CN108818602A - A kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot - Google Patents
A kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot Download PDFInfo
- Publication number
- CN108818602A CN108818602A CN201810898584.7A CN201810898584A CN108818602A CN 108818602 A CN108818602 A CN 108818602A CN 201810898584 A CN201810898584 A CN 201810898584A CN 108818602 A CN108818602 A CN 108818602A
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- Prior art keywords
- handgrip
- coulisse
- electromagnet
- plate
- right rail
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- 238000003825 pressing Methods 0.000 title claims abstract description 18
- 230000003139 buffering effect Effects 0.000 claims abstract description 19
- 239000000758 substrate Substances 0.000 claims description 8
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 claims description 2
- 238000009966 trimming Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of electromagnet type buffer light terminal-collecting machines suitable for pressing robot, include the flange connecting plate being vertically arranged, the buffering slide plate being connected on flange connecting plate and the adjustable handgrip being connected on buffering slide plate.The present invention is provided with buffering slide plate moving up and down, realizes floating up and down for handgrip, to generate buffering adjustment, robot arm is avoided to be damaged when picking up product by the reaction force of product to be grabbed；Electromagnet assembly of the invention includes buffer spring, so that electromagnet can carry out buffer height adjusting in corresponding handgrip mounting hole, convenient for steadily firmly picking up product to be grabbed.
Description
Technical field
The present invention relates to Electromagnet-type end effector field, specifically a kind of electromagnet type suitable for pressing robot is light-duty
Buffer terminal-collecting machine.
Background technique
Terminal-collecting machine has application in many fields, is used primarily on automatic production line in press workshop, is mounted on automatic
Change mechanical end, under the drive of automated machine device, is replaced manually using vacuum chuck or clamp etc. to complete punching press
The crawl of plate, workpiece（Can also be used for welding machine, stacking, turn sequence etc.）.Pressing robot terminal-collecting machine has various different style classes
Type has vacuum cap type, electromagnet type.Exactly when electromagnet reaches product space, production is sucked in energizing magnetic to electromagnet type
Product.
Existing Electromagnet-type end effector there are the shortcomings that：1. structure is excessive, particularly thickness, it is not easily accessible shorter space
Operation；2. terminal-collecting machine crawl product movement interference arm will receive reaction pressure injury device；3. robot arm movement is arrived
Position is not accurate, and robot gripper possible product not in place can not pick up.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of electromagnet type buffer light ends suitable for pressing robot
Device is picked up, avoids the problem of being damaged when robot arm picks up product by reaction force, and it is steadily secured to pick up product.
The technical scheme is that：
A kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot, include the flange connecting plate being vertically arranged,
The buffering slide plate being connected on flange connecting plate and the adjustable handgrip being connected on buffering slide plate；The buffering slide plate
It include the sliding block of left coulisse, right rail plate, intermediate coulisse and multiple cylinders, the left coulisse, right rail plate
It is vertical and be arranged in parallel, and left coulisse, right rail plate are all connected on the vertical medial surface of flange connecting plate, it is described in
Between coulisse be vertically arranged between left coulisse and right rail plate and height be less than left coulisse and right rail plate, the left side
External chute up and down is vertically arranged on coulisse and the opposite end face of right rail plate, intermediate coulisse is relative to left cunning
The end face of frid and relative to the internal chute being vertically arranged on the end face of right rail plate up and down, the left coulisse
External chute and intermediate coulisse relative to the internal chute of left coulisse form left sliding slot, the external chute of the right rail plate with
Intermediate coulisse forms right rail relative to the internal chute of right rail plate, and multiple sliding blocks are divided into two groups of cunnings of impartial number
Block, two groups of sliding blocks are respectively arranged in left sliding slot and right rail；The adjustable handgrip include L-shaped handgrip connecting plate,
Left handgrip and right handgrip, the vertical portion of handgrip connecting plate are fixedly connected on intermediate coulisse, and left handgrip is parallel with right handgrip
It is oppositely arranged, and the inner end of left handgrip and right handgrip passes through adjusting and is bolted on the horizontal component of handgrip connecting plate, it is left
Multiple electromagnet assemblies directed downwardly are provided on the outer end of handgrip and right handgrip.
The height of multiple sliding blocks is equal with diameter, and every group of sliding block is sequentially put up and down into corresponding left sliding slot or the right side
In sliding slot, each sliding block in every group of sliding block be the 45 inclined structures i.e. central axes of sliding block and horizontal plane shape in angle of 45 degrees,
And the central axes of two adjacent sliding blocks form 90 degree of angles.
The electromagnet assembly includes electromagnet, buffer spring and contour screw, the left handgrip and right handgrip
Outer end on be provided with corresponding mounting hole, the mounting hole is structure up and down, include top, middle part and under
Portion, the aperture on the top, the aperture of lower part are all larger than the aperture at middle part, and the electromagnet and buffer spring are all set in
In the lower part of mounting hole and buffer spring is located at the top of electromagnet, the top of buffer spring resist in the middle part of mounting hole and lower part it
Between step surface, the bottom end of buffer spring resists the top of electromagnet, the contour screw pass through mounting hole top and in
Portion, the lower end of contour screw is extend into the lower part of mounting hole and external thread part is screwed together on electromagnet, the spiral shell of contour screw
Bolt head is placed in the top of mounting hole.
It is provided with waist hole on the inner end of the left handgrip and right handgrip, is provided on the horizontal component of handgrip connecting plate
Multiple left connecting holes and multiple right connecting holes, the adjusting bolt passes through one of left connecting hole and the waist hole of left handgrip will
Left handgrip is connected on handgrip connecting plate, and the adjusting bolt passes through one of right connecting hole and the waist hole of right handgrip will be right
Handgrip is connected on handgrip connecting plate.
The buffering slide plate further includes having substrate, L-shaped left limit baffle and L-shaped right limit baffle, the base
The vertical lateral surface of plate is connected on the vertical medial surface of flange connecting plate, and the left limit baffle and right limit baffle are vertical
It is arranged in parallel and L-shaped groove mouth is opposite, the left coulisse and right rail plate are all connected on the medial surface of substrate, and described
Left coulisse is located at the surface of left limit baffle horizontal component, and the right rail plate is located at right limit baffle horizontal component
Surface.
The external chute and internal chute is V-arrangement guide barrel construction.
The thickness of the left handgrip and right handgrip is less than 40 millimeters.
Handgrip connecting plate, left handgrip and the right handgrip of the adjustable handgrip are provided with hollow hole.
It is respectively provided on the left limit baffle and right limit baffle there are two V-groove mouth fine tuning hole, V-groove mouth finely tunes spiral shell
Bolt is connected on corresponding left coulisse or right rail plate after finely tuning hole horizontal through corresponding V-groove mouth, so as to adjust left limit
Position the distance between baffle and corresponding left coulisse are the size for having adjusted left sliding slot between left coulisse and intermediate coulisse,
Adjustment the distance between right limit baffle and corresponding right rail plate have adjusted right cunning between right rail plate and intermediate coulisse
The size of slot.
The top of the left coulisse, right rail plate and intermediate coulisse, which is provided with, extend into corresponding external chute or interior
Upper limit bolt in sliding slot, the bottom end of the left coulisse, right rail plate and intermediate coulisse, which is provided with, to be extend into pair
Answer the lower limit bolt in external chute or internal chute, so that multiple sliding blocks are positioned in left sliding slot and right rail, avoid its from
The top or bottom end of left sliding slot and right rail skid off.
Advantages of the present invention：
（1）, the present invention be provided with flange connecting plate, be attached convenient for the present invention and the robot arms of various different models；
（2）, the present invention be provided with buffering slide plate moving up and down, realize floating up and down for handgrip, thus generate buffering adjustment,
Robot arm is avoided to be damaged when picking up product by the reaction force of product to be grabbed；
（3）, electromagnet assembly of the invention include buffer spring so that electromagnet can carry out in corresponding handgrip mounting hole
Buffer height is adjusted, convenient for steadily firmly picking up product to be grabbed；
（4）, adjustable handgrip of the invention, be provided with waist hole on left-hand rotation hand and right handgrip, waist hole can be passed through and adjust
The distance between hand and right handgrip are rear to be positioned by adjusting bolt, flexible design, suitable for different size wait grab
Take product；
（5）, offer hollow hole on the adjustable handgrip of the present invention, to reduce the weight of terminal-collecting machine entirety.
Detailed description of the invention
Fig. 1 is perspective view of the invention;
Fig. 2 is side view of the invention;
Fig. 3 is the perspective view of present invention buffering slide plate;
Fig. 4 is the top view of present invention buffering slide plate;
Fig. 5 is the structural schematic diagram of the right handgrip of the present invention;
Fig. 6 is the structural schematic diagram of handgrip connecting plate of the present invention;
Fig. 7 is the structural representation of electromagnet assembly of the present invention;
Fig. 8 is the placing structure schematic diagram of every group of sliding block of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
See Fig. 1-Fig. 2, a kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot, includes to be vertically arranged
Flange connecting plate 1, the buffering slide plate 2 that is connected on flange connecting plate 1 and be connected on buffering slide plate adjustable grab
Hand；
See Fig. 3 and Fig. 4, buffering slide plate includes substrate 21, L-shaped left limit baffle 22, L-shaped right limit baffle 23, left cunning
Frid 24, right rail plate 25, intermediate coulisse 26 and multiple cylinders sliding block 27, the vertical lateral surface of substrate 21 is connected to method
On the vertical medial surface of blue connecting plate 1, left limit baffle 22 is arranged in parallel vertically with right limit baffle 23 and L-shaped groove mouth is opposite,
Vertical parallel left coulisse 24 and right rail plate 25 are all connected on the medial surface of substrate 21, and left coulisse 24 is located at left limit
The surface of position 22 horizontal component of baffle, right rail plate 25 are located at the surface of 23 horizontal component of right limit baffle, intermediate sliding slot
Plate 26 is vertically arranged between left coulisse 24 and right rail plate 25 and height is less than left coulisse 24 and right rail plate 25, left cunning
The external chute 28 of v-shaped structure up and down is vertically arranged on frid 24 and the opposite end face of right rail plate 25, centre is sliding
V-shaped structure up and down is vertically arranged on end face of the frid relative to left coulisse and the end face relative to right rail plate
Internal chute 29, the external chute 28 of left coulisse 24 and intermediate coulisse 26 form a left side relative to the internal chute 29 of left coulisse 24
Sliding slot, the external chute 28 of right rail plate 25 and intermediate coulisse 26 form right rail relative to the internal chute 29 of right rail plate 25,
The height of multiple sliding blocks 27 is equal with diameter, and multiple sliding blocks 27 are divided into two groups of sliding blocks of impartial number, and every group of sliding block difference is up and down
It is sequentially arranged in left sliding slot and right rail, each sliding block 27 in every group of sliding block is the 45 inclined structures i.e. axis of sliding block 27
In angle of 45 degrees, and the central axes of two adjacent sliding blocks 27 form 90 degree of angles for line and horizontal plane shape（See Fig. 8）；Wherein, left
Be respectively provided on postive stop baffle 22 and right limit baffle 23 there are two V-groove mouth finely tune hole, V-groove mouth trimming bolt 20 horizontal through
Corresponding V-groove mouth fine tuning is connected on corresponding left coulisse 24 or right rail plate 25 behind hole, so as to adjust left limit baffle
22 have adjusted the big of left sliding slot between left coulisse 24 and intermediate coulisse 26 with the distance between corresponding left coulisse 24
It is small, it adjusts the distance between right limit baffle 23 and corresponding right rail plate 25 and has adjusted right rail plate 25 and intermediate coulisse
The size of right rail between 26；The top of left coulisse 24, right rail plate 25 and intermediate coulisse 26, which is provided with, to be extend into pair
The upper limit bolt 30 in external chute or internal chute is answered, the bottom end of left coulisse 24, right rail plate 25 and intermediate coulisse 26 is equal
It is provided with the lower limit bolt extending into corresponding external chute or internal chute, so that multiple sliding blocks 27 are positioned at left sliding slot and the right side
In sliding slot, it is avoided to skid off from the top or bottom end of left sliding slot and right rail；
See that Fig. 1 and Fig. 2, adjustable handgrip include L-shaped handgrip connecting plate 31, left handgrip 32 and right handgrip 33, handgrip connection
The vertical portion of plate 31 is fixedly connected on intermediate coulisse 26, and left handgrip 32 and right handgrip 33 are oppositely arranged in parallel, and a left side is grabbed
The inner end of hand 32 and right handgrip 33 passes through adjusting and is bolted on the horizontal component of handgrip connecting plate 31, left handgrip 32 and the right side
Electromagnet assembly 4 directed downwardly there are two being respectively provided on the outer end of handgrip 33；
See Fig. 7, electromagnet assembly 4 includes electromagnet 41, buffer spring 42 and contour screw 43, left handgrip 31 and right handgrip 32
Outer end on be provided with corresponding mounting hole 34, mounting hole 34 is structure up and down, include top, middle part and under
Portion, the aperture on top, the aperture of lower part are all larger than the aperture at middle part, and electromagnet 41 and buffer spring 42 are all set in mounting hole 34
Lower part in and buffer spring 42 be located at the top of electromagnet 41, the top of buffer spring 42 resists 34 middle part of mounting hole and lower part
Between step surface, the bottom end of buffer spring 42 resists the top of electromagnet 41, and contour screw 43 passes through the top of mounting hole 34
And middle part, the lower end of contour screw 43 is extend into the lower part of mounting hole 34 and external thread part is screwed together on electromagnet 41, etc.
The bolt head of high screw 43 is placed in the top of mounting hole 34.
Wherein, see Fig. 5 and Fig. 6, be provided with waist hole 35, handgrip connecting plate 31 on the inner end of left handgrip 32 and right handgrip 33
Horizontal component on setting there are four left connecting hole 36 and four right connecting holes 37, adjust bolt and pass through one of left connecting hole
36 are connected to left handgrip 32 on handgrip connecting plate 31 with the waist hole 35 of left handgrip 32, adjust bolt and pass through one of right connection
Right handgrip 33 is connected on handgrip connecting plate 31 by the waist hole 35 of hole 37 and right handgrip 33.
Wherein, the thickness of left handgrip 32 and right handgrip 33 facilitates access for crawl in mold or puts product less than 40 millimeters；
Handgrip connecting plate 31, left handgrip 32 and the right handgrip 33 of adjustable handgrip are provided with hollow hole 38（See Fig. 5 and Fig. 6）, thus
Reduce the weight of terminal-collecting machine entirety.
The working principle of the invention：
Flange connecting plate 1 connects robot arm, and the left handgrip 32 of 4 control system of switching on or off electricity of electromagnet assembly and right handgrip 33 implement pick-and-place
Stamping products are sent by previous process position to next procedure position.Electromagnet assembly 4 includes buffer spring 42, plays product
When face is different high, electromagnet 41 can suck product.Left handgrip 32 and right handgrip 33 are fixed on handgrip connecting plate 31, can be controlled
Spacing is adjusted, handgrip connecting plate 31 and the intermediate coulisse 26 of buffer sliding block are fixed, and left handgrip 32 and right handgrip 33 pass through electromagnetism
When iron 41 grabs stamping parts, intermediate coulisse 26 is moved up and down with sliding block 27 along left coulisse 24 and right rail plate 25, is generated slow
Punching avoids robot arm from being damaged when picking up product by the reaction force of product to be grabbed.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot, it is characterised in that：It include to be vertically arranged
Flange connecting plate, the buffering slide plate that is connected on flange connecting plate and the adjustable handgrip being connected on buffering slide plate；Institute
The buffering slide plate stated includes the sliding block of left coulisse, right rail plate, intermediate coulisse and multiple cylinders, the left sliding slot
Plate, right rail plate are vertical and are arranged in parallel, and left coulisse, right rail plate are all connected to the vertical medial surface of flange connecting plate
On, the intermediate coulisse is vertically arranged between left coulisse and right rail plate and height is less than left coulisse and right rail
External chute up and down, intermediate sliding slot are vertically arranged on plate, the left coulisse and the opposite end face of right rail plate
Internal chute up and down, institute are vertically arranged on end face of the plate relative to left coulisse and the end face relative to right rail plate
The left sliding slot of internal chute composition of the external chute for the left coulisse stated and intermediate coulisse relative to left coulisse, the right rail
The internal chute composition right rail of the external chute of plate and intermediate coulisse relative to right rail plate, multiple sliding blocks are divided into equalization
Two groups of sliding blocks of number, two groups of sliding blocks are respectively arranged in left sliding slot and right rail；The adjustable handgrip includes L-shaped
Handgrip connecting plate, left handgrip and right handgrip, the vertical portion of handgrip connecting plate are fixedly connected on intermediate coulisse, left handgrip and
Right handgrip is oppositely arranged in parallel, and the inner end of left handgrip and right handgrip passes through adjusting and is bolted in the level of handgrip connecting plate
On part, multiple electromagnet assemblies directed downwardly are provided on the outer end of left handgrip and right handgrip.
2. a kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot according to claim 1, feature
It is：The height of multiple sliding blocks is equal with diameter, and every group of sliding block is sequentially put up and down into corresponding left sliding slot or right cunning
In slot, each sliding block in every group of sliding block be the 45 inclined structures i.e. central axes of sliding block and horizontal plane shape in angle of 45 degrees, and
The central axes of two adjacent sliding blocks form 90 degree of angles.
3. a kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot according to claim 1, feature
It is：The electromagnet assembly includes electromagnet, buffer spring and contour screw, the left handgrip and right handgrip it is outer
Corresponding mounting hole is provided on end, it includes upper, middle and lower that the mounting hole, which is structure up and down,
The aperture on the top, the aperture of lower part are all larger than the aperture at middle part, and the electromagnet and buffer spring are all set in peace
It fills in the lower part in hole and buffer spring is located at the top of electromagnet, the top of buffer spring resists in the middle part of mounting hole between lower part
Step surface, the bottom end of buffer spring resists the top of electromagnet, and the contour screw passes through the top and middle part of mounting hole,
The lower end of contour screw is extend into the lower part of mounting hole and external thread part is screwed together on electromagnet, the bolt head of contour screw
It is placed in the top of mounting hole.
4. a kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot according to claim 1, feature
It is：It is provided with waist hole on the inner end of the left handgrip and right handgrip, is provided on the horizontal component of handgrip connecting plate more
A left connecting hole and multiple right connecting holes, the adjusting bolt passes through one of left connecting hole and the waist hole of left handgrip will be left
Handgrip is connected on handgrip connecting plate, and the waist hole that the adjusting bolt passes through one of right connecting hole and right handgrip grabs the right side
Hand is connected on handgrip connecting plate.
5. a kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot according to claim 1, feature
It is：The buffering slide plate further includes having substrate, L-shaped left limit baffle and L-shaped right limit baffle, the substrate
Vertical lateral surface is connected on the vertical medial surface of flange connecting plate, and the left limit baffle and right limit baffle are parallel vertically
It is arranged and L-shaped groove mouth is opposite, the left coulisse and right rail plate is all connected on the medial surface of substrate, and the left cunning
Frid is located at the surface of left limit baffle horizontal component, the right rail plate be located at right limit baffle horizontal component just on
Side.
6. a kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot according to claim 1, feature
It is：The external chute and internal chute is V-arrangement guide barrel construction.
7. a kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot according to claim 1, feature
It is：The thickness of the left handgrip and right handgrip is less than 40 millimeters.
8. a kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot according to claim 1, feature
It is：Handgrip connecting plate, left handgrip and the right handgrip of the adjustable handgrip are provided with hollow hole.
9. a kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot according to claim 1, feature
It is：V-groove mouth finely tunes hole, V-groove mouth trimming bolt there are two being respectively provided on the left limit baffle and right limit baffle
It is connected on corresponding left coulisse or right rail plate after finely tuning hole horizontal through corresponding V-groove mouth.
10. a kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot according to claim 1, feature
It is：The top of the left coulisse, right rail plate and intermediate coulisse, which is provided with, extend into corresponding external chute or interior cunning
Upper limit bolt in slot, the bottom end of the left coulisse, right rail plate and intermediate coulisse, which is provided with, extend into correspondence
Lower limit bolt in external chute or internal chute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810898584.7A CN108818602B (en) | 2018-08-08 | 2018-08-08 | Electromagnet type light buffer end effector suitable for stamping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810898584.7A CN108818602B (en) | 2018-08-08 | 2018-08-08 | Electromagnet type light buffer end effector suitable for stamping robot |
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| Publication Number | Publication Date |
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| CN108818602A true CN108818602A (en) | 2018-11-16 |
| CN108818602B CN108818602B (en) | 2023-12-15 |
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| CN201810898584.7A Active CN108818602B (en) | 2018-08-08 | 2018-08-08 | Electromagnet type light buffer end effector suitable for stamping robot |
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| CN105773270A (en) * | 2016-03-29 | 2016-07-20 | 苏州博众精工科技有限公司 | Anti-collision drive structure and anti-collision method thereof |
| CN106393153A (en) * | 2016-07-01 | 2017-02-15 | 山东省智能机器人应用技术研究院 | General end effector for brake pad carrying robot |
| CN208788623U (en) * | 2018-08-08 | 2019-04-26 | 合肥市奥比特电气有限公司 | A kind of electromagnet type buffer light terminal-collecting machine suitable for pressing robot |
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| CN108818602B (en) | 2023-12-15 |
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