CN110356928A - A kind of grabbing device suitable for cylinder tube and circular cone tube - Google Patents
A kind of grabbing device suitable for cylinder tube and circular cone tube Download PDFInfo
- Publication number
- CN110356928A CN110356928A CN201910543548.3A CN201910543548A CN110356928A CN 110356928 A CN110356928 A CN 110356928A CN 201910543548 A CN201910543548 A CN 201910543548A CN 110356928 A CN110356928 A CN 110356928A
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- Prior art keywords
- support claw
- circular cone
- tube
- grabbing device
- cylinder tube
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- 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.)
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- 210000000078 claw Anatomy 0.000 claims abstract description 142
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000009827 uniform distribution Methods 0.000 claims description 3
- 238000005303 weighing Methods 0.000 claims description 2
- 239000004753 textile Substances 0.000 abstract description 3
- 230000007812 deficiency Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/08—Automatic end-finding and material-interconnecting arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to technical field of textile machine, and in particular to a kind of grabbing device suitable for cylinder tube and circular cone tube.The deficiency of one of crawl cylinder tube or circular cone tube is only capable of for existing tube grabbing device, the present invention adopts the following technical scheme: a kind of grabbing device suitable for cylinder tube and circular cone tube, the grabbing device includes: main mounting plate；Grabbing assembly: the grabbing assembly includes multiple support claw seats on main mounting plate and the support claw on support claw seat；The outer telephone-moving structure of support claw, to grab cylinder tube；Support claw extends out mechanism, to grab circular cone tube.There is grabbing device of the invention the outer telephone-moving structure of grabbing assembly, support claw and support claw to extend out mechanism, and grabbing assembly and the outer telephone-moving structure of support claw can grab cylinder tube, and grabbing assembly and support claw, which extend out mechanism, can grab circular cone tube.
Description
Technical field
The invention belongs to technical field of textile machine, and in particular to a kind of crawl suitable for cylinder tube and circular cone tube
Device.
Background technique
In textile industry, needs that tube is grabbed to and searched out the end of a thread, be ready for subsequent handling.The crawl one of tube
As realized by corresponding fixture.According to the difference of shape, tube is divided into cylinder tube and circular cone tube.
Existing tube grabbing device, is only applicable to one of cylinder tube or circular cone tube.
Summary of the invention
The present invention is only capable of the deficiency of one of crawl cylinder tube or circular cone tube for existing tube grabbing device,
A kind of grabbing device suitable for cylinder tube and circular cone tube is provided.
To achieve the above object, the present invention adopts the following technical scheme: it is a kind of suitable for cylinder tube and circular cone tube
Grabbing device, the grabbing device include:
Main mounting plate；
Grabbing assembly: the grabbing assembly includes multiple support claw seats on main mounting plate and the support on support claw seat
Pawl, the support claw have guide part and the rotating junction of the inner cylinder that can be inserted into cylinder tube and circular cone tube, the rotation
Interconnecting piece and support claw seat are hinged；
The outer telephone-moving structure of support claw, the outer telephone-moving structure of the support claw are set on main mounting plate, the outer telephone-moving structure driving support claw of the support claw and support
Pawl seat is radially movable, to grab cylinder tube；
Support claw extends out mechanism, and the support claw extends out mechanism on main mounting plate, and it is opposite that the support claw extends out mechanism driving support claw
Support claw seat rotates and makes that support claw outer end is outside, inner end is inside, to grab circular cone tube.
There is grabbing device of the invention the outer telephone-moving structure of grabbing assembly, support claw and support claw to extend out mechanism, grabbing assembly and support
The outer telephone-moving structure of pawl can grab cylinder tube, and grabbing assembly and support claw, which extend out mechanism, can grab circular cone tube.
As an improvement, the outer telephone-moving structure of the support claw include outer shiftings motor, by the motor-driven positioning disk of outer shifting, can be with guiding
The radially-directed part that disk relatively rotates opens up the sliding slot of the multiple arcs of circumference uniform distribution, the sliding slot distance on the positioning disk
The distance in positioning disk axle center is gradually increased, and the support claw seat tool has the guide part in sliding slot, is opened on the radially-directed part
If path guide slot, the guide part is located in path guide slot simultaneously, when grabbing cylinder tube, the outer shifting motor band action-oriented
Relatively radially guide part rotates and support claw seat is radially outward slid in and out with support claw disk.
As an improvement, opening up the open slot of outer end opening on the radially-directed part, the support claw seat tool has I-shaped portion,
So that support claw seat is only capable of moving along open slot direction in I-shaped portion's insertion open slot.
As an improvement, being additionally provided with the rotating mechanism for driving multiple support claw unitary rotations on the main mounting plate.
As an improvement, the rotating mechanism includes clutch discs and clutch component, including clutch discs and clutch component, it is described from
It closes disk and radially-directed part is affixed, when the clutch component compresses clutch discs and positioning disk, the clutch discs and positioning disk are outside
It moves under motor driven and rotates.By setting clutch discs and clutch component, the crawl of cylinder tube can be realized by same motor and is turned
It is dynamic.In other schemes, the rotation that individual motor realizes cylinder tube can also be set, to replace clutch discs and clutch group
Part.
As an improvement, affixed hollow load-bearing axle on the main mounting plate, the mandril passes through weighing axis.
As an improvement, the positioning disk and clutch discs are set to outside load-bearing axle, the positioning disk and load-bearing between centers are equipped with bearing,
The clutch discs and load-bearing between centers are equipped with bearing.
Include the power mechanism installed on mounting plate as an improvement, the support claw extends out mechanism and driven by power mechanism
Mandril, when grabbing circular cone tube, the mandril contradicts support claw, opens after the support claw rotation and grabs circular cone tube.
As an improvement, also effect has the elastic component for resetting support claw on the support claw, it is separate that the elastic component is located at support claw
Insertion section one end.
As an improvement, the quantity of the support claw is three, three support claws are circumferentially uniformly distributed.
The beneficial effect of grabbing device of the invention is: can be used for grabbing cylinder tube and circular cone tube.
Detailed description of the invention
Fig. 1 to Fig. 3 is the structural schematic diagram of the grabbing device of the embodiment of the present invention one.
Fig. 4 be in Fig. 3 A-A to cross-sectional view.
Fig. 5 is the exploded view of the grabbing device of the embodiment of the present invention one.
Fig. 6 and Fig. 7 is the structural schematic diagram of the positioning disk of the grabbing device of the embodiment of the present invention one.
Fig. 8 and Fig. 9 is the structural schematic diagram of the clutch discs of the grabbing device of the embodiment of the present invention one.
Figure 10 is the structural schematic diagram of the radially-directed part of the grabbing device of the embodiment of the present invention one.
Figure 11 is the structural schematic diagram of the support claw seat of the grabbing device of the embodiment of the present invention one.
Figure 12 is the structural schematic diagram of the support claw of the grabbing device of the embodiment of the present invention one.
Figure 13 is the structural schematic diagram of the load-bearing axle of the grabbing device of the embodiment of the present invention one.
Figure 14 is the structural schematic diagram of the mandril of the grabbing device of the embodiment of the present invention one.
Figure 15 is the structural schematic diagram of the clutch component of the grabbing device of the embodiment of the present invention one.
Figure 16 is the structural schematic diagram of the braking mechanism of the grabbing device of the embodiment of the present invention one.
In figure, 1, main mounting plate, 11, load-bearing axle,
2, grabbing assembly, 21, support claw seat, 211, guide part, 212, I-shaped portion, 22, support claw, 23, elastic component,
3, the outer telephone-moving structure of support claw, 31, outer shifting motor, 32, positioning disk, 321, sliding slot, 33, radially-directed part, 331, path guide slot,
4, support claw extends out mechanism, and 41, extend out cylinder, 42, mandril,
5, rotating mechanism, 51, clutch discs, 52, clutch component, 521, clutch air cylinder, 522, clutch connection plate, 523, castle wheel
Frame, 524, pinch roller,
7, braking mechanism, 71, brake cylinder, 72, brake shoes, 73, keel.
Specific embodiment
Below with reference to the attached drawing of the invention embodiment, the technical solution of the invention embodiment is explained and
Illustrate, but following embodiments are only the preferred embodiment of the invention, and not all.Based on the implementation example in the implementation mode,
Those skilled in the art's other embodiments obtained without making creative work, belong to the invention
Protection scope.
Referring to Fig. 1 to Figure 16, a kind of grabbing device suitable for cylinder tube and circular cone tube of the invention, the crawl
Device includes:
Main mounting plate；
Grabbing assembly: the grabbing assembly includes multiple support claw seats on main mounting plate and the support on support claw seat
Pawl, the support claw have guide part and the rotating junction of the inner cylinder that can be inserted into cylinder tube and circular cone tube, the rotation
Interconnecting piece and support claw seat are hinged；
The outer telephone-moving structure of support claw, the outer telephone-moving structure of the support claw are set on main mounting plate, the outer telephone-moving structure driving support claw of the support claw and support
Pawl seat is radially movable, to grab cylinder tube；
Support claw extends out mechanism, and the support claw extends out mechanism on main mounting plate, and it is opposite that the support claw extends out mechanism driving support claw
Support claw seat rotates and makes that support claw outer end is outside, inner end is inside, to grab circular cone tube.
There is grabbing device of the invention the outer telephone-moving structure of grabbing assembly, support claw and support claw to extend out mechanism, grabbing assembly and support
The outer telephone-moving structure of pawl can grab cylinder tube, and grabbing assembly and support claw, which extend out mechanism, can grab circular cone tube.
Embodiment one
Referring to Fig. 1 to Figure 16, a kind of grabbing device suitable for cylinder tube and circular cone tube of the embodiment of the present invention one is described
Grabbing device includes:
Main mounting plate 1；
Grabbing assembly 2: the grabbing assembly 2 includes multiple support claw seats 21 on the main mounting plate 1 and is set to support claw seat 21
On support claw 22, there is the support claw 22 guide part 211 for the inner cylinder that can be inserted into cylinder tube and circular cone tube and rotation to connect
Socket part, the rotating junction and support claw seat 21 are hinged；
The outer telephone-moving structure 3 of support claw, the outer telephone-moving structure 3 of the support claw are set on main mounting plate 1, and the outer telephone-moving structure 3 of the support claw drives support claw
22 and support claw seat 21 it is radially movable, to grab cylinder tube；
Support claw extends out mechanism 4, and the support claw extends out mechanism 4 on main mounting plate 1, and the support claw extends out mechanism 4 and drives support claw
22 rotate relative to support claw seat 21 and make that 22 outer end of support claw is outside, inner end is inside, to grab circular cone tube；
Rotating mechanism 5, the rotating mechanism 5 drive all support claws 22 to rotate integrally.
As an improvement, grabbing assembly 2 includes the compressed spring being arranged between support claw seat 21, support claw 22 and the two.Support claw 22 with
Support claw seat 21 is hinged.As an improvement, also effect has the elastic component 23 for resetting support claw 22, the elastic component 23 on the support claw 22
Positioned at support claw 22 far from 211 one end of guide part.
As an improvement, the outer telephone-moving structure 3 of the support claw include outer shifting motor 31, the positioning disk 32 driven by outer shifting motor 31,
The radially-directed part 33 that can be relatively rotated with positioning disk 32, the sliding slot of the multiple arcs of circumference uniform distribution is opened up on the positioning disk 32
321, distance of the sliding slot 321 apart from 32 axle center of positioning disk is gradually increased, and the support claw seat 21, which has, to be set in sliding slot 321
Guide part 211, path guide slot 331 is opened up on the radially-directed part 33, and the guide part 211 is located at path guide slot 331 simultaneously
In, when grabbing cylinder tube, the outer shifting motor 31 drives positioning disk 32, and relatively radially guide part 33 rotates and makes support claw
Seat 21 radially outward slides in and out with support claw 22.It adopts the structure, cylinder tube can be realized by moving motor 31 outside one
Crawl.
As an improvement, the path guide slot 331 is the open slot of outer end opening, the support claw seat 21 has I-shaped portion
212, the I-shaped portion 212 is embedded in open slot so that support claw seat 21 is only capable of moving along open slot direction.On positioning disk 32
With the notch for accommodating I-shaped portion 212.
As an improvement, the rotating mechanism 5 includes clutch discs 51 and clutch component 52, including clutch discs 51 and clutch component
52, the clutch discs 51 and radially-directed part 33 are affixed, described when the clutch component 52 compresses clutch discs 51 and positioning disk 32
Clutch discs 51 are moved motor 31 with positioning disk 32 outside and are rotated by.It adopts the structure, is realized using same outer shifting motor 31
The crawl of cylinder tube and the rotation of tube.
As an improvement, the clutch component 52 include clutch air cylinder 521, with the output shaft of clutch air cylinder 521 it is affixed from
The pinch roller 524 that closes connecting plate 522 and the hinged clutch wheel carrier 523 of clutch connection plate 522 and can be rotated relative to clutch wheel carrier 523.
There are two pinch rollers 524, and two pinch rollers 524 form whole can rotate relative to clutch connection plate 522, it can be achieved that preferably clutch is imitated
Fruit.
As an improvement, the grabbing device further includes braking mechanism 7, the braking mechanism 7 include brake cylinder 71 and by
What brake cylinder 71 drove supports the only brake shoes 72 of clutch discs 51 and/or positioning disk 32.Braking mechanism 7 is set, when searching out
After the end of a thread, effective brake.
As an improvement, the braking mechanism 7 further includes keel 73, keel 73 is connect with the brake 72 of brake cylinder 71
Plate is affixed, and brake shoes 72 is installed in the groove of keel 73.
Include the power mechanism installed on main mounting plate 1 and driven by power mechanism as an improvement, the support claw extends out mechanism 4
Dynamic mandril 42, when grabbing circular cone tube, the mandril 42 contradicts support claw 22, and the support claw 22 opens after rotating and by circular cone
Tube crawl.It adopts the structure, the crawl of circular cone tube can be realized by a power mechanism such as cylinder.
As an improvement, being additionally provided with hollow load-bearing axle 11 on the main mounting plate 1, the power mechanism is to extend out cylinder
41, it is affixed with the output shaft that extends out cylinder 41 that the mandril 42 passes through load-bearing axle 11.
As an improvement, being equipped with bearing between the load-bearing axle 11 and positioning disk 32, set between load-bearing axle 11 and clutch discs 51
There is bearing.
The working principle of the grabbing device crawl cylinder tube of the present embodiment is: the outer shifting motor 31 of the outer telephone-moving structure 3 of support claw
Rotation successively drives driving wheel, driven wheel and positioning disk 32 to rotate, and clutch discs 51 are motionless at this time, support claw seat 21 and support claw 22
Radially the path guide slot 331 of guide part 33 is moved outwards, and realizes the crawl of cylinder tube.After grabbing cylinder tube, clutch group
The clutch air cylinder 521 of part 52 drives clutch connection plate 522, clutch rack and pinch roller 524 mobile to clutch discs 51 and positioning disk 32, pressure
524 compression clutch discs 51 of wheel and positioning disk 32 make clutch discs 51 and positioning disk 32 while rotating, and then cylinder tube is driven to turn
It is dynamic.
The working principle of the grabbing device crawl circular cone tube of the present embodiment is: what support claw extended out mechanism 4 extends out cylinder 41
Mandril 42 is pushed, mandril 42 pushes support claw 22, so that support claw 22 is rotated relative to support claw seat 21, circular cone tube is grabbed.Crawl circle
After boring tube, the clutch air cylinder 521 of clutch component 52 drives clutch connection plate 522, clutch rack and pinch roller 524 to 51 and of clutch discs
Positioning disk 32 is mobile, and pinch roller 524 compresses clutch discs 51 and positioning disk 32, and the outer motor 31 that moves starts at this time, so that 51 He of clutch discs
Positioning disk 32 rotates simultaneously, and then drives the rotation of circular cone tube.
The beneficial effect of the grabbing device of the embodiment of the present invention one is: having grabbing assembly 2 and the outer telephone-moving structure 3 of support claw, support
The outer telephone-moving structure 3 of pawl drives support claw 22 and support claw seat 21 radially movable, realizes the crawl of cylinder tube；With grabbing assembly 2 and support
Pawl extends out mechanism 4, support claw extend out mechanism 4 drive support claw 22 to rotate with respect to support claw seat 21 and make 22 outer end of support claw is outside, inner end to
It is interior, realize the crawl of circular cone tube；The crawl of cylinder tube is realized that the crawl and rotation of cylinder tube are by one by a motor
Motor is realized；The crawl of circular cone tube is realized by a cylinder.
The above, the only specific embodiment of the invention, but the protection scope of the invention does not limit to
In this, being familiar with the those skilled in the art should be understood that the invention includes but is not limited to attached drawing and specific embodiment party above
Content described in formula.The modification of any function and structure principle without departing from the invention is intended to be included in claims
Range in.
Claims (10)
1. a kind of grabbing device suitable for cylinder tube and circular cone tube, it is characterised in that: the grabbing device includes:
Main mounting plate (1)；
Grabbing assembly (2): the grabbing assembly (2) includes multiple support claw seats (21) on main mounting plate (1) and is set to
Support claw (22) on support claw seat (21), the support claw (22) have the guide part for the inner cylinder that can be inserted into cylinder tube and circular cone tube
(211) and rotating junction, the rotating junction and support claw seat (21) are hinged；
The outer telephone-moving structure (3) of support claw, the outer telephone-moving structure (3) of the support claw are set on main mounting plate (1), the outer telephone-moving structure (3) of the support claw
Drive support claw (22) and support claw seat (21) radially movable, to grab cylinder tube；
Support claw extends out mechanism (4), and the support claw extends out mechanism (4) on main mounting plate (1), and the support claw extends out mechanism (4)
Driving support claw (22) is with respect to support claw seat (21) rotation and makes that support claw (22) outer end is outside, inner end is inside, to grab circular cone tube.
2. a kind of grabbing device suitable for cylinder tube and circular cone tube according to claim 1, it is characterised in that: institute
State the outer telephone-moving structure (3) of support claw include outer shifting motor (31), by outer shifting motor (31) driving positioning disk (32), can be with positioning disk
(32) the radially-directed part (33) relatively rotated opens up the sliding slot of the multiple arcs of circumference uniform distribution on the positioning disk (32)
(321), distance of the sliding slot (321) apart from positioning disk (32) axle center is gradually increased, and the support claw seat (21), which has to be set to, to be slided
Guide part (211) in slot (321) opens up path guide slot (331) on the radially-directed part (33), the guide part (211)
It is located in path guide slot (331) simultaneously, when grabbing cylinder tube, the outer shifting motor (31) drives positioning disk (32) with respect to diameter
It is rotated to guide part (33) and support claw seat (21) is radially outward slid in and out with support claw (22).
3. a kind of grabbing device suitable for cylinder tube and circular cone tube according to claim 2, it is characterised in that: institute
The open slot that outer end opening is opened up on radially-directed part (33) is stated, the support claw seat (21) has I-shaped portion (212), the work
Font portion (212) is embedded in open slot so that support claw seat (21) is only capable of moving along open slot direction.
4. a kind of grabbing device suitable for cylinder tube and circular cone tube according to claim 3, it is characterised in that: institute
State the rotating mechanism (5) for being additionally provided on main mounting plate (1) and driving multiple support claw (22) unitary rotations.
5. a kind of grabbing device suitable for cylinder tube and circular cone tube according to claim 4, it is characterised in that: institute
Stating rotating mechanism (5) includes clutch discs (51) and clutch component (52), including clutch discs (51) and clutch component (52), it is described from
It closes disk (51) and radially-directed part (33) is affixed, when the clutch component (52) compresses clutch discs (51) and positioning disk (32), institute
It states clutch discs (51) and moves motor (31) outside with positioning disk (32) and be rotated by.
6. a kind of grabbing device suitable for cylinder tube and circular cone tube according to claim 5, it is characterised in that: institute
Affixed hollow load-bearing axle (11) on main mounting plate (1) is stated, the mandril (42) passes through weighing axis.
7. a kind of grabbing device suitable for cylinder tube and circular cone tube according to claim 6, it is characterised in that: institute
It states positioning disk (32) and clutch discs (51) is set to load-bearing axle (11) outside, axis is equipped between the positioning disk (32) and load-bearing axle (11)
It holds, bearing is equipped between the clutch discs (51) and load-bearing axle (11).
8. a kind of grabbing device suitable for cylinder tube and circular cone tube according to claim 1, it is characterised in that: institute
It states support claw and extends out the mandril (42) that mechanism (4) includes the power mechanism installed on mounting plate and driven by power mechanism, grabbing
When circular cone tube, the mandril (42) contradicts support claw (22), opens after support claw (22) rotation and grabs circular cone tube.
9. a kind of grabbing device suitable for cylinder tube and circular cone tube according to claim 8, it is characterised in that: institute
It states also to act on support claw (22) and has the elastic component (23) for resetting support claw (22), it is separate that the elastic component (23) is located at support claw (22)
Insertion section one end.
10. a kind of grabbing device suitable for cylinder tube and circular cone tube according to claim 1, it is characterised in that:
The quantity of the support claw (22) is three, and three support claws (22) are circumferentially uniformly distributed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910543548.3A CN110356928A (en) | 2019-06-21 | 2019-06-21 | A kind of grabbing device suitable for cylinder tube and circular cone tube |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910543548.3A CN110356928A (en) | 2019-06-21 | 2019-06-21 | A kind of grabbing device suitable for cylinder tube and circular cone tube |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110356928A true CN110356928A (en) | 2019-10-22 |
Family
ID=68216627
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910543548.3A Pending CN110356928A (en) | 2019-06-21 | 2019-06-21 | A kind of grabbing device suitable for cylinder tube and circular cone tube |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110356928A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207189582U (en) * | 2017-05-27 | 2018-04-06 | 中国神华能源股份有限公司 | Pillow spring assembling device |
| CN108002131A (en) * | 2017-12-21 | 2018-05-08 | 广州盛原成自动化科技有限公司 | upper yarn and doffing system |
| CN208086971U (en) * | 2018-04-13 | 2018-11-13 | 广州盛原成自动化科技有限公司 | Look for the end of a thread machine |
| CN208744324U (en) * | 2018-09-14 | 2019-04-16 | 珠海格力智能装备有限公司 | Clamping jaw structure and fixture with it |
| CN210480471U (en) * | 2019-06-21 | 2020-05-08 | 青岛科捷机器人有限公司 | Grabbing device suitable for cylinder yarn section of thick bamboo and circular cone yarn section of thick bamboo |
-
2019
- 2019-06-21 CN CN201910543548.3A patent/CN110356928A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207189582U (en) * | 2017-05-27 | 2018-04-06 | 中国神华能源股份有限公司 | Pillow spring assembling device |
| CN108002131A (en) * | 2017-12-21 | 2018-05-08 | 广州盛原成自动化科技有限公司 | upper yarn and doffing system |
| CN208086971U (en) * | 2018-04-13 | 2018-11-13 | 广州盛原成自动化科技有限公司 | Look for the end of a thread machine |
| CN208744324U (en) * | 2018-09-14 | 2019-04-16 | 珠海格力智能装备有限公司 | Clamping jaw structure and fixture with it |
| CN210480471U (en) * | 2019-06-21 | 2020-05-08 | 青岛科捷机器人有限公司 | Grabbing device suitable for cylinder yarn section of thick bamboo and circular cone yarn section of thick bamboo |
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