CN107953351A - It is a kind of can it is extra quality detection and magnetic splitting robotic vacuum graping chaw - Google Patents
It is a kind of can it is extra quality detection and magnetic splitting robotic vacuum graping chaw Download PDFInfo
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- CN107953351A CN107953351A CN201711484531.2A CN201711484531A CN107953351A CN 107953351 A CN107953351 A CN 107953351A CN 201711484531 A CN201711484531 A CN 201711484531A CN 107953351 A CN107953351 A CN 107953351A
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- extra quality
- quality detection
- magnetic splitting
- fixed plate
- cylinder
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- 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
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The present invention provides it is a kind of can extra quality detection and magnetic splitting robotic vacuum graping chaw, belong to the technical field of automation equipment.It is a kind of can the robotic vacuum graping chaw of extra quality detection and magnetic splitting include grasp handling mechanism and be arranged in grasp handling mechanism and the extra quality testing agency in vertical angles arrangement and magnetic splitting mechanism；The grasp handling mechanism of the present invention is the structure of vacuum cup, extra quality testing agency is driven by the stroke cylinder horizontally and vertically moved on two directions, adapt to the crawl of different pattern pile material, adaptability higher, at the same time, three mechanism integral types are set, more compact structure and simple, arrangement space more saves, and cost is lower, it is more suitable for being arranged in mini-type punching and pile material handling process, is more conducive to the development of the automated process of punching press industry.
Description
Technical field
The present invention relates to the technical field of automation equipment, be specifically related to it is a kind of can extra quality detection and magnetic splitting machine
Device people's vacuum graping chaw.
Background technology
With the development of punching press industry, punching automation becomes the Main way of development, therefore makes for robot
It is also higher and higher with frequency, and current robot stamping automatic production line include robot, electric-control system, de-stacking device,
Excessive belt, sheet cleaning machine, plate oiler, alignment table, line tail palletizing system, security protection system and end picking-up device for robot
More structure production lines.
At present, extra quality detection and magnetic splitting mechanism are equipped with de-stacking device, i.e., by extra quality detection and magnetic splitting machine
Structure is installed on de-stacking trolley, so as to realize to the extra quality detection of pile material and magnetic splitting, although realizing the automatic of process
Change, still, under the operating mode being limited for mini-type punching equipment or plate for carrying material space, individually separate de-stacking device not only cost
Height, and occupied ground space is big, is unfavorable for the arrangement of other equipment, meanwhile, it is existing using the de-stacking dress for going out de-stacking trolley
Put complicated, installation, the debugging process of use and later maintenance are complicated and cumbersome, are unfavorable for punching press industry automation process
Development.
The content of the invention
For the above-mentioned problems in the prior art, now aim to provide it is a kind of can extra quality detection and magnetic splitting machine
People's vacuum graping chaw, extra quality testing agency, magnetic splitting mechanism and grasp handling mechanism are concentrated in together, simple in structure
And it is compact, space takes up little area, so as to reduce cost, saves arrangement space, easy to disassemble, also, each mechanism by driving more
Dynamic structure connection, is suitable for the pile material crawl of different patterns, adaptability higher.
Concrete technical scheme is as follows：
It is a kind of can it is extra quality detection and magnetic splitting robotic vacuum graping chaw, have the feature that, including：
Grasp handling mechanism, grasp handling mechanism includes a connecting flange, and is provided with the bottom of connecting flange in square
The sucker fixed plate that shape is set, the bottom of sucker fixed plate are vertically arranged with some spaced apart sucker structures, meanwhile, inhaling
The bottom of disk fixed plate is also vertically arranged with some spaced branching rod structures；
Extra quality testing agency, extra quality testing agency include an extra quality detection fixing bracket, and extra quality detection fixing bracket is vertical
The vertex of the top of sucker fixed plate and a side positioned at sucker fixed plate is arranged at, is set on extra quality detection fixing bracket
There is the first stroke cylinder for protruding horizontally up sucker fixed plate, the second stroke gas is vertically arranged with the guide rod of the first stroke cylinder
Cylinder, meanwhile, the bottom of the guide rod of the second stroke cylinder is provided with extra quality detection sensor；
Magnetic splitting mechanism, magnetic splitting mechanism include a magnetic splitting fixing bracket, and magnetic splitting fixing bracket is vertical
The vertex of the top of sucker fixed plate and a side positioned at sucker fixed plate is arranged at, meanwhile, magnetic splitting fixing bracket
Arrange in vertical angles in sucker fixed plate with extra quality detection fixing bracket, and be vertically arranged with magnetic splitting fixing bracket
Third trip cylinder, magnetic splitting magnet is provided with the bottom of the guide rod of third trip cylinder.
A kind of above-mentioned extra quality detection of energy and the robotic vacuum graping chaw of magnetic splitting, wherein, the first stroke cylinder,
Speed governing valve is both provided with second stroke cylinder and third trip cylinder.
A kind of above-mentioned extra quality detection of energy and the robotic vacuum graping chaw of magnetic splitting, wherein, the first stroke cylinder
And second be provided with cylinder connecting plate between stroke cylinder, the side of cylinder connecting plate is connected to the guide rod of the first stroke cylinder
On, the opposite side of cylinder connecting plate is connected on the cylinder body of the second stroke cylinder.
A kind of above-mentioned extra quality detection of energy and the robotic vacuum graping chaw of magnetic splitting, wherein, extra quality detection sensing
Device includes extra quality inspection detection sensor stent and sensor, and extra quality detection sensor stent one side shape is set in " L " font,
The vertical end of two extra quality detection sensor stents is oppositely arranged, while two extra quality detection sensor stent in the vertical directions are presented
Layer and lower floor's distribution, and a sensor is both provided with the horizontal ends of each extra quality detection sensor stent, meanwhile, two extra quality inspections
The vertical end for surveying sensor stand may be contained within a sensor stand connecting plate, the one side shape of sensor stand connecting plate
Set in inverted " L " font, the horizontal ends of sensor stand connecting plate are fixed on the guide rod of the second stroke cylinder, sensor
The vertical end of rack connecting plate is connected with the vertical end of extra quality detection sensor stent.
A kind of above-mentioned extra quality detection of energy and the robotic vacuum graping chaw of magnetic splitting, wherein, magnetic splitting magnet
Magnetic splitting connecting plate is provided between third trip cylinder, the side of magnetic splitting connecting plate is connected to third trip cylinder
Guide rod bottom, the opposite side of magnetic splitting connecting plate is connected with magnetic splitting magnet.
A kind of above-mentioned extra quality detection of energy and the robotic vacuum graping chaw of magnetic splitting, wherein, sucker structure includes
Spring guide and vacuum cup, spring guide are vertically arranged in sucker fixed plate, and each spring guide deviates from sucker fixed plate
One end be both provided with vacuum cup.
A kind of above-mentioned extra quality detection of energy and the robotic vacuum graping chaw of magnetic splitting, wherein, spring guide installation
Gas-tpe fitting is connected with one end of sucker fixed plate, and spring guide is connected in sucker fixed plate by threaded fastener.
A kind of above-mentioned extra quality detection of energy and the robotic vacuum graping chaw of magnetic splitting, wherein, gas-tpe fitting connection
There is tracheae, tracheae is connected on one point of polylinker, and one point of polylinker is connected on control solenoid valve and vacuum valve.
A kind of above-mentioned extra quality detection of energy and the robotic vacuum graping chaw of magnetic splitting, wherein, branching rod structure includes
Fixed strut and cushion block, fixed strut are vertically arranged in sucker fixed plate, and fixed strut is set away from one end of sucker fixed plate
Cushion block is equipped with, and fixed strut is fixed in sucker fixed plate by threaded fastener.
A kind of above-mentioned extra quality detection of energy and the robotic vacuum graping chaw of magnetic splitting, wherein, cushion block is polyurethane
Material.
The good effect of above-mentioned technical proposal is：Magnetic splitting mechanism and extra quality testing agency's concentrated setting are removed in crawl
Transport in mechanism, and it is simple in structure and compact, arrangement space is effectively reduced, manufacture cost is reduced, suitable for mini-type punching
With carry plate, meanwhile, magnetic splitting mechanism and extra quality testing agency are stroke cylinder driving, flexibility higher, and magnetic
Power splitting mechanism is driven by double stroke cylinder, and the scope of movement is wide, and grasp handling mechanism uses the structure of vacuum cup, can fit
For the crawl of the pile material of different patterns, the automation development of adaptability higher, more conducively punching press industry.
Brief description of the drawings
Fig. 1 is the extra quality detection of a kind of energy of the invention and the knot of the embodiment of the robotic vacuum graping chaw of magnetic splitting
Composition.
In attached drawing：1st, grasp handling mechanism；11st, connecting flange；12nd, sucker fixed plate；13rd, sucker structure；14th, strut knot
Structure；15th, gas-tpe fitting；16th, tracheae；17th, one point of polylinker；131st, spring guide；132nd, vacuum cup；141st, fixed strut；
142nd, cushion block；2nd, extra quality testing agency；21st, extra quality detection fixing bracket；22nd, the first stroke cylinder；23rd, the second stroke cylinder；
24th, extra quality detection sensor；25th, cylinder connecting plate；26th, speed governing valve；27th, sensor stand connecting plate；241st, extra quality inspection detection
Sensor stand；242nd, sensor；3rd, magnetic splitting mechanism；31st, magnetic splitting fixing bracket；32nd, third trip cylinder；33、
Magnetic splitting magnet；34th, magnetic splitting connecting plate.
Embodiment
It is real below in order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand
Apply example combination attached drawing 1 to be specifically addressed technical solution provided by the invention, but herein below is not as limiting to the invention.
Fig. 1 is the extra quality detection of a kind of energy of the invention and the knot of the embodiment of the robotic vacuum graping chaw of magnetic splitting
Composition.As shown in Figure 1, it is provided in this embodiment can extra quality detection and the robotic vacuum graping chaw of magnetic splitting include：Grab
Take carrying mechanism 1 and the extra quality testing agency 2 being arranged in grasp handling mechanism 1 and magnetic splitting mechanism 3.
Specifically, grasp handling mechanism 1 includes a connecting flange 11, one end of connecting flange 11 is connected to external robots
On, the bottom of connecting flange 11 is provided with a sucker fixed plate 12,12 rectangular setting of sucker fixed plate, in sucker fixed plate 12
Bottom be provided with the sucker structure 13 and branching rod structure 14 at some intervals, and sucker structure 13 and branching rod structure 14 are along perpendicular
Nogata to setting, meanwhile, sucker structure 13 and branching rod structure 14 are fixed in sucker fixed plate 12 by threaded fastener.
Specifically, each sucker structure 13 includes spring guide 131 and vacuum cup 132, spring guide 131 is set vertically
It is placed in sucker fixed plate 12, each spring guide 131 is both provided with vacuum cup 132 away from one end of sucker fixed plate 12,
Meanwhile spring guide 131 is installed on one end of sucker fixed plate 12 through sucker fixed plate 12 and is locked by double nuts structure
It is fixed, and the one end for being arranged in spring guide 131 sucker fixed plate 12 is provided with gas-tpe fitting 15, meanwhile, gas-tpe fitting 15
Tracheae 16 is connected with, tracheae 16 is connected on one point of polylinker 17 away from one end of gas-tpe fitting 15, and one point of polylinker 17 connects
It is connected on control solenoid valve and vacuum valve, saves the length of tracheae 16, reduce cost, and realize to vacuum cup 132
Control.
Each branching rod structure 14 includes fixed strut 141 and cushion block 142, and fixed strut 141 is equally vertically arranged at suction
In disk fixed plate 12, and each fixed strut 141 is both provided with cushion block 142, fixed branch away from one end of sucker fixed plate 12
Bar 141 is installed on one end of sucker fixed plate 12 through sucker fixed plate 12 and is locked by Double-ended nut, realizes pair
The support of grasp handling mechanism 1, while the damage to pile material is avoided, protectiveness higher.
Specifically, being provided with extra quality detection fixing bracket 21 on the upper surface of sucker fixed plate 12, extra quality detection is fixed
Stent 21 is set perpendicular to sucker fixed plate 12, and extra quality detection fixing bracket 21 is arranged in a side of sucker fixed plate 12
And close to a vertex, meanwhile, a first horizontally disposed stroke cylinder 22 is provided with extra quality detection fixing bracket 21, the
The guide rod of a line stroke cylinder 22 does stretching motion along the direction away from or close to sucker fixed plate 12, meanwhile, in the first stroke gas
A second vertical stroke cylinder 23 is provided with the guide rod of cylinder 22, the guide rod of the second stroke cylinder 23 is set downward, the second row
The guide rod of stroke cylinder 23 vertically moves up and down, and the guide rod of the first stroke cylinder 22 and the second stroke cylinder 23 it
Between connected by cylinder connecting plate 25, the side of cylinder connecting plate 25 is connected on the guide rod of the first stroke cylinder 22, cylinder connect
The opposite side of fishplate bar 25 is connected on the cylinder body of the second stroke cylinder 23 so that both connections are more firm, while are also convenient for tearing open
Dress；And the bottom of the guide rod in the second stroke cylinder 23 is provided with extra quality detection sensor 24, extra quality detection sensor 24 is wrapped
It is in " L " font to include extra quality inspection detection sensor stent 241 and sensor 242, extra quality 24 stent one side shape of detection sensor
Set, the vertical end of two extra quality 24 stents of detection sensor is oppositely arranged, while two extra quality 24 stents of detection sensor are vertical
It is distributed on direction in the upper and lower, and a sensor is both provided with the horizontal ends of each 24 stent of extra quality detection sensor
242, meanwhile, the vertical end of two extra quality 24 stents of detection sensor may be contained within a sensor stand connecting plate 27, sensor
The one side shape of rack connecting plate 27 is set in inverted " L " font, and the horizontal ends of sensor stand connecting plate 27 are fixed on
On the guide rod of second stroke cylinder 23, the vertical end of sensor stand connecting plate 27 is vertical with extra quality 24 stent of detection sensor
End connection, meanwhile, it is both provided with sensor 242, two sensors on two parallel ends of extra quality 24 stent of detection sensor
242 are spaced and are oppositely arranged, and the top and bottom of pile material are respectively placed in easy to two sensors 242, realize the extra quality detection to pile material.
And the structure of multirow stroke cylinder driving adapts to the extra quality detection of the pile material of different patterns, adaptability higher.
Specifically, being additionally provided with magnetic splitting fixing bracket 31 on the upper surface of sucker fixed plate 12, magnetic splitting is solid
Fixed rack 31 is equally vertically installed in sucker fixed plate 12, and magnetic splitting fixing bracket 31 is similarly provided at sucker fixed plate 12
A side on and close to a vertex, also, magnetic splitting fixing bracket 31 is solid with extra quality detection in sucker fixed plate 12
Fixed rack 21 is arranged in vertical angles, realizes magnetic splitting mechanism 3 and extra quality testing agency 2 is arranged apart, safety guarantee
Higher.Meanwhile third trip cylinder 32 is provided with magnetic splitting fixing bracket 31, third trip cylinder 32 is vertically arranged,
The guide rod of third trip cylinder 32 is set downward, and the guide rod of third trip cylinder 32 moves up and down, and in third trip cylinder
The bottom of 32 guide rod is provided with magnetic splitting magnet 33, and magnetic splitting magnet 33 is driven by the lifting of third trip cylinder 32
Movement, so as to fulfill saying good-bye for pile material.Preferably, third trip cylinder 32 guide rod bottom and magnetic splitting magnet 33
Between be provided with magnetic splitting connecting plate 34, the side of magnetic splitting connecting plate 34 is connected to the guide rod of third trip cylinder 32
Bottom, the opposite side of magnetic splitting connecting plate 34 are connected with magnetic splitting magnet 33 so that dismounting is more convenient, and is hardly damaged.
As preferred embodiment, in the first stroke cylinder 22, the second stroke cylinder 23 and third trip cylinder 32
On be both provided with speed governing valve 26, the first stroke cylinder 22, the second stroke cylinder 23 and third trip cylinder 32 can be controlled respectively
The speed of service, be suitable for different use demands, adaptability higher；
As preferred embodiment, cushion block 142 is polyurethane material, and cushion performance is good, is easily obtained, and can prevent from damaging
Pile material.
It is provided in this embodiment can extra quality detection and magnetic splitting robotic vacuum graping chaw, including grasp handling machine
Structure 1 and the extra quality testing agency 2 and magnetic splitting mechanism 3 for being arranged in grasp handling mechanism 1 and being arranged in vertical angles；Crawl is removed
The structure that mechanism 1 is vacuum cup 132 is transported, extra quality testing agency 2 is driven by the stroke cylinder horizontally and vertically moved on two directions
It is dynamic, adapt to the crawl of different pattern pile material, adaptability higher, meanwhile, three mechanisms integral types are set, more compact structure and letter
Single, arrangement space more saves, and cost is lower, is more suitable for being arranged in mini-type punching and pile material handling process, is more conducive to punching press industry
Automated process development.
It these are only preferred embodiments of the present invention, not thereby limit embodiments of the present invention and protection domain, it is right
For those skilled in the art, it should can appreciate that and all be replaced with being equal made by description of the invention and diagramatic content
Change and obviously change obtained scheme, should be included in protection scope of the present invention.
Claims (10)
1. it is a kind of can it is extra quality detection and magnetic splitting robotic vacuum graping chaw, it is characterised in that including：
Grasp handling mechanism, the grasp handling mechanism includes a connecting flange, and is provided with the bottom of the connecting flange
The sucker fixed plate of rectangular setting, the bottom of the sucker fixed plate are vertically arranged with some spaced apart sucker structures,
Meanwhile also it is vertically arranged with some spaced branching rod structures in the bottom of the sucker fixed plate；
Extra quality testing agency, the extra quality testing agency include an extra quality detection fixing bracket, the extra quality detection fixing bracket
It is vertically installed in the vertex of the top of the sucker fixed plate and a side positioned at the sucker fixed plate, the extra quality inspection
Survey on fixing bracket and be provided with the first stroke cylinder for protruding horizontally up the sucker fixed plate, the guide rod of first stroke cylinder
On be vertically arranged with the second stroke cylinder, meanwhile, the bottom of the guide rod of second stroke cylinder is provided with extra quality detection sensing
Device；
Magnetic splitting mechanism, the magnetic splitting mechanism include a magnetic splitting fixing bracket, the magnetic splitting fixing bracket
The vertex of the top of the sucker fixed plate and a side positioned at the sucker fixed plate is vertically installed in, meanwhile, it is described
Magnetic splitting fixing bracket is in that vertical angles are arranged in the sucker fixed plate with the extra quality detection fixing bracket, and in described
Third trip cylinder is vertically arranged with magnetic splitting fixing bracket, is provided with the bottom of the guide rod of the third trip cylinder
Magnetic splitting magnet.
2. it is according to claim 1 can it is extra quality detection and magnetic splitting robotic vacuum graping chaw, it is characterised in that
Speed governing valve is both provided with first stroke cylinder, second stroke cylinder and the third trip cylinder.
3. it is according to claim 1 can it is extra quality detection and magnetic splitting robotic vacuum graping chaw, it is characterised in that
Cylinder connecting plate is provided between first stroke cylinder and second stroke cylinder, the side of the cylinder connecting plate connects
It is connected on the guide rod of first stroke cylinder, the opposite side of the cylinder connecting plate is connected to the cylinder of second stroke cylinder
On body.
4. it is according to claim 1 can it is extra quality detection and magnetic splitting robotic vacuum graping chaw, it is characterised in that
The extra quality detection sensor includes extra quality inspection detection sensor stent and sensor, the extra quality detection sensor stent side
Face shape is set in " L " font, and the vertical end of the two extra quality detection sensor stents is oppositely arranged, while the two extra quality inspections
Sensor stand in the vertical direction is surveyed to be distributed in the upper and lower, and the horizontal ends of each extra quality detection sensor stent
On be both provided with a sensor, meanwhile, the vertical end of the two extra quality detection sensor stents may be contained within a sensor
On rack connecting plate, the one side shape of the sensor stand connecting plate is set in inverted " L " font, the sensor branch
The horizontal ends of frame connecting plate are fixed on the guide rod of second stroke cylinder, the vertical end of the sensor stand connecting plate with
The vertical end connection of the extra quality detection sensor stent.
5. it is according to claim 1 can it is extra quality detection and magnetic splitting robotic vacuum graping chaw, it is characterised in that
Magnetic splitting connecting plate, the magnetic splitting are provided between the guide rod of the magnetic splitting magnet and the third trip cylinder
The side of connecting plate is connected to the bottom of the guide rod of the third trip cylinder, the opposite side connection of the magnetic splitting connecting plate
There is the magnetic splitting magnet.
6. it is according to claim 1 can it is extra quality detection and magnetic splitting robotic vacuum graping chaw, it is characterised in that
The sucker structure includes spring guide and vacuum cup, and the spring guide is vertically arranged in the sucker fixed plate, often
One spring guide is both provided with the vacuum cup away from one end of the sucker fixed plate.
7. it is according to claim 6 can it is extra quality detection and magnetic splitting robotic vacuum graping chaw, it is characterised in that
One end that the spring guide is installed on the sucker fixed plate is connected with gas-tpe fitting, and the spring guide is tight by screw thread
Firmware is connected in the sucker fixed plate.
8. it is according to claim 7 can it is extra quality detection and magnetic splitting robotic vacuum graping chaw, it is characterised in that
The gas-tpe fitting is connected with tracheae, and the tracheae is connected on one point of polylinker, and one point of polylinker is connected to control
On solenoid valve and vacuum valve processed.
9. it is according to claim 1 can it is extra quality detection and magnetic splitting robotic vacuum graping chaw, it is characterised in that
The branching rod structure includes fixed strut and cushion block, and the fixed strut is vertically arranged in the sucker fixed plate, described solid
Determine strut and one end of the sucker fixed plate is provided with cushion block, and the fixed strut is fixed on institute by threaded fastener
State in sucker fixed plate.
10. it is according to claim 9 can extra quality detection and magnetic splitting robotic vacuum graping chaw, its feature exists
In the cushion block is polyurethane material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711484531.2A CN107953351A (en) | 2017-12-29 | 2017-12-29 | It is a kind of can it is extra quality detection and magnetic splitting robotic vacuum graping chaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711484531.2A CN107953351A (en) | 2017-12-29 | 2017-12-29 | It is a kind of can it is extra quality detection and magnetic splitting robotic vacuum graping chaw |
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| Publication Number | Publication Date |
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| CN107953351A true CN107953351A (en) | 2018-04-24 |
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ID=61957189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711484531.2A Pending CN107953351A (en) | 2017-12-29 | 2017-12-29 | It is a kind of can it is extra quality detection and magnetic splitting robotic vacuum graping chaw |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109158498A (en) * | 2018-08-24 | 2019-01-08 | 芜湖隆深机器人有限公司 | A kind of end cover of water heater inner container automation press line |
| CN109773821A (en) * | 2019-01-09 | 2019-05-21 | 清华大学 | A kind of sucker arm device, robotic arm apparatus and detection seized condition method |
| CN110076467A (en) * | 2019-06-12 | 2019-08-02 | 上海华美电梯装饰有限公司 | A kind of manipulator loading and unloading system taken for elevator seat plate grab |
| CN110549261A (en) * | 2019-09-30 | 2019-12-10 | 郑州市弘毅机械有限公司 | Automatic unloading mechanism for formed grinding wheel |
| CN110614626A (en) * | 2019-09-20 | 2019-12-27 | 江苏迅捷装具科技有限公司 | File access robotic arm |
| CN113858250A (en) * | 2021-09-28 | 2021-12-31 | 德屹智能科技(扬州)有限公司 | Robot carrying gripper for sheet metal stamping parts |
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| CN109158498A (en) * | 2018-08-24 | 2019-01-08 | 芜湖隆深机器人有限公司 | A kind of end cover of water heater inner container automation press line |
| CN109773821A (en) * | 2019-01-09 | 2019-05-21 | 清华大学 | A kind of sucker arm device, robotic arm apparatus and detection seized condition method |
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