CN109179028A - A kind of variable door width needle piercing and sucking disk takes cloth frame and control method - Google Patents
A kind of variable door width needle piercing and sucking disk takes cloth frame and control method Download PDFInfo
- Publication number
- CN109179028A CN109179028A CN201811259249.9A CN201811259249A CN109179028A CN 109179028 A CN109179028 A CN 109179028A CN 201811259249 A CN201811259249 A CN 201811259249A CN 109179028 A CN109179028 A CN 109179028A
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- Prior art keywords
- cloth
- frame
- takes
- outermost
- take
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H20/00—Advancing webs
- B65H20/20—Advancing webs by web-penetrating means, e.g. pins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/11—Dimensional aspect of article or web
- B65H2701/113—Size
- B65H2701/1133—Size of webs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/17—Nature of material
- B65H2701/174—Textile, fibre
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- Manipulator (AREA)
Abstract
The invention discloses a kind of variable door width needle piercing and sucking disks to take cloth frame, belong to and takes cloth apparatus field, being intended to provide one kind can be automatically adjusted according to the shape of cloth, and the variable door width needle piercing and sucking disk that can completely take out cloth takes cloth frame, taking cloth frame is upper layer and lower layer structure, superstructure is frame structure, understructure includes that a pair takes cloth group, take cloth group along the center line symmetrical setting of frame structure width direction, take cloth group include it is several be parallel to each other take cloth, each take and be equipped with several needle piercing and sucking disks on the downside of cloth；Taking take cloth of the cloth group far from the side of the center line of frame structure width direction is outermost cloth side-draw, it described is taken in cloth group each, outermost cloth side-draw slides under power source effect along the length direction of frame structure, remaining takes cloth to slide under the drive of outermost cloth side-draw along lengths of frame direction.The invention also discloses the control methods that a kind of variable door width needle piercing and sucking disk takes cloth frame.The present invention is applicable in cloth gripping.
Description
Technical field
The present invention relates to cloth apparatus is taken, in particular to a kind of variable door width needle piercing and sucking disk takes cloth frame and control method.
Background technique
Generalling use needle piercing and sucking disk to the cloth cut takes cloth frame to carry out taking cloth, when the arrangement of needle piercing and sucking disk is intensive, this
When cloth can completely be taken out, but needle piercing and sucking disk quantity is more to will increase the weight for taking cloth frame, and compared with spininess piercing and sucking disk
Required valve island quantity is also more, and cost is larger；When needle piercing and sucking disk is intervally arranged, although reducing the island needle piercing and sucking Pan Hefa number
Amount, but can not correspond to different clothes grabbed grab certain clothes in other words can be imperfect, occur that cloth is sagging etc. to ask
Topic.
Summary of the invention
The first object of the present invention is to provide a kind of variable door width needle piercing and sucking disk and takes cloth frame, takes cloth by mechanical structure realization
A small amount of needle piercing and sucking disk can be automatically adjusted according to the shape of cloth on frame, and can completely take out cloth.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of variable door width needle piercing and sucking disk takes cloth frame, and taking cloth frame is upper layer and lower layer structure, and superstructure is frame structure, lower layer's knot
Structure includes that a pair takes cloth group, and the center line symmetrical setting for taking cloth group along frame structure width direction is described to take cloth
Group include it is several be parallel to each other take cloth, each described take is equipped with several needle piercing and sucking disks on the downside of cloth；
The cloth that takes of the side for taking center line of the cloth group far from frame structure width direction is outermost cloth side-draw, every
It being taken described in one in cloth group, the outermost cloth side-draw slides under power source effect along the length direction of frame structure, remaining
It is described that cloth is taken to slide under the drive of the outermost cloth side-draw along lengths of frame direction.
Further, length direction sliding of the outermost cloth side-draw under power source effect along frame structure is specific
For the power source is rodless cylinder, and the rodless cylinder is installed in frame structure, the moving body of the rodless cylinder and institute
Outermost cloth side-draw is stated to be fixedly connected.
Further, it takes cloth to slide under the drive of the outermost cloth side-draw along lengths of frame direction described in remaining to have
Body is, adjacent described take is equipped with an at least connecting rod between cloth, and the both ends of the connecting rod, which are located at, adjacent takes cloth
On, one end of the connecting rod takes cloth to fix with wherein one, and the other end takes cloth sliding to connect with another.
Further, center is fixedly connected in the middle part of the frame structure and takes cloth, the center take cloth with it is described
Cloth is taken to be arranged in parallel, several needle piercing and sucking disks are installed on center and take on the downside of cloth.
Further, the length direction of the frame structure is equipped with sliding rail, and the upside for taking cloth is equipped with and sliding rail
The sliding block of adaptation.
Further, grating scale is installed in the frame structure, the grating scale is arranged in parallel with the rodless cylinder,
The head of the grating scale is fixedly connected with the outermost cloth side-draw.
The invention has the following advantages:
Under power source effect, the breadth of a pair of outermost cloth side-draw can be adjusted according to the length of cloth to be taken, in this way
The cloth of different length can be grabbed, and the use of needle piercing and sucking disk can be reduced, while reducing corresponding valve island quantity, is reduced
Equipment cost, while can reduce the energy consumption in equipment running process, and have the advantages that cloth can be made completely to take out.
The second object of the present invention is to provide the control method that a kind of variable door width needle piercing and sucking disk takes cloth frame, to variable door width
What needle piercing and sucking disk took cloth frame takes cloth process to be controlled.
A kind of variable door width needle piercing and sucking disk takes the control method of cloth frame, includes the following steps:
S1: it tables look-up to obtain the length value B of cloth to be taken: the length value of cloth to be taken being preset into control system, retrieval is passed through
Cloth number code obtains cloth length value B to be taken；
S2: a pair of of rodless cylinder (3) extrapolation, the distance between more a pair of outermost cloth (22) side-draw A and cloth length to be taken
Value B:
(a) the distance between a pair of outermost cloth (22) side-draw A is calculated；
(b) as A < B, a pair of of rodless cylinder (3) continues to extrapolate, i.e., a pair of outermost cloth (22) side-draw is along frame structure (1)
Length direction is located remotely from each other, until A=B；
(c) as A ﹥ B, into that is, a pair of outermost cloth (22) side-draw is along frame structure (1) in a pair of of rodless cylinder (3) low speed
Length direction is close to each other, until A=B；
(d) as A=B, a pair of of rodless cylinder (3) stops extrapolation, i.e., a pair of outermost cloth (22) side-draw reaches the two of cloth to be taken
End；
S3: after (d) conditional meets, robot obtains " feeding signal ", driver framework structure (1) decline, needle piercing and sucking disk
(211) start, grab cloth；
S4: when taking cloth frame arrival to put cloth region, robot obtains " blowing signal ", and needle is closed in driver framework structure (1) decline
Piercing and sucking disk (211) blowing.
Further, S5 is had additional between S3 and S4；
S5: after cloth is completed to grab, gas is passed through into rodless cylinder, the cloth to be grabbed provides tension.
The invention has the following advantages:
The breadth that above-mentioned control method can control a pair of outermost cloth side-draw can be adjusted according to the length of cloth to be taken,
And after cloth gripping, rodless cylinder provides tension for cloth, guarantees cloth will not be due to taking spacing between cloth after crawl
Cause cloth sagging because being self-possessed greatly.
Detailed description of the invention
Fig. 1 is in embodiment 1 for embodying the structural schematic diagram that variable door width needle piercing and sucking disk takes cloth frame entirety；
Fig. 2 is in embodiment 1 for embodying the connection relationship diagram between grating scale, rodless cylinder and frame structure；
Fig. 3 is in embodiment 1 for embodying the schematic diagram of connecting rod different conditions；
Fig. 4 is in embodiment 2 for embodying the flow chart that variable door width needle piercing and sucking disk takes cloth frame control method.
In figure, 1, frame structure；11, sliding rail；12, grating scale；2, cloth group is taken；21, cloth is taken；211, needle piercing and sucking disk；
212, sliding block；22, outermost cloth side-draw；3, rodless cylinder；4, connecting rod；5, center takes cloth.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
Wherein identical components are presented with like reference characters.It should be noted that word used in the following description
Language "front", "rear", "left", "right", "up" and "down" refer to the direction in attached drawing, word " bottom surface " and " top surface ", "inner" and
"outside" refers respectively to the direction towards or away from geometric center of specific component.
Embodiment 1: a kind of variable door width needle piercing and sucking disk takes cloth frame, as shown in Figure 1, taking cloth frame is upper layer and lower layer structure, on
Layer structure is frame structure 1, and understructure includes that a pair takes cloth group 2, takes cloth group 2 along 1 width direction of frame structure
Heart line be symmetrical arranged, take cloth group 2 include it is several be parallel to each other take cloth 21, each take on the downside of cloth 21 be equipped with several needles pierce
Sucker 211,21 quantity of cloth that takes taken in cloth group 2 is 4 in the present embodiment, the every needle piercing and sucking disk taken on cloth 21
211 numbers are 13.
As shown in Figure 1, taking take cloth 21 of the cloth group 2 far from the side of the center line of 1 width direction of frame structure is most
Outer cloth 22 side-draw, takes in cloth group 2 each, and outermost cloth 22 side-draw is under power source effect along the length of frame structure 1
Direction sliding, remaining takes cloth 21 to slide under the drive of outermost cloth 22 side-draw along lengths of frame direction.Cloth is taken in order to improve
The running precision of item group 2 is equipped with sliding rail 11 on the length direction of frame structure 1, and the upside of cloth 21 is taken to be equipped with and sliding rail 11
The sliding block 212 of adaptation by the cooperation of sliding block 212 and sliding rail 11 makes that cloth group 2 is taken to remain the length along frame structure 1
Direction sliding.
Wherein, length direction of the outermost cloth side-draw 22 under power source effect along frame structure 1 slides specifically, power
Source is rodless cylinder 3, and rodless cylinder 3 is installed in frame structure 1, and the moving body of rodless cylinder 3 and outermost cloth 22 side-draw are solid
Fixed connection.
Wherein, remaining takes cloth 21 to slide along lengths of frame direction specifically, phase under the drive of outermost cloth 22 side-draw
Neighbour, which takes, is equipped with an at least connecting rod 4 between cloth 21, the structure of connecting rod 4 is as shown in figure 3, the both ends of connecting rod 4 are located at
Adjacent takes on cloth 21, and one end of connecting rod 4 takes cloth 21 fixed with wherein one, and the other end takes the sliding of cloth 21 to connect with another
It connects.Here, the mounting means of connecting rod 4 can be to be separately installed with fixed mounting and band on the upside of cloth 21 in adjacent taking
Hole mounting base, mounting base with holes are located at 4 slip one end of connecting rod, and mounting base with holes is equipped with the through-hole passed through for connecting rod 4,
Connecting rod 4 is equipped with limited cap far from one end of fixed mounting, and the diameter of limited cap is greater than the diameter of through-hole.Cloth is taken each
In group 2, when the extrapolation of outermost cloth 22 side-draw, remaining is able to drive by connecting rod 4, cloth 21 is taken to be displaced outwardly.
As shown in Fig. 2, being equipped with grating scale 12 in frame structure 1, grating scale 12 is arranged in parallel with rodless cylinder 3, grating
The head of ruler 12 is fixedly connected with outermost cloth 22 side-draw.A pair of outermost cloth side-draw can be calculated by the numerical value of grating scale 12
The distance between item 22 is compared by the distance between a pair of outermost cloth 22 side-draw and the length value of preset cloth to be taken
Compared with to control the movement of rodless cylinder 3.
As shown in Figure 1, the middle part of frame structure 1, which is fixedly connected with center, takes cloth 5, center takes cloth 5 and takes cloth 21
It is arranged in parallel, several needle piercing and sucking disks 211 are installed on center and take 5 downside of cloth.Center takes the setting of cloth 5, can be to cloth
Middle part is adsorbed, and is not easy cloth middle part sagging, is reduced a possibility that cloth deforms after crawl.
Under power source effect, the breadth of a pair of outermost cloth 22 side-draw can be adjusted according to the length of cloth to be taken
It is whole, the cloth of different length can be grabbed in this way, and can reduce the use of needle piercing and sucking disk 211, while reducing corresponding valve island
Quantity reduces equipment cost, while can reduce the energy consumption in equipment running process, and having can be such that cloth completely takes out
The advantages of.
When in use, according to the length of cloth to be taken, by the moving body of rodless cylinder 3 drive outermost cloth 22 side-draw to
Outer movement.Grating scale 12 is for feeding back outermost 22 position of cloth side-draw, when the position for the outermost cloth 22 side-draw that grating scale 12 is fed back
It sets data to meet when taking the length of cloth, the stopping of rodless cylinder 3 moves out, and frame structure 1 is under robotic control at this time
Downward grasping movement is carried out, after cloth gripping gets up, the gas of certain air pressure is led in rodless cylinder 3, to be taken out cloth
Some tension is provided, guarantees that cloth will not cause cloth sagging because being self-possessed after crawl due to taking between cloth 21 spacing big.
Embodiment 2: a kind of variable door width needle piercing and sucking disk takes the control method of cloth frame, the variable door applied to above-described embodiment
Width needle piercing and sucking disk takes cloth frame, as shown in figure 4, including the following steps:
S1: it tables look-up to obtain the length value B of cloth to be taken: the length value of cloth to be taken being preset into control system, retrieval is passed through
Cloth number code obtains cloth length value B to be taken；
S2: a pair of of rodless cylinder 3 is extrapolated, the distance between more a pair of outermost cloth 22 side-draw A and cloth length value B to be taken:
(a) the distance between a pair of outermost cloth 22 side-draw A is calculated according to the numerical value of grating scale 12；
(b) as A < B, a pair of of rodless cylinder 3 continues to extrapolate, i.e., a pair of outermost cloth 22 side-draw is along 1 length side of frame structure
To being located remotely from each other, until A=B；
(c) as A ﹥ B, into that is, a pair of outermost cloth 22 side-draw is along 1 length side of frame structure in the equal low speed of a pair of of rodless cylinder 3
To close to each other, until A=B；
(d) as A=B, a pair of of rodless cylinder 3 stops extrapolation, i.e., a pair of outermost cloth 22 side-draw reaches the both ends of cloth to be taken；
S3: after (d) conditional meets, robot obtains " feeding signal ", and driver framework structure 1 declines, and needle piercing and sucking disk 211 opens
It is dynamic, grab cloth；
S4: when taking cloth frame arrival to put cloth region, robot obtains " blowing signal ", and driver framework structure 1 declines, and closes needle thorn
211 blowing of sucker.
S5 is had additional between S3 and S4；
S5: after cloth is completed to grab, it is passed through gas into rodless cylinder 3, the cloth to be grabbed provides tension.
By comparing the distance between a pair of outermost cloth 22 side-draw A and cloth length value B to be taken in S2, determine without bar gas
The final position that cylinder 3 drives outermost cloth side-draw 22 to run, then treats and cloth is taken to be grabbed, after cloth is completed to grab,
It is passed through gas into rodless cylinder 3, the cloth to be grabbed provides tension, reduces the possibility that cloth deforms after crawl
Property.
When carrying out the movement of outermost cloth 22 side-draw, the air pressure of rodless cylinder 3 is given less, and rodless cylinder 3 drives outermost
Cloth 22 side-draw movement range very little in movement, thus it is given very in time by the location information that grating scale 12 is fed back, at this time may be used
The position for taking cloth 21 is precisely located, guarantee that outermost cloth side-draw 22 is disposable in place.
Above-mentioned control method can control a pair of outermost cloth 22 side-draw breadth can according to the length of cloth to be taken into
Row adjustment, and after cloth gripping, rodless cylinder 3 provides tension for cloth, guarantees that cloth will not be due to taking cloth after crawl
Spacing causes cloth sagging because being self-possessed greatly between 21.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, those skilled in the art
Member can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as at this
All by the protection of Patent Law in the scope of the claims of invention.
Claims (8)
1. a kind of variable door width needle piercing and sucking disk takes cloth frame, which is characterized in that taking cloth frame is upper layer and lower layer structure, and superstructure is frame
Frame structure (1), understructure includes that a pair takes cloth group (2), described to take cloth group (2) along frame structure (1) width direction
Center line symmetrical setting, it is described take cloth group (2) include it is several be parallel to each other take cloth (21), it is each described to take cloth (21)
Downside is equipped with several needle piercing and sucking disks (211)；
Take cloth (21) of the side for taking the center line of cloth group (2) far from frame structure (1) width direction are outermost
Take cloth (22), it is each it is described take in cloth group (2), the outermost cloth (22) side-draw is under power source effect along frame knot
The length direction of structure (1) slides, and takes cloth (21) long along frame under the drive of the outermost cloth (22) side-draw described in remaining
Spend direction sliding.
2. a kind of variable door width needle piercing and sucking disk according to claim 1 takes cloth frame, which is characterized in that the outermost cloth side-draw
Length direction sliding of the item (22) under power source effect along frame structure (1) is specifically, the power source is rodless cylinder
(3), the rodless cylinder (3) is installed on frame structure (1), the moving body of the rodless cylinder (3) with it is described outermost side-draw
Cloth (22) is fixedly connected.
3. a kind of variable door width needle piercing and sucking disk according to claim 1 takes cloth frame, which is characterized in that take cloth described in remaining
(21) it is slid under the drive of the outermost cloth (22) side-draw along lengths of frame direction specifically, taking cloth (21) described in adjacent
Between be equipped with an at least connecting rod (4), the both ends of the connecting rod (4) be located at it is adjacent take on cloth (21), the company
One end of extension bar (4) takes cloth (21) fixed with wherein one, and the other end takes cloth (21) sliding to connect with another.
4. a kind of variable door width needle piercing and sucking disk according to claim 1 takes cloth frame, which is characterized in that the frame structure
(1) center is fixedly connected in the middle part of to take cloth (5), the center takes cloth (5) to take cloth (21) to be arranged in parallel with described, if
Needle piercing and sucking disk (211) center of being installed on is done to take on the downside of cloth (5).
5. a kind of variable door width needle piercing and sucking disk according to claim 4 takes cloth frame, which is characterized in that the frame structure
(1) length direction is equipped with sliding rail (11), and the upside for taking cloth (21) is equipped with the sliding block being adapted to sliding rail (11)
(212)。
6. a kind of variable door width needle piercing and sucking disk according to claim 2 takes cloth frame, which is characterized in that the frame structure
(1) it is equipped on grating scale (12), the grating scale (12) is arranged in parallel with the rodless cylinder (3), the grating scale (12)
Head be fixedly connected with the outermost cloth (22) side-draw.
7. the control method that a kind of variable door width needle piercing and sucking disk takes cloth frame, which comprises the steps of:
S1: it tables look-up to obtain the length value B of cloth to be taken: the length value of cloth to be taken being preset into control system, retrieval is passed through
Cloth number code obtains cloth length value B to be taken；
S2: a pair of of rodless cylinder (3) extrapolation, the distance between more a pair of outermost cloth (22) side-draw A and cloth length to be taken
Value B:
(a) the distance between a pair of outermost cloth (22) side-draw A is calculated；
(b) as A < B, a pair of of rodless cylinder (3) continues to extrapolate, i.e., a pair of outermost cloth (22) side-draw is along frame structure (1)
Length direction is located remotely from each other, until A=B；
(c) as A ﹥ B, into that is, a pair of outermost cloth (22) side-draw is along frame structure (1) in a pair of of rodless cylinder (3) low speed
Length direction is close to each other, until A=B；
(d) as A=B, a pair of of rodless cylinder (3) stops extrapolation, i.e., a pair of outermost cloth (22) side-draw reaches the two of cloth to be taken
End；
S3: after (d) conditional meets, robot obtains " feeding signal ", driver framework structure (1) decline, needle piercing and sucking disk
(211) start, grab cloth；
S4: when taking cloth frame arrival to put cloth region, robot obtains " blowing signal ", and needle is closed in driver framework structure (1) decline
Piercing and sucking disk (211) blowing.
8. the control method that a kind of variable door width needle piercing and sucking disk according to claim 7 takes cloth frame, which is characterized in that in S3
S5 is had additional between S4；
S5: after cloth is completed to grab, it is passed through gas into rodless cylinder (3), the cloth to be grabbed provides tension.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811259249.9A CN109179028A (en) | 2018-10-26 | 2018-10-26 | A kind of variable door width needle piercing and sucking disk takes cloth frame and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811259249.9A CN109179028A (en) | 2018-10-26 | 2018-10-26 | A kind of variable door width needle piercing and sucking disk takes cloth frame and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109179028A true CN109179028A (en) | 2019-01-11 |
Family
ID=64943859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811259249.9A Pending CN109179028A (en) | 2018-10-26 | 2018-10-26 | A kind of variable door width needle piercing and sucking disk takes cloth frame and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109179028A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109957889A (en) * | 2019-04-28 | 2019-07-02 | 季华实验室 | It is a kind of for grabbing the sucker grabbing device of cloth |
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| CN204250996U (en) * | 2014-07-30 | 2015-04-08 | 欣兴同泰科技（昆山）有限公司 | A kind of sucker group |
| CN105492396A (en) * | 2013-06-25 | 2016-04-13 | 康宁股份有限公司 | Method and apparatus for separating a glass sheet from a moving ribbon of glass |
| CN105692200A (en) * | 2016-04-11 | 2016-06-22 | 武汉人天包装自动化技术股份有限公司 | Linear extension type sucker gripper mechanism |
| CN205396641U (en) * | 2016-03-08 | 2016-07-27 | 张家港哈工药机科技有限公司 | Grabbing device of full -automatic pendulum machine of gluing |
| CN107327376A (en) * | 2017-08-07 | 2017-11-07 | 常州市新创智能科技有限公司 | A kind of preforming production line of wind electricity blade |
| CN207658148U (en) * | 2017-11-10 | 2018-07-27 | 北京海力捷特机械设备有限公司 | A kind of draw frame machine of automatic boxing machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07223753A (en) * | 1994-02-10 | 1995-08-22 | Shimizu Corp | Mesh-shaped sheet holding device |
| CN201206208Y (en) * | 2008-04-17 | 2009-03-11 | 张会林 | Cloth cover edge suction leveling machine |
| KR20130054608A (en) * | 2011-11-17 | 2013-05-27 | (주)케이엠 | A wrinkle prevention device used a robot hand for transferring film |
| CN202492212U (en) * | 2012-03-21 | 2012-10-17 | 景晖精密企业有限公司 | Feeding mechanism controlled by tension |
| CN105492396A (en) * | 2013-06-25 | 2016-04-13 | 康宁股份有限公司 | Method and apparatus for separating a glass sheet from a moving ribbon of glass |
| CN204250996U (en) * | 2014-07-30 | 2015-04-08 | 欣兴同泰科技（昆山）有限公司 | A kind of sucker group |
| CN205396641U (en) * | 2016-03-08 | 2016-07-27 | 张家港哈工药机科技有限公司 | Grabbing device of full -automatic pendulum machine of gluing |
| CN105692200A (en) * | 2016-04-11 | 2016-06-22 | 武汉人天包装自动化技术股份有限公司 | Linear extension type sucker gripper mechanism |
| CN107327376A (en) * | 2017-08-07 | 2017-11-07 | 常州市新创智能科技有限公司 | A kind of preforming production line of wind electricity blade |
| CN207658148U (en) * | 2017-11-10 | 2018-07-27 | 北京海力捷特机械设备有限公司 | A kind of draw frame machine of automatic boxing machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109957889A (en) * | 2019-04-28 | 2019-07-02 | 季华实验室 | It is a kind of for grabbing the sucker grabbing device of cloth |
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Application publication date: 20190111 |