CN109051799B - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN109051799B CN109051799B CN201810738364.8A CN201810738364A CN109051799B CN 109051799 B CN109051799 B CN 109051799B CN 201810738364 A CN201810738364 A CN 201810738364A CN 109051799 B CN109051799 B CN 109051799B
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- Prior art keywords
- group
- clamping
- frame
- workpiece
- sliding
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- 230000007306 turnover Effects 0.000 claims abstract description 13
- 238000009434 installation Methods 0.000 claims description 3
- 239000011521 glass Substances 0.000 description 17
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a manipulator which comprises a multi-axis mechanism and a clamping group, wherein the multi-axis mechanism is slidably arranged on an external track, the clamping group is used for clamping a workpiece, the clamping group is rotatably arranged on the multi-axis mechanism, a turnover group used for turning the clamping group is arranged on the multi-axis mechanism, a pushing group capable of clamping the workpiece is arranged on the clamping group, and the pushing group can push the workpiece to slide on the clamping group. The manipulator can adapt to shelves with different heights and can adapt to the picking and placing conditions of the shelves by utilizing the sliding group; the clamping group is rotatably arranged on the sliding group and driven to turn by the turning group, so that the clamping group can clamp workpieces placed at different angles, and the workpiece can be conveniently taken in and put; in addition, the pushing group can be used for pushing the workpieces on the clamping group into the goods shelf or taking the workpieces out of the goods shelf, so that the clamping device can adapt to a narrow operation space of the goods shelf, and meanwhile, the stored workpieces are not affected. The whole device has simple structure and convenient taking and placing, and can meet the current access condition of plate-shaped or sheet-shaped workpieces.
Description
Technical Field
The invention relates to the technical field of storage equipment, in particular to a manipulator.
Background
At present, the storage of plate-shaped or sheet-shaped workpieces is basically carried by adopting a mechanical arm, for example, the storage of glass, the mechanical arm mostly adopts a sucker to adsorb the whole glass, then the glass is adjusted in angle, and then the glass is carried to the shelves at two sides of the mechanical arm for storage. At present, the back of glass adsorbed by the sucker is basically placed by adopting a way that one glass is placed against another glass when the glass is placed, namely, the way that the manipulator faces the glass is adopted, but the way that the manipulator is placed causes that the goods shelf can only directly face the manipulator, the storage amount of the manipulator can be reduced in the unit distance of walking, and secondly, when the manipulator needs to take a piece of glass, the glass attached to the goods shelf in front of the glass can only be taken away, so that the glass can be taken out very troublesome.
For such a situation, some enterprises can insert the glass on the goods shelf in a manner that the side edge of the glass faces the manipulator, but the gap between the glass and the glass is very narrow, and the traditional manipulator with the sucker cannot meet the storage requirement, so that the development of the manipulator for the situation is very necessary.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the manipulator which has a simple structure and is convenient to take and place and suitable for different access conditions.
The technical scheme adopted for solving the technical problems is as follows:
The utility model provides a manipulator, includes slidable mounting multiaxis mechanism and the clamping group that is used for the centre gripping work piece on the outside track, the clamping group rotationally installs on multiaxis mechanism, be equipped with the upset group that is used for overturning the clamping group on the multiaxis mechanism, be equipped with the propelling movement group that can centre gripping work piece on the clamping group, the propelling movement group can push the work piece to slide on the clamping group.
As the improvement of the technical scheme, the multi-axis mechanism comprises a frame which is slidably mounted on an external track and a sliding group which is vertically slidable on the frame, one side of the clamping group is hinged on the sliding group, the overturning group is mounted on the sliding group and can drive the clamping group to overturn around a hinged point, and the pushing group is slidably mounted on the clamping group and can push or pull a workpiece into the clamping group.
As the improvement of above-mentioned technical scheme, the centre gripping group includes the carriage, bears frame and alignment jig, the lower part of carriage articulates on the group that slides, bear the frame and install the lower part at the carriage, alignment jig slidable mounting is on the carriage to cooperate the carriage to carry out centre gripping work piece, but push group slidable mounting is on bearing the frame.
As an improvement of the technical scheme, the bearing frame is provided with a plurality of groups of rollers for bearing the workpiece, the adjusting frame is provided with a plurality of compressible elastic wheels, the workpiece is clamped between the rollers and the elastic wheels, and the pushing group can push the workpiece to slide on the rollers and the elastic wheels.
As an improvement of the technical scheme, the clamping frame is provided with the sucking disc used for sucking the workpiece, and the sucking disc can suck the workpiece clamped by the adjusting frame and the bearing frame.
As an improvement of the technical scheme, the pushing group is provided with a gripper and a driving seat, the gripper is used for clamping a workpiece, the gripper is arranged on the driving seat, the driving seat is slidably arranged on the bearing frame, and a first driver for pushing the driving seat to slide is arranged on the bearing frame.
As an improvement of the technical scheme, the rack is provided with the sliding rail and the second driver, and the second driver can push the sliding group to be slidably arranged on the sliding rail.
As the improvement of the technical scheme, the sliding group comprises a sliding frame which is slidably arranged on the frame and a rotating seat which is arranged at the lower part of the sliding frame, the sliding frame is connected with the output end of the second driver, and the clamping group is rotatably arranged on the rotating seat through a rotating shaft.
As the improvement of above-mentioned technical scheme, the upset group includes upset cylinder and swing arm, the installation end of upset cylinder articulates on the carriage, and the output is articulated with the one end of swing arm, the other end and the pivot of swing arm are connected, but upset cylinder swing arm and drive clamping group upset.
As an improvement of the technical scheme, a sliding seat matched with an external track is arranged at the bottom of the frame, a control cabinet is arranged on the frame, and the control cabinet is electrically connected with the pushing group, the sliding group, the clamping group and the overturning group.
The invention has the beneficial effects that:
The mechanical arm uses the rack which is slidably arranged on the external track as the supporting body, so that the mechanical arm can move between the shelves, and the moving range of the mechanical arm is enlarged; the sliding group can adapt to shelves with different heights and can adapt to the picking and placing conditions of the shelves; the workpiece is clamped by the clamping group, the clamping group is rotatably arranged on the sliding group, and the overturning group is used for driving overturning, so that the clamping group can clamp workpieces placed at different angles, and the workpiece is convenient to access and place; in addition, the pushing group can be used for pushing the workpieces on the clamping group into the goods shelf or taking the workpieces out of the goods shelf, so that the clamping device can adapt to a narrow operation space of the goods shelf, and meanwhile, the stored workpieces are not affected. The whole device has simple structure and convenient taking and placing, and can meet the current access condition of plate-shaped or sheet-shaped workpieces.
Drawings
The invention will be further described with reference to the accompanying drawings and specific examples, in which:
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a vertical clamping state according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a structure of a flip-grip state according to an embodiment of the present invention;
FIG. 4 is a schematic view of a portion of the structure of an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a pushing group according to an embodiment of the present invention.
Detailed Description
Referring to fig. 1 to 5, the manipulator of the application comprises a multi-axis mechanism slidably mounted on an external rail and a clamping group 3 for clamping a workpiece, wherein the clamping group 3 is rotatably mounted on the multi-axis mechanism, the multi-axis mechanism comprises a frame 1 slidably mounted on the external rail and a sliding group 2 vertically sliding on the frame 1, a sliding seat 13 matched with the external rail is arranged at the bottom of the frame 1, a control cabinet 14 is arranged on the frame 1, and the control cabinet 14 is electrically connected with the pushing group 5, the sliding group 2, the clamping group 3 and the overturning group 4. In the application, the shelves are arranged at two sides of the outer rail, and the outer rail can be provided with a conveying belt capable of carrying out workpieces, so that the displacement of the rack 1 required to move when picking up the workpieces can be effectively reduced. In order to facilitate the whole mechanical operation, it is also possible to set the clamping of the externally transferred workpiece or the delivery of the required workpiece in a specific area, so that the control system is relatively simplified. The clamping group 3 is rotatably arranged on the sliding group 2, a turnover group 4 for turning over the clamping group 3 is arranged on the sliding group 2, a pushing group 5 capable of clamping workpieces is arranged on the clamping group 3, and the pushing group 5 can push the workpieces to slide on the clamping group 3. One side of the clamping group 3 is hinged to the sliding group 2, the overturning group 4 can drive the clamping group 3 to overturn around a hinge point, the pushing group 5 can be slidably mounted on the clamping group 3, the pushing group 5 can push or pull workpieces out of the clamping group 3, namely after one side of the workpieces is clamped by the pushing group 5, the pushing group 5 can push the workpieces into a goods shelf from the clamping group or pull the workpieces in the goods shelf into the clamping group 3, and the picking and placing of the workpieces on the goods shelf are completed, so that the clamping device is particularly suitable for picking and placing the workpieces in a narrow operation space.
Referring to fig. 1 to 4, the clamping group 3 includes a clamping frame 31, a bearing frame 32, and an adjusting frame 33, the lower portion of the clamping frame 31 is hinged on the sliding group 2, and the bearing frame 32 is mounted on the lower portion of the clamping frame 31, wherein the bearing frame 32 is slidably mounted on the clamping frame 31. The adjusting frame 33 is slidably mounted on the clamping frame 31 and cooperates with the carrying frame 32 to clamp the workpiece, and the pushing group 5 is slidably mounted on the carrying frame 32.
The bearing frame 32 is provided with a plurality of groups of rollers 34 for bearing workpieces, the rollers 34 are arranged on the bearing frame 32 side by side, the workpieces can roll on the rollers 34, and in order to prevent the workpieces from shifting, the rollers are lower in the middle of the rollers 34 than on two sides and are in a grooved wheel; the adjusting frame 33 is provided with a plurality of compressible elastic wheels 35, and the elastic wheels 35 can roll and can be compressed, so that the flexibility is increased; the workpiece is clamped between the roller 34 and the elastic wheel 35, the pushing group 5 can push the workpiece to slide on the roller 34 and the elastic wheel 35, and the pushing direction of the pushing group 5 is consistent with the moving direction of the workpiece on the roller 34 and the elastic wheel 35. The pushing group 5 is configured to move the work piece only in a defined direction, i.e., in a plane defined by the carriage 32 and the adjustment frame 33, because the work piece is restrained between the roller 34 and the elastic wheel 35 when pushing or pulling the work piece. In addition, in the application, the limiting wheels are arranged on the side edges of the roller 34 and the elastic wheel 35, the limiting wheels can prop against the side surfaces of the workpiece, and the situation that the roller 34 and the elastic wheel 35 are unstably clamped and fall off in the overturning process of the workpiece can be effectively prevented by utilizing the limiting wheels.
In the present application, the clamping frame 31 is provided with a suction cup 36 for sucking the workpiece, and the suction cup 36 can suck the workpiece clamped by the adjusting frame 33 and the bearing frame 32. The suction cup 36 is designed to facilitate the movement of the workpiece when the workpiece is clamped by the adjusting frame 33 and the bearing frame 32, and the unstable clamping is caused; in addition, the sucking disc 36 can prevent the workpiece from falling out of the clamping group 3 when the clamping group 3 is overturned.
In addition, the clamping frame 31, the bearing frame 32 and the adjusting frame 33 are further provided with position sensors, so that the control cabinet 14 can conveniently control the pushing group 5, the sliding group 2, the clamping group 3 and the overturning group 4 to move, and workpieces clamped on the clamping group 3 can be well aligned to the positions required to be taken and placed on the goods shelf.
With further reference to fig. 1 and 5, the pushing set 5 is provided with a gripper 51 for gripping a workpiece and a driving seat 52, the gripper 51 is mounted on the driving seat 52, the driving seat 52 is slidably mounted on the carrier 32, and a first driver 53 for pushing the driving seat 52 to slide is provided on the carrier 32. In this embodiment, the first driver 53 is a belt pulley and a belt, the driving seat 52 is mounted on the belt, the belt pulley is driven by an external motor to rotate, and the belt pulley drives the belt to drive, so as to drive the driving seat 52 to slide on the carrier 32. The grippers 51 are provided with two groups, which are respectively arranged at two sides of the driving seat 52, and the design can be used for gripping workpieces at the same side. The grip 51 is a conventional jaw apparatus, which is not described in detail herein.
Referring to fig. 1 to 4, the rack 1 is provided with a sliding rail 11 and a second driver 12, and the second driver 12 can push the sliding group 2 to be slidably mounted on the sliding rail 11. The second driver 12 is configured as the first driver 53, but since the force to be driven by the second driver 12 is relatively large, the second driver 12 is driven by a driving chain, so that the efficiency of the driving is improved.
Referring to fig. 2 and 3, the sliding group 2 includes a sliding frame 21 slidably mounted on the frame 1 and a rotating base 22 disposed at a lower portion of the sliding frame 21, the sliding frame 21 is connected to an output end of the second driver 12, and the clamping group 3 is rotatably mounted on the rotating base 22 through a rotating shaft 23. The turnover group 4 comprises a turnover cylinder 41 and a swing arm 42, the installation end of the turnover cylinder 41 is hinged on the sliding frame 21, the output end of the turnover cylinder is hinged with one end of the swing arm 42, the other end of the swing arm 42 is connected with the rotating shaft 23, and the turnover cylinder 41 can swing the swing arm 42 and drive the clamping group 3 to turn. In the application, the swing arm 42 is fixedly connected with the rotating shaft 23, and a certain angle is formed between the swing arm 42 and the rotating shaft 23, so that the swing arm 42 is conveniently driven to rotate around the rotating shaft 23 by the overturning cylinder 41.
The basic working principle of the manipulator is as follows:
Taking the workpiece storage as an example, after the external workpiece is transmitted to a position where the whole manipulator can clamp, the position can be set to a specific position, so that a control system in the control cabinet 14 can conveniently calculate and control the movement of the whole manipulator; when the workpiece is transferred to a specific position, the frame 1 moves to a position where the whole manipulator can clamp the workpiece, the control cabinet 14 controls the second driver 12 to adjust the sliding group 2 to move to a proper height on the frame 1, the overturning cylinder 41 drives the swinging arm 42 to rotate around the rotating shaft 23, the rotating shaft 23 drives the clamping group 3 to overturn towards one side of the workpiece, and at the moment, the adjusting frame 33 and the bearing frame 32 on the clamping group 3 are opened and closed to a proper distance on the clamping frame 31, so that the adjusting frame 33 and the bearing frame 32 can be matched and clamp the workpiece. After the opening distance between the adjusting frame 33 and the bearing frame 32 is proper, the second driver 12 drives the sliding group 2 to descend on the frame 1, and the sucking disc 36 sucks the workpiece, so that the position of the workpiece is not deviated. After the lowering is completed, the rollers 34 and the elastic wheels 35 on the adjusting frame 33 and the bearing frame 32 are on the same plane with the side edges of the workpiece, at this time, the adjusting frame 33 and the bearing frame 32 are folded, the rollers 34 and the elastic wheels 35 respectively prop against the two side edges of the workpiece, the first driver 53 can drive the grippers 51 to preset to a proper position, and the control cabinet 14 controls the grippers 51 to clamp the other side edge of the workpiece, so that the workpiece is convenient to be pushed; after the pressure of the adjusting frame 33 and the bearing frame 32 reaches the preset pressure, the second driver 12 drives the sliding group 2 to move upwards on the frame 1, and meanwhile, the overturning cylinder 41 drives the swinging arm 42 to rotate around the rotating shaft 23, so that the position of the clamping group 3 is adjusted, and the control cabinet 14 drives the frame 1 to slide to the position where the workpiece needs to be accessed. After the position is proper, the control cabinet 14 controls the second driver 12 to adjust the position of the sliding group 2 so that the spatial position information of the workpiece clamped by the clamping group 3 is matched with the position information of the empty position on the goods shelf, and controls the overturning group 4 to adjust the angle of the workpiece; after the information of the workpieces is matched with the storage position information of the goods shelf, the first driver 53 in the pushing group 5 drives the grippers 51 to communicate the workpieces to roll on the adjusting frame 33 and the bearing frame 32, the workpieces are pushed into the well aligned gaps before being placed on the goods shelf, after the pushing is completed, the grippers 51 loosen the workpieces, and the first driver 53 drives the grippers 51 to retract, so that the storage operation of the workpieces is completed.
The basic principle of taking out the workpiece from the goods shelf is almost the same as the storage principle, only the reverse operation is performed, the rack 1 firstly moves to the position of the workpiece to be taken out, the second driver 12 controls the height of the sliding group 2 on the rack 1, meanwhile, the overturning group 4 controls the angle of the clamping group 3, after the position of the clamping group 3 is proper, the first driver 53 drives the gripper 51 to gradually approach to the side edge of the workpiece, finally the gripper 51 opens and clamps the side edge of the workpiece, meanwhile, the first driver 53 moves reversely to drive the gripper 51 to draw out the workpiece together with the workpiece from the goods shelf, the workpiece is pulled into the bearing frame 32 by the gripper 51, the workpiece moves on the roller 34, finally, the whole workpiece is moved onto the bearing frame 32, the workpiece is adsorbed by the sucker 36, and meanwhile, the adjusting frame 33 starts to move downwards to be matched with the bearing frame 32 to clamp the workpiece; the control cabinet 14 controls the frame 1 to move, the second driver 12 controls the height of the sliding group 2 on the frame 1, after the position is proper, the overturning group 4 overturns the clamping group 3, so that the workpiece is horizontally placed and just faces the conveyor belt, the second driver 12 controls the sliding group 2 to continuously descend, the bearing frame 32 and the adjusting frame 33 are opened and loosen the workpiece, the sucker 36 stretches out to send the workpiece to the conveyor belt, the workpiece is sent out by the conveyor belt, the material taking process is completed, the manipulator is automatically reset, and the next command is waited.
The mechanical arm uses the rack 1 which is slidably arranged on the external track as a supporting body, so that the mechanical arm can move between shelves, and the moving range of the mechanical arm is enlarged; the sliding group 2 can adapt to shelves with different heights and can adapt to the picking and placing conditions of the shelves; the workpiece is clamped by the clamping group 3, the clamping group 3 is rotatably arranged on the sliding group 2, and the overturning group 4 is used for driving overturning, so that the clamping group 3 can clamp workpieces placed at different angles, and the workpiece can be conveniently taken in, taken out and put; in addition, the work pieces on the clamping group 3 can be pushed into the goods shelf or taken out from the goods shelf by the pushing group 5, so that the device can adapt to a narrow operation space of the goods shelf, and meanwhile, the stored work pieces are not influenced. The whole device has simple structure and convenient taking and placing, and can meet the current access condition of plate-shaped or sheet-shaped workpieces.
The present invention is not limited to the above embodiments, but is intended to be within the scope of the present invention as long as the technical effects of the present invention can be achieved by any same or similar means.
Claims (3)
1. A manipulator, characterized in that: the device comprises a multi-shaft mechanism and a clamping group (3), wherein the multi-shaft mechanism is slidably arranged on an external track, the clamping group (3) is used for clamping a workpiece, the multi-shaft mechanism is rotatably arranged on the multi-shaft mechanism, a turnover group (4) for turning the clamping group (3) is arranged on the multi-shaft mechanism, a pushing group (5) capable of clamping the workpiece is arranged on the clamping group (3), and the pushing group (5) can push the workpiece to slide on the clamping group (3);
The multi-axis mechanism comprises a frame (1) which is slidably mounted on an external track and a sliding group (2) which is vertically slidable on the frame (1), one side of the clamping group (3) is hinged on the sliding group (2), the overturning group (4) is mounted on the sliding group (2) and can drive the clamping group (3) to overturn around a hinging point, and the pushing group (5) is slidably mounted on the clamping group (3) and can push or pull a workpiece into the clamping group (3); after clamping one side of the workpiece by the pushing group (5), the pushing group (5) can push the workpiece into the goods shelf from the clamping group or pull the workpiece in the goods shelf into the clamping group (3);
The bottom of the frame (1) is provided with a sliding seat (13) matched with an external track, the frame (1) is provided with a control cabinet (14), and the control cabinet (14) is electrically connected with the pushing group (5), the sliding group (2), the clamping group (3) and the overturning group (4);
The clamping group (3) comprises a clamping frame (31), a bearing frame (32) and an adjusting frame (33), wherein the lower part of the clamping frame (31) is hinged to the sliding group (2), the bearing frame (32) is arranged at the lower part of the clamping frame (31), the adjusting frame (33) is slidably arranged on the clamping frame (31) and is matched with the bearing frame (32) to clamp a workpiece, and the pushing group (5) is slidably arranged on the bearing frame (32);
The pushing group (5) is provided with a gripper (51) and a driving seat (52) which are used for clamping a workpiece, the gripper (51) is arranged on the driving seat (52), the driving seat (52) is slidably arranged on the bearing frame (32), and the bearing frame (32) is provided with a first driver (53) for pushing the driving seat (52) to slide;
The rack (1) is provided with a sliding rail (11) and a second driver (12), and the second driver (12) can push the sliding group (2) to be slidably arranged on the sliding rail (11);
The sliding group (2) comprises a sliding frame (21) which is slidably arranged on the frame (1) and a rotating seat (22) which is arranged at the lower part of the sliding frame (21), the sliding frame (21) is connected with the output end of the second driver (12), and the clamping group (3) is rotatably arranged on the rotating seat (22) through a rotating shaft (23);
the turnover group (4) comprises a turnover cylinder (41) and a swing arm (42), the installation end of the turnover cylinder (41) is hinged to the sliding frame (21), the output end of the turnover cylinder is hinged to one end of the swing arm (42), the other end of the swing arm (42) is connected with the rotating shaft (23), and the turnover cylinder (41) can swing the swing arm (42) and drive the clamping group (3) to turn.
2. A manipulator according to claim 1, wherein: the device is characterized in that a plurality of groups of rollers (34) for bearing workpieces are arranged on the bearing frame (32), a plurality of compressible elastic wheels (35) are arranged on the adjusting frame (33), the workpieces are clamped between the rollers (34) and the elastic wheels (35), and the pushing groups (5) can push the workpieces to slide on the rollers (34) and the elastic wheels (35).
3. A manipulator according to claim 1 or 2, characterized in that: the clamping frame (31) is provided with a sucker (36) for sucking workpieces, and the sucker (36) can suck the workpieces clamped by the adjusting frame (33) and the bearing frame (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810738364.8A CN109051799B (en) | 2018-07-06 | 2018-07-06 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810738364.8A CN109051799B (en) | 2018-07-06 | 2018-07-06 | Mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109051799A CN109051799A (en) | 2018-12-21 |
| CN109051799B true CN109051799B (en) | 2024-07-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810738364.8A Active CN109051799B (en) | 2018-07-06 | 2018-07-06 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109051799B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795877B (en) * | 2019-01-29 | 2022-04-29 | 广汽丰田汽车有限公司 | Automatic suction means of apron and automatic extracting device |
| CN110949929A (en) * | 2019-12-30 | 2020-04-03 | 广东鑫光智能系统有限公司 | Warehouse-in and warehouse-out clamp |
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| CN208790713U (en) * | 2018-07-06 | 2019-04-26 | 胡晓初 | A kind of manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203602097U (en) * | 2013-10-28 | 2014-05-21 | 富鼎电子科技(嘉善)有限公司 | Turn-over machine |
| CN104139979B (en) * | 2014-07-08 | 2016-09-07 | 东莞市三信精密机械有限公司 | Pay-off |
| CN104401712A (en) * | 2014-07-16 | 2015-03-11 | 重庆国际复合材料有限公司 | Yarn unloading and carrying device |
| CN105252541A (en) * | 2015-09-22 | 2016-01-20 | 长沙汇一制药机械有限公司 | Bottle clamping mechanical arm |
| CN205151185U (en) * | 2015-10-28 | 2016-04-13 | 北京兆维科技开发有限公司 | Flexible centre gripping clamping jaw of liquid crystal display panel and liquid crystal display panel grasping system |
| DE202016101454U1 (en) * | 2016-03-16 | 2017-06-19 | KS CONTROL Schneider/Ruhland GmbH | Device for receiving, holding and / or positioning of flat workpieces, in particular glass plates |
| CN206537312U (en) * | 2017-01-19 | 2017-10-03 | 贵州大成玻璃工程有限责任公司 | A kind of glass batch transport floor truck |
| CN206813986U (en) * | 2017-05-19 | 2017-12-29 | 深圳市卫邦科技有限公司 | Glass automatic mobile device |
| CN107215670A (en) * | 2017-06-28 | 2017-09-29 | 深圳市研创精密设备有限公司 | A kind of plug-in sheet machine and inserted sheet method |
| CN207158316U (en) * | 2017-06-28 | 2018-03-30 | 深圳市研创精密设备有限公司 | A kind of take-off assembly of plug-in sheet machine |
| CN107310911B (en) * | 2017-07-31 | 2019-09-06 | 泰州市海陵区仁瑞机械制造有限公司 | A kind of control method overturn and carry workpiece |
| CN207536768U (en) * | 2017-11-10 | 2018-06-26 | 永天机械设备制造(深圳)有限公司 | A kind of small plate plate putting machine |
| CN107934558A (en) * | 2017-12-28 | 2018-04-20 | 东莞旺科知识产权运营有限公司 | A kind of light guide plate push-and-pull upset transfer mechanism |
| CN108161907A (en) * | 2018-02-11 | 2018-06-15 | 贾凤鸣 | A kind of glass grabbing device |
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| CN208790713U (en) * | 2018-07-06 | 2019-04-26 | 胡晓初 | A kind of manipulator |
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| CN109051799A (en) | 2018-12-21 |
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