CN110405739B - Manipulator capable of realizing workpiece overturning - Google Patents
Manipulator capable of realizing workpiece overturning Download PDFInfo
- Publication number
- CN110405739B CN110405739B CN201910761364.4A CN201910761364A CN110405739B CN 110405739 B CN110405739 B CN 110405739B CN 201910761364 A CN201910761364 A CN 201910761364A CN 110405739 B CN110405739 B CN 110405739B
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- electromagnet
- mounting plate
- workpiece
- output
- sucker
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- 230000002457 bidirectional effect Effects 0.000 claims abstract description 22
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 230000007306 turnover Effects 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
-
- 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
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of intelligent assembly, and particularly relates to a manipulator capable of realizing workpiece overturning, which comprises a secondary telescopic cylinder, an electromagnet sucker arranged at the output end of the secondary telescopic cylinder, an overturning fixed mounting plate, a bidirectional output cylinder arranged on the overturning fixed mounting plate, a left chuck module and a right chuck module which are respectively arranged on the output shafts of the bidirectional output cylinders and are oppositely arranged, wherein the left chuck module comprises a left fixed seat arranged on the output shafts of the bidirectional output cylinders, a rotary stepping motor arranged on the left fixed seat and an active clamping plate arranged on the output shafts of the rotary stepping motor; the right chuck module comprises a right fixing seat arranged on the output shaft of the bidirectional output cylinder, a driven rotating shaft connected to the right fixing seat through a bearing and a driven clamping plate arranged on the driven rotating shaft. The invention can realize the overturning and turning of the workpiece while grabbing the workpiece, and improves the assembly efficiency.
Description
Technical Field
The invention belongs to the technical field of intelligent assembly, and particularly relates to a manipulator capable of realizing workpiece overturning.
Background
The module manipulator in the current market generally absorbs and then shifts the product through sucking disc or electro-magnet, and the function is single.
In the assembly process of the hanging plate of the elevator door, as the roller and the change gear are arranged on one surface of the hanging plate body, and the pulley is arranged on the other surface of the hanging plate body, the hanging plate body is required to be taken away from the tool after one surface is installed, and then the hanging plate body is turned over for 180 degrees and then is placed on the tool again, and the assembly of the other surface is continued. The existing manipulator module is difficult to realize accurate turning of the workpiece by 180 degrees.
Disclosure of Invention
The invention aims to overcome the defect that a manipulator in the prior art has single function and cannot accurately overturn a workpiece, and provides a manipulator capable of realizing workpiece overturn.
The technical scheme adopted for solving the technical problems is as follows:
Can realize manipulator of work piece upset, its characterized in that: the device comprises a secondary telescopic cylinder, an electromagnet sucker arranged at the output end of the secondary telescopic cylinder, a turnover fixed mounting plate, a bidirectional output cylinder arranged on the turnover fixed mounting plate, a left chuck module and a right chuck module which are respectively arranged on output shafts of the bidirectional output cylinders and are oppositely arranged, wherein the left chuck module comprises a left fixing seat arranged on the output shafts of the bidirectional output cylinders, a rotary stepping motor arranged on the left fixing seat and an active clamping plate arranged on the output shafts of the rotary stepping motor; the right chuck module comprises a right fixing seat arranged on the output shaft of the bidirectional output cylinder, a driven rotating shaft connected to the right fixing seat through a bearing, and a driven clamping plate arranged on the driven rotating shaft.
Further, an opening clamp slide rail fixing plate is fixedly arranged on the overturning fixing mounting plate, an opening clamp slide rail is fixedly arranged on the opening clamp slide rail fixing plate, and the left fixing seat and the right fixing seat both move along the opening clamp slide rail through an opening clamp slide block fixed on the left fixing seat and the right fixing seat; the extending direction of the opening clamp sliding rail is parallel to the central axis of the output shaft of the bidirectional output cylinder.
Further, two sides of the outer peripheral surface of the driven rotating shaft in the right fixing seat are oppositely provided with a pair of spring plungers.
Further, the driving clamping plate and the driven clamping plate are provided with strip-shaped workpiece clamping grooves.
Further, the left fixing seat and the right fixing seat are provided with proximity switches, the driving clamping plate and the driven clamping plate are provided with induction pieces, and when the induction pieces extend into the proximity switches, the driving clamping plate and the driven clamping plate can start to clamp a workpiece in place.
Further, the electromagnet suction cup comprises a suction head mounting plate and a plurality of suction head assemblies mounted on the suction head mounting plate, and the suction head assemblies comprise: the electromagnet connecting rod penetrates through the suction head mounting plate, is fixed at the bushing at the upper end of the electromagnet connecting rod, is mounted at the lower end of the electromagnet connecting rod, and is sleeved with the spring; the spring is arranged between the electromagnet and the suction head mounting plate.
Further, the electromagnet suction cup comprises a suction head mounting plate and a plurality of suction head assemblies mounted on the suction head mounting plate, and the suction head assemblies comprise: the guide post penetrates through the suction head mounting plate, is fixed at the upper end of the guide post, is fixed at the electromagnet at the lower end of the guide post, is arranged on the lower side surface of the suction head mounting plate, and is sleeved with the spring; the guide post passes through the guide sleeve, and the spring is arranged between the guide sleeve and the electromagnet.
Further, a photoelectric sensor for detecting whether the electromagnet sucker successfully sucks the workpiece is also arranged on the sucker mounting plate.
Further, the device also comprises an X-direction electric cylinder driving module, a Y-direction electric cylinder driving module and a Z-direction electric cylinder driving module, wherein the second-stage telescopic cylinder is arranged at the output end of the Z-direction electric cylinder driving module.
Still further still include the installing support, X is to jar drive module, Y is to jar drive module and Z is to jar drive module all install on the installing support, the installing support passes through the line body connecting piece and is connected with the production main line body.
The manipulator capable of realizing workpiece overturning has the beneficial effects that:
1. The two-stage telescopic cylinder stretches to a second stretching position and then absorbs a workpiece on the tool through the electromagnet chuck, then the two-stage telescopic cylinder retracts to a first stretching position, the two-way output cylinder drives the left chuck module to clamp the workpiece with the right chuck module, then the electromagnet chuck is powered off to loosen the workpiece, the two-stage telescopic cylinder retracts to an initial state, and finally the rotating stepping motor drives the left chuck module to drive the workpiece to rotate 180 degrees, and then the two-stage telescopic cylinder drives the electromagnet chuck to absorb the workpiece again and put the workpiece back to the tool, so that automatic overturning of the workpiece is completed. The two-stage telescopic cylinder is adopted, so that the electromagnet sucker can avoid the workpiece in the overturning process. The rotary stepping motor can enable the workpiece to accurately rotate 180 degrees to finish turning.
2. The manipulator disclosed by the invention can be used for grabbing a workpiece, overturning and turning the workpiece, and completing double-sided assembly of the workpiece on the same tool, so that the workpiece assembly process is simplified, and the assembly efficiency is improved.
3. The electromagnetic suction head assembly with elasticity can adapt to uneven adsorbed surfaces, so that each electromagnet can be tightly attached to the adsorbed surfaces, and the falling risk in the adsorption process is reduced.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is a view showing the overall construction of embodiment 1 of the present invention;
FIG. 2 is a partial construction view of embodiment 1 of the present invention;
FIG. 3 is a block diagram of a suction head assembly according to embodiment 1 of the present invention;
FIG. 4 is a view showing the construction of a driven clamping plate according to embodiment 1 of the present invention;
FIG. 5 is a block diagram of a suction head assembly according to example 2 of the present invention.
In the figure, 1, a two-stage telescopic cylinder, 2, an electromagnet sucker, 21, a sucker mounting plate, 22, a sucker assembly, 221, a guide pillar, 222, a holding ring, 223, an electromagnet, 224, a guide sleeve, 225, a spring, 226, an electromagnet connecting rod, 227, a bushing, 3, a turnover fixing mounting plate, 4, a two-way output cylinder, 5, a left chuck module, 51, a left fixing seat, 52, a rotating stepping motor, 53, a driving clamping plate, 6, a right chuck module, 61, a right fixing seat, 62, a driven rotating shaft, 63, a driven clamping plate, 7, an opening clamp slide rail fixing plate, 8, an opening clamp slide rail, 9, an opening clamp slide block, 10, a spring plunger, 11, a workpiece clamping groove, 12, a proximity switch, 13, an induction piece, 14, a photoelectric sensor, 15, an X-direction electric cylinder driving module, 16, a Y-direction electric cylinder driving module, 17, a Z-direction electric cylinder driving module, 18, a mounting bracket, 19 and a wire connecting piece.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
Example 1
The embodiment 1 of the manipulator capable of realizing workpiece overturning according to the invention shown in fig. 1-4 comprises a mounting bracket 18, wherein an X-direction electric cylinder driving module 15, a Y-direction electric cylinder driving module 16 and a Z-direction electric cylinder driving module 17 are mounted on the mounting bracket 18, and the mounting bracket 18 is connected with a production main body through a wire body connecting piece 19.
The manipulator capable of realizing workpiece overturning in the embodiment further comprises a secondary telescopic cylinder 1 arranged at the output end of the Z-direction electric cylinder driving module 17, an electromagnet sucker 2 arranged at the output end of the secondary telescopic cylinder 1, an overturning fixed mounting plate 3, a bidirectional output cylinder 4 arranged on the overturning fixed mounting plate 3, a left chuck module 5 and a right chuck module 6 which are respectively arranged on the output shafts of the bidirectional output cylinders 4 and are oppositely arranged, wherein the left chuck module 5 comprises a left fixed seat 51 arranged on the output shafts of the bidirectional output cylinders 4, a rotary stepping motor 52 arranged on the left fixed seat 51 and an active clamping plate 53 arranged on the output shafts of the rotary stepping motor 52; the right chuck module 6 includes a right fixing base 61 mounted on the output shaft of the bi-directional output cylinder 4, a driven rotating shaft 62 connected to the right fixing base 61 through a bearing, and a driven clamping plate 63 mounted on the driven rotating shaft 62.
In this embodiment, the turnover fixing plate 3 is also fixedly provided with an opening clamp slide rail fixing plate 7, the opening clamp slide rail fixing plate 7 is fixedly provided with an opening clamp slide rail 8, and the left fixing seat 51 and the right fixing seat 61 both move along the opening clamp slide rail 8 through an opening clamp slide block 9 fixed on the left fixing seat 51 and the right fixing seat 61; the extending direction of the opening clamp slide rail 8 is parallel to the central axis of the output shaft of the bidirectional output cylinder 4.
The size of the stroke of the bidirectional output cylinder 4 determines the size of the workpiece which can be turned over, and the bidirectional output cylinder 4 can be customized according to actual needs.
Referring to fig. 4, since the driven clamping plate 63 has no power source, a pair of spring plungers 10 are oppositely provided at both sides of the outer peripheral surface of the driven rotating shaft 62 in the right fixing base 61 in order to prevent it from being "rotated about" when the workpiece is not clamped. The driven rotating shaft 62 is provided with a spherical positioning groove, and when the positioning bead of the spring plunger 10 is propped in the spherical positioning groove of the driven rotating shaft 62, the driven clamping plate 63 is kept in a parallel state.
The driving clamping plate 53 and the driven clamping plate 63 are provided with an elongated clamping workpiece groove 11. Because the link plate body of the elevator door link plate is of a rectangular plate mounting structure, the long workpiece clamping groove 11 enables the link plate body to be embedded into the link plate body, and workpieces are not easy to fall off in the overturning process.
The left fixing seat 51 and the right fixing seat 61 are respectively provided with a proximity switch 12, the driving clamping plate 53 and the driven clamping plate 63 are respectively provided with a sensing piece 13, and when the sensing piece 13 stretches into the proximity switch 12, the driving clamping plate 53 and the driven clamping plate 63 can start clamping a workpiece in place. When the proximity switch 12 senses that the driving clamping plate 53 is at the predetermined position and the driven clamping plate 63 is not at the predetermined position, the device is abnormal, and the device alarms.
Referring to fig. 3, the electromagnet suction cup 2 includes a suction head mounting plate 21 and a plurality of suction head assemblies 22 mounted on the suction head mounting plate 21, the suction head assemblies 22 including: an electromagnet connecting rod 226 installed through the suction head mounting plate 21, a bushing 227 fixed at the upper end of the electromagnet connecting rod, an electromagnet 223 installed at the lower end of the electromagnet connecting rod, and a spring 225 sleeved on the electromagnet connecting rod 226; the spring 225 is disposed between the electromagnet 223 and the tip mounting plate 21. The electromagnetic 223 suction head assembly 22 with elasticity can adapt to an uneven adsorbed surface, so that each electromagnetic 223 can be tightly attached to the adsorbed surface, and the falling risk in the adsorption process is reduced.
The suction head mounting plate 21 is also provided with a photoelectric sensor 14 for detecting whether the electromagnet suction cup 2 successfully sucks a workpiece.
Example 2
The difference from embodiment 1 is the structure of the suction head assembly 22.
The tip assembly 22 includes: a guide post 221 penetrating through the suction head mounting plate 21, a holding ring 222 fixed at the upper end of the guide post 221, an electromagnet 223 fixedly mounted at the lower end of the guide post 221, a guide sleeve 224 mounted on the lower side surface of the suction head mounting plate 21 and a spring 225 sleeved on the guide post 221; the guide post 221 passes through the guide sleeve 224, and a spring 225 is disposed between the guide sleeve 224 and the electromagnet 223.
The working process of the manipulator capable of realizing workpiece overturning comprises the following steps:
S1, an X-direction electric cylinder driving module 15, a Y-direction electric cylinder driving module 16 and a Z-direction electric cylinder driving module 17 act, and the secondary telescopic cylinder 1 stretches to a second stretching position to enable the electromagnet sucker 2 to move to a specified position;
s2, the Z-direction electric cylinder driving module 17 descends to drive the electromagnet sucker 2 to suck a workpiece;
s3, the Z-direction electric cylinder driving module 17 drives a workpiece to ascend, a lower overturning space is reserved for the workpiece, and the secondary telescopic cylinder 1 is retracted to a first telescopic position;
S4, the bidirectional output air cylinder 4 contracts to clamp the workpiece through the left chuck module 5 and the right chuck module 6;
s5, the electromagnet sucker 2 loosens the workpiece, the secondary telescopic cylinder 1 is retracted to an initial position, and the electromagnet sucker 2 is driven to ascend, so that an upturned space is reserved for the workpiece;
S6, driving the driving clamping plate 53 to rotate by the rotary stepping motor 52, and driving the workpiece to turn over 180 degrees;
S7, the secondary telescopic cylinder 1 extends to a first extension position, and the electromagnet sucker 2 sucks a workpiece;
S8, the bidirectional output cylinder 4 acts, and the driving clamping plate 53 and the driven clamping plate 63 loosen the workpiece;
s9, the secondary telescopic cylinder 1 stretches out to a second extension position, and the electromagnet sucker 2 places the workpiece which is turned 180 degrees to a designated position on the tool.
It should be understood that the above-described specific embodiments are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications which extend from the spirit of the present invention are within the scope of the present invention.
Claims (7)
1. Can realize manipulator of work piece upset, its characterized in that: the device comprises a secondary telescopic cylinder (1), an electromagnet sucker (2) arranged at the output end of the secondary telescopic cylinder (1), a turnover fixed mounting plate (3), a bidirectional output cylinder (4) arranged on the turnover fixed mounting plate (3), a left chuck module (5) and a right chuck module (6) which are respectively arranged on the output shafts of the bidirectional output cylinder (4) and are oppositely arranged, wherein the left chuck module (5) comprises a left fixed seat (51) arranged on the output shafts of the bidirectional output cylinder (4), a rotary stepping motor (52) arranged on the left fixed seat (51) and an active clamping plate (53) arranged on the output shafts of the rotary stepping motor (52); the right chuck module (6) comprises a right fixed seat (61) arranged on the output shaft of the bidirectional output cylinder (4), a driven rotating shaft (62) arranged on the right fixed seat (61) through a bearing and a driven clamping plate (63) arranged on the driven rotating shaft (62); an opening clamp sliding rail fixing plate (7) is fixedly arranged on the overturning fixing mounting plate (3), an opening clamp sliding rail (8) is fixedly arranged on the opening clamp sliding rail fixing plate (7), and the left fixing seat (51) and the right fixing seat (61) move along the opening clamp sliding rail (8) through an opening clamp sliding block (9) fixed on the left fixing seat and the right fixing seat; the extending direction of the opening clamp sliding rail (8) is parallel to the central axis of the output shaft of the bidirectional output cylinder (4);
The electromagnet sucker (2) comprises a sucker mounting plate (21) and a plurality of sucker assemblies (22) mounted on the sucker mounting plate (21), and the sucker assemblies (22) comprise: an electromagnet connecting rod (226) penetrating through the suction head mounting plate (21), a bushing (227) fixed at the upper end of the electromagnet connecting rod, an electromagnet (223) mounted at the lower end of the electromagnet connecting rod and a spring (225) sleeved on the electromagnet connecting rod (226); the spring (225) is arranged between the electromagnet (223) and the suction head mounting plate (21);
Or the electromagnet sucker (2) comprises a sucker mounting plate (21) and a plurality of sucker assemblies (22) mounted on the sucker mounting plate (21), and the sucker assemblies (22) comprise: the suction head comprises a guide post (221) penetrating through the suction head mounting plate (21), a holding ring (222) fixed at the upper end of the guide post (221), an electromagnet (223) fixedly mounted at the lower end of the guide post (221), a guide sleeve (224) mounted on the lower side surface of the suction head mounting plate (21) and a spring (225) sleeved on the guide post (221); the guide post (221) passes through the guide sleeve (224), and the spring (225) is arranged between the guide sleeve (224) and the electromagnet (223).
2. The manipulator capable of turning over a workpiece according to claim 1, wherein: a pair of spring plungers (10) are oppositely arranged on two sides of the outer peripheral surface of a driven rotating shaft (62) in the right fixing seat (61).
3. The manipulator capable of turning over a workpiece according to claim 1, wherein: the driving clamping plate (53) and the driven clamping plate (63) are provided with strip-shaped workpiece clamping grooves (11).
4. The manipulator capable of turning over a workpiece according to claim 1, wherein: the left fixing seat (51) and the right fixing seat (61) are respectively provided with a proximity switch (12), the driving clamping plate (53) and the driven clamping plate (63) are respectively provided with a sensing piece (13), when the sensing piece (13) stretches into the proximity switch (12), the driving clamping plate (53) and the driven clamping plate (63) can start to clamp a workpiece in place.
5. The manipulator capable of turning over a workpiece according to claim 1, wherein: the suction head mounting plate (21) is also provided with a photoelectric sensor (14) for detecting whether the electromagnet suction disc (2) successfully sucks a workpiece.
6. The manipulator capable of turning over a workpiece according to claim 1, wherein: the device further comprises an X-direction electric cylinder driving module (15), a Y-direction electric cylinder driving module (16) and a Z-direction electric cylinder driving module (17), wherein the secondary telescopic cylinder (1) is arranged at the output end of the Z-direction electric cylinder driving module (17).
7. A manipulator for turning a workpiece according to any one of claims 1 to 6, wherein: the device is characterized by further comprising a mounting bracket (18), wherein the X-direction electric cylinder driving module (15), the Y-direction electric cylinder driving module (16) and the Z-direction electric cylinder driving module (17) are all mounted on the mounting bracket (18), and the mounting bracket (18) is connected with a production main line body through a line body connecting piece (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910761364.4A CN110405739B (en) | 2019-08-18 | 2019-08-18 | Manipulator capable of realizing workpiece overturning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910761364.4A CN110405739B (en) | 2019-08-18 | 2019-08-18 | Manipulator capable of realizing workpiece overturning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110405739A CN110405739A (en) | 2019-11-05 |
| CN110405739B true CN110405739B (en) | 2024-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910761364.4A Active CN110405739B (en) | 2019-08-18 | 2019-08-18 | Manipulator capable of realizing workpiece overturning |
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| CN (1) | CN110405739B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110978022B (en) * | 2019-12-24 | 2021-07-16 | 宁波奥克斯电气股份有限公司 | Clamping turnover mechanism of manipulator |
| CN110883763A (en) * | 2019-12-25 | 2020-03-17 | 苏州博古特智造有限公司 | Spacer tongs |
| CN112025254A (en) * | 2020-09-30 | 2020-12-04 | 谢昭 | Six-axis lean assembly platform |
| CN112404983A (en) * | 2020-11-30 | 2021-02-26 | 浙江澳尔电器有限公司 | Assembly equipment of composite material gearbox |
| CN112809713A (en) * | 2020-12-31 | 2021-05-18 | 珠海格力智能装备有限公司 | Clamp, clamping mechanism and clamping method |
| CN114310438A (en) * | 2022-01-10 | 2022-04-12 | 南通佳润精密科技有限公司 | Transmission equipment for machining of numerical control machine tool |
| CN115302492B (en) * | 2022-10-10 | 2022-12-20 | 中国科学院沈阳自动化研究所 | Large flexible body carrying manipulator |
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| CN210650675U (en) * | 2019-08-18 | 2020-06-02 | 宁波易拓智谱机器人有限公司 | Manipulator capable of overturning workpiece |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6508617B1 (en) * | 2000-11-09 | 2003-01-21 | Abb Technology Ag | Device for lifting, orienting, and positioning enclosures |
| CN103707117B (en) * | 2013-12-23 | 2016-05-25 | 苏州博众精工科技有限公司 | One turning lifting mechanism |
| CN104772642B (en) * | 2014-01-14 | 2017-02-15 | 鸿富锦精密工业（深圳）有限公司 | Turnover device |
| KR101631144B1 (en) * | 2014-11-27 | 2016-06-20 | 주식회사 에스에프에이 | An Apparatus for Flipping Electrostatic Chuck |
| CN105798894B (en) * | 2016-04-11 | 2018-07-06 | 哈尔滨理工大学 | A kind of catching robot of turnable babinet |
| CN106144529A (en) * | 2016-08-22 | 2016-11-23 | 无锡先导智能装备股份有限公司 | A kind of battery strings blanking turn-over mechanism |
| CN207771327U (en) * | 2017-11-28 | 2018-08-28 | 南通理工学院 | A upset clamping device for machining |
| CN108393875A (en) * | 2018-05-24 | 2018-08-14 | 深圳智慧者机器人科技有限公司 | Draw overturning truss manipulator |
| CN208648017U (en) * | 2018-07-16 | 2019-03-26 | 宁波盈泰利科智能科技有限公司 | A kind of turnover mechanism of servo-electric tipper |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210650675U (en) * | 2019-08-18 | 2020-06-02 | 宁波易拓智谱机器人有限公司 | Manipulator capable of overturning workpiece |
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