CN110451253A - A kind of circuit board automatic moving loader - Google Patents
A kind of circuit board automatic moving loader Download PDFInfo
- Publication number
- CN110451253A CN110451253A CN201910832911.3A CN201910832911A CN110451253A CN 110451253 A CN110451253 A CN 110451253A CN 201910832911 A CN201910832911 A CN 201910832911A CN 110451253 A CN110451253 A CN 110451253A
- Authority
- CN
- China
- Prior art keywords
- plate
- circuit board
- movable plate
- connecting rod
- mould group
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 239000000203 mixture Substances 0.000 claims abstract description 9
- 230000000694 effects Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 abstract description 8
- 238000010521 absorption reaction Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 241000196324 Embryophyta Species 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000035611 feeding Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—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
- B25J15/06—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
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- 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
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the manufacture fields of circuit board, more particularly to a kind of circuit board automatic moving loader, including rack, grasping mechanism, machine frame inside is equipped with mobile mould group, mobile mould group is connected to grasping mechanism, the movement of mobile mould group control manipulator in the X, Y, Z direction, the handgrip component that manipulator passes through the four bar linkage of parallelogram, screw rod is driven by first motor, screw rod band movable slider slides up and down on shifting sledge, it is hinged on sliding block upper shifting board and acts on the folding of four bar linkage, to drive the opening and clamping of grasping plate.The present invention passes through the handgrip component of mobile mould group and four bar linkage composition, the circuit board on flow chart can be grabbed well, the present invention is also equipped with vacuum chuck component, also it is suitble to the absorption of null circuit plate fast vacuum, as auxiliary transfer, the symmetrical multiple grasping plates in the both sides of handgrip component realize and grab to the equilibrium of circuit board, can damage to avoid crawl process to circuit board.
Description
Technical field
The present invention relates to the manufacture field of circuit board more particularly to a kind of circuit board automatic moving loaders.
Background technique
Currently, circuit board during processing, detection, is needed through the mechanical devices of artificial or other feedings from one
A place or a process are transferred to another place or process processing, in order to improve working efficiency, lower the people of enterprise
Work cost, it will usually substitute the movement manually grabbed, but existing manipulator using manipulator, mostly use screw rod and screw rod spiral shell greatly
The mode of parent phase cooperation, the precision of crawl is not high, is easy to make a mess of fragile circuit board, especially in huge communication products circuit board
In, since the length and width of circuit board is bigger, the component value installed on circuit board is high, needs two people both sides cooperations
It lifts and moves, existing mechanical device is unsuitable to grab such circuit board.
Summary of the invention
The purpose of the present invention is to provide a kind of circuit board automatic moving loaders, solve the huge communication products electricity of the prior art
The crawl of road plate, mobile difficult problem.
In order to achieve the above objectives, solution of the invention is:
A kind of circuit board automatic moving loader, including rack, manipulator are equipped with mobile mould group, the shifting in rack
Dynamic model group is connected to the manipulator, and the manipulator includes handgrip component, gripper frame, and gripper frame is connected to the shifting
Dynamic model group and the handgrip component, the handgrip component include the tool of connecting plate and multiple movable plates, multiple connecting rods composition
There are more bar linkage mechanisms, which connects a mobilizable driver plate connected with gripper frame, in the gripper frame
First motor is set, screw rod is connected on the output shaft of first motor, screw rod bottom is connected with sliding block group, sliding block group and mobile cunning
Rail cooperation, two driver plates are hinged in sliding block group, and first motor drives screw rod, screw rod band movable slider group on shifting sledge on
Lower slider, the driver plate being hinged in sliding block group act on more bar linkage mechanisms, are driven by the folding of more bar linkage mechanisms mechanical
The opening and crawl of hand.
Further, the mobile mould group, including two Y sliding rails, an X sliding rail, a Z sliding rail and X-motor, Y electricity
Machine, Z motor, two Y sliding rails are fixedly connected on the two sides of rack, X sliding rail and the cooperation of Y sliding rail, Z sliding rail and the cooperation of X sliding rail, Y electricity
Machine controls mobile mould group and moves on Y sliding rail, and X-motor controls mobile mould group and moves on X sliding rail, the mobile mould group of Z motor control
It is moved on Z sliding rail.The Z sliding rail of the mobile mould group is connected to the manipulator, is existed by mobile mould group control manipulator
X, Y, the movement in Z-direction.
Further, the handgrip component includes connecting plate, the first movable plate, the second movable plate, third movable plate, grabs
Plate, first connecting rod, second connecting rod and third connecting rod, two the first movable plates and two the second movable plates are connected to by connecting shaft
On fishplate bar, the first movable plate is located on the outside of the second movable plate, and other end and the first connecting rod of two the first movable plates are connected to
A first activity board group with a linkage effect, the other end and second connecting rod of two the second movable plates are formed together
Link together one the second activity board group with a linkage effect of composition, and the second activity board group is connect with third connecting rod,
First movable plate and the second movable plate are connected and are constituted by first connecting rod and second connecting rod by third movable plate
Linkage unit with linkage effect, connecting plate, the first movable plate, the second movable plate and third movable plate, which constitute one, to be had
The four bar linkage of parallelogram, connecting plate and third movable plate are parallelogram horizontal sides, the first movable plate and the
Two movable plates are mobilizable bevel edge, and grasping plate is connected on third movable plate.
Further, connecting hole is provided in the grasping plate, by connecting hole by grasping plate and third movable plate axis connection
Together.
It further, further include the first card slot, the second card slot and grabbing groove in the grasping plate, the first card slot and first connect
Bar cooperation, the first card slot are stuck on first connecting rod, and the second card slot and second connecting rod cooperation, the second card slot are stuck on second connecting rod.
The third movable plate of grasping plate and handgrip component interlocks, the electricity on folding crawl flow chart that grabbing groove passes through four bar linkage
Road plate, upward, downward, for grasping plate during grabbing circuit board, grasping plate is with its connection for the second card slot notch for the first card slot notch
Hole is fulcrum, and there is the first card slot stress upward to be clamped on first connecting rod, and the second card slot slot has downward stress clamping
On second connecting rod, therefore, the stress in grasping plate can divide equally on four bar linkage well.
Further, the manipulator further includes the Suction cup assembly being connected on connecting plate, and Suction cup assembly includes sucker,
Sucker is connected with vacuum plant, is vacuumized by vacuum plant, realizes absorption of the Suction cup assembly to circuit board.
Further, the Suction cup assembly, height are at least above grasping plate height when handgrip component maximum opening.
Further, the rack is provided with wheel and card base, card base threadedly adjustable height thereon
Degree when mobile, more than the height adjustment to wheel of card base, when needing to place stopping, card base being adjusted, will take turns subcard
Firmly.
The opening of handgrip component of the present invention and clamping are that screw rod is driven by first motor, and screw rod band movable slider is slided mobile
It is slided up and down on rail, is hinged on sliding block upper shifting board and acts on third connecting rod, the four-rod linkage machine of linkage is driven by third connecting rod
Structure, the first movable plate of four bar linkage and the second movable plate are opposite with connecting plate angulation change, to realize connecting plate two sides
Four bar linkage relative size change, to adapt to the crawl and clamping of different size circuit board.
Suction cup assembly of the invention extracts vacuum suction circuit board by vacuum plant, and Suction cup assembly passes through mobile mould group
The adjustment realized to product space is moved up and down in Z-direction, Suction cup assembly adsorption process, handgrip component is in the open state,
So that the sucker on Suction cup assembly protrudes from handgrip component, realize sucker to the vacuum suction of circuit board.
Beneficial effects of the present invention: the present invention passes through the handgrip component of mobile mould group and four bar linkage composition, can
The circuit board on flow chart is grabbed well, is especially suitable for grabbing the circuit board of huge communication products, meanwhile, the present invention is also
Equipped with vacuum chuck component, also it is suitble to the absorption of null circuit plate (circuit board of no component) fast vacuum, as auxiliary transfer, grabs
Symmetrically multiple grasping plates, realization grab the equilibrium of circuit board on the both sides of hand component, can be to avoid crawl process to circuit board
Damage.
Detailed description of the invention
Fig. 1 is stereoscopic schematic diagram of the invention.
Fig. 2 is the stereoscopic schematic diagram of the mobile mould group of the present invention.
Fig. 3 is the stereoscopic schematic diagram of manipulator of the present invention.
Fig. 4 is the right view of manipulator of the present invention.
Fig. 5 is the stereoscopic schematic diagram of grasping plate of the present invention.
Wherein: 1- rack, 11- card base, 12- wheel, 2- mobile mould group, 21-X sliding rail, 22-Y sliding rail, 23-Z sliding rail, 24-
X-motor, 25-Y motor, 26-Z motor, 3- manipulator, 31- handgrip component, 311- connecting plate, the first movable plate of 312-, 313-
Two movable plates, 314- third movable plate, 315- grasping plate, 315a- connecting hole, the first card slot of 315b-, the second card slot of 315c-,
315d- grabbing groove, 316- first connecting rod, 317- second connecting rod, 318- third connecting rod, 319- connecting shaft, 32- gripper frame, 321- are moved
Dynamic sliding rail, 322- sliding block group, 323- first motor, 324- screw rod, 325- driver plate, 33- Suction cup assembly, 331- sucker.
Specific embodiment
Brief description is made to embodiments of the present invention with reference to the accompanying drawing.
The present invention discloses a kind of circuit board transfer automatic moving loader, and referring to Fig.1, which includes rack 1, machinery
Hand 3 is equipped with mobile mould group 2, the card that the wheel 12 for machine frame movement is provided in rack 1 and is stopped for wheel 12 in rack 1
Foot 11, device need the circuit board of transfer by the crawl of handgrip component 31 of manipulator 3 or by 33 vacuum suction of Suction cup assembly,
And the transfer by the mobile realization of manipulator 3 to circuit board.
Referring to Fig. 2, being mounted on the mobile mould group 2 inside rack 1 includes two Z of X sliding rail 21, one of Y sliding rail 22, one sliding
Rail 23 and X-motor 24, Y-motor 25, Z motor 26, two Y sliding rails 22 are fixedly connected on the two sides of rack 1, X sliding rail 21 and Y sliding rail
22 cooperations, Z sliding rail 23 and X sliding rail 21 cooperate, and Y-motor 25 controls mobile mould group 2 and moves on Y sliding rail 22, and the control of X-motor 24 moves
Dynamic model group 2 moves on X sliding rail 21, and Z motor 26 controls mobile mould group 2 and moves on Z sliding rail 23, the Z sliding rail 23 of mobile mould group 2
It is connected to manipulator 3, the movement of manipulator 3 in the X, Y, Z direction is controlled by mobile mould group 2.
Referring to Fig. 3, manipulator 3 includes handgrip component 31, gripper frame 32 and Suction cup assembly 33, and handgrip component 31 is two right
The four bar linkage of title, the connecting plate 311 of handgrip component 31, the first movable plate 312, the second movable plate 313, third movable plate
314 constitute the four bar linkage with parallelogram, and connecting plate 311 is parallel four side with third movable plate 314
Shape horizontal sides, the first movable plate 312 and the second movable plate 313 are mobilizable bevel edge, and two the first movable plates 312 and two the
Two movable plates 313 are connected on connecting plate 311 by connecting shaft 319, and the first movable plate 312 is located on the outside of the second movable plate 313, and two
A first movable plate, 312 other end and first connecting rod 316, which link together composition one, has the first of a linkage effect
Activity board group, two 313 other ends of the second movable plate and second connecting rod 317 connect composition one, and there is a linkage to make
Second activity board group, third movable plate 314 is by first connecting rod 316 and second connecting rod 317 by the first movable plate 312 and the
Two movable plates 313, which connect, constitutes the linkage unit with linkage effect, and grasping plate 315 is connected to by connecting hole 315a
On three movable plates 314, the first card slot 315b notch of grasping plate 315 is clamped on upward on first connecting rod 316, and the second of grasping plate 315
Card slot 315c notch is clamped on downward on second connecting rod 317, and handgrip component 31 is connected under gripper frame 32 by connecting plate 311
Side, gripper frame 32 include shifting sledge 321 and two movable plates 325, inside first motor 323, first motor 323 are installed
Output shaft on be connected with screw rod 324,324 bottom of screw rod is connected with sliding block group 322, and sliding block group 322 and shifting sledge 321 are matched
It closes, two movable plates 325 are hinged in sliding block group 322, and the other end of two movable plates 325 and the third of handgrip component 31 connect
Bar 318 connects.
Referring to Fig. 3, manipulator 3 of the present invention is also provided with Suction cup assembly 33, and Suction cup assembly 33 connects under connecting plate 311
Side, Suction cup assembly 33 include multiple suckers 331, and sucker 331 is connected with vacuum plant, vacuumized by vacuum plant, realize and inhale
Disk group 33 adsorb circuit board, the height of grasping plate 315 when the height of Suction cup assembly 33 is at least above grabbing assembly maximum opening.
The present invention can be grabbed to circuit board or vacuum suction, realizes the transfer process of circuit board, handgrip component 31
The symmetrical multiple grasping plates 315 in both sides realize and grab to the equilibrium of circuit board, can damage to avoid crawl process to circuit board,
The bigger circuit board of length, width can be grabbed, the crawl of the huge communication products circuit board of the prior art is efficiently solved, moves
Move difficult problem.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (8)
1. a kind of circuit board automatic moving loader, it is characterised in that: including rack, manipulator, mobile mould group is installed in rack,
The mobile mould group connection manipulator, the manipulator include handgrip component and gripper frame, described in gripper frame connection
Mobile mould group and the handgrip component, the handgrip component include connecting plate and multiple movable plates, multiple connecting rods composition
Have more bar linkage mechanisms, the linkage mechanism connect a mobilizable driver plate connected with gripper frame, the handgrip
First motor is set in frame, is connected with screw rod on the output shaft of first motor, screw rod bottom is connected with sliding block group, sliding block group and shifting
Dynamic sliding rail cooperation, two driver plates are hinged in sliding block group, and first motor drives screw rod, and screw rod band movable slider group is in shifting sledge
On slide up and down, the driver plate being hinged in sliding block group acts on more bar linkage mechanisms, by more bar linkage mechanisms folding drive
The opening and crawl of manipulator.
2. a kind of circuit board automatic moving loader according to claim 1, it is characterised in that: the mobile mould group includes
Two Y sliding rails, an X sliding rail, a Z sliding rail and X-motor, Y-motor, Z motor, two Y sliding rails are fixedly connected on the two of rack
Side, X sliding rail and the cooperation of Y sliding rail, Z sliding rail and the cooperation of X sliding rail, Y-motor control mobile mould group and move on Y sliding rail, X-motor control
Mobile mould group moves on X sliding rail, and the mobile mould group of Z motor control moves on Z sliding rail, and the Z sliding rail of mobile mould group is connected to institute
The manipulator stated, by the movement of mobile mould group control manipulator in the X, Y, Z direction.
3. a kind of circuit board automatic moving loader according to claim 1, it is characterised in that: the handgrip component, packet
Include connecting plate, the first movable plate, the second movable plate, third movable plate, grasping plate, first connecting rod, second connecting rod, third connecting rod, two
A first movable plate and two the second movable plates are connected on connecting plate by connecting shaft, and the first movable plate is located at outside the second movable plate
Side, two the first movable plates, other end and first connecting rod link together composition one with linkage effect the
One activity board group, the other end and second connecting rod of two the second movable plates link together composition one, and there is a linkage to make
Second activity board group, the second activity board group are connect with third connecting rod, and third movable plate passes through first connecting rod and second connecting rod
First movable plate and the second movable plate are linked together and constitute the linkage unit with linkage effect, connecting plate,
First movable plate, the second movable plate, third movable plate constitute the four bar linkage with parallelogram, connecting plate
It is parallelogram horizontal sides with third movable plate, the first movable plate and the second movable plate are mobilizable bevel edge, grasping plate connection
On third movable plate.
4. a kind of circuit board automatic moving loader according to claim 1, it is characterised in that: the grasping plate is set thereon
Set connecting hole, by connecting hole by grasping plate and third movable plate axis connection together.
5. a kind of circuit board automatic moving loader according to claim 4, it is characterised in that: the grasping plate, thereon also
Including the first card slot, the second card slot and grabbing groove, the first card slot and first connecting rod cooperation, the first card slot are stuck on first connecting rod,
Second card slot and second connecting rod cooperation, the second card slot is stuck on second connecting rod, the first card slot notch upward, the second card slot notch court
Under.
6. a kind of circuit board automatic moving loader according to claim 1, it is characterised in that: the manipulator further includes
The Suction cup assembly being connected on connecting plate, Suction cup assembly include sucker, and sucker is connected with vacuum plant.
7. a kind of circuit board automatic moving loader according to claim 6, it is characterised in that: the Suction cup assembly,
Grasping plate height when height is at least above grabbing assembly maximum opening.
8. a kind of circuit board automatic moving loader according to claim 1, it is characterised in that: the rack is set thereon
Wheel and card base are set, card base is threadedly to adjust height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910832911.3A CN110451253A (en) | 2019-09-04 | 2019-09-04 | A kind of circuit board automatic moving loader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910832911.3A CN110451253A (en) | 2019-09-04 | 2019-09-04 | A kind of circuit board automatic moving loader |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110451253A true CN110451253A (en) | 2019-11-15 |
Family
ID=68490759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910832911.3A Pending CN110451253A (en) | 2019-09-04 | 2019-09-04 | A kind of circuit board automatic moving loader |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110451253A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110950075A (en) * | 2019-12-25 | 2020-04-03 | 苏州精濑光电有限公司 | Material taking device |
| CN111703674A (en) * | 2020-05-29 | 2020-09-25 | 深圳市海铭德科技有限公司 | Double-station marking device |
| CN112060118A (en) * | 2020-09-11 | 2020-12-11 | 苏州菲丽丝智能科技有限公司 | Material taking and conveying system and method thereof |
| CN113231561A (en) * | 2021-04-02 | 2021-08-10 | 华翔翔能科技股份有限公司 | Automatic punch feeding device |
| CN113276138A (en) * | 2021-05-14 | 2021-08-20 | 武汉理工大学 | Robot tail end flexible clamp |
| CN113492396A (en) * | 2020-03-19 | 2021-10-12 | 深圳迎凯生物科技有限公司 | Gripping device |
| CN114193771A (en) * | 2020-09-18 | 2022-03-18 | 成都秦川物联网科技股份有限公司 | Thing networking intelligent gas table involucra hot melt connecting device |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206032661U (en) * | 2016-08-12 | 2017-03-22 | 卓达新材料科技集团威海股份有限公司 | Sucking disc translation hacking machine claw mechanism |
| CN106672620A (en) * | 2017-03-16 | 2017-05-17 | 烟台瓦鲁机器人自动化有限公司 | Composite gripper device of robot |
| CN206720316U (en) * | 2017-05-08 | 2017-12-08 | 深圳市宇瀚智慧装备科技有限公司 | Automatic material taking mechanism with limit function |
| CN207275703U (en) * | 2017-09-11 | 2018-04-27 | 深圳市时代高科技设备股份有限公司 | A kind of compound handgrip mechanism |
| CN108237090A (en) * | 2016-12-23 | 2018-07-03 | 惠州市德赛自动化技术有限公司 | A kind of battery core module automatic fraction collector |
| CN108544524A (en) * | 2018-04-25 | 2018-09-18 | 西安工业大学 | A kind of parallel clamping hand based on diving robot |
| CN208529115U (en) * | 2018-03-30 | 2019-02-22 | 山东科技大学 | A kind of Combined flat ejector half gripper clamping device |
| CN109531606A (en) * | 2018-11-27 | 2019-03-29 | 山东大学 | A kind of electro-hydraulic pair is driven direct-push manipulators and working method |
| CN208994665U (en) * | 2018-11-03 | 2019-06-18 | 深圳市凯达扬自动化有限公司 | The LCD feeder of high stable |
| CN210655188U (en) * | 2019-09-04 | 2020-06-02 | 厦门宏泰科技研究院有限公司 | Automatic transfer device for circuit board |
-
2019
- 2019-09-04 CN CN201910832911.3A patent/CN110451253A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206032661U (en) * | 2016-08-12 | 2017-03-22 | 卓达新材料科技集团威海股份有限公司 | Sucking disc translation hacking machine claw mechanism |
| CN108237090A (en) * | 2016-12-23 | 2018-07-03 | 惠州市德赛自动化技术有限公司 | A kind of battery core module automatic fraction collector |
| CN106672620A (en) * | 2017-03-16 | 2017-05-17 | 烟台瓦鲁机器人自动化有限公司 | Composite gripper device of robot |
| CN206720316U (en) * | 2017-05-08 | 2017-12-08 | 深圳市宇瀚智慧装备科技有限公司 | Automatic material taking mechanism with limit function |
| CN207275703U (en) * | 2017-09-11 | 2018-04-27 | 深圳市时代高科技设备股份有限公司 | A kind of compound handgrip mechanism |
| CN208529115U (en) * | 2018-03-30 | 2019-02-22 | 山东科技大学 | A kind of Combined flat ejector half gripper clamping device |
| CN108544524A (en) * | 2018-04-25 | 2018-09-18 | 西安工业大学 | A kind of parallel clamping hand based on diving robot |
| CN208994665U (en) * | 2018-11-03 | 2019-06-18 | 深圳市凯达扬自动化有限公司 | The LCD feeder of high stable |
| CN109531606A (en) * | 2018-11-27 | 2019-03-29 | 山东大学 | A kind of electro-hydraulic pair is driven direct-push manipulators and working method |
| CN210655188U (en) * | 2019-09-04 | 2020-06-02 | 厦门宏泰科技研究院有限公司 | Automatic transfer device for circuit board |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110950075A (en) * | 2019-12-25 | 2020-04-03 | 苏州精濑光电有限公司 | Material taking device |
| CN110950075B (en) * | 2019-12-25 | 2021-09-17 | 苏州精濑光电有限公司 | Material taking device |
| CN113492396A (en) * | 2020-03-19 | 2021-10-12 | 深圳迎凯生物科技有限公司 | Gripping device |
| CN113492396B (en) * | 2020-03-19 | 2022-09-06 | 深圳迎凯生物科技有限公司 | Gripping device |
| CN111703674A (en) * | 2020-05-29 | 2020-09-25 | 深圳市海铭德科技有限公司 | Double-station marking device |
| CN112060118A (en) * | 2020-09-11 | 2020-12-11 | 苏州菲丽丝智能科技有限公司 | Material taking and conveying system and method thereof |
| CN114193771A (en) * | 2020-09-18 | 2022-03-18 | 成都秦川物联网科技股份有限公司 | Thing networking intelligent gas table involucra hot melt connecting device |
| CN113231561A (en) * | 2021-04-02 | 2021-08-10 | 华翔翔能科技股份有限公司 | Automatic punch feeding device |
| CN113276138A (en) * | 2021-05-14 | 2021-08-20 | 武汉理工大学 | Robot tail end flexible clamp |
| CN113276138B (en) * | 2021-05-14 | 2024-04-16 | 武汉理工大学 | Terminal flexible fixture of robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110451253A (en) | A kind of circuit board automatic moving loader | |
| CN101362329B (en) | Stacking robot | |
| CN210678745U (en) | Robot tongs that stabilize and snatch | |
| CN210655188U (en) | Automatic transfer device for circuit board | |
| CN104400782A (en) | Openable manipulator for precisely grabbing and releasing small regularly-shaped materials | |
| CN102358449A (en) | Full-automatic silicon wafer loader | |
| CN102886777A (en) | Two-degree-of-freedom parallel mechanism with large horizontal displacement | |
| CN206921934U (en) | A kind of soft package lithium battery module transplants stacker mechanism | |
| CN220055447U (en) | Robot stacker crane | |
| CN110076756A (en) | Pick-and-place manipulator and application method based on link mechanism | |
| CN210365929U (en) | Novel sucker gripper | |
| CN105905620B (en) | The robot palletizer and its operating method of high efficiency carrying workpiece | |
| CN107953339B (en) | Glass bottle sorting parallel robot with compliant structure | |
| CN110561398A (en) | Circuit board moves and carries manipulator | |
| CN204369130U (en) | A kind of brick bag holding device | |
| CN204248893U (en) | Realize the z-axis die set of open-close type manipulator accurate pick-and-place fritter rule material | |
| CN210704815U (en) | Circuit board moves and carries manipulator | |
| CN208601366U (en) | A kind of robot end's fixture | |
| CN212859490U (en) | Can realize pile up neatly machinery hand of turn-over operation | |
| CN211366243U (en) | Carton pile up neatly end effector and arm | |
| CN108792047A (en) | A kind of automation melon seeds sack filling machine | |
| CN212859400U (en) | A convertible spacing frock for sheet metal component processing | |
| CN204341991U (en) | A kind of drawer type carrier robot grasper | |
| CN209614003U (en) | Thermoforming process feeding device and thermoforming production line | |
| CN210175996U (en) | Automatic feeding production line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |