CN110026974B - Material taking and positioning mechanism and manipulator - Google Patents
Material taking and positioning mechanism and manipulator Download PDFInfo
- Publication number
- CN110026974B CN110026974B CN201910315947.4A CN201910315947A CN110026974B CN 110026974 B CN110026974 B CN 110026974B CN 201910315947 A CN201910315947 A CN 201910315947A CN 110026974 B CN110026974 B CN 110026974B
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- material taking
- positioning assembly
- suction head
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- 239000000463 material Substances 0.000 title claims abstract description 67
- 230000007246 mechanism Effects 0.000 title claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 229920001971 elastomer Polymers 0.000 claims description 7
- 239000000806 elastomer Substances 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 238000012545 processing Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a material taking and positioning mechanism and a manipulator, wherein the material taking and positioning mechanism comprises: a driving member; the material taking piece is rotationally and drivingly connected with the driving piece; the linkage assembly is in transmission connection with the material taking piece; and the first positioning assembly and the second positioning assembly are in driving connection with the linkage assembly, and the first positioning assembly and the second positioning assembly are arranged at intervals on two sides of the material taking piece and can be mutually close to or far away from each other. Therefore, the material taking and positioning mechanism realizes the simultaneous completion of two working procedures of material taking and positioning in a unit period in one set of mechanism, has simple equipment structure and high integration degree, is beneficial to reducing the manufacturing cost of the equipment and the time consumption of product processing, improves the economy and the production efficiency, and simultaneously remarkably increases the operation reliability of the equipment.
Description
Technical Field
The invention relates to the technical field of material grabbing and positioning, in particular to a material taking and positioning mechanism and a manipulator.
Background
At present, in some stamping part processing flows, products are generally grabbed by a grabbing device, then placed in a positioning mechanism, and placed in a subsequent processing station after positioning operation is completed. Therefore, the whole structure of the equipment is complicated, the manufacturing cost is high, the operation is long, the production efficiency is low, the connection requirement between the grabbing and positioning procedures is high, and the reliability and the stability of the equipment are low.
Disclosure of Invention
Based on the above, it is necessary to provide a material taking and positioning mechanism, which can integrate material taking and positioning into the same mechanism, simplify the structure of the device, reduce the cost and the operation time consumption, and improve the operation reliability of the device; the manipulator has the advantages of simple structure, material taking and positioning functions, high production efficiency and high operation reliability and stability by adopting the material taking and positioning mechanism.
The technical scheme is as follows:
in one aspect, the present application provides a take out positioning mechanism, comprising:
a driving member;
the material taking piece is rotationally and drivingly connected with the driving piece;
the linkage assembly is in transmission connection with the material taking piece; and
The first positioning assembly and the second positioning assembly are in driving connection with the linkage assembly, and the first positioning assembly and the second positioning assembly are arranged at intervals on two sides of the material taking piece and can be mutually close to or far away from each other.
When the material taking and positioning mechanism works, the material taking pieces grab the products one by one. When each product is grabbed, the driving part outputs power to drive the material taking part to move, and the material taking part can transmit the power to the linkage assembly to enable the linkage assembly to move synchronously. And because the first positioning component and the second positioning component are respectively arranged on the two sides of the material taking piece, the linkage component can drive the first positioning component and the second positioning component to be close to each other, so that the product grabbed by the material taking piece is clamped and corrected to a preset space position, and the positioning operation is completed. Therefore, the material taking and positioning mechanism realizes the simultaneous completion of two working procedures of material taking and positioning in a unit period in one set of mechanism, has simple equipment structure and high integration degree, is beneficial to reducing the manufacturing cost of the equipment and the time consumption of product processing, improves the economy and the production efficiency, and simultaneously remarkably increases the operation reliability of the equipment.
The technical scheme of the application is further described below:
in one embodiment, the driving part is a motor, the material taking part is a suction head, the suction head is connected with a power shaft of the motor, and the linkage assembly is fixedly arranged on the peripheral wall of the suction head and can synchronously drive the first positioning assembly and the second positioning assembly to be close to or far away from each other.
In one embodiment, the material taking positioning mechanism further comprises a transmission assembly, the driving piece is an air cylinder, the material taking piece is a suction head, the transmission assembly comprises a connecting plate and a rotating body rotatably arranged on the connecting plate, and the rotating body is in driving connection with a piston cylinder of the air cylinder; the suction head is connected with the connecting plate in a rotary driving way, and the linkage assembly is fixedly arranged on the peripheral wall of the suction head and can synchronously drive the first positioning assembly and the second positioning assembly to be close to or far away from each other.
In one embodiment, the linkage assembly comprises a connecting sleeve, a first connecting arm, a second connecting arm, a first connecting rod and a second connecting rod, wherein the first connecting arm and the second connecting arm are oppositely arranged on the connecting sleeve at intervals, one end of the first connecting rod is rotationally connected with the first connecting arm, one end of the second connecting rod is rotationally connected with the second connecting arm, the other end of the first connecting rod is rotationally connected with the first positioning assembly, and the other end of the second connecting rod is rotationally connected with the second positioning assembly.
In one embodiment, the connecting sleeve is of a circular ring structure, and the first connecting arm and the second connecting arm are located on the same diameter of the connecting sleeve.
In one embodiment, the first positioning component and the second positioning component each comprise a guide rail, an moving body movably arranged on the guide rail, and a clamping body connected with the moving body, and the two clamping bodies are matched at intervals to form a clamping positioning structure.
In one embodiment, the opposite sides of the two clamping bodies are respectively provided with a clamping groove in a concave mode.
In one embodiment, the first positioning assembly and the second positioning assembly further comprise adjusting plates, at least two mounting portions are arranged on the adjusting plates at intervals along the moving direction of the clamping body, the clamping body can be connected with the adjusting plates through different mounting portions, and the adjusting plates are further connected with the moving body.
In one embodiment, the first positioning assembly and the second positioning assembly each further comprise an elastomer, and the clamping body is connected with the adjusting plate through the elastomer.
On the other hand, the application also provides a manipulator, and it includes carrier plate and at least two as above get material positioning mechanism, at least two get material positioning mechanism set up in on the carrier plate. Through adopting this get material positioning mechanism, simple structure possesses simultaneously and gets material and locate function, and production efficiency is high, and operational reliability and stability are high.
Drawings
FIG. 1 is a schematic view of a material taking and positioning mechanism according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a manipulator according to an embodiment of the invention.
Reference numerals illustrate:
10. the device comprises a driving part, 20, a material taking part, 30, a linkage assembly, 31, a connecting sleeve, 32, a first connecting arm, 33, a second connecting arm, 34, a first connecting rod, 35, a second connecting rod, 36, a guide rail, 37, an actuating body, 38, a clamping body 381, a clamping groove, 39, an adjusting plate, 391, a mounting part, 40, a first positioning assembly, 50, a second positioning assembly, 60, a transmission assembly, 61, a connecting plate, 62, a rotating body, 70, an elastomer, 100, a material taking positioning mechanism, 200, a manipulator, 300, a carrier plate, 400 and a product.
Detailed Description
The present invention will be further described in detail with reference to the drawings and the detailed description, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted," "disposed," or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; the specific manner in which one element is fixedly connected to another element may be achieved by the prior art, and is not described in detail herein, and a threaded connection is preferably used.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The terms "first" and "second" in this specification do not denote a particular quantity or order, but rather are used for distinguishing between similar or identical items.
As shown in fig. 1, a material taking positioning mechanism 100 according to an embodiment of the present application includes: the drive member 10, the take-off member 20, the linkage assembly 30, the first positioning assembly 40 and the second positioning assembly 50. The material taking piece 20 is rotationally and drivingly connected with the driving piece 10; the linkage assembly 30 is in transmission connection with the material taking piece 20; the first positioning assembly 40 and the second positioning assembly 50 are both in driving connection with the linkage assembly 30, and the first positioning assembly 40 and the second positioning assembly 50 are disposed at intervals on both sides of the material taking member 20 and can be close to or far away from each other.
In operation of the above-described take-out positioning mechanism 100, the products 400 are individually grasped by the take-out member 20. When each product 400 is gripped, the driving member 10 outputs power to drive the material taking member 20 to move, and the material taking member 20 can transmit power to the linkage assembly 30 to enable the linkage assembly 30 to move synchronously. And because the first positioning component 40 and the second positioning component 50 are respectively installed at two sides of the material taking component 20, the linkage component 30 can drive the first positioning component 40 and the second positioning component 50 to be close to each other, so that the product 400 grabbed by the material taking component 20 is clamped and corrected to a preset space position, and the positioning operation is completed. Therefore, the material taking and positioning mechanism 100 realizes the simultaneous completion of two working procedures of material taking and positioning in a unit period in one set of mechanism, has simple equipment structure and high integration degree, is beneficial to reducing the equipment manufacturing cost and the time consumption of processing the product 400, improves the economy and the production efficiency, and simultaneously remarkably increases the operation reliability of the equipment. When the positioning operation is completed, the driving member 10 outputs reverse power, so that the first positioning assembly 40 and the second positioning assembly 50 can be driven to be away, and the material taking member 20 can release the product 400 to the next processing station.
It is understood that the first positioning assembly 40 and the second positioning assembly 50 may be synchronously or sequentially operated, so long as the clamping and positioning of the product 400 can be achieved. Preferably, the first positioning assembly 40 and the second positioning assembly 50 in this embodiment are designed to operate synchronously, so as to reduce the difficulty in manufacturing and controlling the mechanism.
During actual use, the material taking and positioning mechanism 100 is installed on the carrier plate 300, and the carrier plate 300 is provided with a connector, so that the material can be automatically grabbed, positioned and transported through the connection with automatic shifting equipment, and the automation level of the equipment is improved.
While there are various ways to achieve the synchronous approaching or moving away of the first positioning assembly 40 and the second positioning assembly 50.
In an alternative embodiment, the driving member 10 is a motor, and the material taking member 20 is a suction head, and the suction head is connected to a power shaft of the motor. At this time, the motor is vertically installed on the carrier plate 300 with the power shaft facing downward, so that the suction head is convenient to grasp the product 400 below by vacuum suction. The linkage assembly 30 is fixedly arranged on the peripheral wall of the suction head and can synchronously drive the first positioning assembly 40 and the second positioning assembly 50 to approach or separate from each other. When the motor rotates clockwise, the linkage assembly 30 rotates clockwise in synchronization, so that the first positioning assembly 40 and the second positioning assembly 50 can be pulled to move close to each other, and the product 400 is extruded to realize position correction positioning. When the product 400 needs to be released, the motor only needs to rotate anticlockwise, the first positioning assembly 40 and the second positioning assembly 50 can move synchronously and separate, at the moment, the suction head turns off the vacuum suction, and the product 400 falls onto the next processing station by self weight. The driving structure is simple and compact, the action stroke is short, the response speed is high, and the reliability is high.
With continued reference to fig. 1, in another alternative embodiment, the difference is that the material taking positioning mechanism 100 further includes a transmission assembly 60, the driving member 10 is a cylinder, the material taking member 20 is a suction head, the transmission assembly 60 includes a connecting plate 61, and a rotating body 62 rotatably mounted on the connecting plate 61, and the rotating body 62 is in driving connection with a piston cylinder of the cylinder; the suction head is rotationally and drivingly connected with the connecting plate 61, and the linkage assembly 30 is fixedly arranged on the peripheral wall of the suction head and can synchronously drive the first positioning assembly 40 and the second positioning assembly 50 to approach or separate from each other. At this time, the cylinder can be mounted on the carrier plate 300 in a prone position, and when the piston rod of the cylinder is pushed out, the connection plate 61 can be pushed to rotate in synchronization due to the rotational connection with the rotating body 62; the connection plate 61 then synchronously drives the suction head to rotate, and finally pulls the first positioning assembly 40 and the second positioning assembly 50 to move close to each other so as to realize clamping and positioning of the product 400. And when the product 400 needs to be released, only the piston rod of the cylinder needs to be controlled to be recycled. The mode can occupy less installation space, the controllable mode of the air cylinder is simple, the energy consumption is low, and the clamping and positioning device is more suitable for occasions with lower clamping and positioning requirements.
Of course, in other embodiments, other driving structures in the prior art may be used, as long as the requirement of positioning and clamping the product 400 can be met.
With continued reference to fig. 1, in addition, on the basis of any of the above embodiments, the linkage assembly 30 includes a connecting sleeve 31, a first connecting arm 32 and a second connecting arm 33 fixed on the connecting sleeve 31 at opposite intervals, a first connecting rod 34 with one end rotationally connected to the first connecting arm 32, and a second connecting rod 35 with one end rotationally connected to the second connecting arm 33, where the other end of the first connecting rod 34 is rotationally connected to the first positioning assembly 40, and the other end of the second connecting rod 35 is rotationally connected to the second positioning assembly 50. The connecting sleeve 31 can be connected with the suction head through a fastener such as a screw or the like, or sleeved on the suction head in an interference fit manner. When the suction head is driven to rotate, the connecting sleeve 31 can synchronously rotate, at the moment, the first connecting arm 32 rotates relative to the first positioning component 40 and pulls the first positioning component 40 to move towards the product 400, the second connecting arm 33 rotates relative to the second positioning component 50 and pulls the second positioning component 50 to move towards the product 400, and therefore the first positioning component 40 and the second positioning component 50 are matched to clamp and position the product 400.
Further, in order to ensure the synchronization and consistency of the movements of the first positioning assembly 40 and the second positioning assembly 50, thereby ensuring the positioning effect, the connecting sleeve 31 has a circular ring structure, and the first connecting arm 32 and the second connecting arm 33 are located on the same diameter of the connecting sleeve 31. Therefore, the first connecting arm 32 and the second connecting arm 33 can synchronously rotate by the same angle, and further the first positioning component 40 and the second positioning component 50 synchronously move by the same distance, so that the product 400 is positioned to the centering position.
It should be noted that, the clamping and positioning operation of the product 400 can be understood as follows: when the suction head just grabs the product 400, the central axis of the product 400 and the central axis of the suction head are not on the same vertical straight line, and the product 400 can be pushed to move a small distance on the suction head (the suction head cannot block the movement of the product because of adopting a vacuum adsorption mode) through the clamping (pushing action) of the first positioning component 40 and the second positioning component 50, so that the lateral deviation problem is corrected, and the central axis of the product 400 and the central axis of the suction head are restored to the same straight line.
With continued reference to fig. 1, in an alternative embodiment, the first positioning assembly 40 and the second positioning assembly 50 each include a guide rail 36, an actuating body 37 movably disposed on the guide rail 36, and a clamping body 38 connected to the actuating body 37, where the two clamping bodies 38 are matched at intervals to form a clamping positioning structure. The two moving bodies 37 are respectively and correspondingly connected with the first connecting arm 32 and the second connecting arm 33 in a one-to-one mode, so that the first connecting arm 32 and the second connecting arm 33 move in a rotating mode, the moving bodies 37 can be synchronously pulled to move on the guide rail 36, and then the two clamping bodies 38 are pushed to move close to each other to clamp and position the product 400. The driving structure is simple, so that the action response speed is high and reliable.
It will be appreciated that the actuator 37 may be a slider that is assembled with the rail 36 to form a sliding structure. Alternatively, the moving body 37 is a roller, and the roller and the guide rail 36 form a rolling structure. Both of which can rapidly and reliably push and pull the clamping body 38 to reciprocate.
In addition, in order to secure and secure the clamping of a product 400 of a specific shape, such as a cylinder, and to enhance the positioning effect, the opposite sides of the two clamping bodies 38 are respectively provided with a concave clamping groove 381. Because the clip groove 381 can better contact with the outer wall surface of the product 400.
In particular, when the driving member 10 uses the air cylinder for power output, since the output stroke of the piston rod is fixed after a certain air cylinder is selected, that is, the minimum distance value and the maximum distance value between the first positioning assembly 40 and the second positioning assembly 50 are fixed (the minimum distance and the maximum distance each correspond to a product 400 with a certain size), but the size of the product 400 faced is variable due to actual production. When the size of the product 400 is too small or too large, the moving stroke of the cylinder cannot meet the positioning and clamping requirements, and thus, the application limitation is high. In order to solve this problem, please continue to refer to fig. 1, in an embodiment, the first positioning assembly 40 and the second positioning assembly 50 further each include an adjusting plate 39, at least two mounting portions 391 are spaced apart along the moving direction of the clamping body 38, the clamping body 38 can be connected to the adjusting plate 39 through different mounting portions 391, and the adjusting plate 39 is further connected to the actuating body 37. Therefore, the clamping body 38 can flexibly connect with different mounting portions 391 according to the positioning size requirement of the actual product 400, and further can flexibly travel the travel ranges of different sizes, thereby enhancing the applicability to more products 400 and improving the applicability of the material taking positioning mechanism 100.
Alternatively, the mounting portion 391 may be a screw hole formed in the adjustment plate 39. Or in other embodiments, the mounting portion 391 may be other structures capable of performing a connection function, such as a buckle, a hook, etc., as known in the art.
With continued reference to fig. 1, further, each of the first positioning assembly 40 and the second positioning assembly 50 further includes an elastic body 70, and the clamping body 38 is connected to the adjusting plate 39 through the elastic body 70. Therefore, by the arrangement of the elastic body 70, the clamping body 38 can form flexible contact with the product 400 (retreating when being subjected to the reaction force of the product 400), so that the power output error of the motor or the air cylinder is avoided, the product 400 is clamped due to overlarge clamping force, and the product 400 is deformed and scrapped.
Alternatively, the elastomer 70 is a rubber block, a spring, or the like.
In addition, as shown in fig. 2, the present application further provides a manipulator 200, which includes a carrier 300 and at least two material taking and positioning mechanisms 100 as described above, where at least two material taking and positioning mechanisms 100 are disposed on the carrier 300. By adopting the material taking and positioning mechanism 100, the structure is simple, the material taking and positioning functions are realized, the production efficiency is high, and the operation reliability and stability are high.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (7)
1. A take-out positioning mechanism (100), comprising:
a driving member (10);
the material taking piece (20), the material taking piece (20) is rotationally and drivingly connected with the driving piece (10);
the linkage assembly (30), the said linkage assembly (30) is connected with said material taking piece (20) transmission; and
The first positioning assembly (40) and the second positioning assembly (50), the first positioning assembly (40) and the second positioning assembly (50) are in driving connection with the linkage assembly (30), and the first positioning assembly (40) and the second positioning assembly (50) are arranged at two sides of the material taking piece (20) at intervals and can be mutually close to or far away from each other;
the linkage assembly (30) comprises a connecting sleeve (31), a first connecting arm (32) and a second connecting arm (33) which are oppositely fixed on the connecting sleeve (31) at intervals, a first connecting rod (34) with one end rotationally connected with the first connecting arm (32) and a second connecting rod (35) with one end rotationally connected with the second connecting arm (33), the other end of the first connecting rod (34) is rotationally connected with the first positioning assembly (40), and the other end of the second connecting rod (35) is rotationally connected with the second positioning assembly (50);
the connecting sleeve (31) is of a circular ring structure, and the first connecting arm (32) and the second connecting arm (33) are positioned on the same diameter of the connecting sleeve (31);
the first positioning assembly (40) and the second positioning assembly (50) comprise guide rails (36), moving bodies (37) movably arranged on the guide rails (36), and clamping bodies (38) connected with the moving bodies (37), wherein the two clamping bodies (38) are matched at intervals to form a clamping and positioning structure.
2. The material taking and positioning mechanism (100) according to claim 1, wherein the driving member (10) is a motor, the material taking member (20) is a suction head, the suction head is connected with a power shaft of the motor, and the linkage assembly (30) is fixedly arranged on the peripheral wall of the suction head and can synchronously drive the first positioning assembly (40) and the second positioning assembly (50) to be close to or far away from each other.
3. The material taking and positioning mechanism (100) according to claim 1, wherein the material taking and positioning mechanism (100) further comprises a transmission assembly (60), the driving member (10) is a cylinder, the material taking member (20) is a suction head, the transmission assembly (60) comprises a connecting plate (61) and a rotating body (62) rotatably arranged on the connecting plate (61), and the rotating body (62) is in driving connection with a piston cylinder of the cylinder; the suction head is rotationally and drivingly connected with the connecting plate (61), and the linkage assembly (30) is fixedly arranged on the peripheral wall of the suction head and can synchronously drive the first positioning assembly (40) and the second positioning assembly (50) to be close to or far away from each other.
4. The take-off positioning mechanism (100) of claim 1, wherein the opposed sides of the gripping bodies (38) are each recessed with a gripping slot (381).
5. The material taking and positioning mechanism (100) according to claim 1, wherein the first positioning assembly (40) and the second positioning assembly (50) further comprise an adjusting plate (39), at least two mounting portions (391) are arranged at intervals along the moving direction of the clamping body (38), the clamping body (38) can be connected with the adjusting plate (39) through different mounting portions (391), and the adjusting plate (39) is further connected with the moving body (37).
6. The take-up positioning mechanism (100) of claim 5, wherein the first positioning assembly (40) and the second positioning assembly (50) each further comprise an elastomer (70), the gripping body (38) being connected to the adjustment plate (39) by the elastomer (70).
7. A manipulator (200) comprising a carrier plate (300) and at least two take-out positioning mechanisms (100) according to any of the claims 1 to 6, at least two of said take-out positioning mechanisms (100) being arranged on said carrier plate (300).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910315947.4A CN110026974B (en) | 2019-04-19 | 2019-04-19 | Material taking and positioning mechanism and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910315947.4A CN110026974B (en) | 2019-04-19 | 2019-04-19 | Material taking and positioning mechanism and manipulator |
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| Publication Number | Publication Date |
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| CN110026974A CN110026974A (en) | 2019-07-19 |
| CN110026974B true CN110026974B (en) | 2024-02-06 |
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| CN201910315947.4A Active CN110026974B (en) | 2019-04-19 | 2019-04-19 | Material taking and positioning mechanism and manipulator |
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| CN109500801A (en) * | 2018-11-27 | 2019-03-22 | 合肥合茂电子科技有限公司 | A kind of automated production clamping device suitable for industrial robot |
| CN209986944U (en) * | 2019-04-19 | 2020-01-24 | 广东拓斯达科技股份有限公司 | Material taking and positioning mechanism and manipulator |
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2019
- 2019-04-19 CN CN201910315947.4A patent/CN110026974B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010069608A (en) * | 2008-09-22 | 2010-04-02 | Ihi Corp | Robot hand and work positioning method using robot hand |
| CN103153551A (en) * | 2009-11-25 | 2013-06-12 | J·T·皮亚特尼克 | Control system for and method of controlling product delivery systems |
| CN102941575A (en) * | 2011-05-18 | 2013-02-27 | 东莞市松庆自动化设备有限公司 | Direct-in/direct-out servo electrical pick-up machine |
| CN104816296A (en) * | 2015-05-11 | 2015-08-05 | 东莞市顺如电子科技有限公司 | Rear motor mechanical arm and forming method |
| CN207390447U (en) * | 2017-09-26 | 2018-05-22 | 深圳双十科技有限公司 | A kind of take-off assembly |
| CN109500801A (en) * | 2018-11-27 | 2019-03-22 | 合肥合茂电子科技有限公司 | A kind of automated production clamping device suitable for industrial robot |
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| Publication number | Publication date |
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| CN110026974A (en) | 2019-07-19 |
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