CN110641991A - Composite clamp for pipe fitting - Google Patents
Composite clamp for pipe fitting Download PDFInfo
- Publication number
- CN110641991A CN110641991A CN201910845709.4A CN201910845709A CN110641991A CN 110641991 A CN110641991 A CN 110641991A CN 201910845709 A CN201910845709 A CN 201910845709A CN 110641991 A CN110641991 A CN 110641991A
- Authority
- CN
- China
- Prior art keywords
- self
- adaptive
- adaptive positioning
- pipe fitting
- sucker
- 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
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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
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- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a composite clamp for a pipe fitting, which comprises a mounting plate and a plurality of sucker positioning modules arranged below the mounting plate; the sucker positioning modules comprise suckers and self-adaptive positioning mechanisms, and the self-adaptive positioning mechanisms are divided into two groups and are oppositely arranged on two sides of each sucker; the self-adaptive positioning mechanism comprises self-adaptive positioning pieces and self-adaptive elastic pieces, wherein self-adaptive positioning inclined planes which incline downwards are arranged on the opposite sides of the two self-adaptive positioning pieces, and the two self-adaptive positioning inclined planes are combined together to form an opening with a large lower part and a small upper part; the self-adaptive elastic piece is arranged between the mounting plate and the self-adaptive positioning piece, the pipe fitting to be sucked and two self-adaptive positioning inclined planes are positioned in the opening in a contact mode, the pipe fitting and the two self-adaptive positioning pieces are compressed, the elastic piece is close to the sucker, and the sucker is used for sucking and fixing the pipe fitting. The composite clamp provided by the invention not only solves the space problem of adjacent pipe fittings, but also can effectively reduce the shaking generated in the conveying process of the pipe fittings, and ensure the normal processing of the pipe fittings.
Description
Technical Field
The invention relates to a pipe fitting machining clamp, in particular to a composite clamp for a pipe fitting.
Background
In hardware products, tubular parts are widely applied, a series of operations such as bending, welding, assembling and the like are often required in the production and manufacturing processes of the tubular parts, automatic production is realized, an industrial robot can be used for loading and unloading the pipe fittings, and the processing operation is completed by matching with equipment such as a pipe bender and the like.
Generally, in the process of conveying a pipe, the pipe needs to be clamped firstly, the traditional clamping mode is mainly a clamping jaw fixing mode, although the pipe can be stably clamped, due to the limitation of the working mode and the shape of the clamping jaw, a sufficient space is needed to be left between the pipe to be clamped and the adjacent pipe, otherwise, the adjacent pipe interferes with the clamping jaw, and the clamping action is limited. For this reason, in the prior art, a suction cup (suction nozzle or suction head, etc.) is proposed to be used for fixing, even if the surface of the pipe is a cylindrical surface, a soft suction cup can be closely attached to the side surface of the pipe through plastic deformation, and the pipe is sucked on the suction cup under the action of atmospheric pressure, so that the pipe is transferred to the next processing station by a robot.
Although the above-mentioned sucking disc fixed mode has solved the space problem between the pipe fitting that waits to centre gripping and the adjacent pipe fitting, still have following shortcoming: at the start-stop in-process (especially when the robot high-speed operation) of robot transport action, the pipe fitting can produce great rocking, leads to the working face of sucking disc and the side separation of pipe fitting easily, can't realize vacuum adsorption for the pipe fitting drops, influences the normal processing of pipe fitting.
Disclosure of Invention
The invention aims to overcome the existing problems and provide a composite clamp for pipe fittings, which not only solves the space problem of adjacent pipe fittings, but also can stably clamp the pipe fittings, effectively reduces the shaking of the pipe fittings in the carrying process and ensures the normal processing of the pipe fittings.
The purpose of the invention is realized by the following technical scheme:
a composite clamp for pipe fittings comprises a mounting plate and a plurality of sucker positioning modules arranged below the mounting plate;
the sucker positioning modules comprise suckers and self-adaptive positioning mechanisms, and the self-adaptive positioning mechanisms are divided into two groups and are oppositely arranged on two sides of each sucker; the self-adaptive positioning mechanism comprises self-adaptive positioning pieces and self-adaptive elastic pieces, wherein self-adaptive positioning inclined planes which incline downwards are arranged on the opposite sides of the two self-adaptive positioning pieces, and the two self-adaptive positioning inclined planes are combined together to form an opening with a large lower part and a small upper part; the self-adaptive elastic piece is arranged between the mounting plate and the self-adaptive positioning piece, the pipe fitting to be sucked and two self-adaptive positioning inclined planes are positioned in the opening in a contact mode, the pipe fitting and the two self-adaptive positioning pieces are compressed, the elastic piece moves towards the direction close to the sucker, and finally the pipe fitting is fixedly sucked by the sucker.
The working principle of the composite clamp for the pipe fitting is as follows:
the composite clamp is arranged on a flange at the tail end of the transfer robot, and when the composite clamp works, the transfer robot drives the composite clamp to move to the position above a pipe fitting to be transferred and then moves downwards to be close to the pipe fitting, so that the pipe fitting is sucked by the sucking disc and then is transferred to the next processing station.
Before the pipe fitting is sucked by the sucker, the self-adaptive positioning inclined planes of the self-adaptive positioning pieces contact the cylindrical surface of the pipe fitting firstly, the self-adaptive positioning inclined planes on the two sides position the pipe fitting together, the whole clamp continues to descend, and under the reaction force of the pipe fitting, the self-adaptive positioning pieces upwards compress the self-adaptive elastic pieces until the sucker sucks the pipe fitting. Further, two self-adaptation location inclined planes that down incline can be used for carrying on spacingly to the pipe fitting of different diameters, under the effect from the adaptive elastic component for when the pipe fitting of different diameters was accomplished spacingly, can be snatched by the sucking disc again.
At the in-process that transfer robot carried the removal, provide the power of grabbing by the sucking disc, two relative self-adaptation setting elements that set up provide the spacing of symmetry, even under the condition of rapid acceleration or rapid deceleration, the pipe fitting can not take place to rock almost like this, and stability is better, is favorable to guaranteeing the normal processing of pipe fitting.
According to a preferable scheme of the invention, the self-adaptive positioning mechanism further comprises a suspension bolt, a sliding hole and a limiting hole are arranged in the self-adaptive positioning piece, and the diameter of the sliding hole is smaller than that of the limiting hole; the head of the suspension bolt is positioned in the limiting hole, and the tail part of the suspension bolt provided with the thread penetrates through the sliding hole of the self-adaptive positioning piece to be fixed on the adjusting plate; the self-adaptive elastic piece is a spring and is tightly propped between the adjusting plate and the self-adaptive positioning piece. Through the structure, after the self-adaptive positioning inclined plane of the self-adaptive positioning piece is in contact with the pipe fitting, the pipe fitting is fixed against the self-adaptive positioning piece along with the continuous driving of the carrying robot, and the adjusting plate drives the suspension bolt to continuously move downwards so as to compress the spring until the suction disc is sucked on the pipe fitting; after the pipe fitting is sucked, the whole clamp is driven by the carrying robot to reset upwards and is transferred to other positions.
Preferably, the adjusting plate comprises a first adjusting plate and a second adjusting plate, and the first adjusting plate is fixedly connected with the mounting plate; the sucker is fixedly connected to the first adjusting plate;
the two second adjusting plates are fixedly connected below the first adjusting plate; the suspension bolt is fixedly connected to the second adjusting plate, and two ends of the spring are abutted between the second adjusting plate and the self-adaptive positioning piece.
Further, a first distance adjusting structure is arranged between the first adjusting plate and the mounting plate, the first distance adjusting structure comprises a first long circular hole and a first fixing bolt, and the first long circular hole is formed in the mounting plate; the tail part of the first fixing bolt provided with the thread penetrates through the first long round hole to be fixed on the first adjusting plate.
The length direction of the first long round hole is the same as the extension direction of the mounting plate, so that the distance between the two groups of sucker positioning modules can be adjusted according to pipe fittings with different lengths, and a better clamping point is obtained.
Further, a second distance adjusting structure is arranged between the second adjusting plate and the first adjusting plate, the second distance adjusting structure comprises a second long circular hole and a second fixing bolt, and the second long circular hole is formed in the second adjusting plate; the tail part of the second fixing bolt with threads penetrates through the second long round hole to be fixed on the first adjusting plate.
The length direction of the second long round hole is perpendicular to the extending direction of the mounting plate, so that the distance between the two self-adaptive positioning pieces is adjusted to adapt to pipe fittings with different diameters, and the universality of the clamp is further improved.
In a preferred embodiment of the present invention, the number of the suction cup positioning modules is at least two, and the suction cup positioning modules are arranged along the extending direction of the mounting plate.
In a preferred embodiment of the present invention, the suction cup is located at the middle of the two adaptive positioning members so as to face and suck on the pipe.
Compared with the prior art, the invention has the following beneficial effects:
1. in the composite clamp, the sucking discs for providing the gripping force are arranged, and the self-adaptive positioning pieces for limiting are arranged on the two sides of the composite clamp, so that the two self-adaptive positioning pieces respectively provide limiting on the two sides of the pipe fitting in the carrying process, the pipe fitting hardly shakes even under the condition of rapid acceleration or rapid deceleration, the stability is good, and the normal processing of the pipe fitting is favorably ensured.
2. Because be equipped with down the inclined plane of self-adaptation location of slope on the self-adaptation setting element, therefore can be used for carrying on spacingly to the pipe fitting of different diameters, under the effect of self-adaptation elastic component for the pipe fitting of different diameters accomplishes spacingly the time, can be snatched by the sucking disc again, and the commonality is good.
3. Because two self-adaptation setting parts set up relatively, even some squints take place for the position of the pipe fitting of waiting to absorb, under the direction of self-adaptation location inclined plane, the pipe fitting also can return to the positive automatically, puts in the middle of two self-adaptation setting parts to fix a position the pipe fitting by two self-adaptation setting parts, so that the sucking disc snatchs steadily.
Drawings
Fig. 1 is a schematic perspective view of a composite clamp for pipe fittings, which is mounted on a robot to clamp and carry the pipe fittings.
Fig. 2 is a schematic perspective view of a composite clamp for pipe fittings according to the present invention.
Fig. 3 is a schematic perspective view of a chuck positioning module according to the present invention.
Fig. 4-5 are side views of the suction cup positioning module of fig. 3 prior to suction of the pipe, wherein the pipe of fig. 4 has a smaller diameter than the pipe of fig. 5.
Fig. 6-7 are side views of the suction cup positioning module of fig. 3 after suction has been applied to the pipe, wherein the pipe of fig. 6 has a smaller diameter than the pipe of fig. 7.
Detailed Description
In order to make those skilled in the art understand the technical solutions of the present invention well, the following description of the present invention is provided with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 2-3, the composite clamp for pipe fittings in the present embodiment includes a mounting plate 1 and at least two suction cup positioning modules disposed below the mounting plate 1; the sucker positioning modules comprise suckers 2 and self-adaptive positioning mechanisms, and the self-adaptive positioning mechanisms are divided into two groups and are oppositely arranged on two sides of each sucker 2; the sucker 2 is positioned in the middle of the two self-adaptive positioning pieces 3 so as to be opposite to and sucked on the pipe fitting; the self-adaptive positioning mechanism comprises self-adaptive positioning pieces 3 and self-adaptive elastic pieces 4, and self-adaptive positioning inclined planes 3-1 which incline downwards are arranged on one sides of the two self-adaptive positioning pieces 3 which are opposite to each other; self-adaptation elastic component 4 sets up between mounting panel 1 and self-adaptation setting element 3 for guarantee sucking disc 2 normal absorption to this pipe fitting when self-adaptation setting element 3 provides spacingly for the pipe fitting of different diameters size. Specifically, the suction cup 2 in the present embodiment communicates with the negative pressure module, and the negative pressure module provides negative pressure to increase the suction force of the suction cup 2.
Referring to fig. 2-3, the self-adaptive positioning mechanism further comprises a suspension bolt 5, a sliding hole and a limiting hole are arranged in the self-adaptive positioning piece 3, and the diameter of the sliding hole is smaller than that of the limiting hole; the head of the suspension bolt 5 is positioned in the limiting hole, and the tail part provided with threads passes through the sliding hole of the self-adaptive positioning piece 3 to be fixed on the adjusting plate; the self-adaptive elastic part 4 is a spring and is tightly propped between the adjusting plate and the self-adaptive positioning part 3. Through the structure, after the self-adaptive positioning inclined plane 3-1 of the self-adaptive positioning piece 3 is contacted with the pipe fitting, the pipe fitting is pressed against the self-adaptive positioning piece 3 and is not moved along with the continuous driving of the carrying robot A, the adjusting plate drives the suspension bolt 5 to continuously move downwards, and therefore the spring is compressed until the sucker 2 is sucked on the pipe fitting; after the pipe fitting is sucked, the carrying robot A drives the whole clamp to reset upwards and transfer the whole clamp to other positions.
Referring to fig. 2-3, the adjusting plate comprises a first adjusting plate 6 and a second adjusting plate 7, and the first adjusting plate 6 is fixedly connected with the mounting plate 1; the sucker 2 is fixedly connected to the first adjusting plate 6; the number of the second adjusting plates 7 is two, and the two second adjusting plates are fixedly connected below the first adjusting plate 6; the suspension bolt 5 is fixedly connected to the second adjusting plate 7, and two ends of the spring are abutted between the second adjusting plate 7 and the self-adaptive positioning piece 3.
Further, a first distance adjusting structure is arranged between the first adjusting plate 6 and the mounting plate 1, the first distance adjusting structure comprises a first long circular hole 1-1 and a first fixing bolt 8, and the first long circular hole 1-1 is formed in the mounting plate 1; the tail part of the first fixing bolt 8 with threads passes through the first long round hole 1-1 to be fixed on the first adjusting plate 6.
The length direction of the first long round hole 1-1 is the same as the extension direction of the mounting plate 1, so that the distance between the two groups of sucker positioning modules can be adjusted according to pipe fittings with different lengths, and a better clamping point can be obtained.
Referring to fig. 2-3, a second distance adjusting structure is arranged between the second adjusting plate 7 and the first adjusting plate 6, the second distance adjusting structure comprises a second long circular hole 7-1 and a second fixing bolt 9, and the second long circular hole 7-1 is formed in the second adjusting plate 7; the tail part of the second fixing bolt 9 with threads passes through the second long round hole 7-1 to be fixed on the first adjusting plate 6.
The length direction of the second long round hole 7-1 is perpendicular to the extending direction of the mounting plate 1, so that the distance between the two self-adaptive positioning pieces 3 is adjusted to adapt to pipe fittings with different diameters, and the universality of the clamp is further improved.
Specifically, the two groups of suction cup positioning modules are arranged along the extending direction of the mounting plate 1. Of course, the suction cup positioning modules can also be three groups, four groups or even more.
Referring to fig. 1 to 7, the working principle of the composite clamp for the pipe fitting is as follows:
the composite clamp is arranged on a flange at the tail end of the transfer robot A, and during work, the transfer robot A drives the composite clamp to move to the position above a pipe to be transferred and then to move downwards to be close to the pipe, so that the pipe is sucked by the suction cup 2 and then transferred to the next processing station.
Before the sucker 2 sucks the pipe fitting, the self-adaptive positioning inclined planes 3-1 of the self-adaptive positioning pieces 3 are firstly contacted with the cylindrical surface of the pipe fitting, the self-adaptive positioning inclined planes 3-1 on the two sides position the pipe fitting together, the whole clamp continuously descends, and the self-adaptive positioning pieces 3 upwards compress the self-adaptive elastic pieces 4 under the reacting force of the pipe fitting until the sucker 2 sucks the pipe fitting. Further, the two downward-inclined self-adaptive positioning inclined planes 3-1 can be used for limiting pipe fittings with different diameters, so that the pipe fittings with different diameters can be grabbed by the sucker 2 while the limiting is completed under the action of the self-adaptive elastic piece 4, as shown in fig. 4-7.
At the in-process that transfer robot A carried the removal, provide by sucking disc 2 and grab power, two relative self-adaptation setting element 3 that set up provide the spacing of symmetry, even under the condition of rapid acceleration or rapid deceleration, the pipe fitting can not take place to rock almost like this, and stability is better, is favorable to guaranteeing the normal processing of pipe fitting.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (9)
1. A composite clamp for pipe fittings is characterized by comprising a mounting plate and a plurality of sucker positioning modules arranged below the mounting plate;
the sucker positioning modules comprise suckers and self-adaptive positioning mechanisms, and the self-adaptive positioning mechanisms are divided into two groups and are oppositely arranged on two sides of each sucker; the self-adaptive positioning mechanism comprises self-adaptive positioning pieces and self-adaptive elastic pieces, wherein self-adaptive positioning inclined planes which incline downwards are arranged on the opposite sides of the two self-adaptive positioning pieces, and the two self-adaptive positioning inclined planes are combined together to form an opening with a large lower part and a small upper part; the self-adaptive elastic piece is arranged between the mounting plate and the self-adaptive positioning piece, the pipe fitting to be sucked and two self-adaptive positioning inclined planes are positioned in the opening in a contact mode, the pipe fitting and the two self-adaptive positioning pieces are compressed, the elastic piece moves towards the direction close to the sucker, and finally the pipe fitting is fixedly sucked by the sucker.
2. The composite clamp for the pipe fitting according to claim 1, wherein the self-adaptive positioning mechanism further comprises a suspension bolt, a sliding hole and a limiting hole are arranged in the self-adaptive positioning piece, and the diameter of the sliding hole is smaller than that of the limiting hole; the head of the suspension bolt is positioned in the limiting hole, and the tail part of the suspension bolt provided with the thread penetrates through the sliding hole of the self-adaptive positioning piece to be fixed on the adjusting plate; the self-adaptive elastic piece is a spring and is tightly propped between the adjusting plate and the self-adaptive positioning piece.
3. A composite clamp for pipe elements according to claim 2, wherein the adjustment plates comprise a first adjustment plate and a second adjustment plate, the first adjustment plate being fixedly connected to the mounting plate; the sucker is fixedly connected to the first adjusting plate;
the two second adjusting plates are fixedly connected below the first adjusting plate; the suspension bolt is fixedly connected to the second adjusting plate, and two ends of the spring are abutted between the second adjusting plate and the self-adaptive positioning piece.
4. The composite clamp for pipe fittings according to claim 3, wherein a first distance adjusting structure is arranged between the first adjusting plate and the mounting plate, the first distance adjusting structure comprises a first long round hole and a first fixing bolt, and the first long round hole is formed in the mounting plate; the tail part of the first fixing bolt provided with the thread penetrates through the first long round hole to be fixed on the first adjusting plate.
5. A composite clamp for pipe according to claim 4, wherein the first oblong hole has a length direction which is the same as the extension direction of the mounting plate.
6. The composite clamp for pipe fittings according to claim 3, wherein a second distance adjusting structure is arranged between the second adjusting plate and the first adjusting plate, the second distance adjusting structure comprises a second slotted hole and a second fixing bolt, and the second slotted hole is formed in the second adjusting plate; the tail part of the second fixing bolt with threads penetrates through the second long round hole to be fixed on the first adjusting plate.
7. A composite clamp for pipe according to claim 6, wherein the length direction of the second oblong hole is perpendicular to the extension direction of the mounting plate.
8. A composite clamp for pipe elements according to any of claims 1 to 7, wherein the suction cup positioning modules are in at least two groups and are arranged along the extension direction of the mounting plate.
9. A composite clamp for tubes according to any one of claims 1 to 7, characterised in that the suction cup is located exactly in the middle of the two self-adaptive locating elements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910845709.4A CN110641991A (en) | 2019-09-06 | 2019-09-06 | Composite clamp for pipe fitting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910845709.4A CN110641991A (en) | 2019-09-06 | 2019-09-06 | Composite clamp for pipe fitting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110641991A true CN110641991A (en) | 2020-01-03 |
Family
ID=69010190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910845709.4A Pending CN110641991A (en) | 2019-09-06 | 2019-09-06 | Composite clamp for pipe fitting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110641991A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114464565A (en) * | 2022-01-25 | 2022-05-10 | 先之科半导体科技(东莞)有限公司 | High-precision adjustable chip diode suction pen structure |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09109076A (en) * | 1995-10-18 | 1997-04-28 | Nippon Steel Corp | Test piece suction-conveying tool |
| JP2007109748A (en) * | 2005-10-12 | 2007-04-26 | Ngk Spark Plug Co Ltd | Method and device for conveying wiring board |
| CN102874595A (en) * | 2012-11-01 | 2013-01-16 | 宁波摩科机器人科技有限公司 | Combined type material picking hand device |
| CN103538073A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Sucker special for threaded rod |
| CN107187865A (en) * | 2017-07-17 | 2017-09-22 | 中国汽车工业工程有限公司 | One kind winding bottle no marking automatic grabbing device |
| CN207058596U (en) * | 2017-07-20 | 2018-03-02 | 佛山市高明金石建材有限公司 | A kind of marble slab carries anticreep manipulator |
| CN108750660A (en) * | 2018-06-12 | 2018-11-06 | 佛山市百明实业有限公司 | A kind of self-adjustable sucker |
| CN109866286A (en) * | 2017-12-04 | 2019-06-11 | 东北林业大学 | A kind of feeding manipulator arm for beating circular knitting machine for timber |
-
2019
- 2019-09-06 CN CN201910845709.4A patent/CN110641991A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09109076A (en) * | 1995-10-18 | 1997-04-28 | Nippon Steel Corp | Test piece suction-conveying tool |
| JP2007109748A (en) * | 2005-10-12 | 2007-04-26 | Ngk Spark Plug Co Ltd | Method and device for conveying wiring board |
| CN102874595A (en) * | 2012-11-01 | 2013-01-16 | 宁波摩科机器人科技有限公司 | Combined type material picking hand device |
| CN103538073A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Sucker special for threaded rod |
| CN107187865A (en) * | 2017-07-17 | 2017-09-22 | 中国汽车工业工程有限公司 | One kind winding bottle no marking automatic grabbing device |
| CN207058596U (en) * | 2017-07-20 | 2018-03-02 | 佛山市高明金石建材有限公司 | A kind of marble slab carries anticreep manipulator |
| CN109866286A (en) * | 2017-12-04 | 2019-06-11 | 东北林业大学 | A kind of feeding manipulator arm for beating circular knitting machine for timber |
| CN108750660A (en) * | 2018-06-12 | 2018-11-06 | 佛山市百明实业有限公司 | A kind of self-adjustable sucker |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114464565A (en) * | 2022-01-25 | 2022-05-10 | 先之科半导体科技(东莞)有限公司 | High-precision adjustable chip diode suction pen structure |
| CN114464565B (en) * | 2022-01-25 | 2022-12-06 | 先之科半导体科技(东莞)有限公司 | High-precision adjustable patch diode suction pen structure |
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Application publication date: 20200103 |