CN108356841B - Method for carrying photovoltaic module by using manipulator - Google Patents
Method for carrying photovoltaic module by using manipulator Download PDFInfo
- Publication number
- CN108356841B CN108356841B CN201810102806.XA CN201810102806A CN108356841B CN 108356841 B CN108356841 B CN 108356841B CN 201810102806 A CN201810102806 A CN 201810102806A CN 108356841 B CN108356841 B CN 108356841B
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- Prior art keywords
- photovoltaic module
- manipulator
- mounting plate
- connecting shaft
- clamping
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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
- B25J15/0033—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
The utility model relates to a method for utilize manipulator transport photovoltaic module, the manipulator includes mounting bracket and four mechanical clamping jaw, every mechanical clamping jaw includes mounting panel, centre gripping cylinder, connecting axle, spring and proximity sensor, the connecting axle passes the mounting panel and can be for mounting panel axial displacement, the spring housing is established on the connecting axle and elastic support is between mounting panel and centre gripping cylinder, proximity sensor sets up on the centre gripping cylinder, the method includes: controlling the manipulator to descend at a first speed to approach the photovoltaic module; after a proximity sensor of one of the mechanical clamping jaws touches a photovoltaic module, controlling the manipulator to continuously descend at a second speed until the proximity sensors of the four mechanical clamping jaws touch the photovoltaic module completely, and controlling the manipulator to stop descending, wherein the second speed is less than the first speed; controlling clamping cylinders of the four mechanical clamping jaws to act simultaneously so as to clamp four corners of the photovoltaic module; and controlling the manipulator to move so as to convey the photovoltaic assembly to the target position.
Description
Technical Field
The disclosure relates to the field of photovoltaic module production and manufacturing, in particular to a method for carrying a photovoltaic module by utilizing a manipulator.
Background
In the production and manufacturing process of the photovoltaic module, the manipulator is required to move and carry the photovoltaic module, and the manipulator is provided with a plurality of mechanical clamping jaws, usually four mechanical clamping jaws, so as to clamp four corners of an aluminum frame of the photovoltaic module, and therefore the photovoltaic module is carried to a target position. In the prior art, the mounting plate of the mechanical clamping jaw is rigidly connected with the cylinder. Because the square plate-shaped photovoltaic assembly is large in area, the two opposite sides of the aluminum frame are far away from each other, and the four mechanical clamping jaws of the manipulator are located in the same horizontal plane, when the photovoltaic assembly is placed on an uneven surface (for example, the ground or a tray is uneven), when the manipulator descends to clamp the sides of the aluminum frame, once the proximity sensor of one of the mechanical clamping jaws touches the aluminum frame, the manipulator stops descending to keep the position, and then the cylinder acts to clamp the frame. However, not all mechanical jaws can grip the frame, but only two mechanical jaws on one side can grip the frame. The manipulator rises at this moment, and the mechanical clamping jaw is led to hook one side of the photovoltaic module to enable the photovoltaic module to incline and be suspended, so that the photovoltaic module is damaged and scrapped.
Disclosure of Invention
The purpose of the disclosure is to provide a method for carrying a photovoltaic module by using a manipulator, which can ensure that four clamping cylinders of the manipulator can reliably clamp four corners of the photovoltaic module under any condition, so that the photovoltaic module can be reliably and horizontally carried, and damage to the photovoltaic module is avoided.
In order to achieve the above object, the present disclosure provides a method for carrying a photovoltaic module by using a manipulator, the manipulator includes a mounting frame and four mechanical clamping jaws arranged on the mounting frame, each mechanical clamping jaw includes a mounting plate, a clamping cylinder, a connecting shaft, a spring and a proximity sensor, the mounting plate is horizontally arranged, the connecting shaft is connected to the clamping cylinder, the connecting shaft passes through the mounting plate and can move axially relative to the mounting plate, the clamping cylinder is fixed at the lower end of the connecting shaft, the spring sleeve is arranged on the connecting shaft, the mounting plate is elastically supported between the clamping cylinder, the proximity sensor is arranged on the clamping cylinder, the method includes: controlling the robot to descend at a first speed to access the photovoltaic assembly; after a proximity sensor of one mechanical clamping jaw touches the photovoltaic module, controlling the manipulator to continuously descend at a second speed until the proximity sensors of the four mechanical clamping jaws touch the photovoltaic module, and controlling the manipulator to stop descending, wherein the second speed is less than the first speed; controlling clamping cylinders of the four mechanical clamping jaws to act simultaneously so as to clamp four corners of the photovoltaic module; and controlling the manipulator to move so as to convey the photovoltaic assembly to a target position.
Optionally, the number of the connecting shafts is four, and the clamping cylinder is connected to the mounting plate through four connecting shafts.
Optionally, each mechanical jaw further comprises a linear bearing, the connecting shaft being mounted to the mounting plate by the linear bearing.
Optionally, the upper end of the connecting shaft protrudes from the linear bearing and is formed with a limit boss.
Optionally, the linear bearing is a flange-type linear bearing, and a flange plate of the flange-type linear bearing is mounted to a lower surface of the mounting plate.
Optionally, a buffer block is arranged on the clamping surface of the clamping cylinder.
Optionally, the centre gripping cylinder includes the cylinder body and follows piston rod that the level was stretched out on the cylinder body, be connected with the L shaped plate on the piston rod, the L shaped plate includes vertical section and horizontal segment, vertical section is connected on the piston rod, the buffer block is including setting up first buffer block on the lower surface of cylinder body and setting up second buffer block on the horizontal segment.
Optionally, the proximity sensor is mounted to the cylinder by a bracket, and a probe of the proximity sensor is flush with a lower surface of the first buffer block.
The photovoltaic module is square plate-shaped, the four mechanical clamping jaws are located at four corners of the photovoltaic module, the connecting shaft and the spring elastically connect the clamping cylinder below the mounting plate, and the connecting shaft extends along the vertical direction. When the photovoltaic module is placed on the uneven condition, in the process that the manipulator descends, two mechanical clamping jaws located on one side of the photovoltaic module touch the aluminum frame, and then the manipulator continues to decelerate and descend. The aluminium type frame supports and presses the centre gripping cylinder, and the spring is compressed, and the connecting axle upwards removes for the mounting panel axial, and until after all four mechanical clamping jaw all touched the aluminium type frame, the centre gripping cylinder just moved and cliied four angles of aluminium type frame, ensures that the manipulator can clip photovoltaic module reliably and steadily to lifting, translation photovoltaic module horizontally avoid photovoltaic module impaired. According to the method for carrying the photovoltaic module by using the manipulator, the reliability of the clamping operation of the clamping cylinder of each mechanical clamping jaw on the photovoltaic module is ensured, the misoperation caused by the fact that one or more clamping cylinders cannot clamp the photovoltaic module is avoided, the reliability and the accuracy of the carrying operation are improved, and the damage to the photovoltaic module is reduced.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a schematic view of a photovoltaic module handling mechanical jaw of the present disclosure in an initial position;
FIG. 2 is a side view of FIG. 1;
fig. 3 is a schematic view of a photovoltaic module handling mechanical jaw of the present disclosure during lowering;
FIG. 4 is a schematic view of a photovoltaic module handling mechanical jaw of the present disclosure after contacting a photovoltaic module;
fig. 5 is a schematic view of a photovoltaic module handling mechanical jaw of the present disclosure holding a photovoltaic module;
fig. 6 is a schematic view of a photovoltaic module handling mechanical jaw of the present disclosure during handling of a photovoltaic module;
fig. 7 is a schematic view of the photovoltaic module handling robot of the present disclosure when holding a photovoltaic module.
Description of the reference numerals
1 mounting plate 2 clamping cylinder
21 cylinder 22 piston rod
3 connecting shaft 4 spring
5 proximity sensor 51 support
52 probe 6 linear bearing
61 limiting boss of flange 7
8 buffer block 81 first buffer block
82 second buffer block 9L-shaped plate
91 vertical segment 92 horizontal segment
100 mechanical clamping jaw 200 mounting rack
300 photovoltaic module 301 aluminium type frame
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, the use of directional words such as "upper, lower, left, right" generally refers to vertically above, below and horizontally left and right as shown in fig. 7, unless stated to the contrary.
As shown in fig. 1-6, an aspect of the present disclosure provides a mechanical clamping jaw for carrying a photovoltaic module, which includes a mounting plate 1, a clamping cylinder 2, a connecting shaft 3, a spring 4 and a proximity sensor 5, wherein the mounting plate 1 is horizontally disposed, the clamping cylinder 2 is connected to the mounting plate 1 by the connecting shaft 3, the connecting shaft 3 penetrates through the mounting plate 1 and can axially move relative to the mounting plate 1, the clamping cylinder 2 is fixed at a lower end of the connecting shaft 3, the spring 4 is sleeved on the connecting shaft 3 and elastically supported between the mounting plate 1 and the clamping cylinder 2, and the proximity sensor 5 is disposed on the clamping cylinder 2.
As shown in fig. 7, another aspect of the present disclosure provides a photovoltaic module handling robot, including a mounting rack 200 and four mechanical clamping jaws 100 disposed on the mounting rack 200, where the mechanical clamping jaws 100 are the mechanical clamping jaws described above.
As a preferred embodiment of the present disclosure, optionally, the number of the connecting shafts 3 is four, the clamping cylinder 2 is connected to the mounting plate 1 through the four connecting shafts 3, and the four connecting shafts 3 are located at four corners of the clamping cylinder 2, so that the clamping cylinder 2 is stable in connection, stable in position, and good in bearing performance. The clamping cylinder 2 can not shake during the process of clamping the photovoltaic module 300 to be carried, and the photovoltaic module 300 is prevented from falling off.
In order to ensure that the connecting shaft 3 can move smoothly in the axial direction, as shown in fig. 1 and 4, the mechanical jaw optionally further comprises a linear bearing 6, and the connecting shaft 3 is mounted on the mounting plate 1 through the linear bearing 6, so that the straightness of the axial movement of the connecting shaft 3 can be ensured. After aluminium type frame 301 is touched in centre gripping cylinder 2, the manipulator continues to descend, and aluminium type frame 301 exerts pressure to centre gripping cylinder 2, and spring 4 is compressed, and connecting axle 3 stretches out from linear bearing 6's upper end along axial rebound to connecting axle 3 can keep linear motion, guarantees that the horizontal position of centre gripping cylinder 2 is unchangeable, with accurate aluminium type frame 301 of cliping.
As shown in fig. 5 and 6, in order to ensure the load-bearing property of the mechanical jaw 100, optionally, the upper end of the connecting shaft 3 protrudes from the linear bearing 6, and is formed with a stopper boss 7. Under the condition that aluminium type frame 301 does not exert pressure to centre gripping cylinder 2, under the condition that spring 4 is not compressed, spacing boss 7 all supports to press at linear bearing 6's upper end to guarantee that centre gripping cylinder 2 is connected to mounting panel 1 steadily, especially under the condition that centre gripping cylinder 2 cliies photovoltaic module 300 and carries, can guarantee that the connection of centre gripping cylinder 2 is reliable, guarantees to clip photovoltaic module 300 reliably.
As shown in fig. 1, the linear bearing 6 is optionally a flange-type linear bearing, the flange 61 of which is mounted to the lower surface of the mounting plate 1. Because the mounting plate 1 and the linear bearing 6 are connected by flanges, the flange plate 61 can be simply and conveniently mounted on the mounting plate 1 by using a fastener, and the verticality between the linear bearing 6 and the mounting plate 1 can be ensured.
As shown in fig. 5, optionally, a buffer block 8 is disposed on the clamping surface of the clamping cylinder 2, and the buffer block 8 is made of a nylon material, so as to prevent the clamping cylinder 2 from damaging the photovoltaic module 100 due to scratches, impacts and the like.
As shown in fig. 5, in order to facilitate the installation of the buffer block 8, optionally, the clamping cylinder 2 includes a cylinder body 21 and a piston rod 22 horizontally extending from the cylinder body 21, an L-shaped plate 9 is connected to the piston rod 22, the L-shaped plate 9 includes a vertical section 91 and a horizontal section 92, the vertical section 91 is connected to the piston rod 22, and the buffer block 8 includes a first buffer block 81 disposed on the lower surface of the cylinder body 21 and a second buffer block 82 disposed on the horizontal section 92. Utilize L shaped plate 9 can make between first buffer 81 and the second buffer 82 keep the level to only need the flexible of the piston rod 22 of centre gripping cylinder 2 can accomplish the centre gripping of photovoltaic module 300 and release, easy operation. In the clamped state, the aluminum frame 301 is clamped between the first buffer block 81 and the second buffer block 82, the clamping is reliable and stable, and the damage to the photovoltaic module 300 is avoided.
As shown in fig. 5, in order to facilitate the installation and detection of the proximity sensor 5, the proximity sensor 5 is optionally installed on the cylinder body 21 through a bracket 51, as shown in fig. 2, the bracket 51 is Z-shaped so that the proximity sensor 5 is conveniently installed without affecting the operation of the chucking cylinder 2. Proximity sensor 5's probe 52 and the lower surface parallel and level of first buffer block 81 to proximity sensor 5's probe 52 and aluminium type frame 301 contact show first buffer block 81 and aluminium type frame 301 contact promptly, detect conveniently and the testing result is reliable, accurate, can guarantee that centre gripping cylinder 2 cliies aluminium type frame 301.
As shown in fig. 1 to 7, a further aspect of the present disclosure provides a method for carrying a photovoltaic module by using a manipulator, the manipulator includes a mounting frame 200 and four mechanical clamping jaws 100 disposed on the mounting frame 200, each mechanical clamping jaw 100 includes a mounting plate 1, a clamping cylinder 2, a connecting shaft 3, a spring 4 and a proximity sensor 5, the mounting plate 1 is disposed horizontally, the connecting shaft 3 connects the clamping cylinder 2 to the mounting plate 1, the connecting shaft 3 penetrates through the mounting plate 1 and can move axially relative to the mounting plate 1, the clamping cylinder 2 is fixed at a lower end of the connecting shaft 3, the spring 4 is sleeved on the connecting shaft 3 and is elastically supported between the mounting plate 1 and the clamping cylinder 2, the proximity sensor 5 is disposed on the clamping cylinder 2, and the method includes: controlling the robot to descend at a first speed to approach the photovoltaic module 300; after the proximity sensor 5 of one of the mechanical clamping jaws 100 touches the photovoltaic module 300, controlling the manipulator to continuously descend at a second speed until all the proximity sensors 5 of the four mechanical clamping jaws 100 touch the photovoltaic module 300, and controlling the manipulator to stop descending, wherein the second speed is less than the first speed; controlling the clamping cylinders 2 of the four mechanical clamping jaws 100 to act simultaneously so as to clamp four corners of the photovoltaic module 300; the robot is controlled to move to carry the photovoltaic module 300 to the target position.
The overall process of robotic handling of photovoltaic module 300 will now be described in detail with reference to fig. 1-7.
When the manipulator is in a non-working state, the manipulator is located above the photovoltaic module, the mechanical clamping jaw 100 is located at the initial position shown in fig. 1 and 2, the limiting boss 7 is stopped at the upper end of the linear bearing 6, the spring 4 is in a free state, and the piston rod 22 of the clamping cylinder 2 is in a retraction state.
When the photovoltaic module 300 needs to be transported, as shown in fig. 3, the proximity sensor 5 determines whether the photovoltaic module 300 is stored below the robot hand, and if so, controls the entire robot hand to descend at the first speed to approach the photovoltaic module 300, and the piston rod 22 of the clamp cylinder 2 is in the extended state.
As shown in fig. 4, after the proximity sensor 5 of one of the mechanical clamping jaws 100 (typically, two mechanical clamping jaws 100 located on the higher side of the aluminum-type frame 301 of the photovoltaic module 300) touches the photovoltaic module 300, the proximity sensor 5 sends a detection signal to the controller, and the controller controls the manipulator to continue to descend at the second speed (the second speed is lower than the first speed), and the descending speed is slowed down. At this time, the photovoltaic module 300 is pressed against the two clamping cylinders 2 on one side of the aluminum frame 301, so that the springs 4 therein are compressed, and the connecting shaft 3 moves axially upward to protrude from the upper end of the linear bearing 6. When the manipulator continues to descend until all the proximity sensors 5 of the four mechanical clamping jaws 100 touch the photovoltaic module 300, that is, the clamping cylinders 2 of the four mechanical clamping jaws 100 are all at the positions to be clamped (the four first buffer blocks 81 are all in contact with the aluminum-shaped frame 301), the proximity sensors 5 send detection signals to the controller, and the controller controls the manipulator to stop descending, and at this time, the manipulator is kept at the positions to be clamped (as shown in fig. 4).
As shown in fig. 5 and 7, the clamping cylinders 2 of the four mechanical clamping jaws 100 are controlled to simultaneously act, that is, the piston rods 22 of the clamping cylinders 2 are retracted to clamp the four corners of the photovoltaic module 300, that is, the four corners of the aluminum frame 301 of the photovoltaic module 300 are clamped between the first buffer block 81 and the second buffer block 82, at this time, the two springs 4 on one side are still in a compressed state, and the upper end of the connecting shaft 3 still extends out of the upper end of the linear bearing 6.
As shown in fig. 6, the robot is then controlled to move to transport the photovoltaic module 300 to the target position, wherein the robot as a whole first ascends, so that the connecting shaft 3 moves axially downward, the spring 4 returns to the free state, the limiting boss 7 stops at the upper end of the linear bearing 6, and the photovoltaic module 300 is in the horizontal state. After the manipulator ascends to a preset height and then translates, and descends again to a target position, the clamping cylinder 2 acts simultaneously (the piston rod 22 extends) to loosen the photovoltaic module 300, and the transportation is completed.
The method for carrying the photovoltaic module by using the manipulator ensures the reliability of the clamping operation of the clamping cylinder 2 of each mechanical clamping jaw 100 on the photovoltaic module 300, avoids the misoperation that one or more clamping cylinders 2 cannot clamp the photovoltaic module 300, improves the reliability and accuracy of the carrying operation, and reduces the damage of the photovoltaic module 300.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (8)
1. The method for carrying the photovoltaic module by using the manipulator is characterized in that the manipulator comprises a mounting frame (200) and four mechanical clamping jaws (100) arranged on the mounting frame (200), each mechanical clamping jaw (100) comprises a mounting plate (1), a clamping cylinder (2), a connecting shaft (3), a spring (4) and a proximity sensor (5), the mounting plate (1) is horizontally arranged, the clamping cylinder (2) is connected to the mounting plate (1) by the connecting shaft (3), the connecting shaft (3) penetrates through the mounting plate (1) and can axially move relative to the mounting plate (1), the clamping cylinder (2) is fixed at the lower end of the connecting shaft (3), the spring (4) is sleeved on the connecting shaft (3) and elastically supported between the mounting plate (1) and the clamping cylinder (2), the proximity sensor (5) is arranged on the clamping cylinder (2), the method comprising:
controlling the robot to descend at a first speed to access the photovoltaic assembly (300);
after the proximity sensor (5) of one mechanical clamping jaw (100) touches the photovoltaic module (300), controlling the manipulator to continuously descend at a second speed, and controlling the manipulator to stop descending until all the proximity sensors (5) of four mechanical clamping jaws (100) touch the photovoltaic module (300), wherein the second speed is less than the first speed;
controlling clamping cylinders (2) of four mechanical clamping jaws (100) to act simultaneously so as to clamp four corners of the photovoltaic module (300);
and controlling the manipulator to move so as to convey the photovoltaic assembly (300) to a target position, wherein the whole manipulator firstly ascends, so that the connecting shaft (3) moves axially downwards, and the photovoltaic assembly (300) is in a horizontal state and then translates.
2. The method for handling photovoltaic modules with a robot according to claim 1, characterized in that the number of connecting shafts (3) is four and the clamping cylinder (2) is connected to the mounting plate (1) by means of four connecting shafts (3).
3. Method for handling photovoltaic modules with a robot according to claim 1, characterized in that each mechanical gripper (100) further comprises a linear bearing (6), the connecting shaft (3) being mounted to the mounting plate (1) by means of the linear bearing (6).
4. A method for handling photovoltaic modules with a robot according to claim 3, characterized in that the upper end of the connecting shaft (3) protrudes from the linear bearing (6) and is formed with a limit boss (7).
5. The method for handling photovoltaic modules by means of a robot according to claim 4, characterized in that the linear bearing (6) is a flange-type linear bearing, the flange (61) of which is mounted to the lower surface of the mounting plate (1).
6. The method for handling photovoltaic modules with a robot according to claim 1, characterized in that the clamping surface of the clamping cylinder (2) is provided with a buffer block (8).
7. The method for handling photovoltaic modules by means of a robot according to claim 6, characterized in that the clamping cylinder (2) comprises a cylinder body (21) and a piston rod (22) horizontally extending from the cylinder body (21), an L-shaped plate (9) is connected to the piston rod (22), the L-shaped plate (9) comprises a vertical section (91) and a horizontal section (92), the vertical section (91) is connected to the piston rod (22), and the buffer block (8) comprises a first buffer block (81) arranged on the lower surface of the cylinder body (21) and a second buffer block (82) arranged on the horizontal section (92).
8. The method for handling photovoltaic modules with a robot according to claim 7, characterized in that the proximity sensor (5) is mounted on the cylinder (21) by means of a bracket (51), the probe (52) of the proximity sensor (5) being flush with the lower surface of the first buffer block (81).
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| CN201810102806.XA CN108356841B (en) | 2018-02-01 | 2018-02-01 | Method for carrying photovoltaic module by using manipulator |
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| CN201810102806.XA CN108356841B (en) | 2018-02-01 | 2018-02-01 | Method for carrying photovoltaic module by using manipulator |
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| CN108356841B true 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 |
| CN111590627B (en) * | 2020-05-29 | 2022-04-22 | 苏州天准科技股份有限公司 | Clamping jaw device |
| 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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| CN101941595A (en) * | 2009-07-03 | 2011-01-12 | 友达光电(厦门)有限公司 | Sorting mechanism and sorting method |
| CN101987339A (en) * | 2009-08-03 | 2011-03-23 | 孟津县平乐新兴铸造厂 | Mechanical hand for stamping and automatic loading and unloading |
| CN102441890A (en) * | 2011-09-30 | 2012-05-09 | 曹新江 | Single chip microcomputer grabbing mechanical arm |
| CN102922505A (en) * | 2012-10-27 | 2013-02-13 | 河北工业大学 | Mechanical arm for capturing and moving products |
| CN102923476B (en) * | 2012-11-13 | 2015-08-12 | 东莞市雅康精密机械有限公司 | Battery cell classification-stackdevice device |
| CN103318652B (en) * | 2013-01-21 | 2015-09-16 | 江苏中科友特机器人科技有限公司 | Mechanical claw for robot palletizer |
| CN103600355B (en) * | 2013-04-28 | 2015-10-28 | 宝山钢铁股份有限公司 | A kind of for sheet stock with can utilize the absorption of cutting waste material and the method be separated and device thereof |
| TWM473385U (en) * | 2013-10-16 | 2014-03-01 | Wistron Corp | Moving fixture and related moving apparatus |
| CN203527478U (en) * | 2013-11-04 | 2014-04-09 | 武汉奋进电力技术有限公司 | Single-arm electromagnetic chuck group manipulator |
| CN106395359B (en) * | 2016-09-06 | 2018-09-18 | 沈阳远大科技园有限公司 | A kind of stacking fixture |
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