CN111230913B - High-efficient transport manipulator of plain noodles panel is grabbed - Google Patents
High-efficient transport manipulator of plain noodles panel is grabbed Download PDFInfo
- Publication number
- CN111230913B CN111230913B CN202010209299.7A CN202010209299A CN111230913B CN 111230913 B CN111230913 B CN 111230913B CN 202010209299 A CN202010209299 A CN 202010209299A CN 111230913 B CN111230913 B CN 111230913B
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- plate
- cross
- rod
- pull rod
- bottom plate
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- 235000009537 plain noodles Nutrition 0.000 title description 5
- 239000000725 suspension Substances 0.000 claims description 21
- 230000001154 acute effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims 1
- 210000000078 claw Anatomy 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
Abstract
The invention discloses a smooth panel efficient carrying manipulator claw, relates to the technical field of smooth panel carrying, and solves the problem that a smooth panel manipulator claw in the prior art is easy to grab a plurality of panels at one time, and the technical key points are as follows: the lifting device comprises a bottom plate, wherein the bottom plate is a square plate, clamping plates are hinged to the edge of the bottom plate, a lifting rod which penetrates through the bottom plate and is in sliding connection with the bottom plate is arranged at the center of the bottom plate, a suction plate unit is arranged at the lower end of the bottom plate, four groups of clamping plates are arranged on the clamping plates, the suction plate unit is provided with a suction plate capable of moving horizontally, a vacuum chuck is arranged on the suction plate, an air cylinder is arranged at one end of the lifting rod, which is far away from the suction plate unit, the bottom plate is also fixedly connected with a clamping plate driving unit which can be linked with the lifting rod and can drive the clamping plates to swing, the clamping plate driving unit is hinged to the clamping plates, and the clamping plate driving unit is fixedly connected with the lifting rod; the invention can accurately grab a single smooth plate and can position the smooth plate.
Description
Technical Field
The invention relates to the technical field of smooth panel carrying, in particular to a smooth panel efficient carrying manipulator gripper.
Background
At present, in the transport of to plain noodles panel, the device that adopts often the structure is more complicated, and the cost is higher, and efficiency is lower, is not suitable for the centre gripping transport to panel.
Chinese patent publication No. CN109129531A discloses a high-efficient transport manipulator of plain noodles panel is held, including the mounting panel, the left and right sides of mounting panel all articulates and is equipped with the arm lock, the top installation of mounting panel is fixed with the installation pole, the left and right sides of installation pole all installs and is fixed with the hinged-support, all articulate on two hinged-support and be equipped with the telescoping device, the other end of telescoping device corresponds respectively and articulates with the upper end of the arm lock of the mounting panel left and right sides, the bracing piece is installed to the downside of mounting panel, the sucking disc is installed to the lower extreme of bracing piece, still be connected with the negative pressure pipe on the sucking disc, the other end of negative pressure pipe is connected with the negative pressure device who locates the mounting panel bottom, install a plurality of uide bushings on the mounting panel, flexible telescopic link is installed to uide bushing's inboard, the supporting shoe is installed to flexible telescopic link's lower extreme. The device can carry out firm centre gripping transport to smooth surface panel, and work efficiency is high, but, the device adopts the arm lock to add and holds panel, and when the arm lock added and holds panel, a plurality of panels were once got to the easy clamp, and adding and holding the unable detached panel of in-process, therefore, we have provided a smooth surface panel high efficiency transport manipulator and have grabbed.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a smooth plate efficient handling manipulator gripper, which comprises a bottom plate, wherein the bottom plate is a square plate, clamping plates are hinged to the edge of the bottom plate, a lifting rod which penetrates through the bottom plate and is in sliding connection with the bottom plate is arranged at the center of the bottom plate, a suction plate unit is arranged at the lower end of the bottom plate, four groups of clamping plates are arranged on the clamping plates, suction plates capable of moving horizontally are arranged on the suction plate unit, vacuum suckers are arranged on the suction plates, an air cylinder is arranged at one end, far away from the suction plate unit, of the lifting rod, a clamping plate driving unit which can be linked with the lifting rod and can drive the clamping plates to swing is fixedly connected to the bottom plate, the clamping plate driving unit is hinged to the clamping plates, and the clamping plate driving unit is fixedly connected to the lifting rod, so that the problem that the smooth plate manipulator gripper in the prior art can easily grip a plurality of plates at one time is solved.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a high-efficient transport manipulator of plain noodles panel is grabbed, comprising a base plate, the bottom plate is square board, the edge of bottom plate articulates there is splint, the central point of bottom plate puts and is equipped with the jib that passes the bottom plate and with bottom plate sliding connection, the jib is equipped with the suction disc unit at the lower extreme of bottom plate, splint are equipped with four groups, be equipped with the suction disc that can horizontal migration on the suction disc unit, be equipped with vacuum chuck on the suction disc, the jib is equipped with the cylinder in the one end of keeping away from the suction disc unit, it can just can drive splint wobbling splint drive unit with the jib linkage still fixedly connected with on the bottom plate, splint drive unit is articulated with splint, and splint drive unit and jib fixed connection.
As a further scheme of the invention, the bottom plate is a square plate, four sides of the bottom plate are provided with support lugs for hinging the clamping plate, and the middle of the bottom plate is provided with a through hole for the hanging rod to pass through; the middle of the clamping plate is provided with a through hole parallel to the end surface of the clamping plate.
As a further scheme of the invention, the suction plate unit further comprises a cross-shaped hanging bracket and a cross-shaped hanging bracket seat, the cross-shaped hanging bracket is of a cross structure, a connecting rod for connecting the suction plate is arranged at the center of the cross-shaped hanging bracket, the connecting rod is columnar, the suction plate is fixedly connected to the connecting rod on the cross-shaped hanging bracket, the cross-shaped hanging bracket seat is of a square plate shape, a blocking edge perpendicular to the cross-shaped hanging bracket seat is arranged on the edge of the cross-shaped hanging bracket seat, a through hole is arranged on the blocking edge, the through holes arranged oppositely are collinear, and the cross-shaped hanging bracket is arranged in the through hole on the cross-shaped hanging bracket seat.
As a further scheme of the invention, the cross-shaped hanger is also sleeved with springs in the cross-shaped hanger seat, the springs are provided with four groups, and the four groups of springs are respectively arranged on four arms of the cross-shaped hanger.
As a further scheme of the invention, the clamping plate driving unit comprises a pull rod, a pull rod seat and a push rod, the pull rod is in a square rod shape, one end of the pull rod is hinged with a T-shaped sliding block, a T-shaped groove is formed in the clamping plate, the T-shaped sliding block is arranged in the T-shaped groove and can slide in the T-shaped groove, a push-pull hole is formed in one end, away from the hinge hole, of the pull rod, and the axis of the push-pull hole forms an acute angle with the axial direction of the pull rod; the pull rod is fixed on the bottom plate through the pull rod seat and is in sliding connection with the pull rod seat, one end of the push rod is fixed on the suspension rod, the push rod is arranged in an inclined mode, the push rod is arranged in the push-pull hole in the pull rod, and the axis of the push rod is collinear with the axis of the push-pull hole.
As a further scheme of the invention, the pull rod seat is T-shaped, the transverse edge of the pull rod seat is provided with a guide hole for guiding, the pull rod is arranged in the guide hole, and the vertical edge of the pull rod seat is fixed on the clamping plate.
As a further scheme of the invention, a plurality of groups of vacuum suction cups are arranged, and the vacuum suction cups are arranged on the suction plate in an array.
In conclusion, compared with the prior art, the invention has the following beneficial effects:
according to the invention, the smooth panel is sucked by the sucking disc unit, the clamping plate is linked with the sucking disc unit, and the sucking disc can translate through the cross-shaped hanging bracket, so that the single smooth panel can be accurately grabbed by the invention, and meanwhile, the smooth panel can be positioned, so that the positions of the smooth panels on the mechanical arm are consistent all the time, and the subsequent stations can conveniently process the smooth panel.
Drawings
Fig. 1 is a schematic structural diagram of a smooth plate efficient handling manipulator.
Fig. 2 is a schematic structural diagram of a base plate in a smooth plate efficient handling manipulator.
Fig. 3 is a schematic structural diagram of a clamping plate in a gripping of a smooth plate efficient carrying manipulator.
Fig. 4 is a schematic structural diagram of a cross-shaped hanging bracket in a smooth plate efficient carrying manipulator.
Fig. 5 is a schematic structural diagram of a cross-shaped hanger seat in a smooth plate efficient carrying manipulator.
Fig. 6 is a schematic structural diagram of a middle pull rod of a smooth plate efficient carrying manipulator.
Reference numerals: the device comprises a base plate 1, a clamping plate 2, a hanging rod 3, a suction plate unit 4, a suction plate 41, a cross hanging frame 42, a cross hanging frame seat 43, a cylinder 5, a clamping plate driving unit 6, a pull rod 61, a pull rod seat 62, a push rod 63 and a mounting plate 7.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Example 1
As shown in fig. 1-2, a smooth plate efficient handling manipulator gripper comprises a base plate 1, wherein the base plate 1 is a square plate, four groups of clamping plates 2 are hinged to the edge of the base plate 1, a suspension rod 3 which penetrates through the base plate 1 and is in sliding connection with the base plate 1 is arranged at the center of the base plate 1, a suction plate unit 4 is arranged at the lower end of the base plate 1 of the suspension rod 3, a suction plate 41 which can move horizontally is arranged on the suction plate unit 4, a vacuum chuck is arranged on the suction plate 41, an air cylinder 5 is arranged at one end of the suspension rod 3 far away from the suction plate unit 4, a clamping plate driving unit 6 which can be linked with the suspension rod 3 and can drive the clamping plates 2 to swing is fixedly connected to the base plate 1, the clamping plate driving unit 6 is hinged to the clamping plates 2, and the clamping plate driving unit 6 is fixedly connected to the suspension rod 3;
as shown in fig. 2, the bottom plate 1 is a square plate, four sides of the bottom plate 1 are provided with support lugs for hinging the clamping plate 2, the middle of the bottom plate 1 is provided with a through hole for the suspension rod 3 to pass through, as shown in fig. 3, the clamping plate 2 is a plate, and the middle of the clamping plate 2 is provided with a through hole parallel to the end surface of the clamping plate 2;
the suction plate 41 is flat, in this embodiment, a group of vacuum suction cups is arranged on the suction plate 41, the vacuum suction cups are fixed in the middle of the suction plate 41, the vacuum suction cups are connected with a negative pressure device through air pipes, the suction plate unit 4 further comprises a cross-shaped hanger 42 and a cross-shaped hanger seat 43, as shown in fig. 4, the cross-shaped hanger 42 is in a cross structure, a connecting rod for connecting the suction plate 41 is arranged at the center of the cross-shaped hanger 42, and the connecting rod is columnar, in this embodiment, the suction plate 41 is fixedly connected to the connecting rod on the cross-shaped hanger 42 through screws, as shown in fig. 5, the cross-shaped hanger seat 43 is in a square plate shape, a blocking edge perpendicular to the cross-shaped hanger seat 43 is arranged on the edge of the cross-shaped hanger seat 43, a through hole is arranged on the blocking edge, and the through holes arranged oppositely are collinear, and the cross-shaped hanger 42 is arranged in the through hole on the cross-shaped hanger seat 43; so that the cross hanger 42 can move on the cross hanger seat 43;
preferably, the cross hanger 42 is further sleeved with springs in the cross hanger seat 43, so that the cross hanger 42 can push the cross hanger 42 to return automatically after releasing the workpiece, and four groups of springs are arranged on four arms of the cross hanger 42 respectively;
the clamp plate driving unit 6 comprises a pull rod 61, a pull rod seat 62 and a push rod 63, as shown in fig. 6, the pull rod 61 is in a square rod shape, one end of the pull rod 61 is hinged with a T-shaped slider, a T-shaped groove is arranged on the clamp plate 2, the T-shaped slider is arranged in the T-shaped groove and can slide in the T-shaped groove, one end of the pull rod 61, which is far away from the hinged hole, is provided with a push-pull hole, the axis of the push-pull hole forms an acute angle with the axial direction of the pull rod 61, the pull rod seat 62 is in a T shape, a guide hole for guiding is arranged on the transverse edge of the pull rod seat 62, the pull rod 61 is arranged in the guide hole, the vertical edge of the pull rod seat 62 is fixed on the clamp plate 2, one end of the push rod 63 is fixed on the hanger rod 3, the push rod 63 is obliquely arranged, the push rod 63 is arranged in the push-pull hole on the pull rod 61, the axis of the push rod 63 is collinear with the axis of the push-pull hole, when the hanger rod 3 rises, the push rod 63 pushes the pull rod seat 62 to move outwards, thereby pushing the splints 2 to swing, four groups of splint driving units 6 are arranged, and the splint driving units 6 are respectively connected to the splints 2 around the bottom plate 1;
preferably, the cylinder 5 is further fixedly connected with a mounting plate 7, the mounting plate 7 is plate-shaped, and the mounting plate 7 is used for mounting the hand gripping mechanism on the manipulator.
Example 2
As shown in fig. 1-2, a smooth plate efficient handling manipulator gripper comprises a base plate 1, wherein the base plate 1 is a square plate, four groups of clamping plates 2 are hinged to the edge of the base plate 1, a suspension rod 3 which penetrates through the base plate 1 and is in sliding connection with the base plate 1 is arranged at the center of the base plate 1, a suction plate unit 4 is arranged at the lower end of the base plate 1 of the suspension rod 3, a suction plate 41 which can move horizontally is arranged on the suction plate unit 4, a vacuum chuck is arranged on the suction plate 41, an air cylinder 5 is arranged at one end of the suspension rod 3 far away from the suction plate unit 4, a clamping plate driving unit 6 which can be linked with the suspension rod 3 and can drive the clamping plates 2 to swing is fixedly connected to the base plate 1, the clamping plate driving unit 6 is hinged to the clamping plates 2, and the clamping plate driving unit 6 is fixedly connected to the suspension rod 3;
preferably, in this embodiment, the suction plate 41 is provided with a plurality of groups of vacuum suction cups arranged in an array for uniformly sucking the plate;
other structures in this embodiment are the same as those in embodiment 1.
In summary, the working principle of the invention is as follows:
when the cylinder 5 extends out, the suspension rod 3 moves downwards, the push rod 63 pushes the pull rod 61 to move towards the position of the suspension rod 3, so that the lower end of the clamping plate 2 is driven to open, the suction plate unit 4 extends out at the moment, the vacuum chuck on the suction plate 41 adsorbs the smooth plate, then the cylinder 5 retracts, at the moment, the suspension rod 3 moves upwards under the action of the cylinder 5, the suspension rod 3 drives the push rod 63 to move upwards, at the moment, the push rod 63 pushes the pull rod 61 to move outwards, the lower end of the clamping plate 2 is closed under the action of the pull rod 61, and the position of the smooth plate is adjusted in the closing process of the clamping plate 2 until the clamping plate 2 on the bottom plate 1 completely clamps the smooth plate;
when putting down the smooth plate, firstly, the plate is placed at a preset position, the air cylinder 5 extends out, the suspension rod 3 moves downwards, the push rod 63 pushes the pull rod 61 to move towards the position of the suspension rod 3, so that the lower end of the clamping plate 2 is driven to open, the smooth plate is loosened by the clamping plate 2, the smooth plate rises under the action of the suspension rod 3 when being held by a hand, the vacuum suction cup on the suction plate 41 is inflated, and the smooth plate is loosened by the vacuum suction cup.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A smooth panel efficient carrying manipulator gripper comprises a bottom plate (1), wherein the bottom plate (1) is a square plate, a clamping plate (2) is hinged to the edge of the bottom plate (1), a hanging rod (3) which penetrates through the bottom plate (1) and is in sliding connection with the bottom plate (1) is arranged at the center of the bottom plate (1), a suction plate unit (4) is arranged at the lower end of the bottom plate (1) of the hanging rod (3), the vacuum plate clamping device is characterized in that four groups of clamping plates (2) are arranged, a suction plate (41) capable of moving horizontally is arranged on a suction plate unit (4), a vacuum sucker is arranged on the suction plate (41), an air cylinder (5) is arranged at one end, far away from the suction plate unit (4), of a suspender (3), a clamping plate driving unit (6) capable of being linked with the suspender (3) and driving the clamping plates (2) to swing is fixedly connected to a base plate (1), the clamping plate driving unit (6) is hinged to the clamping plates (2), and the clamping plate driving unit (6) is fixedly connected with the suspender (3);
the clamp plate driving unit (6) comprises a pull rod (61), a pull rod seat (62) and a push rod (63), the pull rod (61) is in a square rod shape, one end of the pull rod (61) is hinged with a T-shaped sliding block, a T-shaped groove is formed in the clamp plate (2), the T-shaped sliding block is arranged in the T-shaped groove and can slide in the T-shaped groove, a push-pull hole is formed in one end, away from the hinge hole, of the pull rod (61), and an acute angle is formed between the axis of the push-pull hole and the axial direction of the pull rod (61); the pull rod (61) is fixed on the bottom plate (1) through the pull rod seat, the pull rod (61) is connected with the pull rod seat (62) in a sliding mode, one end of the push rod (63) is fixed on the suspension rod (3), the push rod (63) is obliquely arranged, the push rod (63) is arranged in a push-pull hole in the pull rod (61), and the axis of the push rod (63) is collinear with the axis of the push-pull hole;
the pull rod seat (62) is T-shaped, guide holes for guiding are arranged on the transverse edges of the pull rod seat (62), the pull rod (61) is arranged in the guide holes, and the vertical edges of the pull rod seat (62) are fixed on the clamping plate (2).
2. The smooth plate efficient carrying manipulator gripper as claimed in claim 1, wherein the base plate (1) is a square plate, four sides of the base plate (1) are provided with support lugs for the hinged clamping plates (2), and the middle of the base plate (1) is provided with a through hole for the suspension rod (3) to pass through; the middle of the clamping plate (2) is provided with a through hole parallel to the end surface of the clamping plate (2).
3. The high-efficiency conveying manipulator gripper for smooth plates as claimed in claim 1, wherein the suction plate unit (4) further comprises a cross-shaped hanger (42) and a cross-shaped hanger seat (43), the cross-shaped hanger (42) is of a cross structure, a connecting rod for connecting the suction plate (41) is arranged at the center of the cross-shaped hanger (42), the connecting rod is of a cylindrical shape, the suction plate (41) is fixedly connected to the connecting rod on the cross-shaped hanger (42), the cross-shaped hanger seat (43) is of a square plate shape, a rib perpendicular to the cross-shaped hanger seat (43) is arranged on the edge of the cross-shaped hanger seat (43), a through hole is arranged on the rib, the through holes arranged oppositely are collinear, and the cross-shaped hanger (42) is arranged in the through hole on the cross-shaped hanger seat (43).
4. The high efficiency conveying mechanical gripper for smooth plate materials as claimed in claim 3, wherein the cross hanger (42) is further sleeved with four sets of springs in the cross hanger seat (43), and the four sets of springs are respectively arranged on the four arms of the cross hanger (42).
5. The efficient handling robot gripper for glazed panels as claimed in any one of claims 1 to 4, wherein there are multiple sets of vacuum suction cups, and the vacuum suction cups are arranged in an array on the suction plate (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010209299.7A CN111230913B (en) | 2020-03-23 | 2020-03-23 | High-efficient transport manipulator of plain noodles panel is grabbed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010209299.7A CN111230913B (en) | 2020-03-23 | 2020-03-23 | High-efficient transport manipulator of plain noodles panel is grabbed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111230913A CN111230913A (en) | 2020-06-05 |
| CN111230913B true CN111230913B (en) | 2022-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010209299.7A Active CN111230913B (en) | 2020-03-23 | 2020-03-23 | High-efficient transport manipulator of plain noodles panel is grabbed |
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| CN112060118A (en) * | 2020-09-11 | 2020-12-11 | 苏州菲丽丝智能科技有限公司 | Material taking and conveying system and method thereof |
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| CN112193816A (en) * | 2020-09-23 | 2021-01-08 | 温州职业技术学院 | Automatic feeding structure for packaging equipment |
| CN112355700A (en) * | 2020-11-25 | 2021-02-12 | 上汽通用五菱汽车股份有限公司 | Grabbing clamp structure of engine cylinder cover |
| CN114872071A (en) * | 2021-02-05 | 2022-08-09 | 江西华派光电科技有限公司 | Glass substrate centre gripping manipulator |
| CN113400331A (en) * | 2021-05-17 | 2021-09-17 | 山东伟豪思智能仓储装备有限公司 | Automatic snatch mechanism |
| CN113459137B (en) * | 2021-07-26 | 2022-09-27 | 天津理工大学 | Based on manipulator for intelligent manufacturing |
| CN113858246A (en) * | 2021-09-30 | 2021-12-31 | 昆山普勒希精密元件有限公司 | Grabbing and shifting device for assembly line type processing of electrical precision elements |
| CN116810812A (en) * | 2023-05-24 | 2023-09-29 | 佛山市盈科智睿科技有限公司 | Creative greeting robot |
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|---|---|---|---|---|
| DE102009021537A1 (en) * | 2009-05-15 | 2010-11-18 | Bargstedt Handlingsysteme Gmbh | Lifting device for lifting porous, suckable and plate-shaped workpiece for production of furniture, has valve element arranged in recess and used to adjust high pressure produced in area that is described by inner element |
| CN205739459U (en) * | 2016-06-22 | 2016-11-30 | 江苏树仁木业有限公司 | A kind of sheet material adsorbent equipment of slip-off preventing |
| CN107253210A (en) * | 2017-06-22 | 2017-10-17 | 成都众智优学教育咨询有限公司 | Apply the manipulator in industrial robot |
| CN208150786U (en) * | 2018-04-26 | 2018-11-27 | 呼和浩特市洪润环祥科技有限公司 | A kind of crucible of single crystal furnace boom hoisting |
| CN109129531A (en) * | 2018-10-10 | 2019-01-04 | 杜鑫 | A kind of efficient conveying robot of smooth surface plate is grabbed |
-
2020
- 2020-03-23 CN CN202010209299.7A patent/CN111230913B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009021537A1 (en) * | 2009-05-15 | 2010-11-18 | Bargstedt Handlingsysteme Gmbh | Lifting device for lifting porous, suckable and plate-shaped workpiece for production of furniture, has valve element arranged in recess and used to adjust high pressure produced in area that is described by inner element |
| CN205739459U (en) * | 2016-06-22 | 2016-11-30 | 江苏树仁木业有限公司 | A kind of sheet material adsorbent equipment of slip-off preventing |
| CN107253210A (en) * | 2017-06-22 | 2017-10-17 | 成都众智优学教育咨询有限公司 | Apply the manipulator in industrial robot |
| CN208150786U (en) * | 2018-04-26 | 2018-11-27 | 呼和浩特市洪润环祥科技有限公司 | A kind of crucible of single crystal furnace boom hoisting |
| CN109129531A (en) * | 2018-10-10 | 2019-01-04 | 杜鑫 | A kind of efficient conveying robot of smooth surface plate is grabbed |
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| CN111230913A (en) | 2020-06-05 |
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Application publication date: 20200605 Assignee: Chuang Liansheng photoelectric (Guangdong) Co.,Ltd. Assignor: GUANGDONG POLYTECHNIC NORMAL University Contract record no.: X2022980021477 Denomination of invention: A kind of efficient manipulator for handling smooth sheet Granted publication date: 20220419 License type: Common License Record date: 20221122 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20200605 Assignee: Chuang Liansheng photoelectric (Guangdong) Co.,Ltd. Assignor: GUANGDONG POLYTECHNIC NORMAL University Contract record no.: X2024980001811 Denomination of invention: A high-efficiency mechanical arm for handling smooth sheet metal Granted publication date: 20220419 License type: Common License Record date: 20240201 |