CN111217144A - Adsorption type end effector capable of automatically positioning needle seat and using method thereof - Google Patents
Adsorption type end effector capable of automatically positioning needle seat and using method thereof Download PDFInfo
- Publication number
- CN111217144A CN111217144A CN202010216755.0A CN202010216755A CN111217144A CN 111217144 A CN111217144 A CN 111217144A CN 202010216755 A CN202010216755 A CN 202010216755A CN 111217144 A CN111217144 A CN 111217144A
- Authority
- CN
- China
- Prior art keywords
- needle seat
- needle
- pressing plate
- mounting box
- end effector
- 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.)
- Granted
Links
- 239000012636 effector Substances 0.000 title claims abstract description 47
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000003825 pressing Methods 0.000 claims abstract description 57
- 239000000463 material Substances 0.000 claims abstract description 17
- 241000252254 Catostomidae Species 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 238000010521 absorption reaction Methods 0.000 description 8
- 238000007664 blowing Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process 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
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an adsorption type end effector for automatically positioning a needle base and a using method thereof, wherein the adsorption type end effector comprises a mounting box fixed with the tail end of an industrial robot and a needle base positioning pressing plate positioned right below the mounting box; the adsorption type end effector also comprises a guide assembly and a limiting assembly, wherein the guide assembly is arranged on the mounting box and used for limiting the needle base positioning pressing plate to move along the vertical direction, and the limiting assembly is used for limiting the lowest descending position of the needle base positioning pressing plate; a plurality of first needle seat suckers with downward disk openings are fixedly arranged on the needle seat positioning pressing plate; the side surface of the needle base positioning pressing plate is provided with an air inlet, and an air flow channel communicated with the air inlet and the first needle base sucker is arranged in the needle base positioning pressing plate; a sucking disc component which is matched with the first needle seat sucking disc to adsorb the needle seat when the needle seat positioning pressing plate presses materials is arranged in the mounting box; the lower ends of the needle seat positioning pressing plate and the mounting box are respectively provided with a avoiding through groove for avoiding the material suction end of the sucker component; the adsorption type end effector has the advantages of good needle seat positioning effect and labor saving in moving.
Description
Technical Field
The invention relates to the technical field of end effectors, in particular to an adsorption type end effector capable of automatically positioning a needle seat and a using method thereof.
Background
When the needle seat is welded, the needle seat is required to be inserted into the circuit board firstly. At present, during production, a sucker used for sucking the needle seat is often installed at the tail end of the industrial robot, when the material is sucked, the condition that the needle seat is deviated easily occurs, the positioning effect is poor, and the subsequent insertion is not facilitated.
Disclosure of Invention
The present invention provides an adsorption type end effector for automatically positioning a needle seat and a method for using the adsorption type end effector, which are directed to overcome the above-mentioned drawbacks of the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
on one hand, the adsorption type end effector for automatically positioning the needle seat is provided, wherein the adsorption type end effector comprises a mounting box fixed with the tail end of an industrial robot and a needle seat positioning pressing plate positioned right below the mounting box; the adsorption type end effector also comprises a guide assembly and a limiting assembly, wherein the guide assembly is arranged on the mounting box and used for limiting the needle seat positioning pressing plate to move along the vertical direction, and the limiting assembly is used for limiting the lowest descending position of the needle seat positioning pressing plate; a plurality of first needle seat suckers with downward disk openings are fixedly arranged on the needle seat positioning pressing plate; the side surface of the needle base positioning pressing plate is provided with an air inlet, and an air flow channel communicated with the air inlet and the first needle base sucker is arranged in the needle base positioning pressing plate; a sucker component which is matched with the first needle seat sucker to adsorb the needle seat when the needle seat positioning pressing plate presses materials is arranged in the mounting box; the needle seat positioning pressing plate and the lower end of the mounting box are provided with avoidance through grooves for avoiding the material suction end of the sucker component.
On the other hand, the use method of the adsorption type end effector is provided, and based on the adsorption type end effector for automatically positioning the needle seat, the method comprises the following steps:
the mounting box is driven by the industrial robot to move downwards to the needle base;
the needle base positioning pressing plate is firstly contacted with the needle base and moves upwards under the guidance of the guide assembly;
after the needle seat positioning pressing plate is attached to the mounting box, the first needle seat sucking disc and the sucking disc assembly simultaneously suck the needle seat, and thus the needle seat sucking work is completed;
after the needle seat blanking device reaches the blanking position, the sucker assembly releases the needle seat, the first needle seat sucker releases the needle seat, and the needle seat blanking work is completed.
The invention has the beneficial effects that: the needle seat has good positioning effect and is more labor-saving to move. The needle seat is pressed when the material is taken, so that the needle seat is ensured not to deviate in the adsorption process; when the material is moved, the industrial robot does not need to bear the weight of the needle seat positioning pressing plate, so that the moving is more labor-saving; during the blowing, under the pressure of needle file location clamp plate is held, the blowing is also more steady, be difficult for appearing the skew, has avoided the condition of needle file and circuit board mutual extrusion.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described with reference to the accompanying drawings and embodiments, wherein the drawings in the following description are only part of the embodiments of the present invention, and for those skilled in the art, other drawings can be obtained without inventive efforts according to the accompanying drawings:
fig. 1 is a schematic view of an overall structure of an adsorption type end effector for automatically positioning a needle holder according to an embodiment of the present invention;
fig. 2 is a schematic view of a use state of an adsorption type end effector for automatically positioning a needle seat according to an embodiment of the present invention;
fig. 3 is a bottom view of a suction-type end effector for automatically positioning a needle hub according to an embodiment of the present invention;
fig. 4 is a front view of a suction-type end effector for automatically positioning a needle holder according to a second embodiment of the present invention;
fig. 5 is a front view of a suction-type end effector for automatically positioning a needle holder according to a second embodiment of the present invention;
fig. 6 is a schematic structural view of a conventional needle holder (a indicates a suction position of a first needle holder suction cup, and B indicates a suction position of a second needle holder suction cup).
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, are within the scope of the present invention.
Example one
The embodiment of the invention provides an adsorption type end effector for automatically positioning a needle seat, which comprises a mounting box 10 fixed with the tail end of an industrial robot 2 and a needle seat positioning pressing plate 11 positioned right below the mounting box 10, as shown in figures 1-3 and 6; the adsorption type end effector also comprises a guide component 12 which is arranged on the mounting box 10 and used for limiting the movement of the needle seat positioning pressing plate 11 along the vertical direction, and a limiting component for limiting the lowest descending position of the needle seat positioning pressing plate 11; a plurality of first needle seat suckers 14 with downward disk openings are fixedly arranged on the needle seat positioning pressing plate 11; the side surface of the needle seat positioning pressing plate 11 is provided with an air inlet 180, and an air flow channel (not shown in the figure) for communicating the air inlet 180 with the first needle seat sucker 14 is arranged inside the needle seat positioning pressing plate; a sucking disc component 15 which is matched with the first needle seat sucking disc 14 to adsorb the needle seat 3 when the needle seat positioning pressing plate 11 presses materials is arranged in the mounting box 10; the lower ends of the needle seat positioning pressing plate 11 and the mounting box 10 are both provided with an avoiding through groove 181 for avoiding the material suction end of the sucker component 15.
The adsorption type end effector has the advantages of good needle seat positioning effect and labor saving in moving. Specifically, the method comprises the following steps:
when taking materials: the mounting box 10 is driven by the industrial robot 2 to move towards the needle base 3, the needle base positioning pressing plate 11 is firstly contacted with the needle base 3 and vertically moves upwards under the guidance of the guide assembly 12 until the lower surface of the mounting box 10 is attached, and at the moment, the needle base 3 is pressed, so that the needle base is prevented from deviating in the adsorption process; furthermore, the first needle seat sucker 14 and the sucker assembly 15 simultaneously suck the needle seat 3, so that the sucking work of the needle seat 3 is completed;
when transferring materials: under the action of pressure difference, the needle seat 3 and the needle seat positioning pressing plate 11 are always pressed to the mounting box 10, so that the industrial robot 2 does not need to bear the weight of the needle seat positioning pressing plate 11, and the moving is more labor-saving;
during discharging: needle file 3 is still pushed down to needle file location clamp plate 11, and sucking disc subassembly 15 releases needle file 3 earlier, and then first needle file sucking disc 14 releases needle file 3, accomplishes the blowing work of needle file 3 up to this point promptly, holds down at the pressure of needle file location clamp plate 11, and the blowing is also more steady, difficult appearance skew, has avoided the mutual extruded condition of needle file 3 and circuit board.
As shown in fig. 1, a displacement sensor 16 for detecting the longitudinal displacement of the needle holder positioning pressing plate 11 is further arranged in the mounting box 10; the lower end of the mounting box 10 is provided with an opening for exposing the detection end of the displacement sensor 16;
the adsorption type end effector further comprises a controller (not shown), a first air pump (not shown) for inflating and deflating the air flow channel, and a second air pump (not shown) corresponding to the suction cup assembly 15; the displacement sensor 16, the first air pump and the second air pump are all electrically connected with and controlled by the controller.
The adsorption type end effector has the advantage of being convenient for controlling material suction and material discharge. Specifically, the method comprises the following steps:
when the displacement sensor 16 detects that the displacement value is gradually reduced until the displacement value is smaller than a first preset value, the needle base positioning pressing plate 11 is attached to the mounting box 10, and at the moment, the first air pump and the second air pump are controlled to perform air extraction through the controller;
when the displacement value measured by the displacement sensor 16 is smaller than the first preset value and continues for a certain time, the needle seat 3 reaches the specified blanking position, and at this time, the first air pump and the second air pump are controlled to be inflated through the controller.
As shown in fig. 1-3, a mounting seat 17 for mounting the suction cup assembly 15 and an air cylinder 18 for driving the mounting seat 17 to move longitudinally are arranged in the mounting box 10; the cylinder 18 is fixed with the mounting box 10; the cylinder 18 is detachably connected to the mounting seat 17.
This absorption formula end effector possesses the leveling of being convenient for and the good advantage of suitability. Specifically, the method comprises the following steps: when the suction cup assemblies with different suction heights 15 or the suction nozzles with different lengths are replaced, the height of the suction cup assemblies 15 can be adjusted through the air cylinders 18, so that the suction heights of the suction cup assemblies 15 are consistent with the height of the first needle seat suction cup 14.
Further, as shown in fig. 3, the avoiding through groove 181 is located in the middle of the needle seat positioning pressing plate 11; an even number of the first needle seat suckers 14 are arranged, and the plurality of the first needle seat suckers 14 are symmetrically distributed about the avoiding through groove 181;
the suction disc assembly 15 comprises a plurality of second needle seat suction discs 19 distributed in a matrix; the second needle mount suction cup 19 is fixed with the mounting mount 17.
This absorption formula end effector possesses the advantage that distributes neatly and inhale the material more stable. Specifically, the method comprises the following steps: the sucking disc subassembly 15 is in the middle, and first needle file sucking disc 14 ring cloth is in the outside to the absorption area that is formed by the adsorption point is bigger, and the whole atress of needle file 3 is more even when inhaling the material.
As shown in fig. 1, the guiding assembly 12 includes a plurality of guiding columns 110, and a plurality of guiding sleeves 111 corresponding to the guiding columns 110; the lower end part of the guide post 110 is fixed with the needle stand positioning pressing plate 11; the lower end of the mounting box 10 is provided with a plurality of mounting through grooves corresponding to the plurality of groups of guide sleeves 111 one by one; the guide sleeve 111 is fixed to the mounting box 10. This absorption formula end effector possesses effectual and simple structure's of direction advantage.
Further, as shown in fig. 1, the guide posts 110 are arranged in four groups and distributed in a matrix;
the limiting assembly comprises two groups of limiting plates 112 which are positioned in the mounting box 10; two ends of one of the two sets of limiting plates 112 are respectively fixed with the two sets of guiding pillars 110 in the first row, and two ends of the other set of limiting plates are respectively fixed with the two sets of guiding pillars 110 in the last row. This absorption formula end effector possesses spacing effectual and simple structure's advantage.
Example two
The embodiment of the invention provides an adsorption type end effector for automatically positioning a needle seat, which is the same as the first embodiment and is not repeated, and the difference is as follows:
as shown in fig. 4, the guide posts 110 are arranged in four groups and distributed in a matrix;
the limiting assembly comprises two first fishing lines 113 which are positioned in the mounting box 10; two first fishing lines 113, one of which has two ends fixed to the first two guiding columns 110 and the other two ends fixed to the last two guiding columns 110; the first fishing line 113 is a PE fishing line.
This absorption formula end effector possesses spacing effectual and more portable advantage. Specifically, the method comprises the following steps: the first fishing line 113 has high strength and light weight, and can pull the guide post 110 to limit the lowest descending position of the needle seat positioning pressing plate 11; meanwhile, when the needle seat 3 and the needle seat positioning pressing plate 11 are pressed to the mounting box 10 under the action of pressure difference, the needle seat 3 and the needle seat positioning pressing plate 11 can be pressed to the mounting box 10 more tightly because the weight of the first fishing line 113 is much smaller than that of a hard plate.
EXAMPLE III
The embodiment of the invention provides an adsorption type end effector for automatically positioning a needle seat, which is the same as the first embodiment and is not repeated, and the difference is as follows:
as shown in fig. 5, the limiting assembly comprises two sets of limiting arms 114 which are matched to block the needle seat positioning pressing plate 11 from descending; the limiting arm 114 is positioned below the mounting box 10 and fixed with the mounting box 10;
the guide assembly 12 includes two second fishing lines 115 each located below the mounting box 10; the surfaces of the two sides of the needle base positioning pressure plate 11 are provided with guide through holes matched with the second fishing line 115; two ends of a second fishing line 115 are respectively fixed with the mounting box 10 and the needle seat positioning pressing plate 11; the second fishing line 115 is a PE line.
This absorption formula end effector possesses simple to operate's advantage. Specifically, during installation, one end of the second fishing line 115 is fixed on the limiting arm 114, the needle seat positioning pressing plate 11 is buckled on the second fishing line 115, and the second fishing line 115 is pulled straight upwards to be in a tense state, so that the second fishing line 115 can be stuck. Therefore, the installation work is finished, and the convenience and the time saving are realized.
As shown in fig. 5, the mounting box 10 is provided with a line passing through hole for the second fishing line 115 to longitudinally pass through, a bolt 117 with the tail end abutting against the second fishing line 115 in the line passing through hole, and a threaded hole adapted to the bolt 117; the extending direction of the threaded hole is vertical to the extending direction of the through hole.
This absorption formula end effector possesses simple to operate's advantage. Specifically, during installation, one end of the second fishing line 115 is fixed on the limiting arm 114, the other end of the second fishing line is inserted into the line passing through hole, and the bolt 117 can be screwed after the second fishing line 115 is tightened. Therefore, the installation work is finished, and the convenience and the time saving are realized.
Example four
The embodiment of the invention provides a using method of an adsorption type end effector, which comprises the following steps:
step S101: the mounting box is driven by the industrial robot to move downwards to the needle seat.
Step S102: the needle seat positioning pressing plate is firstly contacted with the needle seat and moves upwards under the guidance of the guide assembly.
Step S103: after the needle seat positioning pressing plate is attached to the mounting box, the first needle seat sucker and the sucker component simultaneously adsorb the needle seat, so that the needle seat adsorption work is completed.
Step S104: after the needle seat is discharged, the sucking disc assembly releases the needle seat, and then the first needle seat sucking disc releases the needle seat, so that the needle seat discharging work is completed.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. An adsorption type end effector for automatically positioning a needle base is characterized by comprising a mounting box fixed with the tail end of an industrial robot and a needle base positioning pressing plate positioned right below the mounting box; the adsorption type end effector also comprises a guide assembly and a limiting assembly, wherein the guide assembly is arranged on the mounting box and used for limiting the needle seat positioning pressing plate to move along the vertical direction, and the limiting assembly is used for limiting the lowest descending position of the needle seat positioning pressing plate; a plurality of first needle seat suckers with downward disk openings are fixedly arranged on the needle seat positioning pressing plate; the side surface of the needle base positioning pressing plate is provided with an air inlet, and an air flow channel communicated with the air inlet and the first needle base sucker is arranged in the needle base positioning pressing plate; a sucker component which is matched with the first needle seat sucker to adsorb the needle seat when the needle seat positioning pressing plate presses materials is arranged in the mounting box; the needle seat positioning pressing plate and the lower end of the mounting box are provided with avoidance through grooves for avoiding the material suction end of the sucker component.
2. The adsorption type end effector for automatically positioning the needle seat according to claim 1, wherein a displacement sensor for detecting the longitudinal displacement of the needle seat positioning pressing plate is further arranged in the mounting box; the lower end of the mounting box is provided with an opening for exposing the detection end of the displacement sensor;
the adsorption type end effector also comprises a controller, a first air pump for inflating and deflating the air flow channel and a second air pump corresponding to the sucker component; the displacement sensor, the first air pump and the second air pump are all electrically connected with and controlled by the controller.
3. The adsorption type end effector for automatically positioning the needle base according to claim 1, wherein a mounting seat for mounting the sucker assembly and a cylinder for driving the mounting seat to move longitudinally are arranged in the mounting box; the cylinder is fixed with the mounting box; the cylinder with the mount pad is detachable to be connected.
4. The adsorption type end effector for automatically positioning the needle seat according to claim 3, wherein the avoiding through groove is positioned in the middle of the needle seat positioning pressing plate; the number of the first needle seat suckers is even, and the first needle seat suckers are symmetrically distributed around the avoiding through groove;
the sucking disc assembly comprises a plurality of second needle seat sucking discs distributed in a matrix manner; the second needle base sucker is fixed with the mounting seat.
5. The suction end effector for automatically positioning a needle holder according to claim 1, wherein the guide assembly comprises a plurality of sets of guide posts and a plurality of sets of guide sleeves corresponding to the plurality of sets of guide posts one to one; the lower end part of the guide post is fixed with the needle seat positioning pressing plate; the lower end of the mounting box is provided with a plurality of mounting through grooves which correspond to the plurality of groups of guide sleeves one by one; the guide sleeve is fixed with the mounting box.
6. The suction type end effector for automatically positioning the needle seat according to claim 5, wherein the guide columns are arranged in four groups and distributed in a matrix manner;
the limiting assembly comprises two groups of limiting plates which are positioned in the mounting box; two ends of one of the two groups of limiting plates are respectively fixed with the two groups of guide posts in the first row, and two ends of the other group of limiting plates are respectively fixed with the two groups of guide posts in the last row.
7. The suction type end effector for automatically positioning the needle seat according to claim 5, wherein the guide columns are arranged in four groups and distributed in a matrix manner;
the limiting assembly comprises two first fishing lines which are positioned in the mounting box; two ends of one of the two groups of first fishing lines are respectively fixed with the two groups of guide posts in the first row, and two ends of the other one of the two groups of first fishing lines are respectively fixed with the two groups of guide posts in the last row; the first fishing line is a PE fishing line.
8. The suction end effector for automatically positioning the needle mount according to claim 1, wherein the limiting assembly comprises two sets of limiting arms which cooperate to block the needle mount positioning pressing plate from descending; the limiting arm is positioned below the mounting box and is fixed with the mounting box;
the guide assembly comprises two second fishing lines which are positioned below the mounting box; the surfaces of the two sides of the needle seat positioning pressure plate are respectively provided with a guide through hole matched with the second fishing line; two ends of the second fishing line are respectively fixed with the mounting box and the needle seat positioning pressing plate; the second fishing line is a PE line.
9. The suction type end effector for automatically positioning the needle seat as claimed in claim 8, wherein the mounting box is provided with a through hole for the second fishing line to longitudinally penetrate, a bolt with a tail end abutting against the second fishing line in the through hole, and a threaded hole adapted to the bolt; the extending direction of the threaded hole is perpendicular to the extending direction of the wire passing through hole.
10. A method for using a suction type end effector for automatically positioning a needle holder according to any one of claims 1 to 9, comprising the steps of:
the mounting box is driven by the industrial robot to move downwards to the needle base;
the needle base positioning pressing plate is firstly contacted with the needle base and moves upwards under the guidance of the guide assembly;
after the needle seat positioning pressing plate is attached to the mounting box, the first needle seat sucking disc and the sucking disc assembly simultaneously suck the needle seat, and thus the needle seat sucking work is completed;
after the needle seat blanking device reaches the blanking position, the sucker assembly releases the needle seat, the first needle seat sucker releases the needle seat, and the needle seat blanking work is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010216755.0A CN111217144B (en) | 2020-03-25 | 2020-03-25 | Adsorption type end effector capable of automatically positioning needle seat and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010216755.0A CN111217144B (en) | 2020-03-25 | 2020-03-25 | Adsorption type end effector capable of automatically positioning needle seat and application method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111217144A true CN111217144A (en) | 2020-06-02 |
| CN111217144B CN111217144B (en) | 2024-05-24 |
Family
ID=70813351
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010216755.0A Active CN111217144B (en) | 2020-03-25 | 2020-03-25 | Adsorption type end effector capable of automatically positioning needle seat and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111217144B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3059726B1 (en) * | 1999-09-13 | 2000-07-04 | 日本クレセント株式会社 | Settlement method and device in restaurants |
| DE10121344A1 (en) * | 2001-05-02 | 2002-11-07 | Fft Flexible Fertigungstechnik | Clamping device attached to arm of robot, in particular used for lifting of flat items, comprising suction unit provided with self adjusting stop |
| CN204505273U (en) * | 2015-01-15 | 2015-07-29 | 成都金大立科技有限公司 | A kind of for PCB processing and the sucker manipulator of checkout equipment |
| CN207616604U (en) * | 2017-12-25 | 2018-07-17 | 哈工大机器人（合肥）国际创新研究院 | A kind of adaptive aspirated-air type robot end grasping mechanism |
| CN209073626U (en) * | 2018-09-15 | 2019-07-09 | 芜湖慧盈自动化设备有限公司 | A kind of industrial robot sole crawl positioning device |
| CN209242140U (en) * | 2018-12-22 | 2019-08-13 | 无锡万洪电子机械有限公司 | A kind of pressing absorption type vacuum hold mechanism |
| CN209922411U (en) * | 2019-04-23 | 2020-01-10 | 广州市安旭特电子有限公司 | Magnetic suction type vacuum chuck structure convenient for quick adjustment |
| CN211971006U (en) * | 2020-03-25 | 2020-11-20 | 深圳市拓野智能股份有限公司 | Adsorption type end effector capable of automatically positioning needle base |
-
2020
- 2020-03-25 CN CN202010216755.0A patent/CN111217144B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3059726B1 (en) * | 1999-09-13 | 2000-07-04 | 日本クレセント株式会社 | Settlement method and device in restaurants |
| DE10121344A1 (en) * | 2001-05-02 | 2002-11-07 | Fft Flexible Fertigungstechnik | Clamping device attached to arm of robot, in particular used for lifting of flat items, comprising suction unit provided with self adjusting stop |
| CN204505273U (en) * | 2015-01-15 | 2015-07-29 | 成都金大立科技有限公司 | A kind of for PCB processing and the sucker manipulator of checkout equipment |
| CN207616604U (en) * | 2017-12-25 | 2018-07-17 | 哈工大机器人（合肥）国际创新研究院 | A kind of adaptive aspirated-air type robot end grasping mechanism |
| CN209073626U (en) * | 2018-09-15 | 2019-07-09 | 芜湖慧盈自动化设备有限公司 | A kind of industrial robot sole crawl positioning device |
| CN209242140U (en) * | 2018-12-22 | 2019-08-13 | 无锡万洪电子机械有限公司 | A kind of pressing absorption type vacuum hold mechanism |
| CN209922411U (en) * | 2019-04-23 | 2020-01-10 | 广州市安旭特电子有限公司 | Magnetic suction type vacuum chuck structure convenient for quick adjustment |
| CN211971006U (en) * | 2020-03-25 | 2020-11-20 | 深圳市拓野智能股份有限公司 | Adsorption type end effector capable of automatically positioning needle base |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111217144B (en) | 2024-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211971006U (en) | Adsorption type end effector capable of automatically positioning needle base | |
| CN110027906B (en) | Automatic adhesive tape stripping equipment | |
| CN111217144A (en) | Adsorption type end effector capable of automatically positioning needle seat and using method thereof | |
| CN218182186U (en) | Thimble mechanism | |
| CN105643228B (en) | A kind of adsorption mechanism of lifting workpieces absorption rate | |
| CN108859159B (en) | Blood transfusion apparatus dropping funnel bottle separation feedway | |
| CN217858247U (en) | Automatic aligning and stamping device for micro-needles | |
| CN216335213U (en) | Feeding device of etching machine | |
| CN212100953U (en) | Discharging mechanism for production of multilayer automatic line | |
| CN114259643A (en) | Anesthesia auxiliary support for anesthesia and using method thereof | |
| CN211338058U (en) | Digital UV gold stamping device | |
| CN109986345B (en) | Automatic wafer loader for friction plates | |
| CN107433303B (en) | Feeding device for heat pipe shrinking pipe | |
| CN212658766U (en) | Full-automatic multiple operation processingequipment | |
| CN219009220U (en) | Pitch-variable suction nozzle mechanism | |
| CN116313934B (en) | Diode pipe sleeve cap pressing all-in-one machine | |
| CN116600559B (en) | PCB (printed circuit board) chip mounter with adjusting function | |
| CN219779401U (en) | Conversion plug buckle assembly devices | |
| CN218804919U (en) | Novel stone carving product processing equipment | |
| CN214672282U (en) | Key cap assembling machine | |
| CN116754989B (en) | Electric leakage detection device for concentrating and radiating type LED lamp substrate | |
| CN214878456U (en) | Square battery carrying and transferring device | |
| CN113878311B (en) | Fixture for manufacturing V-CUT steel mold core continuous V-shaped groove of light guide plate | |
| CN210060303U (en) | Full-automatic production detection assembly line for suction heads | |
| KR102127695B1 (en) | Semiconductor die detachment apparatus |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |