CN111331627A - Intelligent automatic glass carrying mechanical arm - Google Patents
Intelligent automatic glass carrying mechanical arm Download PDFInfo
- Publication number
- CN111331627A CN111331627A CN202010211343.8A CN202010211343A CN111331627A CN 111331627 A CN111331627 A CN 111331627A CN 202010211343 A CN202010211343 A CN 202010211343A CN 111331627 A CN111331627 A CN 111331627A
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- adjusting mechanism
- unit
- base
- servo motor
- angle adjusting
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent automatic glass carrying mechanical arm which comprises a base, a moving mechanism, a first angle adjusting mechanism, a lifting unit, a second angle adjusting mechanism, a transverse adjusting mechanism, a longitudinal adjusting mechanism, an adsorption unit and a cleaning unit, wherein the moving mechanism is arranged on the base; a moving mechanism: the moving mechanism comprises a guide rail and a linear motor, the end part of the guide rail is welded with the base, the linear motor is assembled on the guide rail, and a first base is fixed on the side surface of the linear motor; first angle adjustment mechanism: the first angle adjusting mechanism is arranged at the bottom of the first base; a lifting unit: the lifting unit is arranged at the adjusting end part of the first angle adjusting mechanism; the second angle adjusting mechanism: the second angle adjusting mechanism is arranged at the lifting end part of the lifting unit; a cleaning unit: this automatic glass transport arm of intelligence, working capability is strong, and the flexibility is good, and regulating power is strong, is convenient for adapt to not unidimensional glass, and the security is high.
Description
Technical Field
The invention relates to the technical field of glass carrying equipment, in particular to an intelligent automatic glass carrying mechanical arm.
Background
Glass is an amorphous inorganic non-metallic material, generally, various inorganic minerals are used as main raw materials, a small amount of auxiliary raw materials are added, after the glass processing process is finished, the glass sometimes needs to be reprocessed, such as drilling, cutting, edge grinding and other processes, so the glass needs to be conveyed to a specified position through a glass conveying line, finished glass sometimes is stacked together, during the conveying, a single piece of glass needs to be manually lifted and placed on the glass conveying line, a large amount of labor and time are consumed, the existing glass conveying mechanical arm does not have the capacity of adjusting a sucker, the glass cannot meet the requirements of glass with different sizes, meanwhile, the glass cannot be conveyed in a long distance, and the working capacity is poor.
Disclosure of Invention
The invention aims to overcome the existing defects and provide an intelligent automatic glass carrying mechanical arm which is strong in working capacity, good in flexibility and adjusting capacity, convenient to adapt to glass with different sizes, high in safety and capable of effectively solving the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent automatic glass carrying mechanical arm comprises a base, a moving mechanism, a first angle adjusting mechanism, a lifting unit, a second angle adjusting mechanism, a transverse adjusting mechanism, a longitudinal adjusting mechanism, an adsorption unit and a cleaning unit;
a moving mechanism: the moving mechanism comprises a guide rail and a linear motor, the end part of the guide rail is welded with the base, the linear motor is assembled on the guide rail, and a first base is fixed on the side surface of the linear motor;
first angle adjustment mechanism: the first angle adjusting mechanism is arranged at the bottom of the first base;
a lifting unit: the lifting unit is arranged at the adjusting end part of the first angle adjusting mechanism;
the second angle adjusting mechanism: the second angle adjusting mechanism is arranged at the lifting end part of the lifting unit;
a cleaning unit: the cleaning unit is arranged at the adjusting end part of the second angle adjusting mechanism;
the transverse adjusting mechanism: the transverse adjusting mechanism is arranged at the adjusting end part of the second angle adjusting mechanism;
the longitudinal adjusting mechanism: the longitudinal adjusting mechanism is arranged at the adjusting end part of the transverse adjusting mechanism;
an adsorption unit: the adsorption unit is assembled at the adjusting end part of the longitudinal adjusting mechanism;
the input end of the linear motor is electrically connected with the output end of an external controller.
Further, first angle adjustment mechanism includes first servo motor and mount pad, and first servo motor installs the bottom at first frame, the mount pad is fixed on first servo motor's output shaft, external control ware's output is connected to first servo motor's input electricity, and first servo motor's output shaft drives the mount pad level and rotates, and the mount pad drives the lift unit and rotates to adjust the horizontal work angle of absorption unit, horizontal adjustment mainly is for the regulation motion of cooperation second angle adjustment mechanism, thereby makes the absorption unit can be in on the vertical face, makes it adsorb fixedly to the glass of erectting, has guaranteed the rationality of design.
Further, the lifting unit includes first electric putter and second frame, and first electric putter installs the bottom at the mount pad, the flexible tip at first electric putter is fixed to the second frame, the output of external control ware is connected to first electric putter's input electricity, and first electric putter's flexible end drives second angle adjustment mechanism through the second frame and carries out elevating movement to adjust the operating height of absorption unit, its regulating power is strong, is convenient for make absorption unit be in different heights, thereby carries the glass that is in different high positions.
Further, second angle adjustment mechanism includes second servo motor and connecting seat, and second servo motor installs the side at the second frame, the connecting seat is fixed on second servo motor's output shaft, the output of external control ware is connected to second servo motor's input electricity, and second servo motor's output shaft passes through the connecting seat and drives clean unit and horizontal adjustment mechanism rotation to adjust the vertical operating angle who adsorbs the unit, thereby make and adsorb the unit and can be in on the vertical face, make it adsorb fixedly to erectting glass, improved the work flexibility of this glass transport arm.
Further, clean unit includes water storage tank, water pump and spray tube, and the water storage tank is fixed on the connecting seat, the intercommunication has the spray tube on the water storage tank, and the water pump is located the inboard of water storage tank and installs the junction at spray tube and water storage tank, the output of external control ware is connected to the input electricity of water pump, and the water pump is taken the water of water storage tank out to spray on the glass surface through the spray tube, thereby clean glass, avoid glass surface impurity too much and lead to the sucking disc can't carry out effective absorption to the glass surface fixedly, simultaneously, the adsorption efficiency of sucking disc can be strengthened to the water droplet, thereby the security of transport has been guaranteed.
Further, horizontal adjustment mechanism includes second electric putter and mounting bracket, and second electric putter installs the tip side at the connecting seat, the flexible tip at second electric putter is fixed to the mounting bracket, the output of external control ware is connected to second electric putter's input electricity, and second electric putter's flexible end passes through the mounting bracket and drives vertical adjustment mechanism motion to adjust the horizontal position of adsorbing the unit, its regulating power is strong, is convenient for be adapted to not unidimensional glass, has improved the handling capacity of this glass transport arm greatly.
Furthermore, vertical adjustment mechanism includes third electric putter and installation piece, and third electric putter symmetry is installed in the front and back both sides of mounting bracket, the flexible tip at third electric putter is fixed to the installation piece, the output of external control ware is connected to third electric putter's input electricity, and the flexible end of third electric putter drives the adsorption unit through the installation piece and removes to adjust the vertical operating position of adsorption unit, its regulating capability is strong, is convenient for adapt to the glass of different sizes, has improved the handling capacity of this glass transport arm greatly.
Further, adsorb the unit and include vacuum pump, flexible pipe of screw thread and vacuum chuck, the top at the mounting bracket is installed to the vacuum pump, the vacuum chuck assembly is in the bottom of installation piece, and vacuum chuck passes through flexible pipe of screw thread and vacuum pump intercommunication, the output of external control ware is connected to the input electricity of vacuum pump, and vacuum pump work to take out the inside air of vacuum chuck through flexible pipe of screw thread and separate, adsorb fixedly through vacuum chuck to the glass surface, guaranteed the rationality of design.
Compared with the prior art, the invention has the beneficial effects that: this automatic glass transport arm of intelligence has following benefit:
1. linear electric motor moves on the guide rail to drive and adsorb the unit and remove, make it can carry out remote transport to glass, the trend of guide rail can be planned according to the practical application scene, has improved the handling capacity of this glass transport arm greatly, has saved the trouble of manpower long distance transport, has improved the efficiency of transport.
2. The output shaft of a servo motor drives the mounting seat to rotate horizontally, the mounting seat drives the lifting unit to rotate, so that the horizontal working angle of the adsorption unit is adjusted, the horizontal adjustment is mainly for adjusting movement of the second angle adjusting mechanism, the adsorption unit can be located on a vertical surface, the adsorption unit can adsorb and fix erected glass, and the working flexibility of the glass carrying mechanical arm is improved.
3. The water pump is taken the water of water storage tank out to spray on the glass surface through the spray tube, thereby clean glass, avoid glass surface impurity too much and lead to the sucking disc can't effectively adsorb fixedly to the glass surface, simultaneously, the adsorption effect of sucking disc can be strengthened to the water droplet, thereby has guaranteed the security of transport.
4. The flexible end of second electric putter passes through the motion of the vertical adjustment mechanism of mounting bracket drive to adjust the horizontal position of adsorbing the unit, the flexible end of third electric putter drives through the installation piece and adsorbs the unit and remove, thereby adjusts the vertical operating position who adsorbs the unit, and its regulating power is strong, is convenient for be adapted to not unidimensional glass, has improved the handling capacity of this glass transport arm greatly.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a cross-sectional view of the structure of the present invention.
In the figure: the device comprises a base 1, a moving mechanism 2, a guide rail 21, a linear motor 22, a first base 3, a longitudinal adjusting mechanism 4, a third electric push rod 41, a mounting block 42, a transverse adjusting mechanism 5, a second electric push rod 51, a mounting frame 52, a second angle adjusting mechanism 6, a second servo motor 61, a connecting base 62, a lifting unit 7, a first electric push rod 71, a second base 72, a first angle adjusting mechanism 8, a first servo motor 81, a mounting base 82, an adsorption unit 9, a vacuum pump 91, a threaded telescopic pipe 92, a vacuum chuck 93, a cleaning unit 10, a water storage tank 101, a water pump 102 and a spray pipe 103.
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 of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: an intelligent automatic glass carrying mechanical arm comprises a base 1, a moving mechanism 2, a first angle adjusting mechanism 8, a lifting unit 7, a second angle adjusting mechanism 6, a transverse adjusting mechanism 5, a longitudinal adjusting mechanism 4, an adsorption unit 9 and a cleaning unit 10;
the moving mechanism 2: the moving mechanism 2 comprises a guide rail 21 and a linear motor 22, the end part of the guide rail 21 is welded with the base 1, the linear motor 22 is assembled on the guide rail 21, and the side surface of the linear motor 22 is fixed with the first machine base 3;
the linear motor 22 moves on the guide rail 21, so that the adsorption unit 9 is driven to move, the glass can be carried in a long distance, the trend of the guide rail 21 can be planned according to practical application scenes, the carrying capacity of the glass carrying mechanical arm is greatly improved, the trouble of manual long-distance transportation is eliminated, and the carrying efficiency is improved;
first angle adjustment mechanism 8: the first angle adjusting mechanism 8 is arranged at the bottom of the first machine base 3;
the lifting unit 7: the lifting unit 7 is arranged at the adjusting end part of the first angle adjusting mechanism 8;
second angle adjustment mechanism 6: the second angle adjusting mechanism 6 is installed at the lifting end of the lifting unit 7;
the cleaning unit 10: the cleaning unit 10 is mounted at the adjusting end of the second angle adjusting mechanism 6;
the transverse adjusting mechanism 5: the transverse adjusting mechanism 5 is arranged at the adjusting end part of the second angle adjusting mechanism 6;
longitudinal adjustment mechanism 4: the longitudinal adjusting mechanism 4 is arranged at the adjusting end part of the transverse adjusting mechanism 5;
the adsorption unit 9: the adsorption unit 9 is assembled at the adjusting end of the longitudinal adjusting mechanism 4;
wherein, the input end of the linear motor 22 is electrically connected with the output end of the external controller.
First angle adjustment mechanism 8 includes first servo motor 81 and mount pad 82, first servo motor 81 is installed in the bottom of first frame 3, mount pad 82 is fixed on first servo motor 81's output shaft, external control ware's output is connected to first servo motor 81's input electricity, first servo motor 81's output shaft drives mount pad 82 level and rotates, mount pad 82 drives lift unit 7 and rotates, thereby adjust the horizontal work angle of absorption unit 9, horizontal adjustment mainly is for the regulation motion of cooperation second angle adjustment mechanism 6, thereby make absorption unit 9 can be in on the vertical face, it can adsorb fixedly to the glass of erectting, the rationality of design has been guaranteed.
The lifting unit 7 comprises a first electric push rod 71 and a second base 72, the first electric push rod 71 is installed at the bottom of the installation base 82, the second base 72 is fixed at the telescopic end part of the first electric push rod 71, the input end of the first electric push rod 71 is electrically connected with the output end of the external controller, the telescopic end of the first electric push rod 71 drives the second angle adjusting mechanism 6 to perform lifting motion through the second base 72, so that the working height of the adsorption unit 9 is adjusted, the adjustment capacity of the adsorption unit is high, the adsorption unit 9 is convenient to be located at different heights, and the glass at different height positions is conveyed.
Second angle adjustment mechanism 6 includes second servo motor 61 and connecting seat 62, the side at second frame 72 is installed to second servo motor 61, connecting seat 62 is fixed on second servo motor 61's output shaft, the output of external control ware is connected to second servo motor 61's input electricity, second servo motor 61's output shaft passes through connecting seat 62 and drives clean unit 10 and horizontal adjustment mechanism 5 and rotate, thereby adjust the vertical operating angle to adsorption unit 9, thereby make adsorption unit 9 can be in on the vertical face, it can adsorb fixedly to the glass of erectting, the work flexibility of this glass transport arm has been improved.
Horizontal adjustment mechanism 5 includes second electric putter 51 and mounting bracket 52, the tip side at connecting seat 62 is installed to second electric putter 51, the flexible tip at second electric putter 51 is fixed to mounting bracket 52, the output of external control ware is connected to second electric putter 51's input electricity, the flexible end of second electric putter 51 passes through mounting bracket 52 and drives vertical adjustment mechanism 4 motion, thereby adjust the horizontal position of absorption unit 9, its regulating capability is strong, be convenient for adapt to not unidimensional glass, the handling capacity of this glass transport arm has been improved greatly.
The adsorption unit 9 comprises a vacuum pump 91, a threaded telescopic pipe 92 and a vacuum chuck 93, the vacuum pump 91 is installed at the top of the installation frame 52, the vacuum chuck 93 is assembled at the bottom of the installation block 42, the vacuum chuck 93 is communicated with the vacuum pump 91 through the threaded telescopic pipe 92, the input end of the vacuum pump 91 is electrically connected with the output end of an external controller, the vacuum pump 91 works, air inside the vacuum chuck 93 is pumped out through the threaded telescopic pipe 92, the glass surface is adsorbed and fixed through the vacuum chuck 93, and the reasonability of design is guaranteed.
When in use: the linear motor 22 moves on the guide rail 21, and drives the adsorption unit 9 to move, so that the glass can be transported in a long distance.
The output shaft of the first servo motor 81 drives the mounting seat 82 to horizontally rotate, and the mounting seat 82 drives the lifting unit 7 to rotate, so that the horizontal working angle of the adsorption unit 9 is adjusted.
The telescopic end of the first electric push rod 71 drives the second angle adjusting mechanism 6 to perform lifting movement through the second base 72, so as to adjust the working height of the adsorption unit 9.
The output shaft of the second servo motor 61 drives the cleaning unit 10 and the lateral adjustment mechanism 5 to rotate through the connecting base 62, so as to adjust the vertical working angle of the adsorption unit 9.
The water pump 102 pumps out water from the water storage tank 101 and sprays the water on the surface of the glass through the spray pipe 103, thereby cleaning the glass.
The telescopic end of the second electric push rod 51 drives the longitudinal adjusting mechanism 4 to move through the mounting frame 52, so that the transverse position of the adsorption unit 9 is adjusted.
The telescopic end of the third electric push rod 41 drives the adsorption unit 9 to move through the mounting block 42, so that the longitudinal working position of the adsorption unit 9 is adjusted.
The vacuum pump 91 is operated, and the vacuum suction cup 93 sucks air from the inside of the vacuum suction cup 93 through the screw extension tube 92, and the glass surface is sucked and fixed by the vacuum suction cup 93.
It is worth noting that: the linear motor 22, the first servo motor 81, the first electric push rod 71, the second servo motor 61, the water pump 102, the second electric push rod 51, the third electric push rod 41 and the vacuum pump 91 are all configured according to actual application scenarios.
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 (8)
1. The utility model provides an automatic glass transport arm of intelligence which characterized in that: the device comprises a base (1), a moving mechanism (2), a first angle adjusting mechanism (8), a lifting unit (7), a second angle adjusting mechanism (6), a transverse adjusting mechanism (5), a longitudinal adjusting mechanism (4), an adsorption unit (9) and a cleaning unit (10);
moving mechanism (2): the moving mechanism (2) comprises a guide rail (21) and a linear motor (22), the end part of the guide rail (21) is welded with the base (1), the linear motor (22) is assembled on the guide rail (21), and a first base (3) is fixed on the side surface of the linear motor (22);
first angle adjustment mechanism (8): the first angle adjusting mechanism (8) is arranged at the bottom of the first base (3);
lifting unit (7): the lifting unit (7) is arranged at the adjusting end part of the first angle adjusting mechanism (8);
second angle adjustment mechanism (6): the second angle adjusting mechanism (6) is arranged at the lifting end part of the lifting unit (7);
cleaning unit (10): the cleaning unit (10) is mounted at the adjusting end of the second angle adjusting mechanism (6);
lateral adjustment mechanism (5): the transverse adjusting mechanism (5) is arranged at the adjusting end part of the second angle adjusting mechanism (6);
longitudinal adjustment mechanism (4): the longitudinal adjusting mechanism (4) is arranged at the adjusting end part of the transverse adjusting mechanism (5);
adsorption unit (9): the adsorption unit (9) is assembled at the adjusting end part of the longitudinal adjusting mechanism (4);
wherein, the input end of the linear motor (22) is electrically connected with the output end of an external controller.
2. The intelligent automated glass handling robot of claim 1, wherein: first angle adjustment mechanism (8) include first servo motor (81) and mount pad (82), and the bottom at first frame (3) is installed in first servo motor (81), mount pad (82) are fixed on the output shaft of first servo motor (81), the output of external control ware is connected to the input electricity of first servo motor (81).
3. The intelligent automated glass handling robot of claim 2, wherein: the lifting unit (7) comprises a first electric push rod (71) and a second machine base (72), the first electric push rod (71) is installed at the bottom of the installation base (82), the second machine base (72) is fixed at the telescopic end portion of the first electric push rod (71), and the input end of the first electric push rod (71) is electrically connected with the output end of the external controller.
4. The intelligent automated glass handling robot of claim 3, wherein: the second angle adjusting mechanism (6) comprises a second servo motor (61) and a connecting seat (62), the second servo motor (61) is installed on the side face of the second base (72), the connecting seat (62) is fixed on an output shaft of the second servo motor (61), and an input end of the second servo motor (61) is electrically connected with an output end of an external controller.
5. The intelligent automated glass handling robot of claim 4, wherein: clean unit (10) are including water storage tank (101), water pump (102) and spray tube (103), and water storage tank (101) are fixed on connecting seat (62), the intercommunication has spray tube (103) on water storage tank (101), and water pump (102) are located the inboard of water storage tank (101) and install the junction at spray tube (103) and water storage tank (101), the output of external control ware is connected to the input electricity of water pump (102).
6. The intelligent automated glass handling robot of claim 4, wherein: horizontal adjustment mechanism (5) include second electric putter (51) and mounting bracket (52), and the tip side at connecting seat (62) is installed in second electric putter (51), the flexible tip at second electric putter (51) is fixed in mounting bracket (52), the output of external control ware is connected to the input electricity of second electric putter (51).
7. The intelligent automated glass handling robot of claim 6, wherein: vertical adjustment mechanism (4) include third electric putter (41) and installation piece (42), and both sides around mounting bracket (52) are installed to third electric putter (41) symmetry, the flexible tip at third electric putter (41) is fixed in installation piece (42), the output of external control ware is connected to the input electricity of third electric putter (41).
8. The intelligent automated glass handling robot of claim 7, wherein: adsorption unit (9) include vacuum pump (91), screw thread flexible pipe (92) and vacuum chuck (93), and the top at mounting bracket (52) is installed in vacuum pump (91), vacuum chuck (93) assembly is in the bottom of installation piece (42), and vacuum chuck (93) communicate with vacuum pump (91) through screw thread flexible pipe (92), the output of external control ware is connected to the input electricity of vacuum pump (91).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010211343.8A CN111331627A (en) | 2020-03-24 | 2020-03-24 | Intelligent automatic glass carrying mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010211343.8A CN111331627A (en) | 2020-03-24 | 2020-03-24 | Intelligent automatic glass carrying mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111331627A true CN111331627A (en) | 2020-06-26 |
Family
ID=71176594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010211343.8A Withdrawn CN111331627A (en) | 2020-03-24 | 2020-03-24 | Intelligent automatic glass carrying mechanical arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN111331627A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030891A (en) * | 2021-11-03 | 2022-02-11 | 深圳市晶泰玻璃科技有限公司 | Multifunctional glass moving and carrying device |
| CN116021542A (en) * | 2023-02-13 | 2023-04-28 | 绵阳师范学院 | Balance adjustment system of robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2010240778A (en) * | 2009-04-06 | 2010-10-28 | Ihi Corp | Flexible suction hand and flexible suction method |
| CN103009374A (en) * | 2012-12-14 | 2013-04-03 | 天津筑高机器人技术有限公司 | Large board carrying and mounting manipulator |
| CN106113016A (en) * | 2016-08-17 | 2016-11-16 | 苏州市华宁机械制造有限公司 | A kind of glass carrying manipulator with glass cleaning function |
| CN108972247A (en) * | 2018-08-28 | 2018-12-11 | 安徽玻扬节能钢化玻璃有限公司 | A kind of glass surface scuffing processing equipment |
| CN109436803A (en) * | 2018-11-29 | 2019-03-08 | 马珍妮 | A kind of glass-handling equipment suitable for specification different glass |
-
2020
- 2020-03-24 CN CN202010211343.8A patent/CN111331627A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010240778A (en) * | 2009-04-06 | 2010-10-28 | Ihi Corp | Flexible suction hand and flexible suction method |
| CN103009374A (en) * | 2012-12-14 | 2013-04-03 | 天津筑高机器人技术有限公司 | Large board carrying and mounting manipulator |
| CN106113016A (en) * | 2016-08-17 | 2016-11-16 | 苏州市华宁机械制造有限公司 | A kind of glass carrying manipulator with glass cleaning function |
| CN108972247A (en) * | 2018-08-28 | 2018-12-11 | 安徽玻扬节能钢化玻璃有限公司 | A kind of glass surface scuffing processing equipment |
| CN109436803A (en) * | 2018-11-29 | 2019-03-08 | 马珍妮 | A kind of glass-handling equipment suitable for specification different glass |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114030891A (en) * | 2021-11-03 | 2022-02-11 | 深圳市晶泰玻璃科技有限公司 | Multifunctional glass moving and carrying device |
| CN116021542A (en) * | 2023-02-13 | 2023-04-28 | 绵阳师范学院 | Balance adjustment system of robot |
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Application publication date: 20200626 |
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