CN110712998A - Gripping device - Google Patents
Gripping device Download PDFInfo
- Publication number
- CN110712998A CN110712998A CN201810776669.8A CN201810776669A CN110712998A CN 110712998 A CN110712998 A CN 110712998A CN 201810776669 A CN201810776669 A CN 201810776669A CN 110712998 A CN110712998 A CN 110712998A
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- Prior art keywords
- assembly
- grabbing
- workpiece
- grasping
- suspension plate
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- 238000001514 detection method Methods 0.000 claims abstract description 47
- 239000000725 suspension Substances 0.000 claims abstract description 30
- 230000000712 assembly Effects 0.000 claims abstract description 13
- 238000000429 assembly Methods 0.000 claims abstract description 13
- 238000002310 reflectometry Methods 0.000 claims description 43
- 230000003028 elevating effect Effects 0.000 claims 1
- 238000009776 industrial production Methods 0.000 abstract description 3
- 239000011521 glass Substances 0.000 description 16
- 238000000034 method Methods 0.000 description 8
- 238000002955 isolation Methods 0.000 description 4
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000007429 general method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a gripping device, and relates to the technical field of industrial production. The gripping device comprises: the device comprises a suspension plate, a detection assembly and a plurality of grabbing assemblies, wherein the detection assembly and the grabbing assemblies are arranged on the suspension plate, the grabbing assemblies are used for grabbing workpieces, each grabbing assembly corresponds to one workpiece, and the detection assembly is used for detecting attribute parameters of the workpieces below the grabbing device. The gripping device provided by the invention can detect the attribute parameters of the workpiece below the gripping device through the detection component so as to judge which workpiece is, and control the corresponding gripping component to grip.
Description
Technical Field
The invention relates to the field of industrial production, in particular to a gripping device.
Background
In the industrial production process, a lot of production processes need to snatch the work piece, and even many times multiple work pieces are put together, need snatch different work pieces respectively, and different work pieces need use different components that snatch to snatch. Especially when multiple workpieces are placed on top of each other. The equipment cannot judge which workpiece is located at the uppermost layer, and the corresponding gripping device cannot be used for gripping.
For example, glass frit is mostly packaged with release paper in the package manufacturing process of the high-efficiency heterojunction solar cell dual-glass assembly, which is embodied by sequentially stacking the glass and the release paper in a glass carrier box. And the glass is different with the material of barrier paper, needs to use different components of snatching to snatch. The top layer of the grabbing equipment is possibly glass or isolation paper when the grabbing equipment is started, so that the type of the upper layer of workpieces needs to be determined to normally start working. However, the existing grabbing equipment cannot distinguish whether the glass or the release paper is positioned on the uppermost layer.
Disclosure of Invention
The invention provides a gripping device, and aims to solve the problem that the existing workpiece gripping device cannot distinguish workpieces.
The invention is realized by the following steps:
a grasping apparatus comprising: the device comprises a suspension plate, a detection assembly and a plurality of grabbing assemblies, wherein the detection assembly and the grabbing assemblies are arranged on the suspension plate, the grabbing assemblies are used for grabbing workpieces, each grabbing assembly corresponds to one workpiece, and the detection assembly is used for detecting attribute parameters of the workpieces below the grabbing device.
Further, in a preferred embodiment of the present invention, the attribute parameters include: reflectivity or refractive index.
Further, in a preferred embodiment of the present invention, the number of the plurality of gripping assemblies is two, and the two gripping assemblies are respectively a first gripping assembly and a second gripping assembly, the first gripping assembly is used for gripping a first workpiece, and the second gripping assembly is used for gripping a second workpiece.
Further, in a preferred embodiment of the present invention, the first grabbing component is connected to the lower surface of the suspension plate through a first lifting component, the second grabbing component is connected to the lower surface of the suspension plate through a second lifting component, the first lifting component is configured to control the first grabbing component to ascend or descend, and the second lifting component is configured to control the second grabbing component to ascend or descend.
Further, in a preferred embodiment of the present invention, the detecting assembly includes at least one reflectivity sensor, and the reflectivity sensor is disposed on the suspension plate;
or, the detection assembly comprises at least one refractive index measuring instrument, and the refractive index measuring instrument is arranged on the suspension plate.
Further, in a preferred embodiment of the present invention, the detecting assembly includes a plurality of reflectivity sensors, and the reflectivity sensors are disposed on the lower surface of the suspension plate and distributed;
or the detection assembly comprises a plurality of refractive index measuring instruments which are arranged on the lower surface of the suspension plate in a dispersed manner.
Further, in a preferred embodiment of the present invention, the first grasping assembly includes a suction cup and a vacuum generator, the suction cup is disposed on the first lifting assembly, and the suction cup is connected to the vacuum generator through a pipeline.
Further, in a preferred embodiment of the present invention, the second grabbing assembly comprises an electric clamp, and the electric clamp is disposed on the second lifting assembly.
Further, in a preferred embodiment of the present invention, the gripping device further includes a third lifting assembly, the third lifting assembly is connected to the upper surface of the suspension plate, and the third lifting assembly is configured to control the suspension plate to ascend or descend.
Further, in a preferred embodiment of the present invention, the first lifting assembly and the second lifting assembly each include a cylinder, and the third lifting assembly includes a robot.
The invention has the beneficial effects that: when the gripping device is used, a plurality of workpieces which are stacked and alternately placed are placed below the gripping device. The detection component detects the attribute parameters of the workpieces below the gripping devices, the attribute parameters of different workpieces are different, the types of the workpieces can be judged according to the attribute parameters, and the gripping devices corresponding to the workpieces can be known. And after the type of the workpiece is judged, the corresponding grabbing component is controlled to grab the workpiece. The purpose of distinguishing the workpieces is achieved. And can use the corresponding grabbing device to grab according to the distinguishing result.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of a glass gripping device according to an embodiment of the present invention;
fig. 2 is a schematic view illustrating a placement manner of a first workpiece and a second workpiece in a glass grasping apparatus according to an embodiment of the present invention.
Fig. 3 is a top view of a glass gripping apparatus according to an embodiment of the present invention.
Icon: a first gripper assembly 1; a second gripper assembly 2; a detection assembly 3; a third lifting assembly 4; a suspension plate 5; a first workpiece A; a second workpiece a.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The property parameter may be a reflectivity or a refractive index, and the reflectivity is selected as the property parameter in the present embodiment. Two different attribute parameters can be transversely replaced when in specific application.
Meanwhile, the attribute parameters can also be other parameters which can be used for distinguishing the types of the workpieces, such as profile, material and the like.
When the device is used, a plurality of workpieces which are stacked and alternately placed are placed below the grabbing device. The detection component 3 detects the reflectivity of the workpiece below the grabbing device, the reflectivity of different workpieces is different, the type of the workpiece can be judged according to the reflectivity, and the corresponding grabbing device can be known. And after the type of the workpiece is judged, the corresponding grabbing component is controlled to grab the workpiece. The purpose of distinguishing the workpieces is achieved. And can use the corresponding grabbing device to grab according to the distinguishing result.
Specifically, the present embodiment takes the glass grasping in the background art as an example, and provides a specific implementation manner of the grasping apparatus.
Referring to fig. 1 and 2, in this embodiment, on the premise of the above-mentioned grabbing device, the number of the grabbing components is two, and the grabbing components are respectively a first grabbing component 1 and a second grabbing component 2, the first grabbing component 1 and the second grabbing component 2 are both disposed on the suspension plate 5, the first grabbing component 1 is used for grabbing a first workpiece a, and the second grabbing component 2 is used for grabbing a second workpiece a. The grabbing device further comprises a controller, and the first grabbing component 1, the second grabbing component 2 and the detection component 3 are all electrically connected with the controller. The first workpiece A is glass, the second workpiece a is release paper, and the first workpiece A and the second workpiece a are sequentially and alternately stacked. The detection component 3 is used for detecting the reflectivity of a workpiece below the grabbing device, and the controller is used for controlling the first grabbing component 1 or the second grabbing component 2 to grab according to the detection result of the detection component 3.
In use, the first workpiece a and the second workpiece a are alternately stacked below the gripping device. The first workpiece A is glass, and the second workpiece a is release paper. The controller controls the detection component 3 to detect the reflectivity of the workpiece positioned at the topmost layer in the plurality of workpieces below the grabbing device, and feeds the detection result back to the controller. The controller is pre-stored with a preset reflectivity, which is the same as the reflectivity of the first workpiece A. The controller compares the received detection result with a preset reflectivity, if the detection result is the same as the preset reflectivity, the workpiece below the grabbing device is judged to be a first workpiece A, and the first grabbing component 1 is controlled to grab; otherwise, the second workpiece a is the second workpiece, and the second grabbing component 2 is controlled to grab the second workpiece a. The gripping device provided by the invention can detect the reflectivity of the workpiece below the gripping device through the detection component 3 so as to judge whether the workpiece is the first workpiece A or the second workpiece a, and control the corresponding gripping device to grip.
The process is an initial grabbing link, and after the initial grabbing link is completed, if the grabbing is continued, the initial grabbing link can be repeatedly circulated.
In one embodiment of the present application, in the case where the first workpiece a and the second workpiece a are alternately stacked in sequence, since it is already determined by the initial grasping step whether the workpiece located at the top layer is the first workpiece a or the second workpiece a, and the workpieces located therebelow are alternately stacked in sequence. Therefore, it can be directly inferred which workpiece is below, so that the first grabbing component 1 and the second grabbing component 2 are operated to alternately grab.
Further, in the present embodiment, the first grabbing component 1 is connected to the lower surface of the suspension plate 5 through a first lifting component (not shown), the second grabbing component 2 is connected to the lower surface of the suspension plate 5 through a second lifting component (not shown), and both the first lifting component and the second lifting component are electrically connected to the controller. Because a plurality of first workpieces A and second workpieces a are stacked, after the workpiece on the upper layer is taken away, the horizontal height of the new workpiece on the top layer is lowered, and if the horizontal height is lowered too much, the grabbing of the subsequent workpieces is affected. Thereby realize snatching the high regulation of subassembly 1 and second 2 that snatch the subassembly through setting up first lifting unit and second lifting unit. So that the grabbing component can grab the workpiece with lower height.
Further, in this embodiment, the detecting component 3 includes a plurality of reflectivity sensors, the reflectivity sensors are all electrically connected with the controller, and the reflectivity sensors are disposed below the suspension plate 5. In this embodiment, the reflectivity sensor is an existing laser reflectivity sensor, and the connection and use method thereof may be implemented by using an existing general method. When the detection assembly 3 detects the reflectivity, the controller controls all the reflectivity sensors to detect the lower workpiece, and only when the detection results of all the reflectivity sensors are the same, the controller determines that the detection result is valid. The accuracy of detection is improved, and the influence of random errors is reduced.
It should be noted that when the attribute parameter is a refractive index, the reflectivity sensor may be replaced with a refractive index measuring instrument. Other parameter settings, connection relations and the like can be replaced in the same transverse direction.
Further, referring to fig. 3, in the present embodiment, the reflectivity sensors are disposed on the lower surface of the suspension plate 5 and distributed. The reflectivity sensors are distributed and arranged, different positions of the workpiece below can be detected, and when the detection results of the reflectivity sensors are different, the workpiece is judged to be misplaced or not taken away completely. At the moment, the controller controls the grabbing device to stop working. The reflectivity sensor can be connected with the bearing plate through the supporting rod. The reflectivity sensor is arranged around the first grabbing component 1 and the second grabbing component 2 through the support.
Further, in this embodiment, the first grabbing assembly 1 includes a suction cup and a vacuum generator (not shown in the figure), the suction cup is disposed on the first lifting assembly, the suction cup is connected to the vacuum generator through a pipeline, and the vacuum generator is electrically connected to the controller. In this embodiment, the first workpiece a is glass, and the surface thereof is smooth and is easily sucked up by the suction cup. Meanwhile, the sucker has soft texture and is not easy to damage glass when contacting the glass.
Further, in this embodiment, the second grabbing assembly 2 includes an electric clamp, the electric clamp is disposed on the second lifting assembly, and the electric clamp is electrically connected to the controller. In this embodiment, the second workpiece a is a piece of release paper, the electric clamp is a general release paper grasping clamp, and the connection method and the operation method thereof are performed by using the existing general method. Specifically, because the isolation paper texture is softer, in this embodiment, for better most isolation paper snatchs, the electric tong is a plurality of and sets up in different positions, can snatch to a plurality of positions of same isolation paper simultaneously, makes and snatchs more stably.
Further, in this embodiment, the gripping device further includes a third lifting assembly 4, the third lifting assembly 4 is connected to the upper surface of the suspension plate 5, and the third lifting assembly 4 is electrically connected to the controller. The lifting distance between the first lifting component and the second lifting component is fixed, and when the workpieces are overlapped too much, the situation that the bottom workpieces cannot be grabbed still possibly occurs. The third lifting component 4 can drive the suspension plate 5 to lift, so that the movable distance of the first grabbing component 1 and the second grabbing component 2 is increased.
Further, in this embodiment, the first lifting assembly and the second lifting assembly each include a cylinder, and the third lifting assembly 4 includes a robot.
The controller is a programmable controller with logic processing function, such as a singlechip or a PLC. The connection mode and the control mode of the controller and each device in the detection component 3, the first grabbing component 1, the second grabbing component 2, the first lifting component, the second lifting component and the third lifting component 4 can be realized by adopting the existing general mode.
The control method is applied to the gripping device, the reflectivity is selected as an attribute parameter to be implemented, and the transverse replacement can be implemented by the refractive index.
The control method comprises an initial grabbing link, wherein the initial grabbing link comprises the following steps:
the controller controls the detection component 3 to detect the reflectivity of the workpiece below the grabbing device and feeds back the detection result to the controller;
the controller compares the received detection result with a preset reflectivity, if the detection result is the same as the preset reflectivity, the workpiece below the grabbing device is judged to be a first workpiece A, and otherwise, the workpiece is judged to be a second workpiece a;
when the workpiece below the grabbing device is a first workpiece A, the controller controls the first grabbing component 1 to grab;
when the workpiece below the grabbing device is the second workpiece a, the controller controls the second grabbing component 2 to grab.
By the control method, the reflectivity of the workpiece below the gripping device can be detected by the gripping device through the detection component 3, so that whether the workpiece is the first workpiece A or the second workpiece a is judged, and the corresponding gripping device is controlled to grip.
Further, in this embodiment, the method further includes a cyclic grabbing step, where the cyclic grabbing step includes the following steps:
when a workpiece below the grabbing device in the initial grabbing link is a first workpiece A, after the controller controls the first grabbing component 1 to grab, the controller controls the second grabbing component 2 and the first grabbing component 1 to sequentially repeat and circulate to grab;
when the workpiece below the grabbing device is the second workpiece a in the initial grabbing link, the controller controls the second grabbing component 2 to grab, and then the controller controls the first grabbing component 1 and the second grabbing component 2 to sequentially repeat and circulate to grab.
After the detection component 3 performs the first detection, and determines whether the topmost workpiece is the first workpiece a or the second workpiece a, since the subsequent workpieces are arranged in sequence, it is only necessary to determine which grabbing component starts to grab first and grab alternately afterwards.
Further, in the present embodiment, the detecting component 3 includes a plurality of reflectivity sensors, and the reflectivity sensors are all electrically connected to the controller;
when the detection component 3 detects the reflectivity of the workpiece below the grabbing device, when the detection results of the reflectivity sensors are the same, the detection result is an effective detection result; otherwise, the result is an invalid detection result. When the detection results of the respective reflectance sensors are different, it is determined that the workpiece is misaligned or not completely removed. At the moment, the controller controls the grabbing device to stop working.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A grasping device, comprising: the device comprises a suspension plate, a detection assembly and a plurality of grabbing assemblies, wherein the detection assembly and the grabbing assemblies are arranged on the suspension plate, the grabbing assemblies are used for grabbing workpieces, each grabbing assembly corresponds to one workpiece, and the detection assembly is used for detecting attribute parameters of the workpieces below the grabbing device.
2. The grasping apparatus according to claim 1, wherein the attribute parameter includes: reflectivity or refractive index.
3. The grasping apparatus according to claim 1 or 2, wherein the number of the plurality of grasping assemblies is two, and is a first grasping assembly for grasping a first workpiece and a second grasping assembly for grasping a second workpiece.
4. The gripping device of claim 3, wherein the first gripping assembly is connected with the lower surface of the suspension plate through a first lifting assembly, the second gripping assembly is connected with the lower surface of the suspension plate through a second lifting assembly, the first lifting assembly is used for controlling the first gripping assembly to ascend or descend, and the second lifting assembly is used for controlling the second gripping assembly to ascend or descend.
5. The grasping apparatus according to claim 2, wherein the detection assembly includes at least one reflectance sensor disposed on the suspension plate;
or, the detection assembly comprises at least one refractive index measuring instrument, and the refractive index measuring instrument is arranged on the suspension plate.
6. The gripping device of claim 5, wherein the detection assembly comprises a plurality of reflectivity sensors, and the reflectivity sensors are arranged on the lower surface of the suspension plate and distributed;
or the detection assembly comprises a plurality of refractive index measuring instruments which are arranged on the lower surface of the suspension plate in a dispersed manner.
7. The grasping device according to claim 4, wherein the first grasping assembly includes a suction cup and a vacuum generator, the suction cup being disposed on the first elevating assembly, the suction cup being connected to the vacuum generator by a tube.
8. The grasping apparatus according to claim 4, wherein the second grasping assembly includes an electric clamp disposed on the second lifting assembly.
9. The gripping device of claim 4, further comprising a third lifting assembly, wherein the third lifting assembly is connected to the upper surface of the suspension plate, and the third lifting assembly is used for controlling the suspension plate to ascend or descend.
10. The grasping apparatus according to claim 9, wherein the first and second lift assemblies each include a cylinder and the third lift assembly includes a robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810776669.8A CN110712998A (en) | 2018-07-13 | 2018-07-13 | Gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810776669.8A CN110712998A (en) | 2018-07-13 | 2018-07-13 | Gripping device |
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| Publication Number | Publication Date |
|---|---|
| CN110712998A true CN110712998A (en) | 2020-01-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810776669.8A Pending CN110712998A (en) | 2018-07-13 | 2018-07-13 | Gripping device |
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| CN (1) | CN110712998A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111874565A (en) * | 2020-08-27 | 2020-11-03 | 江阴市查克拉科技有限公司 | LED frame product snatchs mechanism |
| CN111891692A (en) * | 2020-08-27 | 2020-11-06 | 江阴市查克拉科技有限公司 | LED frame product test system loading attachment |
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| JPH02149383A (en) * | 1988-11-28 | 1990-06-07 | Dainippon Printing Co Ltd | Apparatus for separating and carrying sheetlike object |
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| CN203319259U (en) * | 2013-06-17 | 2013-12-04 | 绍兴市装璜电化有限公司 | Cosmetic bottle cover grabbing mechanism |
| CN106697924A (en) * | 2017-01-20 | 2017-05-24 | 星路智能包装（昆山）有限公司 | Multifunctional material gripper |
| CN206590569U (en) * | 2017-02-28 | 2017-10-27 | 上海道多汽车设备有限公司 | A kind of auto production line two-sided handgrip of top cover buckling plate |
| CN207467733U (en) * | 2017-11-22 | 2018-06-08 | 广东科达洁能股份有限公司 | Plasterboard sorter |
| CN208716354U (en) * | 2018-07-13 | 2019-04-09 | 君泰创新（北京）科技有限公司 | A kind of grabbing device |
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2018
- 2018-07-13 CN CN201810776669.8A patent/CN110712998A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02149383A (en) * | 1988-11-28 | 1990-06-07 | Dainippon Printing Co Ltd | Apparatus for separating and carrying sheetlike object |
| US5324087A (en) * | 1990-04-27 | 1994-06-28 | Sony Corporation | Sucked substrate detecting apparatus |
| CN203319259U (en) * | 2013-06-17 | 2013-12-04 | 绍兴市装璜电化有限公司 | Cosmetic bottle cover grabbing mechanism |
| CN106697924A (en) * | 2017-01-20 | 2017-05-24 | 星路智能包装（昆山）有限公司 | Multifunctional material gripper |
| CN206590569U (en) * | 2017-02-28 | 2017-10-27 | 上海道多汽车设备有限公司 | A kind of auto production line two-sided handgrip of top cover buckling plate |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111874565A (en) * | 2020-08-27 | 2020-11-03 | 江阴市查克拉科技有限公司 | LED frame product snatchs mechanism |
| CN111891692A (en) * | 2020-08-27 | 2020-11-06 | 江阴市查克拉科技有限公司 | LED frame product test system loading attachment |
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