CN109877863A - The main hand of routing machine people - Google Patents
The main hand of routing machine people Download PDFInfo
- Publication number
- CN109877863A CN109877863A CN201910252551.XA CN201910252551A CN109877863A CN 109877863 A CN109877863 A CN 109877863A CN 201910252551 A CN201910252551 A CN 201910252551A CN 109877863 A CN109877863 A CN 109877863A
- Authority
- CN
- China
- Prior art keywords
- outlet
- machine people
- pipe
- routing machine
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims description 16
- 230000006978 adaptation Effects 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000002360 explosive Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
This application discloses a kind of modes of main hand of routing machine people, by being used for and mechanical arm mechanical arm attachment device, main support, clamping device and outlet-pipe interconnected；The main support is fixedly connected with the mechanical arm attachment device；The clamping section of the clamping device is adapted to setting with the logical spool road of the outlet-pipe.Reach the present apparatus and integrates line taking, line sending, wiring function, the purpose of the volume size of device is greatly simplified by the design of close-coupled, it is placed to realize the independent of line apparatus processed, greatly simplifie the structure of arm end, the flexibility ratio for having played manipulator to greatest extent, can complete the technical effect of more complicated line arrangement.
Description
Technical field
This application involves robotic technical field of structures, in particular to a kind of main hand of routing machine people.
Background technique
Harness is with fastest developing speed in current electronic, information age industry, market demand maximum, and installation is the most convenient
One of product.From universal household electrical appliance to communication apparatus, computer and external equipment and security protection, solar energy, aircraft,
Harness is widely used in automobile and military equipment equipment etc..
Traditional harness manufactures all by manually carrying out, and main difficulty therein is that coiling difficulty is big, the easy misarrangement of harness,
The problems such as man efficiency is low, wiring cost is high is resulted in, the growing harness demand in China is unable to satisfy.Therefore, Yi Zhonggeng
Add conveniently automatic wiring technique gradually rise, for substituting pure manual routing.
Routing machine people is broadly divided into two classes at present, and one is carry out Full-automatic wiring, another kind using industrial robot
Full-automatic wiring is carried out using three coordinate machine device people.
The first kind is cooperated using two industrial robots and is routed, and a robot carries out outlet, cabling, cuts out line, does
First-class movement, another then executes the movement for twisting screw.For the reliability for guaranteeing wiring process, First robot wiring arm
Front end needs to install visual identifying system.
Second class wiring technique does not use industrial robot, using three coordinate machine device people by outlet, cabling, sanction
Line does the movements such as head and stubborn screw and is fully integrated and is routed together.
The degree of automation of above-mentioned two classes routing machine people is very high, but is only used for the circuit inside standard distributed cabinet
Plate is routed, and cable knob all uses the fixed form of line nose, and production and fixation procedure are relatively simple, and cabling form
It need not be in good order.
It is directed to special appearance requirement, the harness of the special-purpose of special manufacturing method, such as: it is applied to railway
In line facility, and existing mechanical arm cannot achieve accurate wiring from hand, in addition, in the prior art can not from mobile phone structure
It realizes and quickly connects installation from different mechanical arms.
For many technical problems present in the relevant technologies, currently no effective solution has been proposed.
Summary of the invention
The main purpose of the application is to provide a kind of routing machine people from hand, to solve present in background technique at least
One technical problem.
To achieve the goals above, according to the one aspect of the application, a kind of routing machine people is provided from hand.
Include: from hand according to the routing machine people of the application
For with mechanical arm mechanical arm attachment device, main support, clamping device and outlet-pipe interconnected；
The main support is fixedly connected with the mechanical arm attachment device；
The clamping section of the clamping device is adapted to setting with the logical spool road of the outlet-pipe.
Further, the main hand of routing machine people as the aforementioned, further includes: for detecting outlet information inside the outlet-pipe
Outlet detection sensor；The outlet detection sensor is fixed on the outlet-pipe, and the outlet detection sensor
Detection probe penetrate the outer wall of the outlet-pipe.
Further, the main hand of routing machine people as the aforementioned, further includes: force snesor；The two sides of the force snesor point
It is not fixedly connected with the mechanical arm attachment device and main support.
Further, the main hand of routing machine people as the aforementioned, the main support include: for fixing with the force snesor
The tail end interconnecting piece of the flat planar of connection, and the support portion for being fixedly connected with the outlet-pipe and clamping device.
Further, the main hand of routing machine people as the aforementioned, the support portion include: the first link block and the first Quick Release
Part；First link block is connect with the tail end interconnecting piece, and the top of first link block is equipped with for described first
The fixed part of Fast detachable unit connection；First Fast detachable unit constitutes one for clamping the outlet-pipe after being installed on the fixed part
Clamp port.
Further, the main hand of routing machine people as the aforementioned, the tail end of the outlet-pipe are equipped with the interconnecting piece of coiling shaft-like；
The shape adaptation of connecting shaft and the clamp port in the interconnecting piece.
Further, the main hand of routing machine people as the aforementioned, further includes: upper cover；The upper cover is fixed at the clamping
The upper surface of device；The upper lid is equipped with cable passage for passing through cable, the position of the cable passage with it is described
The logical spool road of outlet-pipe is adapted to setting.
Further, the main hand of routing machine people as the aforementioned, further includes: the Overline ring of coiling shaft-like；The upper cover includes:
Second link block and the second Fast detachable unit；The top of second link block is equipped with the fixation for connecting with second Fast detachable unit
Portion；Second Fast detachable unit constitutes the cable passage after being installed on the top of second link block；The cable passage with
The shape adaptation of the connecting shaft of the Overline ring, and the Overline ring is clamped in the cable passage.
Further, the main hand of routing machine people as the aforementioned, the clamping device include: clamping jaw cylinder, clamping jaw and pneumatic
Connector；
The clamping jaw is set on the clamping part of the clamping jaw cylinder；
The pneumatic joint is fixed on the air inlet of the clamping jaw cylinder, for filling the gripper cylinder and gas supply
Set connection.
Further, the main hand of routing machine people as the aforementioned, the clamping jaw cylinder use the cylinder of model HFTK25；Institute
State the pneumatic joint that pneumatic joint uses model FSL6M5A.
In the embodiment of the present application, by the way of a kind of compact main hand of routing machine people with clamping device of mechanism, lead to
Cross for mechanical arm mechanical arm attachment device, main support, clamping device and outlet-pipe interconnected；The main support and institute
Mechanical arm attachment device is stated to be fixedly connected；The clamping section of the clamping device is adapted to setting with the logical spool road of the outlet-pipe.
The present apparatus is reached and has integrated line taking, line sending, wiring function, the volume of device is greatly simplified by the design of close-coupled
The purpose of size places to realize the independent of line apparatus processed, greatly simplifies the structure of arm end, to greatest extent
The flexibility ratio for having played manipulator, the technical effect of more complicated line arrangement can be completed.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the main view according to a kind of main hand of routing machine people of embodiment of the application；
Fig. 2 is the explosive view according to a kind of main hand of routing machine people of embodiment of the application；And
Fig. 3 is according to a kind of explosive view of the clamping device of embodiment of the application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, this application involves a kind of main hand of routing machine people, the main hand of routing machine people includes:
For with mechanical arm mechanical arm attachment device 3 interconnected, main support 5, clamping device 2 and outlet-pipe 1；
The main support 5 is fixedly connected with the mechanical arm attachment device 3；
The clamping section of the clamping device 2 is adapted to setting with the logical spool road of the outlet-pipe 1.
Wherein, the clamping device 2 is used for opening when being routed, and enables harness by the outlet-pipe
Middle submitting.
As shown in Figures 1 and 2, in some embodiments, the main hand of routing machine people as the aforementioned, further includes: for detecting
The outlet detection sensor 8 of the 1 inside outlet information of outlet-pipe；The outlet detection sensor 8 is fixed at the outlet
On pipe 1, and the detection probe of the outlet detection sensor 8 penetrates the outer wall of the outlet-pipe 1.
Specifically, the outlet detection sensor 8, for detecting the cable inside the outlet-pipe 1 in line taking movement
The length of outlet be closed the clamping device 2, complete line taking and after outlet is to certain length；Preferably, described
It is opposite on the two sides of the outlet-pipe 1, it is thus possible to more accurately to outlet there are two outlet detection sensor 8 is set
Length is judged.
As shown in Figures 1 and 2, in some embodiments, the main hand of routing machine people as the aforementioned, further includes: force snesor
4；The two sides of the force snesor 4 is fixedly connected with the mechanical arm attachment device 3 and main support 5 respectively.
Specifically, can be used for measuring main hand suffered power in the process of running by the way that the force snesor 4 is arranged, this
Outside, it is preferred that the force snesor 4 can be fixedly connected by bolt with the mechanical arm attachment device 3 and main support 5.
As shown in Figures 1 and 2, in some embodiments, the main hand of routing machine people as the aforementioned, the main support 5 include:
Tail end interconnecting piece 52 for the flat planar being fixedly connected with the force snesor 4, and be used for and the outlet-pipe 1 and folder
The support portion that tight device 2 is fixedly connected.
Preferably, by the way that the tail end interconnecting piece 52 is set as flat planar, allow between the force snesor
Fixed relationship it is more firm；In addition, the support portion is preferably vertically arranged with the tail end interconnecting piece 52.
As shown in Figures 1 and 2, in some embodiments, the main hand of routing machine people as the aforementioned, the support portion include:
First link block 53 and the first Fast detachable unit 54；First link block 53 is connect with the tail end interconnecting piece 52, and described first connects
The top of block 53 is connect equipped with the fixed part for connecting with first Fast detachable unit 54；First Fast detachable unit 54 is installed on described
One is constituted after fixed part for clamping the clamp port 55 of the outlet-pipe 1.
Preferably, after first Fast detachable unit 54 is installed on the fixed part, first Fast detachable unit 54 and the fixation
It is flushed at the top of portion, and first Fast detachable unit 54 and the fixed part respectively constitute the half of the clamp port 55.
As shown in Figures 1 and 2, in some embodiments, the main hand of routing machine people as the aforementioned, the tail of the outlet-pipe 1
End is equipped with the interconnecting piece 11 of coiling shaft-like；The shape adaptation of connecting shaft and the clamp port 55 in the interconnecting piece 11.
Specifically, the connecting shaft in the interconnecting piece 11 is the smallest shaft-like part of mid diameter；Preferably, the clamping
Mouth 55 is round setting, and the connecting shaft of the interconnecting piece 11 is also round setting.
As shown in Figures 1 and 2, in some embodiments, the main hand of routing machine people as the aforementioned, further includes: upper cover 6；Institute
State the upper surface that upper cover 6 is fixed at the clamping device 2；The upper cover 6 is equipped with the cable passage for passing through cable
63, the position of the cable passage 63 is adapted to setting with the logical spool road of the outlet-pipe 1.
Specifically, the cable that can make to enter in the logical spool road of the outlet-pipe 1 is more smooth by setting upper cover 6,
More conducively outlet.
As shown in Figures 1 and 2, in some embodiments, the main hand of routing machine people as the aforementioned, further includes: coiling shaft-like
Overline ring 7；The upper cover 6 includes: the second link block 61 and the second Fast detachable unit 62；The top of second link block 61 is equipped with
Fixed part for being connect with second Fast detachable unit 62；Second Fast detachable unit 62 is installed on the top of second link block 61
The cable passage 63 is constituted behind end；The shape adaptation of the cable passage 63 and the connecting shaft of the Overline ring 7, and the line
The Overline ring 7 is clamped in cable channel 63.
As shown in Figures 1 and 2, specifically, second link block 61 and the second Fast detachable unit 62 can be carried out by bolt
It is fixedly connected, and second Fast detachable unit 62, after installing to second link block 61, top flushes.And in the present embodiment,
By fixing Overline ring by device for quickly disassembling in upper cover 6, for reducing the friction of line process out；More conducively outlet.
As shown in figure 3, in some embodiments, the main hand of routing machine people as the aforementioned, the clamping device 2 includes: folder
Pawl cylinder 21, clamping jaw 22 and pneumatic joint 23；
The clamping jaw 22 is set on the clamping part of the clamping jaw cylinder 31；
The pneumatic joint 23 is fixed on the air inlet of the clamping jaw cylinder 21, for by the gripper cylinder 21 with
Feeder connection.
As shown in Figures 1 and 2, specifically, the clamping jaw 22 can be using with larger frictional force and with certain bullet
Property material be made, thus the situation that wire clamp breaks can be effectively prevented, while can also ensure that stability when clamping.
In some embodiments, the main hand of routing machine people as the aforementioned, the clamping jaw cylinder 21 use model HFTK25
Cylinder；The pneumatic joint 33 uses the pneumatic joint of model FSL6M5A.
Specifically, the cylinder and pneumatic joint of the model all have longer service life and stability, more conducively fill
That sets permanent smoothly use and runs.
The device working principle is as described below: when line taking acts, 1 horizontality of outlet-pipe, 7 one end of Overline ring is close to outlet
Mechanism, clamping device 2 open, and single harness is sent out by outlet mechanism, by Overline ring 7, the clamping device 2 of opening, into out
There is the presence or absence of 8 detection line of detection sensor in spool 1, and when outlet to certain length, clamping device 2 is closed, and line taking has acted
At；Immediately line taking acts for line sending movement, and after clamping device 2 is closed, the present apparatus matches linear speed entrainment of cable with mechanical arm
Degree, moves to the starting point of wiring, and line sending movement is completed；After starting point the end of a thread is fixed, wiring movement starts, and mechanical arm adjusts at this time
Posture makes outlet-pipe vertical state, along the path set, completes the process of wiring.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of main hand of routing machine people characterized by comprising be used for and mechanical arm mechanical arm attachment device interconnected
(3), main support (5), clamping device (2) and outlet-pipe (1)；
The main support (5) is fixedly connected with the mechanical arm attachment device (3)；
The clamping section of the clamping device (2) is adapted to setting with the logical spool road of the outlet-pipe (1).
2. the main hand of routing machine people according to claim 1, which is characterized in that further include: for detecting the outlet-pipe
(1) the outlet detection sensor (8) of internal outlet information；The outlet detection sensor (8) is fixed at the outlet-pipe (1)
On, and the detection probe of the outlet detection sensor (8) penetrates the outer wall of the outlet-pipe (1).
3. the main hand of routing machine people according to claim 1, which is characterized in that further include: force snesor (4)；The power
The two sides of sensor (4) is fixedly connected with the mechanical arm attachment device (3) and main support (5) respectively.
4. the main hand of routing machine people according to claim 3, which is characterized in that the main support (5) include: for institute
The tail end interconnecting piece (52) for the flat planar that force snesor (4) is fixedly connected is stated, and is used for and the outlet-pipe (1) and clamping
The support portion that device (2) is fixedly connected.
5. the main hand of routing machine people according to claim 4, which is characterized in that the support portion includes: the first link block
(53) and the first Fast detachable unit (54)；First link block (53) connect with the tail end interconnecting piece (52), first connection
The top of block (53) is equipped with the fixed part for connecting with first Fast detachable unit (54)；First Fast detachable unit (54) is installed on
One is constituted after the fixed part for clamping the clamp port (55) of the outlet-pipe (1).
6. the main hand of routing machine people according to claim 5, which is characterized in that the tail end of the outlet-pipe (1) be equipped with around
The interconnecting piece (11) of spool-like；The shape adaptation of connecting shaft and the clamp port (55) in the interconnecting piece (11).
7. the main hand of routing machine people according to claim 4, which is characterized in that further include: upper cover (6)；The upper cover (6)
It is fixed at the upper surface of the clamping device (2)；The upper cover (6) is equipped with the cable passage for passing through cable
(63), the position of the cable passage (63) is adapted to setting with the logical spool road of the outlet-pipe (1).
8. the main hand of routing machine people according to claim 7, which is characterized in that further include: the Overline ring of coiling shaft-like
(7)；The upper cover (6) includes: the second link block (61) and the second Fast detachable unit (62)；The top of second link block (61) is set
There is the fixed part for connecting with second Fast detachable unit (62)；Second Fast detachable unit (62) is installed on second link block
(61) cable passage (63) are constituted behind top；The shape of the connecting shaft of the cable passage (63) and the Overline ring (7)
Shape adaptation, and the Overline ring (7) are clamped in the cable passage (63).
9. the main hand of routing machine people according to claim 1, which is characterized in that the clamping device (2) includes: clamping jaw gas
Cylinder (21), clamping jaw (22) and pneumatic joint (23)；
The clamping jaw (22) is set on the clamping part of the clamping jaw cylinder (31)；
The pneumatic joint (23) is fixed on the air inlet of the clamping jaw cylinder (21), is used for the gripper cylinder (21)
It is connect with feeder.
10. the main hand of routing machine people according to claim 9, which is characterized in that the clamping jaw cylinder (21) uses model
For the cylinder of HFTK25；The pneumatic joint (33) uses the pneumatic joint of model FSL6M5A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910252551.XA CN109877863B (en) | 2019-03-29 | 2019-03-29 | Wiring robot master hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910252551.XA CN109877863B (en) | 2019-03-29 | 2019-03-29 | Wiring robot master hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109877863A true CN109877863A (en) | 2019-06-14 |
| CN109877863B CN109877863B (en) | 2024-10-18 |
Family
ID=66935322
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910252551.XA Active CN109877863B (en) | 2019-03-29 | 2019-03-29 | Wiring robot master hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109877863B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114012745A (en) * | 2021-10-26 | 2022-02-08 | 杭州电子科技大学 | Soft detection robot with paper folding structure and driving method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6431018B1 (en) * | 1999-09-09 | 2002-08-13 | Fanuc Ltd. | Guide device for wiring member and/or piping member and robot with guide device |
| CN103746248A (en) * | 2013-12-26 | 2014-04-23 | 昆山福易雅自动化科技有限公司 | Rotating wire harness taking mechanism |
| CN205184759U (en) * | 2015-10-22 | 2016-04-27 | 上海交通大学无锡研究院 | Mechanical hand of electrical apparatus wiring |
| CN106711866A (en) * | 2017-03-07 | 2017-05-24 | 长春理工大学 | Automatic wiring machine for airplane wire harness |
| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
| CN210282322U (en) * | 2019-03-29 | 2020-04-10 | 北京理工大学 | Main hand of wiring robot |
-
2019
- 2019-03-29 CN CN201910252551.XA patent/CN109877863B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6431018B1 (en) * | 1999-09-09 | 2002-08-13 | Fanuc Ltd. | Guide device for wiring member and/or piping member and robot with guide device |
| CN103746248A (en) * | 2013-12-26 | 2014-04-23 | 昆山福易雅自动化科技有限公司 | Rotating wire harness taking mechanism |
| CN205184759U (en) * | 2015-10-22 | 2016-04-27 | 上海交通大学无锡研究院 | Mechanical hand of electrical apparatus wiring |
| CN106711866A (en) * | 2017-03-07 | 2017-05-24 | 长春理工大学 | Automatic wiring machine for airplane wire harness |
| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
| CN210282322U (en) * | 2019-03-29 | 2020-04-10 | 北京理工大学 | Main hand of wiring robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114012745A (en) * | 2021-10-26 | 2022-02-08 | 杭州电子科技大学 | Soft detection robot with paper folding structure and driving method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109877863B (en) | 2024-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20140020498A1 (en) | Umbilical member arrangement structure of industrial robot having hollow member | |
| CN109732555B (en) | Robot system with twisting and plugging mechanical arm end effector | |
| EP1666218A1 (en) | Guiding device for an umbilical member of a robot and a robot having the guiding device | |
| CN110066897B (en) | Automatic drill rod replacing system of tapping machine in front of blast furnace | |
| CN109877863A (en) | The main hand of routing machine people | |
| CN110450178A (en) | A kind of manipulator of multiple degrees of freedom industrial robot | |
| CN213121103U (en) | Positive and negative detection device of sealing washer that sealing washer was used with positive and negative | |
| CN205406857U (en) | Computer cable plug that facilitates use | |
| CN211123082U (en) | Test system and test device of passive device | |
| CN111190069B (en) | Universal test system for cable network | |
| CN210282322U (en) | Main hand of wiring robot | |
| CN205882067U (en) | Battery assembly frock | |
| CN110405799A (en) | A kind of multi-finger clever manipulator | |
| CN112223339A (en) | Automatic clamping manipulator and control method thereof | |
| CN109822612A (en) | Routing machine people is from hand | |
| CN105824309B (en) | The full-automatic detection device of new-energy automobile electric cabinet | |
| CN210476663U (en) | Positioning fixture for cable detection | |
| CN210594242U (en) | Gripper device | |
| CN208043412U (en) | Air conditioner panel detection equipment and air conditioner panel detection system | |
| CN210037985U (en) | Unmanned aerial vehicle lightning protection detection device based on manipulator realizes high accuracy control | |
| CN210998799U (en) | A3D location grabbing device for manipulator | |
| CN207551352U (en) | Can automatic distinguishing housing feeding handgrip | |
| CN207994319U (en) | Automotive wire bundle apparatus for deivation | |
| CN209887624U (en) | Wire harness accommodating tube | |
| CN108548666A (en) | Air conditioner panel detection equipment and air conditioner panel detection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |