CN108356841A - Utilize the method for Manipulator Transportation photovoltaic module - Google Patents
Utilize the method for Manipulator Transportation photovoltaic module Download PDFInfo
- Publication number
- CN108356841A CN108356841A CN201810102806.XA CN201810102806A CN108356841A CN 108356841 A CN108356841 A CN 108356841A CN 201810102806 A CN201810102806 A CN 201810102806A CN 108356841 A CN108356841 A CN 108356841A
- Authority
- CN
- China
- Prior art keywords
- photovoltaic module
- mounting plate
- manipulator
- connecting shaft
- gripper cylinder
- 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.)
- Granted
Links
Classifications
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
Abstract
This disclosure relates to a kind of method using Manipulator Transportation photovoltaic module, manipulator includes mounting bracket and four mechanical grips, each mechanical grip includes mounting plate, gripper cylinder, connecting shaft, spring and proximity sensor, connecting shaft passes through mounting plate and can be moved axially relative to mounting plate, spring is set in connecting shaft and is resiliently supported between mounting plate and gripper cylinder, proximity sensor is arranged on gripper cylinder, and method includes：Control machinery hand is declined with First Speed to approach photovoltaic module；After the proximity sensor of a mechanical grip touches photovoltaic module wherein, control machinery hand continues to decline with second speed, until when the proximity sensor of four mechanical grips all touches photovoltaic module, control machinery hand stops declining, wherein, second speed is less than First Speed；The gripper cylinder of four mechanical grips of control acts simultaneously, to clamp the quadrangle of photovoltaic module；Control machinery hand is moved so that photovoltaic module is transported to target location.
Description
Technical field
This disclosure relates to which photovoltaic module manufactures field, and in particular, to a kind of to utilize Manipulator Transportation photovoltaic module
Method.
Background technology
During photovoltaic module is manufactured, needs manipulator movement, carries photovoltaic module, manipulator has multiple machines
Tool clamping jaw, usually four, to clamp four angles of the aluminium profiles frame of photovoltaic module, to which photovoltaic module is transported to target
Position.In the prior art, it is rigid connection between the mounting plate and cylinder of mechanical grip.Due to the photovoltaic module of rectangular plate
Area it is larger, between opposite two sides of aluminium profiles frame spacing distance farther out, and at four mechanical grips of manipulator
In in same level, therefore when photovoltaic module places out-of-flatness (such as ground or pallet uneven), manipulator decline with
When the side of aluminium profiles frame is clamped, once the proximity sensor of one of mechanical grip touches aluminium profiles frame, manipulator is just
Stop declining and keep in the position, then cylinder movement is to clamp frame.But not every mechanical grip can clip to side
Frame, but two mechanical grips of only side can clamp frame.If manipulator rises at this time, mechanical grip is caused to catch on
The side of photovoltaic module and make photovoltaic module tilt, be suspended, cause photovoltaic module to be damaged, scrap.
Invention content
Purpose of this disclosure is to provide a kind of method using Manipulator Transportation photovoltaic module, this method can ensure machinery
Four gripper cylinders of hand can reliably clamp four angles of photovoltaic module under any circumstance, so as to reliably water
It is flat to carry photovoltaic module, avoid damage photovoltaic module.
To achieve the goals above, the disclosure provides a kind of method using Manipulator Transportation photovoltaic module, the machinery
Hand includes mounting bracket and four mechanical grips being arranged on the mounting bracket, and each mechanical grip includes mounting plate, clamping gas
Cylinder, connecting shaft, spring and proximity sensor, the mounting plate is horizontally disposed, and the gripper cylinder is connected to by the connecting shaft
The mounting plate, the connecting shaft pass through the mounting plate and can be moved axially relative to the mounting plate, the clamping gas
Cylinder is fixed on the lower end of the connecting shaft, and the spring is set in the connecting shaft and is resiliently supported at the mounting plate and institute
Between stating gripper cylinder, the proximity sensor is arranged on the gripper cylinder, the method includes：Control the manipulator
Declined to approach the photovoltaic module with First Speed；The proximity sensor of a mechanical grip touches the photovoltaic wherein
It after component, controls the manipulator and continues to decline with second speed, until the proximity sensor of four mechanical grips is all touched
When to the photovoltaic module, controls the manipulator and stop declining, wherein the second speed is less than the First Speed；Control
The gripper cylinder of four mechanical grips of system acts simultaneously, to clamp the quadrangle of the photovoltaic module；The manipulator is controlled to move
It moves so that the photovoltaic module is transported to target location.
Optionally, the connecting shaft is four, and the gripper cylinder is pivotally connected to the installation by four connections
Plate.
Optionally, each mechanical grip further includes linear bearing, and the connecting shaft is installed to institute by the linear bearing
It states on mounting plate.
Optionally, the upper end of the connecting shaft is stretched out from the linear bearing, and is formed with positive stop lug boss.
Optionally, the linear bearing is flange form linear bearing, and the ring flange of the flange form linear bearing is installed to institute
State the lower surface of mounting plate.
Optionally, it is provided with buffer stopper on the clamping face of the gripper cylinder.
Optionally, the gripper cylinder includes cylinder body and the piston rod that is protruded horizontally up from the cylinder body, the piston rod
On be connected with L shaped plate, the L shaped plate includes vertical section and horizontal segment, and the vertical section is connected on the piston rod, described slow
It includes the first buffer stopper being arranged on the lower surface of the cylinder body and the second buffer stopper being arranged on the horizontal segment to rush block.
Optionally, the proximity sensor is installed to by holder on the cylinder body, the probe of the proximity sensor with
The lower surface of first buffer stopper is concordant.
Photovoltaic module is rectangular plate, and four mechanical grips are located at four angles of photovoltaic module, and connecting shaft and spring will
Gripper cylinder elastic connection vertically extends in the lower section of mounting plate and connecting shaft.When photovoltaic module places the feelings of out-of-flatness
Under condition, during manipulator declines, after two mechanical grips of photovoltaic module side touch aluminium profiles frame, machinery
Hand continues to slow down.Aluminium profiles frame compresses gripper cylinder, and spring is compressed, and connecting shaft is moved axially upwards relative to mounting plate
Dynamic, until after four all mechanical grips touch aluminium profiles frame, gripper cylinder, which just acts, clamps four of aluminium profiles frame
Angle, it is ensured that manipulator can reliablely and stablely clamp photovoltaic module, to be flatly lifted, translate photovoltaic module, avoid photovoltaic group
Part is impaired.The above-mentioned method using Manipulator Transportation photovoltaic module ensure that the gripper cylinder of each mechanical grip to photovoltaic module
Clipping operation reliability, avoid some or certain several gripper cylinders from failing maloperation caused by clamping photovoltaic module so that
It carries operating reliability and accuracy improves, reduce the damage of photovoltaic module.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings：
Fig. 1 is schematic diagram of the photovoltaic module handling machinery clamping jaw of the disclosure in initial position；
Fig. 2 is the side view of Fig. 1；
Fig. 3 is schematic diagram of the photovoltaic module handling machinery clamping jaw of disclosure during decline；
Fig. 4 is schematic diagram of the photovoltaic module handling machinery clamping jaw of the disclosure after touching photovoltaic module；
Fig. 5 is schematic diagram of the photovoltaic module handling machinery clamping jaw of the disclosure when clamping photovoltaic module；
Fig. 6 is schematic diagram of the photovoltaic module handling machinery clamping jaw of disclosure during carrying photovoltaic module；
Fig. 7 is schematic diagram of the photovoltaic module conveying robot of the disclosure when clamping photovoltaic module.
Reference sign
1 mounting plate, 2 gripper cylinder
21 cylinder body, 22 piston rod
3 connecting shaft, 4 spring
5 proximity sensor, 51 holder
52 6 linear bearings of probe
61 ring flange, 7 positive stop lug boss
8 buffer stopper, 81 first buffer stopper
82 second buffer stopper, 9 L shaped plate
91 vertical section, 92 horizontal segment
100 mechanical grip, 200 mounting bracket
300 photovoltaic module, 301 aluminium profiles frame
Specific implementation mode
The specific implementation mode of the disclosure is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
In the disclosure, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, left and right " typically refers to
The top, lower section of vertical direction and the left and right side of horizontal direction as shown in Figure 7.
As shown in figs 1 to 6, a kind of photovoltaic module handling machinery clamping jaw of one side offer of the disclosure, including mounting plate 1,
Gripper cylinder 2, connecting shaft 3, spring 4 and proximity sensor 5, mounting plate 1 is horizontally disposed, and gripper cylinder 2 is connected to by connecting shaft 3
Mounting plate 1, connecting shaft 3 pass through mounting plate 1 and can be moved axially relative to mounting plate 1, and gripper cylinder 2 is fixed on connecting shaft 3
Lower end, spring 4 is set in connecting shaft 3 and is resiliently supported between mounting plate 1 and gripper cylinder 2, and proximity sensor 5 is arranged
On gripper cylinder 2.
As shown in fig. 7, another aspect of the present disclosure provides a kind of photovoltaic module conveying robot, including 200 He of mounting bracket
Four mechanical grips 100 being arranged on mounting bracket 200, mechanical grip 100 are mechanical grip recited above.
Photovoltaic module 300 is rectangular plate, and four mechanical grips 100 are located at four angles of photovoltaic module 300, connecting shaft
3 and spring 42 elastic connection of gripper cylinder is vertically extended in the lower section of mounting plate 1 and connecting shaft 3.Work as photovoltaic module
In the case that 300 place out-of-flatness, during manipulator declines, it is located at two mechanical grips of 300 side of photovoltaic module
After 100 touch aluminium profiles frame 301, manipulator continues to slow down.Aluminium profiles frame 301 compresses gripper cylinder 2, and spring 4 is pressed
Contracting, connecting shaft 3 are moved axially upwards relative to mounting plate 1, until four all mechanical grips 100 touch aluminium profiles frame
After 301, gripper cylinder 2 just acts four angles for clamping aluminium profiles frame 301, it is ensured that manipulator can reliablely and stablely clamp photovoltaic
Component 300 avoids photovoltaic module 300 impaired to be flatly lifted, translate photovoltaic module 300.
As a kind of preferred embodiment of the disclosure, optionally, connecting shaft 3 is four, and gripper cylinder 2 passes through four companies
Spindle 3 is connected to mounting plate 1, and four connecting shafts 3 are at four angles of gripper cylinder 2, so that the connection of gripper cylinder 2 is steady
Gu position is stablized, bearing is preferable.Being clamped during photovoltaic module 300 is carried in gripper cylinder 2 will not shake, and keep away
Exempt from photovoltaic module 300 to fall off.
In order to ensure that connecting shaft 3 can be smoothly axially moveable, as shown in Figure 1 and Figure 4, optionally, mechanical grip is also
Including linear bearing 6, connecting shaft 3 is installed to by linear bearing 6 on mounting plate 1, so as to ensure the axial fortune of connecting shaft 3
Dynamic straightness.After gripper cylinder 2 touches aluminium profiles frame 301, manipulator continues to decline, and aluminium profiles frame 301 is to clamping
Cylinder 2 applies pressure, and spring 4 is compressed, and connecting shaft 3 moves axially upward stretches out from the upper end of linear bearing 6, to connect
Axis 3 can keep moving along a straight line, and ensure that the horizontal position of gripper cylinder 2 is constant, precisely to clamp aluminium profiles frame 301.
As shown in Figure 5 and Figure 6, in order to ensure the bearing of mechanical grip 100, optionally, the upper end of connecting shaft 3 is from straight line
It is stretched out in bearing 6, and is formed with positive stop lug boss 7.In the case where aluminium profiles frame 301 does not press to gripper cylinder 2, i.e. spring
In the case that 4 are uncompressed, positive stop lug boss 7 is pressed on the upper end of linear bearing 6, to ensure that gripper cylinder 2 steadily connects
Onto mounting plate 1, especially in the case where gripper cylinder 2 is clamped photovoltaic module 300 and carried, it can ensure gripper cylinder
2 connection is reliable, it is ensured that reliably clamps photovoltaic module 300.
As shown in Figure 1, optionally, linear bearing 6 is flange form linear bearing, the ring flange 61 of the flange form linear bearing
It is installed to the lower surface of mounting plate 1.It, can letter using fastener due to using flanged joint between mounting plate 1 and linear bearing 6
It is single that easily ring flange 61 is installed on mounting plate 1, and can ensure the verticality between linear bearing 6 and mounting plate 1.
As shown in figure 5, optionally, buffer stopper 8 is provided on the clamping face of gripper cylinder 2, buffer stopper 8 uses nylon material
It is made, prevents gripper cylinder 2 that generation cut, shock etc. is clamped to photovoltaic module 100 and cause to damage.
As shown in figure 5, the installation of buffer stopper 8 for convenience, optionally, gripper cylinder 2 includes cylinder body 21 and from cylinder body 21
On the piston rod 22 that protrudes horizontally up, be connected with L shaped plate 9 on piston rod 22, L shaped plate 9 includes vertical section 91 and horizontal segment 92, vertically
Section 91 is connected on piston rod 22, and buffer stopper 8 includes that the first buffer stopper 81 being arranged on the lower surface of cylinder body 21 and setting exist
The second buffer stopper 82 on horizontal segment 92.It can make to keep water between the first buffer stopper 81 and the second buffer stopper 82 using L shaped plate 9
It is flat, and the flexible clamping and release that photovoltaic module 300 can be completed of the piston rod 22 of gripper cylinder 2 is only needed, operation letter
It is single.Under clamp position, aluminium profiles frame 301 is clamped between the first buffer stopper 81 and the second buffer stopper 82, and clamping is reliable steady
It is fixed, and the damage of photovoltaic module 300 will not be caused.
As shown in figure 5, the installation and detection of proximity sensor 5 for convenience, optionally, proximity sensor 5 passes through holder
51 are installed on cylinder body 21, as shown in Fig. 2, holder 51 is Z-type, so that proximity sensor 5 is easy for installation and does not interfere with folder
Hold the action of cylinder 2.The probe 52 of proximity sensor 5 is concordant with the lower surface of the first buffer stopper 81, to proximity sensor 5
Probe 52 is contacted with aluminium profiles frame 301, that is, shows that the first buffer stopper 81 is contacted with aluminium profiles frame 301, easy to detect and detect
As a result reliable, accurate, it can ensure that gripper cylinder 2 clamps aluminium profiles frame 301.
As shown in Fig. 1-Fig. 7, the another further aspect of the disclosure provides a kind of method using Manipulator Transportation photovoltaic module, machine
Tool hand includes mounting bracket 200 and four mechanical grips 100 being arranged on mounting bracket 200, and each mechanical grip 100 includes installation
Plate 1, gripper cylinder 2, connecting shaft 3, spring 4 and proximity sensor 5, mounting plate 1 is horizontally disposed, and connecting shaft 3 connects gripper cylinder 2
It is connected to mounting plate 1, connecting shaft 3 passes through mounting plate 1 and can be moved axially relative to mounting plate 1, and gripper cylinder 2 is fixed on connection
The lower end of axis 3, spring 4 are set in connecting shaft 3 and are resiliently supported between mounting plate 1 and gripper cylinder 2, proximity sensor 5
It is arranged on gripper cylinder 2, method includes：Control machinery hand is declined with First Speed to approach photovoltaic module 300；Wherein one
After the proximity sensor 5 of a mechanical grip 100 touches photovoltaic module 300, control machinery hand continues to decline with second speed, directly
When all touching photovoltaic module 300 to the proximity sensors 5 of four mechanical grips 100, control machinery hand stops declining,
In, second speed is less than First Speed；The gripper cylinder 2 of four mechanical grips 100 of control acts simultaneously, to clamp photovoltaic group
The quadrangle of part 300；Control machinery hand is moved so that photovoltaic module 300 is transported to target location.
The whole process of Manipulator Transportation photovoltaic module 300 is described in detail presently in connection with Fig. 1 to Fig. 7.
When manipulator is in off working state, manipulator is in the position above photovoltaic module, and mechanical grip 100 is in
The initial position of Fig. 1 and Fig. 2,7 backstop of positive stop lug boss are in free state, gripper cylinder 2 in the upper end of linear bearing 6, spring 4
Piston rod 22 be in retracted mode.
When needing to carry photovoltaic module 300, as shown in figure 3, proximity sensor 5 judges whether stored below manipulator
Photovoltaic module 300 is declined with First Speed to approach photovoltaic module 300, and gripper cylinder if so, then control machinery hand is whole
2 piston rod 22 is in stretching state.
As shown in figure 4, a mechanical grip 100 (is usually located at the aluminium profiles frame 301 of photovoltaic module 300 wherein
Two mechanical grips 100 of higher side) proximity sensor 5 touch photovoltaic module 300 after, proximity sensor 5 send inspection
Signal is surveyed to controller, controller control machinery hand continues to decline with second speed (second speed is less than First Speed), at this time
Decrease speed slows down.At this point, photovoltaic module 300 compresses two gripper cylinders 2 of 301 side of aluminium profiles frame so that bullet herein
Spring 4 is compressed, and connecting shaft 3 axially upwardly moves, to be stretched out from 6 upper end of linear bearing.Manipulator continues to decline until four machines
When the proximity sensor 5 of tool clamping jaw 100 all touches photovoltaic module 300, i.e., the gripper cylinder 2 of four mechanical grips 100 is equal
In position to be held (four the first buffer stoppers 81 are contacted with aluminium profiles frame 301), proximity sensor 5 send detection signal to
Controller, controller control machinery hand stop declining, and manipulator is maintained at position to be held (as shown in Figure 4) at this time.
As shown in figure 5 and figure 7, the gripper cylinder 2 for then controlling four mechanical grips 100 acts simultaneously, i.e. gripper cylinder 2
Piston rod 22 retract, to clamp the quadrangle of photovoltaic module 300, i.e., by the quadrangle of the aluminium profiles frame 301 of photovoltaic module 300 press from both sides
It holds between the first buffer stopper 81 and the second buffer stopper 82, two springs 4 of side are still within compressive state, connecting shaft at this time
3 upper end is still stretched out from the upper end of linear bearing 6.
As shown in fig. 6, then control machinery hand movement by photovoltaic module 300 to be transported to target location, wherein manipulator
It is whole first to rise so that connecting shaft 3 moves axially downwards, and spring 4 is returned to free state, and 7 backstop of positive stop lug boss is in linear axis
6 upper end is held, photovoltaic module 300 is in horizontality.After manipulator rises to predetermined altitude, then translate, again under
It drops to up to after target location, gripper cylinder 2 acts (stretching of piston rod 22) simultaneously, to unclamp photovoltaic module 300, completes to carry.
The above-mentioned method using Manipulator Transportation photovoltaic module ensure that the gripper cylinder 2 of each mechanical grip 100 to light
The reliability for lying prostrate the clipping operation of component 300, avoids some or certain several gripper cylinders 2 from failing to clamp the mistake of photovoltaic module 300
Operation so that carry operating reliability and accuracy improves, reduce the damage of photovoltaic module 300.
The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (8)
1. a kind of method using Manipulator Transportation photovoltaic module, which is characterized in that the manipulator include mounting bracket (200) and
Four mechanical grips (100) being arranged on the mounting bracket (200), each mechanical grip (100) include mounting plate (1), folder
Cylinder (2), connecting shaft (3), spring (4) and proximity sensor (5) are held, the mounting plate (1) is horizontally disposed, the connecting shaft
(3) gripper cylinder (2) is connected to the mounting plate (1), the connecting shaft (3) passes through the mounting plate (1) and can
It is moved axially relative to the mounting plate (1), the gripper cylinder (2) is fixed on the lower end of the connecting shaft (3), the spring
(4) it is set in the connecting shaft (3) and is resiliently supported between the mounting plate (1) and the gripper cylinder (2), it is described to connect
Nearly sensor (5) is arranged on the gripper cylinder (2), the method includes：
The manipulator is controlled with First Speed to decline to approach the photovoltaic module (300)；
After the proximity sensor (5) of a mechanical grip (100) touches the photovoltaic module (300) wherein, described in control
Manipulator continues to decline with second speed, until the proximity sensor (5) of four mechanical grips (100) all touches the light
When lying prostrate component (300), controls the manipulator and stop declining, wherein the second speed is less than the First Speed；
The gripper cylinder (2) of four mechanical grips (100) of control acts simultaneously, to clamp the four of the photovoltaic module (300)
Angle；
The manipulator movement is controlled so that the photovoltaic module (300) is transported to target location.
2. the method according to claim 1 using Manipulator Transportation photovoltaic module, which is characterized in that the connecting shaft
(3) it is four, the gripper cylinder (2) is connected to the mounting plate (1) by four connecting shafts (3).
3. the method according to claim 1 using Manipulator Transportation photovoltaic module, which is characterized in that each mechanical grip
(100) further include linear bearing (6), the connecting shaft (3) is installed to by the linear bearing (6) on the mounting plate (1).
4. the method according to claim 3 using Manipulator Transportation photovoltaic module, which is characterized in that the connecting shaft
(3) upper end is stretched out from the linear bearing (6), and is formed with positive stop lug boss (7).
5. the method according to claim 4 using Manipulator Transportation photovoltaic module, which is characterized in that the linear bearing
(6) it is flange form linear bearing, the ring flange (61) of the flange form linear bearing is installed to the lower surface of the mounting plate (1).
6. the method according to claim 1 using Manipulator Transportation photovoltaic module, which is characterized in that the gripper cylinder
(2) buffer stopper (8) is provided on clamping face.
7. the method according to claim 6 using Manipulator Transportation photovoltaic module, which is characterized in that the gripper cylinder
(2) include cylinder body (21) and the piston rod (22) protruded horizontally up from the cylinder body (21), L is connected on the piston rod (22)
Shape plate (9), the L shaped plate (9) include vertical section (91) and horizontal segment (92), and the vertical section (91) is connected to the piston rod
(22) on, the buffer stopper (8) includes that the first buffer stopper (81) being arranged on the lower surface of the cylinder body (21) and setting exist
The second buffer stopper (82) on the horizontal segment (92).
8. the method according to claim 7 using Manipulator Transportation photovoltaic module, which is characterized in that described close to sensing
Device (5) is installed to by holder (51) on the cylinder body (21), and the probe (52) of the proximity sensor (5) is slow with described first
The lower surface for rushing block (81) is concordant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810102806.XA CN108356841B (en) | 2018-02-01 | 2018-02-01 | Method for carrying photovoltaic module by using manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810102806.XA CN108356841B (en) | 2018-02-01 | 2018-02-01 | Method for carrying photovoltaic module by using manipulator |
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| CN108356841A true CN108356841A (en) | 2018-08-03 |
| CN108356841B CN108356841B (en) | 2020-10-02 |
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| CN108687785A (en) * | 2018-08-09 | 2018-10-23 | 珠海格力智能装备有限公司 | Mechanism for testing and robot with it |
| CN110860857A (en) * | 2019-11-27 | 2020-03-06 | 航天科技控股集团股份有限公司 | Support self-judging type full-automatic assembly method |
| CN111590627A (en) * | 2020-05-29 | 2020-08-28 | 苏州天准科技股份有限公司 | Clamping jaw device |
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| CN108687785A (en) * | 2018-08-09 | 2018-10-23 | 珠海格力智能装备有限公司 | Mechanism for testing and robot with it |
| CN110860857A (en) * | 2019-11-27 | 2020-03-06 | 航天科技控股集团股份有限公司 | Support self-judging type full-automatic assembly method |
| CN111590627A (en) * | 2020-05-29 | 2020-08-28 | 苏州天准科技股份有限公司 | Clamping jaw device |
| CN111792376A (en) * | 2020-06-16 | 2020-10-20 | 上海名起机械制造有限公司 | Clamping jaw mechanism of PCB (printed circuit board) putting machine and operation method of clamping jaw mechanism |
| CN111792376B (en) * | 2020-06-16 | 2022-02-01 | 上海名起机械制造有限公司 | Clamping jaw mechanism of PCB (printed circuit board) putting machine and operation method of clamping jaw mechanism |
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