CN107932497A - 一种内定心结构纸盘取放机械手及其控制系统、控制方法 - Google Patents
一种内定心结构纸盘取放机械手及其控制系统、控制方法 Download PDFInfo
- Publication number
- CN107932497A CN107932497A CN201711122095.4A CN201711122095A CN107932497A CN 107932497 A CN107932497 A CN 107932497A CN 201711122095 A CN201711122095 A CN 201711122095A CN 107932497 A CN107932497 A CN 107932497A
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- CN
- China
- Prior art keywords
- paper disc
- cylinder
- manipulator
- claw
- material returned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Abstract
Description
Claims (8)
Priority Applications (1)
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CN201711122095.4A CN107932497B (zh) | 2017-11-14 | 2017-11-14 | 一种内定心结构纸盘取放机械手及其控制系统、控制方法 |
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CN201711122095.4A CN107932497B (zh) | 2017-11-14 | 2017-11-14 | 一种内定心结构纸盘取放机械手及其控制系统、控制方法 |
Publications (2)
Publication Number | Publication Date |
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CN107932497A true CN107932497A (zh) | 2018-04-20 |
CN107932497B CN107932497B (zh) | 2020-12-04 |
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CN201711122095.4A Active CN107932497B (zh) | 2017-11-14 | 2017-11-14 | 一种内定心结构纸盘取放机械手及其控制系统、控制方法 |
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Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4941798A (en) * | 1987-10-13 | 1990-07-17 | Sft Ag Spontanfordertechnik | Means for manipulating and transporting loads |
DE102005060638A1 (de) * | 2005-12-13 | 2007-06-14 | Hauni Maschinenbau Ag | Vorrichtung und Verfahren zum Handhaben von Bobinen innerhalb einer Automatisierungszelle sowie Automatisierungszelle |
CN101489897A (zh) * | 2006-07-17 | 2009-07-22 | A.塞利无纺股份公司 | 用于搬运材料卷的机器人 |
CN203593440U (zh) * | 2013-12-18 | 2014-05-14 | 安徽中烟工业有限责任公司 | 一种卷烟接装纸盘纸更换机的盘纸夹紧机构 |
CN103879813A (zh) * | 2014-03-22 | 2014-06-25 | 昆明鼎承科技有限公司 | 纸盘自动供应装置 |
CN203938239U (zh) * | 2014-05-29 | 2014-11-12 | 浙江富日进材料科技有限公司 | 一种裁剪拉盘机卸料装置 |
CN204354129U (zh) * | 2014-12-24 | 2015-05-27 | 宁波沃特美逊机器人科技有限公司 | 摆臂机械手 |
CN104860094A (zh) * | 2015-05-20 | 2015-08-26 | 成都市和乐门业有限公司 | 一种卷料开卷送料装置 |
CN105217102A (zh) * | 2015-10-19 | 2016-01-06 | 广东鑫星机器人科技有限公司 | 机器人小盘纸装箱机 |
CN106364957A (zh) * | 2015-07-21 | 2017-02-01 | 中烟机械技术中心有限责任公司 | 用于供应两种纸盘的装置 |
-
2017
- 2017-11-14 CN CN201711122095.4A patent/CN107932497B/zh active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4941798A (en) * | 1987-10-13 | 1990-07-17 | Sft Ag Spontanfordertechnik | Means for manipulating and transporting loads |
DE102005060638A1 (de) * | 2005-12-13 | 2007-06-14 | Hauni Maschinenbau Ag | Vorrichtung und Verfahren zum Handhaben von Bobinen innerhalb einer Automatisierungszelle sowie Automatisierungszelle |
CN101489897A (zh) * | 2006-07-17 | 2009-07-22 | A.塞利无纺股份公司 | 用于搬运材料卷的机器人 |
CN203593440U (zh) * | 2013-12-18 | 2014-05-14 | 安徽中烟工业有限责任公司 | 一种卷烟接装纸盘纸更换机的盘纸夹紧机构 |
CN103879813A (zh) * | 2014-03-22 | 2014-06-25 | 昆明鼎承科技有限公司 | 纸盘自动供应装置 |
CN203938239U (zh) * | 2014-05-29 | 2014-11-12 | 浙江富日进材料科技有限公司 | 一种裁剪拉盘机卸料装置 |
CN204354129U (zh) * | 2014-12-24 | 2015-05-27 | 宁波沃特美逊机器人科技有限公司 | 摆臂机械手 |
CN104860094A (zh) * | 2015-05-20 | 2015-08-26 | 成都市和乐门业有限公司 | 一种卷料开卷送料装置 |
CN106364957A (zh) * | 2015-07-21 | 2017-02-01 | 中烟机械技术中心有限责任公司 | 用于供应两种纸盘的装置 |
CN105217102A (zh) * | 2015-10-19 | 2016-01-06 | 广东鑫星机器人科技有限公司 | 机器人小盘纸装箱机 |
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CN107932497B (zh) | 2020-12-04 |
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CB03 | Change of inventor or designer information |
Inventor after: Du Jun Inventor after: Wu Xiao Inventor after: Wu Jiaying Inventor after: Dong Ning Inventor after: Wang Zizhou Inventor after: Li Hui Inventor after: Bai Xiang Inventor after: Gu Yanhui Inventor after: Xie Maoliang Inventor before: Wu Jiaying Inventor before: Du Jun Inventor before: Wu Xiao Inventor before: Dong Ning Inventor before: Wang Zizhou Inventor before: Li Hui Inventor before: Bai Xiang Inventor before: Gu Yanhui Inventor before: Xie Maoliang |
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TR01 | Transfer of patent right |
Effective date of registration: 20210819 Address after: 226000 1st floor, building 1, 198 Changping Road, Nantong, Jiangsu Province Patentee after: NANTONG WEIXING MACHINE Co.,Ltd. Address before: 226000 No. 9 Siyuan Road, Chongchuan District, Nantong City, Jiangsu Province Patentee before: NANTONG University |
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TR01 | Transfer of patent right |