the gas communicating piece (4) and communicated with the cavity and used for transmitting vacuum adsorption gas from the gas path D to the gas path E through the cavity in the gas communicating piece (4); and the vacuum adsorption gas is transmitted into the cavity of the sucker (6) from the gas path E, so that vacuum adsorption is realized.
2. The suction method for the adsorption structure for the simultaneous adsorption pickup of multiple parts according to claim 1, comprising the steps of:
the first step is as follows: installing an adsorption body unit, installing a sucker mounting plate (1) on a mechanical arm structure through a bolt, moving along with the mechanical arm, and then installing an inserted pipe joint (2) on the sucker mounting plate (1) to realize that vacuum adsorption gas is transmitted to the sucker mounting plate (1) from a gas valve;
the second step is that: installing an adsorption head unit, connecting a sucker adapter block (3) with a gas communicating piece (4) through a bolt, realizing that vacuum adsorption gas is transmitted into the gas communicating piece (4) from the inside of the sucker adapter block (3), installing a baffle ring (5) and a sucker (6) on the gas communicating piece (4), wherein the sucker (6) is in interference fit with the gas communicating piece (4), preventing the sucker (6) from falling off or leaking gas, inserting a boss structure of the sucker adapter block (3) into a groove of a sucker mounting plate (1), aligning a vent hole A and a vent hole B, screwing a stop bolt on the other side of the sucker mounting plate (1) to fix the sucker adapter block (3), and completing the installation of the adsorption head;
the third step: the multi-part assembly is composed of a part A (7), a viscous material (8) and a part B (9), wherein the viscous material (8) is used for connecting the part A (7) and the part B (9), the viscous material (8) has no viscosity at room temperature, and the part A (7) and the part B (9) are connected into a whole by the viscous material (8) under the action of temperature and pressure after the multi-part assembly is required to be moved to a target position;
the fourth step: the relative positions of the baffle ring (5) and the sucking disc (6) and the gas communication piece (4) are adjusted and fixed according to the height of the multi-part assembly body, so that the part A (7) to be picked cannot block a vent hole D of the gas communication piece (4), and a skirt structure at the lower end of the sucking disc (6) can completely wrap the outside of the part B (9) to be picked, so that the sucking disc is prevented from leaking gas; in the adsorption process, because the part A (7) is not connected with the part B (9), and the outer diameter of the part A (7) is smaller than the inner diameter of the part B (9), even if the part A (7) tends to be lifted under the adsorption force, the gap between the part A (7) and the part B (9) leaks air immediately, so that the phenomenon that the part A (7) blocks the vent hole D in the adsorption process is prevented;
the fifth step: after the multi-part assembly body to be picked up is assembled, the multi-part assembly body to be picked up is placed at a position to be picked up, the air valve is opened, vacuum adsorption gas is transmitted into the cavity of the sucker (6) according to the route of the air valve-air passage A-air passage B-air passage C-air passage D-air passage E, the mechanical arm is moved to enable the adsorption head to be aligned to the multi-part assembly body to be picked up, after the part B (9) to be picked up is wrapped by the skirt structure at the lower end of the sucker (6), the multi-part assembly body is moved to a target position, the air valve is closed, the assembly.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| CN113118669B (en) * | 2019-12-30 | 2023-05-12 | 中核北方核燃料元件有限公司 | Rod bundle carrying clamp for picking up integrated end plate |
| 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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| CN103350333A (en) * | 2013-06-03 | 2013-10-16 | 大连理工大学 | Tiny component assembling device and method |
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| US7540309B2 (en) * | 2005-07-11 | 2009-06-02 | Delaware Capital Formation, Inc. | Auto-release vacuum device |
| TWI333248B (en) * | 2006-08-18 | 2010-11-11 | King Yuan Electronics Co Ltd | Pick-up head device with a pushing mechanism |
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| CN103350333A (en) * | 2013-06-03 | 2013-10-16 | 大连理工大学 | Tiny component assembling device and method |
| CN203409787U (en) * | 2013-07-17 | 2014-01-29 | 科瑞自动化技术(深圳)有限公司 | Split-type multi-station suction head device and motor |
| CN104627454A (en) * | 2013-11-15 | 2015-05-20 | 深圳富泰宏精密工业有限公司 | Sucker device |
| CN103862255A (en) * | 2014-03-11 | 2014-06-18 | 大连理工大学 | Switching type micro-gripper for assembling tiny components |
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