CN110154060A - Omni-mobile glass installation manipulator - Google Patents
Omni-mobile glass installation manipulator Download PDFInfo
- Publication number
- CN110154060A CN110154060A CN201910548257.3A CN201910548257A CN110154060A CN 110154060 A CN110154060 A CN 110154060A CN 201910548257 A CN201910548257 A CN 201910548257A CN 110154060 A CN110154060 A CN 110154060A
- Authority
- CN
- China
- Prior art keywords
- linking arm
- omni
- electronic
- hinged
- away cylinder
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The present invention provides a kind of Omni-mobile glass installation manipulators, belong to technical field of mechanical automation.Bottom including being equipped with well cabinet frame on Omni-mobile chassis be hinged with first it is electronic push away cylinder, the first electronic telescopic end for pushing away cylinder is flexibly connected the first linking arm；The rear end of first linking arm is hinged on the top rear of well cabinet frame；Be hinged on first linking arm second it is electronic push away cylinder, the second electronic telescopic end for pushing away cylinder is hinged with the second linking arm；The bottom end of second linking arm and the front end of the first linking arm are hinged, and the top of the second linking arm is equipped with vacuum chuck handgrip；Controller with first it is electronic push away cylinder, the second electronic cylinder that pushes away is electrically connected.The present invention facilitates position and posture of the adjustment glass phase for door and window expanded letter six-freedom degree direction, it is height-adjustable, conveniently moving, it can be by including the small spaces such as elevator, corridor, only need a people, can safe and reliable completion glass handling, positioning and installation, reduce hand labor cost, improve installation effectiveness.
Description
Technical field
The present invention relates to technical fields, and in particular to relative mounting positions and appearance between a kind of adjustable glass and door and window
State, safe and convenient to use, accurate positioning, the reliable Omni-mobile glass installation manipulator of installation.
Background technique
There are mainly two types of modes for existing building large glass: one kind, will by capstan winch to install hand bracket in architectural top
People and glass hanging to glass position to be installed are installed, and by being accomplished manually glass phase, window frame body is fixed on the door in the air by people
Position is generally completed one piece of glass installation and at least needs 4 people, and high labor cost, large labor intensity, danger coefficient are high；It is another
To install indoors by glass handling trolley, glass is carried to position to be installed, people by glass handling trolley indoors
Work pushes glass, completes the relative positioning between glass and door window frame, and it is high that there are positioning difficulties between glass and door window frame
The problem of, and when glass installation site is higher, indoor glass installation carriage cannot be introduced into building because of size reason, use model
It encloses limited.
Summary of the invention
The purpose of the present invention is to provide a kind of Omni-mobile glass installation manipulators, to solve in above-mentioned background technique
At least one technical problem.
To achieve the goals above, the invention provides the following technical scheme:
A kind of Omni-mobile glass installation manipulator provided by the invention, including Omni-mobile chassis, the Omni-mobile
Well cabinet frame is installed on chassis；
The bottom of the well cabinet frame is hinged with the first electronic fixing end for pushing away cylinder, and the described first electronic telescopic end for pushing away cylinder is living
It is dynamic to be connected with the first linking arm；The rear end of first linking arm is hinged on the top rear of the well cabinet frame；
It is hinged with the second electronic fixing end for pushing away cylinder on first linking arm, described second electronic pushes away cylinder and described first
It is located at the rear side of the described first electronic telescopic end for pushing away cylinder at the articulated connection of linking arm；The described second electronic telescopic end for pushing away cylinder
It is hinged with the second linking arm；
The bottom end of second linking arm and the front end of first linking arm are hinged, the top peace of second linking arm
Equipped with vacuum chuck handgrip；The first vacuum chuck on the vacuum chuck handgrip passes through piping connection vacuum generating device；
It further include having controller, the controller electronic pushes away cylinder, the described second electronic cylinder and described true of pushing away with described first
Empty generating device is electrically connected.
Preferably, the Omni-mobile chassis includes chassis, and the two sides of the front-end and back-end of the chassis are installed respectively
There is a Mecanum wheel, each described Mecanum wheel is driven by a first servo motor by the first retarder；It is described
Controller is electrically connected with first servo motor described in each.
Preferably, the described first electronic telescopic end for pushing away cylinder is flexibly connected first connection by the first oscillating bearing
Arm；The described second electronic telescopic end for pushing away cylinder is flexibly connected second linking arm by second joint bearing.
Preferably, the vacuum chuck handgrip includes first straight line lead screw, is installed on the sliding block of the first straight line lead screw
There is well word frame, multiple first vacuum chucks are installed on the well word frame.
Preferably, the second retarder, the top connection of second retarder are fixed at the top of second linking arm
There is the second servo motor, the shaft of second retarder connects the bottom plate of the first straight line lead screw.
Preferably, the servo motor of the controller and second servo motor, the first straight line lead screw is electric respectively
Property connection.
Preferably, the two sides of the well cabinet frame are separately installed with second straight line lead screw, the sliding block of the second straight line lead screw
It is connect with the well cabinet frame；The rear end of the sliding rail of the second straight line lead screw is hinged with the second vacuum chuck, second vacuum
Sucker passes through vacuum generating device described in piping connection.
Preferably, the servo motor of the controller and two second straight line lead screws is electrically connected.
Preferably, the vacuum generating device is one of vacuum pump, vacuum generator or negative pressure air blower.
Preferably, the controller is STC15W4K48S4 single-chip microcontroller.
The invention has the advantages that: can facilitate position and appearance of the adjustment glass phase for door and window expanded letter six-freedom degree direction
State, height-adjustable, conveniently moving can be by including the small spaces such as elevator, corridor, it is only necessary to a people, it can be safe and reliable
Completion glass handling, positioning and installation, reduce hand labor cost, improve installation effectiveness.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is the stereochemical structure of intelligent Omni-mobile glass installation device in the expanded state described in the embodiment of the present invention
Figure.
Fig. 2 is the side view structure of intelligent Omni-mobile glass installation device in the expanded state described in the embodiment of the present invention
Figure.
Fig. 3 is the plan structure of intelligent Omni-mobile glass installation device in the expanded state described in the embodiment of the present invention
Figure.
Fig. 4 is stereochemical structure of the intelligent Omni-mobile glass installation device under retracted state described in the embodiment of the present invention
Figure.
Fig. 5 is side view structure of the intelligent Omni-mobile glass installation device under retracted state described in the embodiment of the present invention
Figure.
Fig. 6 is plan structure of the intelligent Omni-mobile glass installation device under retracted state described in the embodiment of the present invention
Figure.
Fig. 7 is the vacuum chuck handgrip operation logic of intelligent Omni-mobile glass installation device described in the embodiment of the present invention
Schematic diagram.
Wherein: 100- Omni-mobile chassis；1- well cabinet frame；2- first is electronic to push away cylinder；The first linking arm of 3-；4- second is electronic
Push away cylinder；The second linking arm of 5-；200- vacuum chuck handgrip；The first vacuum chuck of 6-；7- chassis；8- Mecanum wheel；9- first
Servo motor；The first retarder of 10-；The first oscillating bearing of 11-；12- second joint bearing；13- first straight line lead screw；14- well
Word frame；The second retarder of 15-；The second servo motor of 16-；17- second straight line lead screw；The second vacuum chuck of 18-；19- baffle；
20-U type opening.
Specific embodiment
Embodiments of the present invention are described in detail below, and the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element and/or their group.
In the description of this patent, it is to be understood that term " center ", "upper", "lower", "front", "rear", " left side ",
The orientation or positional relationship of the instructions such as " right side ", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on the figure
Orientation or positional relationship, be merely for convenience of description this patent and simplify description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limitation to this patent.
In the description of this patent, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection ", " setting " shall be understood in a broad sense, for example, it may be being fixedly linked, being arranged, may be a detachable connection, set
It sets, or is integrally connected, is arranged.For the ordinary skill in the art, above-mentioned art can be understood as the case may be
The concrete meaning of language in this patent.
It is of the invention for ease of understanding, explanation is further explained to the present invention with specific embodiment with reference to the accompanying drawing, and
Specific embodiment does not constitute the restriction to the embodiment of the present invention.
It should be appreciated by those skilled in the art that attached drawing is the schematic diagram of embodiment, the component in attached drawing is not necessarily
Implement necessary to the present invention.
Embodiment
As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of Omni-mobile glass installation manipulator, including omnidirectional moves
Chassis 100 is moved, well cabinet frame 1 is installed on the Omni-mobile chassis 100.
The bottom of the well cabinet frame 1 is by being hinged with the first electronic fixing end for pushing away cylinder 2, the described first electronic cylinder 2 that pushes away
Telescopic end is connected with the first linking arm 3；The rear end of first linking arm 3 is hinged on the well cabinet frame 1 by articulated shaft
Top rear.As depicted in figs. 1 and 2, first it is electronic push away cylinder 2 extend when, 3 rear end of the first linking arm is revolved upwards around articulated shaft
Turn, the front end of the first linking arm 3 then increases；As shown in Figure 4 and Figure 5, when first it is electronic push away cylinder 2 bounce back when, the first linking arm 3
Rear end is rotated down around articulated shaft, then the front end of the first linking arm 3 then reduces.
Be hinged with the second electronic fixing end for pushing away cylinder 4 on first linking arm 3, described second it is electronic push away cylinder 4 with it is described
It is located at the rear side of the described first electronic telescopic end for pushing away cylinder 2 at the articulated connection of first linking arm 3；Described second electronic pushes away cylinder 4
Telescopic end be hinged with the second linking arm 5；The bottom end of second linking arm 5 and the front end of first linking arm 3 are hinged.When
When the front end of first linking arm 3 increases, then the second linking arm 5 increases, meanwhile, the second electronic cylinder 4 that pushes away extends, then second connects
Arm 5 is connect to rotate forward in a high position；When the front end of the first linking arm 3 reduces, then the second linking arm 5 decreases, meanwhile, second
It is electronic to push away the retraction of cylinder 4, then the second linking arm 5 with reduction back rotation.By upper, the height for realizing the second linking arm 5 is adjustable,
Meanwhile the second linking arm 5 can be kept to be in plumbness.In this way, glass is being sucked in the vacuum grip installed on the second linking arm 5
When, no matter the second linking arm 5 how to rotate and height adjustment, be all positively retained at plumbness, facilitate the door and window of plumbness
The location and installation of glass.
In addition, according to the actual situation, no matter increased in the second linking arm 5 or when reduction, electronic can also push away cylinder 4 by second
It adjusts the second linking arm 5 and is not at plumbness, be not the glass installation on the door and window of plumbness to be suitble to.
The top of second linking arm 5 is equipped with vacuum chuck handgrip 200；On the vacuum chuck handgrip 200
One vacuum chuck 6 passes through piping connection vacuum generating device.Vacuum generating device can manufacture the vacuum state of vacuum chuck, when
After one vacuum chuck 6 touches the glass of installation to be transported, operation vacuum generating device by pipeline make the first vacuum chuck 6 and
Vacuum state is between glass, to pick up the glass of installation to be transported.
It further include having controller, the controller electronic pushes away cylinder 2, the described second electronic cylinder 4 and described of pushing away with described first
Vacuum generating device is electrically connected.
In a specific embodiment of the present invention, the Omni-mobile chassis 100 includes chassis 7, the front end of the chassis 7
It is separately installed with a Mecanum wheel 8 with the two sides of rear end, each described Mecanum wheel 8 is by a first servo motor 9
It is driven by the first retarder 10；The controller is electrically connected with first servo motor 9 described in each.
In a specific embodiment of the present invention, operator can operate glass installation manipulator by wireless control handle
Operation.Handle includes 8 ports ADC, carries out voltage acquisition to 8 potentiometers of 4 rocking bars on handle.Meanwhile acquisition 2
On-off model；The data of acquisition are sent to reception control panel namely controller by 2.4G radio receiving transmitting module；Receive control
Making sheet uses STC15W4K48S4 single-chip microcontroller, and the data received by 2.4G module are carried out calculation process；By processing
Data, exported by 4 groups of controls, control the operating condition of 4 each first servo motors respectively, to adjust 4 McCrums
The operating status of wheel realizes advance, retrogressing and the steering on Omni-mobile chassis 100.
In a specific embodiment of the present invention, the described first electronic telescopic end for pushing away cylinder 2 is living by the first oscillating bearing 11
Dynamic connection first linking arm 3；The described second electronic telescopic end for pushing away cylinder 4 is flexibly connected described by second joint bearing 12
Second linking arm 5.The setting of first oscillating bearing 11 makes the first electronic phase for pushing away realization omnidirectional between cylinder 2 and the first linking arm 3
To rotation；The setting of second joint bearing 12 makes the second electronic push away realize that the opposite of omnidirectional turns between cylinder 4 and the second linking arm 5
It is dynamic.
In a specific embodiment of the present invention, the vacuum chuck handgrip 200 include first straight line lead screw 13, described first
Well word frame 14 is installed on the sliding block of straight line lead screw 13, multiple first vacuum chucks 6 are installed on the well word frame 14.?
In specific embodiments of the present invention, the servo of the controller and second servo motor 16, the first straight line lead screw 13
Motor is electrically connected.Above-mentioned control handle uses 3 output switch parameter mouths, controls the servo motor of first straight line lead screw 13
Operating further move left and right the well word frame 14 on sliding block so that sliding block be made to move left and right, so that control first is true
Suction disk 6 can be directed at the glass of installation to be transported, while adjust glass phase for the setting angle of door and window, facilitate glass
Installation.
In a specific embodiment of the present invention, the top of second linking arm 5 is fixed with the second retarder 15, and described
The top of two retarders 15 is connected with the second servo motor 16, and the shaft of second retarder 15 connects the first straight line silk
The bottom plate of thick stick 13.
In a specific embodiment of the present invention, the two sides of the well cabinet frame 1 are separately installed with second straight line lead screw 17, described
The sliding block of second straight line lead screw 17 is connect with the well cabinet frame 1；The rear end of the sliding rail of the second straight line lead screw 17 is hinged with
Two vacuum chucks 18, second vacuum chuck 18 pass through vacuum generating device described in piping connection.
In a specific embodiment of the present invention, the servo motor of the controller and two second straight line lead screws 17 point
It is not electrically connected.
Aforesaid operations handle has used 5 ports, realizes the SPI serial communication with STC15W4K48S4 single-chip microcontroller, utilizes
CAN conversion module, respectively control first it is electronic push away cylinder, second it is electronic push away cylinder, two second straight line lead screws 17 and the second servo electricity
The movement of machine 16.
Specifically, the rear end of the second straight line lead screw of the second straight line lead screw and right side in left side is respectively mounted the suction of the second vacuum
Disk.Second vacuum chuck and wall or other fixing bases adsorb, when the second straight line lead screw constant speed servo motion of the left and right sides
When, glass installation manipulator system linear motion；When the second straight line lead screw differential servo motion of the left and right sides, glass installation
Arm-and-hand system divertical motion, fine tuning adjustment glass phase is for door and window framework angle.For example, working as the second straight line lead screw phase in left side
When running slow than the second straight line lead screw in right side, since two the second vacuum chucks in left and right and second straight line lead screw are hinged, then
Glass installation manipulator system rotates to the left, carries out the fine tuning of position and setting angle；When the second straight line lead screw phase in left side
When running fast than the second straight line lead screw in right side, then glass installation manipulator system rotates to the right, carries out position and installation
The fine tuning of angle.
In a specific embodiment of the present invention, the vacuum generating device is vacuum pump, vacuum generator or negative pressure air blast
One of machine.
As shown in figures 1 to 6, it is provided with baffle 19 on front side of well cabinet frame, baffle 19 is equipped with U-shaped opening 20, when the
When one linking arm 3 drop to minimum state, the first linking arm 3 is located in U-shaped opening 20, at this point, baffle 19 is without limitation on first
The landing degree of linking arm 3, to facilitate the installation to the door glass of different height.
As shown in fig. 7, first electronic push away cylinder, well cabinet frame, the first linking arm, second electronic pushes away cylinder and the second linking arm is formed
Double leval jib linkage mechanism.When pushing away cylinder elongation by the way that wireless controller control first is electronic, the front end of the first linking arm is increased, when
When pushing away cylinder retraction by the way that wireless controller control first is electronic, then the front end of the first linking arm reduces.When the front end of the first linking arm
When raising, the second linking arm is increased, at this point, pushing away cylinder elongation or retraction by the way that wireless controller control second is electronic, can adjust
Pitch angle of the vacuum chuck handgrip in increasing state；When the front end of the first linking arm reduces, the second linking arm drops therewith
It is low, at this point, pushing away cylinder elongation or retraction by the way that wireless controller control second is electronic, it can adjust vacuum chuck handgrip in increasing state
Pitch angle.
In conclusion Omni-mobile glass installation manipulator described in the embodiment of the present invention, facilitate adjustment glass phase for
The position in door and window expanded letter six-freedom degree direction and posture, height-adjustable, conveniently moving can be by including elevator, corridor
Equal small spaces, it is only necessary to a people, can safe and reliable completion glass handling, positioning and installation, reduce hand labor at
This, improves installation effectiveness.
Those of ordinary skill in the art will appreciate that: the component in device in the embodiment of the present invention can be according to embodiment
Description be distributed in the device of embodiment, corresponding change can also be carried out and be located at one or more dresses different from the present embodiment
In setting.The component of above-described embodiment can be merged into a component, can also be further split into multiple subassemblies.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (10)
1. a kind of Omni-mobile glass installation manipulator, it is characterised in that: including Omni-mobile chassis (100), the omnidirectional is moved
Well cabinet frame (1) is installed on dynamic chassis (100)；
The bottom of the well cabinet frame (1) is hinged with the first electronic fixing end for pushing away cylinder (2), and described first electronic pushes away stretching for cylinder (2)
Contracting end is connected with the first linking arm (3)；The rear end of first linking arm (3) is hinged on the top of the well cabinet frame (1)
Rear side；
It is hinged with the second electronic fixing end for pushing away cylinder (4) on first linking arm (3), described second electronic pushes away cylinder (4) and institute
State the rear side for being located at the described first electronic telescopic end for pushing away cylinder (2) at the articulated connection of the first linking arm (3)；Described second is electronic
The telescopic end for pushing away cylinder (4) is hinged with the second linking arm (5)；
The bottom end of second linking arm (5) and the front end of first linking arm (3) are hinged, second linking arm (5)
Top is equipped with vacuum chuck handgrip (200)；The first vacuum chuck (6) on the vacuum chuck handgrip (200) passes through pipeline
Connect vacuum generating device；
It further include having controller, the controller electronic pushes away cylinder (2), the described second electronic cylinder (4) and described of pushing away with described first
Vacuum generating device is electrically connected.
2. Omni-mobile glass installation manipulator according to claim 1, it is characterised in that: the Omni-mobile chassis
It (100) include chassis (7), the two sides of the front-end and back-end of the chassis (7) are separately installed with a Mecanum wheel (8), often
One Mecanum wheel (8) is driven by a first servo motor (9) by the first retarder (10)；The controller with
Each described first servo motor (9) is electrically connected.
3. Omni-mobile glass installation manipulator according to claim 1, it is characterised in that: described first electronic pushes away cylinder
(2) telescopic end is flexibly connected first linking arm (3) by the first oscillating bearing (11)；Described second electronic pushes away cylinder (4)
Telescopic end be flexibly connected second linking arm (5) by second joint bearing (12).
4. Omni-mobile glass installation manipulator according to claim 1, it is characterised in that: the vacuum chuck handgrip
(200) include first straight line lead screw (13), well word frame (14), the well are installed on the sliding block of the first straight line lead screw (13)
Multiple first vacuum chucks (6) are installed on word frame (14).
5. Omni-mobile glass installation manipulator according to claim 4, it is characterised in that: second linking arm (5)
Top be fixed with the second retarder (15), be connected with the second servo motor (16), institute above second retarder (15)
The shaft for stating the second retarder (15) connects the bottom plate of the first straight line lead screw (13).
6. Omni-mobile glass installation manipulator according to claim 5, it is characterised in that: the controller and described the
Two servo motors (16), the first straight line lead screw (13) servo motor be electrically connected.
7. Omni-mobile glass installation manipulator according to claim 1, it is characterised in that: the two of the well cabinet frame (1)
Side is separately installed with second straight line lead screw (17), and the sliding block of the second straight line lead screw (17) is connect with the well cabinet frame (1)；Institute
The rear end for stating the sliding rail of second straight line lead screw (17) is hinged with the second vacuum chuck (18), and second vacuum chuck (18) passes through
Vacuum generating device described in piping connection.
8. Omni-mobile glass installation manipulator according to claim 7, it is characterised in that: the controller and two institutes
The servo motor for stating second straight line lead screw (17) is electrically connected.
9. Omni-mobile glass installation manipulator according to claim 1-8, it is characterised in that: the vacuum hair
Generating apparatus is one of vacuum pump, vacuum generator or negative pressure air blower.
10. Omni-mobile glass installation manipulator according to claim 1-8, it is characterised in that: the control
Device is STC15W4K48S4 single-chip microcontroller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910548257.3A CN110154060A (en) | 2019-06-24 | 2019-06-24 | Omni-mobile glass installation manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910548257.3A CN110154060A (en) | 2019-06-24 | 2019-06-24 | Omni-mobile glass installation manipulator |
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| CN110154060A true CN110154060A (en) | 2019-08-23 |
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| CN201910548257.3A Pending CN110154060A (en) | 2019-06-24 | 2019-06-24 | Omni-mobile glass installation manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113059550A (en) * | 2021-03-30 | 2021-07-02 | 济南翼菲自动化科技有限公司 | Lifting rotation and self-adaptive high-precision gripper |
| CN117184903A (en) * | 2023-11-07 | 2023-12-08 | 四川名人居门窗有限公司 | Glass suction disc vehicle |
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