CN111629866A - Robot and gripping device - Google Patents
Robot and gripping device Download PDFInfo
- Publication number
- CN111629866A CN111629866A CN201880087092.8A CN201880087092A CN111629866A CN 111629866 A CN111629866 A CN 111629866A CN 201880087092 A CN201880087092 A CN 201880087092A CN 111629866 A CN111629866 A CN 111629866A
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- clamping
- robot
- circuit board
- mechanisms
- adjusting
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- 230000007246 mechanism Effects 0.000 claims abstract description 142
- 238000009434 installation Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a robot and a clamping device, the robot comprises a robot body and a clamping device, the clamping device is arranged on the robot body and used for clamping circuit boards, the clamping device comprises a driving mechanism and at least two clamping mechanisms, the driving mechanism comprises a driving part and at least two first connecting parts, at least one first connecting part is provided with a containing space, and at least one clamping mechanism is movably arranged in the containing space so that at least one clamping mechanism can move relative to at least one first connecting part, at least two clamping mechanisms are used for respectively passing through at least two clamping openings, by the way that the clamping mechanism passes through the clamping openings to clamp the circuit boards, the interference between the clamping mechanisms and components on the circuit boards can be avoided, thereby more effectively clamping the circuit boards, and the space between the clamping mechanisms can be adjusted to clamp the circuit boards with different specifications, thereby increasing the versatility of the robot and the gripping device.
Description
[ technical field ] A method for producing a semiconductor device
The application relates to the technical field of robots, in particular to a robot and a clamping device.
[ background of the invention ]
At present, a sucking disc sucking mode is usually adopted for clamping a circuit board, for example, the circuit board without welding components, but for the circuit board with most of components welded, the sucking space of the sucking disc is limited, and the effect of clamping the circuit board is poor.
[ summary of the invention ]
The main technical problem who solves of this application provides a robot and presss from both sides and gets device, can solve among the prior art and press from both sides the relatively poor problem of circuit board effect of getting.
In order to solve the above technical problem, the present application provides a robot, including: the robot body comprises a supporting part, an installation part and at least one arm part, wherein two ends of the at least one arm part are respectively movably connected with the supporting part and the installation part; the clamping device is arranged on the mounting portion and used for clamping a circuit board and comprises a driving mechanism and at least two clamping mechanisms, the driving mechanism comprises a driving piece and at least two first connecting pieces, the at least two first connecting pieces are connected with the driving piece, an accommodating space is formed in the at least one first connecting piece, the at least two clamping mechanisms are connected with the at least two first connecting pieces, the at least one clamping mechanism is movably arranged in the accommodating space, so that the at least one clamping mechanism can move relative to the at least one first connecting piece, the at least two clamping mechanisms respectively penetrate through the at least two clamping openings in the circuit board and are driven by the driving mechanism to be away from or close to each other, and therefore the circuit board is tensioned or clamped to clamp the circuit board.
In order to solve the technical problem, the application further provides a clamping device for clamping the circuit board, and the clamping device is the clamping device.
The beneficial effect of this application is: different from the prior art, the robot provided by the application comprises a robot body and a clamping device, wherein the clamping device is arranged on the robot body and used for clamping circuit boards, the clamping device comprises a driving mechanism and at least two clamping mechanisms, the driving mechanism comprises a driving part and at least two first connecting pieces, at least one first connecting piece is provided with an accommodating space, and at least one clamping mechanism is movably arranged in the accommodating space so that the at least one clamping mechanism can move relative to the at least one first connecting piece, the at least two clamping mechanisms respectively penetrate through at least two clamping openings on the circuit board, and the clamping mechanism can not only avoid the interference between the clamping mechanisms and components on the circuit board so as to clamp the circuit boards more effectively, but also adjust the distance between the clamping mechanisms so as to clamp the circuit boards with different specifications, thereby increasing the versatility of the robot and the gripping device.
[ description of the drawings ]
FIG. 1 is a schematic structural diagram of an embodiment of a robot provided herein;
fig. 2 is a schematic structural view of the grasping apparatus in fig. 1;
fig. 3 is a schematic cross-sectional view of the grasping apparatus in fig. 2;
FIG. 4 is a schematic structural view of the first connector of FIG. 3;
FIG. 5 is a schematic view of another embodiment of the grasping device of FIG. 1;
fig. 6 is a schematic cross-sectional view of the grasping apparatus in fig. 5;
FIG. 7 is a schematic structural view of the adjustment mechanism of FIG. 5;
FIG. 8 is a partial schematic view of the second tick mark of FIG. 7 aligned with the first tick mark.
[ detailed description ] embodiments
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a robot provided in the present application. The robot 10 of the present embodiment includes a robot body 11 and a gripping device 12, and the gripping device 12 is attached to the robot body 11.
The robot body 11 includes a supporting portion 111, a mounting portion 112 and at least one arm portion 113, two ends of the at least one arm portion 113 are respectively connected to the supporting portion 111 and the mounting portion 112, in this embodiment, a distance and an angle of the mounting portion 112 relative to the supporting portion 111 can be adjusted by the at least one arm portion 112.
In this embodiment, the grasping apparatus 12 is mounted at an end of the mounting portion 112 away from the at least one arm portion 113, so that the distance and angle of the grasping apparatus 12 with respect to the supporting portion 111 can be adjusted, thereby facilitating the grasping by the grasping apparatus 12.
In this embodiment, the number of the arm parts 113 is three, and the three arm parts 113 are movably connected to each other.
Optionally, the robot body 11 is a robot arm.
The robot 10 of the embodiment can be applied to industrial production, for example, the robot can automatically clamp a circuit board, so as to improve the production efficiency and reduce the labor cost.
Referring to fig. 2, fig. 2 is a schematic structural view of the grasping device 12 in fig. 1.
The clamping device 12 is used for clamping the circuit board 101, wherein at least two clamping openings 1011 are formed in the circuit board 101, and a component 1012 is further welded on the circuit board.
In this embodiment, the clamping opening 1011 may be a through hole or a notch, and the shape thereof may be a regular shape such as a circle, a square, a semicircle, or other irregular shapes, which is not limited herein.
Referring to fig. 2 and 3 together, fig. 3 is a schematic cross-sectional view of the grasping device 12 in fig. 2.
The gripping device 12 includes a driving mechanism 121 and at least two gripping mechanisms 122.
The driving mechanism 121 includes a driving member 1211 and at least two first connecting members 1212, the at least two first connecting members 1212 are connected to the driving member 1211, the at least two clamping mechanisms 122 are connected to the at least two first connecting members 1212, the at least two clamping mechanisms 122 are configured to respectively pass through the at least two clamping openings 1011 on the circuit board 101 and move away from or close to each other under the driving of the driving mechanism 121, so as to tension or clamp the circuit board 101 to clamp the circuit board 101, in this embodiment, the number of the first connecting members 1212 and the number of the clamping mechanisms 122 are two.
Alternatively, the drive 1211 is a pneumatic or electric gripper.
Referring to fig. 3 and 4 together, fig. 4 is a schematic structural diagram of the first connecting element 1212 in fig. 3.
The at least one first connecting element 1212 is provided with an accommodating space 12121, and the at least one clamping mechanism 122 is movably disposed in the accommodating space 12121, so that the at least one clamping mechanism 122 can move relative to the at least one first connecting element 1212, thereby conveniently adjusting the distance between the clamping mechanisms 122 to clamp the circuit boards 101 with different specifications, and further increasing the versatility of the clamping device 12 and the robot 10.
Optionally, at least one first connecting element is further provided with a fastening portion 12122, and in this embodiment, the two first connecting elements 1212 are provided with the fastening portions 12122.
Alternatively, the fastening portion 12122 is a sliding slot extending along the driving direction of the driving member 1211, and in other embodiments, the fastening portion 12122 may be a plurality of openings aligned along the driving direction of the driving member 1211, which is not limited herein.
Optionally, at least one of the first connectors 1212 is further provided with a first graduation 12123, and in this embodiment, two of the first connectors 1212 are provided with a first graduation 12123.
Optionally, the driving mechanism 121 further includes at least two second connecting members 1213, and the at least two second connecting members 1213 are connected to the at least two first connecting members 1212 and the driving member 1211, so as to drive the at least two first connecting members 1212 to move away from or close to each other under the driving of the driving member 1211, in this embodiment, the number of the second connecting members 1213 is two.
Optionally, the clamping mechanism 122 includes a third connecting member 1221 and a clamping member 1222, the third connecting member 1221 is movably disposed in the accommodating groove 12121, and the clamping member 1222 is connected to the third connecting member 1221 and at least partially exposed on a side of the third connecting member 1221 away from the driving member 1211 to pass through the clamping opening 1011 of the circuit board 101, so as to tension or clamp the circuit board 101 and clamp the circuit board 101 under the driving of the driving mechanism 121.
Optionally, the clamp 1222 is a needle-like structure, although other structures are possible and not limited herein.
In this embodiment, the driving mechanism 121 drives the two clamping mechanisms 122 to align with the two clamping openings 1011 on the circuit board 101, respectively, so that the two clamping mechanisms 122 can pass through the two clamping openings 1011, respectively, and after passing through the two clamping openings 1011, the driving mechanism 121 drives the two clamping mechanisms 122 to move away from or close to each other, thereby tensioning or clamping the circuit board 101 to clamp the circuit board 101.
In this embodiment, the driving mechanism 121 is further used to drive the two clamping mechanisms 122 to approach or move away from each other in a direction opposite to the direction of tensioning or clamping the circuit board 101, thereby releasing to place the circuit board 101.
It is to be understood that when the driving mechanism 121 drives the two clamping mechanisms 122 away from each other to tension the circuit board 101 and to clamp the circuit board 101, the driving mechanism 121 is further used to drive the two clamping mechanisms 122 closer to each other to loosen the circuit board 101, and when the driving mechanism 121 drives the two clamping mechanisms 122 closer to each other to clamp the circuit board 101 and to clamp the circuit board 101, the driving mechanism 121 is further used to drive the two clamping mechanisms 122 away from each other to loosen the circuit board 101, thereby placing the circuit board 101.
Optionally, the length of the clamping mechanism 122 is greater than the height of the component 1012, so as to prevent the component 1012 from being damaged due to interference of collision and the like between the driving mechanism 121 and the component 1012 when the circuit board 101 is clamped or placed.
Further, the gripping device 12 further includes a detector 123, and the detector 123 is configured to detect the relative position of the two gripping mechanisms 122 to obtain a first detection result, so that the driving mechanism 121 drives the two gripping mechanisms 122 to move away from or close to each other according to the first detection result, thereby tensioning or gripping the circuit board 101 to grip the circuit board 101.
For example, if two specific gripping openings 1011 are selected to grip a circuit board 101 for a certain type of circuit board 101, the aperture size and the opening distance of the two gripping openings 1011 are determined, and these data are used as initial parameters, and the motion trajectories of the two gripping mechanisms 122 can be adjusted by combining the parameters of the diameter size of the gripping member 1222 and the installation position of the detector 123, that is, when the distance between the two gripping mechanisms 122 driven by the driving mechanism 121 is a first distance, the two gripping mechanisms 122 can respectively pass through the two gripping openings 1011, and when the distance between the two gripping mechanisms 122 driven by the driving mechanism 121 is a second distance, the two gripping mechanisms 122 can tension or grip the circuit board 101 to grip the circuit board 101, wherein the increment between the first distance and the second distance is the distance that the driving mechanism 121 drives the two gripping mechanisms 122 to move away from or close to each other, after the debugging is completed, the driving mechanism 121 can drive the two driving clamping mechanisms 122 to respectively pass through the two clamping openings 1011 and tension or clamp the circuit board 101 to clamp the circuit board 101 according to the comparison condition of the first detection result and the first distance and the second distance, thereby realizing the automatic clamping.
The detector 123 is further configured to detect the position of the two clamping mechanisms 122 relative to the circuit board 101 to obtain a second detection result, so that the robot body 11 drives the clamping device 12 to approach the circuit board 101 according to the second detection result, and the two clamping mechanisms 122 can pass through the two clamping ports 1011.
Alternatively, the detector 123 is a distance sensor, and in this embodiment, taking the example that the detector 123 is disposed on the driving mechanism 121, the detector 123 can perform real-time detection in the process of gripping the circuit board 101 by the gripping device 12.
Referring to fig. 5, fig. 5 is a schematic structural view of another embodiment of the grasping device 12 in fig. 1. The gripping apparatus 12 of the present embodiment further includes an adjusting mechanism 124.
In this embodiment, the adjusting mechanism 124 is disposed between at least two clamping mechanisms 122 for adjusting the distance between the clamping mechanisms 122 to clamp circuit boards 101 with different specifications, so that the clamping device 12 and the robot 10 have universality.
Referring to fig. 6 to 7 together, fig. 6 is a schematic sectional view of the clamping device 12 in fig. 5, and fig. 7 is a schematic structural view of the adjusting mechanism 124 in fig. 5.
The adjusting mechanism 124 is configured to adjust a distance between the at least two clamping mechanisms 122 according to the distance between the at least two clamping mouths 1011, so that the at least two clamping mechanisms 122 can respectively pass through the at least two clamping mouths 1011, and after the at least two clamping mechanisms 122 respectively pass through the at least two clamping mouths 1011, the driving mechanism 121 drives the at least two clamping mechanisms 122 to move away from or close to each other, so as to tension or clamp the circuit board 101 to clamp the circuit board 101.
The adjusting mechanism 124 includes an adjusting screw 1241 and at least one sliding member 1242, the at least one sliding member 1242 is accommodated in the accommodating space 12121, the adjusting screw 1241 includes a screw portion 12411, the screw portion 12411 is disposed through the at least one sliding member 1242 and the at least one clamping mechanism 122 and is engaged with the at least one sliding member 1242, when the adjusting screw 1241 rotates, the at least one sliding member 1242 moves relative to the at least one first connecting member 1212 along the adjusting screw 1241, and the at least one clamping mechanism 122 can abut against the at least one sliding member 1242 to adjust a distance between the at least two clamping mechanisms 122.
In this embodiment, the number of the screw portion 12411 and the number of the slider 1242 are two.
Optionally, the adjusting screw 1241 further includes an adjusting portion 12412, the two screw portions 12411 and the adjusting portion 12412 are an integral structure and are respectively disposed at two sides of the adjusting portion 12412, wherein the two screw portions 12411 are respectively processed with external threads (not shown in the drawings) with opposite turning directions, and the two sliders 1242 are processed with threaded holes (not shown in the drawings) corresponding to the turning directions of the external threads, so that when the adjusting screw 1241 rotates, the two sliders 1242 respectively move away from or approach to each other along the two screw portions 12411 relative to the two first connecting members 1212, in this embodiment, after adjusting the distance between the two sliders 1242, the two clamping mechanisms 122 respectively abut against the two sliders 1242, so as to adjust the distance between the two clamping mechanisms 122 through the distance between the two sliders 1242.
Optionally, the two sliders 1242 are further used for the driving mechanism 121 to drive the two clamping mechanisms 122, stopping the two clamping mechanisms 122 when approaching or moving away from each other in a direction opposite to the direction of tensioning or clamping the circuit board 101.
Optionally, two clamping mechanisms 122 are provided on the inner or outer sides of the two sliders 1242 relative to the adjustment portion 12412.
Optionally, the adjusting mechanism 124 further includes a force-receiving member 1243, and the force-receiving member 1243 is connected to the adjusting screw 1241 and is used for receiving an external force to rotate the adjusting screw 1241.
In this embodiment, the force receiving member 1243 is a screw and is disposed on the adjusting portion 12412, but it is needless to say that a knurling may be disposed on the adjusting portion 12412 instead of the screw, and the present invention is not limited thereto.
Optionally, the adjusting screw 1241 is further provided with a second scale mark 12413, in this embodiment, taking the second scale mark 12413 as an example being provided on the adjusting portion 12412, when the adjusting screw 1241 rotates to a position where the longest scale mark in the second scale mark 12413 is aligned with the first scale mark 12123, as shown in fig. 8, the distance between at least two clamping mechanisms 122 is read.
Further, the clamping mechanism 12 further includes a fastener 125, and the fastener 125 is used for fastening the clamping mechanism 122 and the first connecting member 1212 after the adjusting mechanism 124 is adjusted.
In this embodiment, after the two clamping mechanisms 122 are respectively disposed on the outer sides of the two sliding members 1242 relative to the adjusting portion 12412 and the adjusting mechanism 124 is adjusted, and the two fastening members 125 are respectively fastened to the third connecting member 1221 and the first connecting member 1212 by the fastening portions 12122, the two clamping members 1222 respectively pass through the two clamping openings 1012 on the circuit board 101, and then the driving member 1211 drives the first connecting members 1212 and the third connecting members 1221 away from each other by the second connecting members 1213, so that the clamping members 1222 tension the circuit board 101 to clamp the circuit board 101.
Further, the driving member 1211 drives the first connecting member 1212, and therefore the third connecting member 1221, to approach each other through the second connecting member 1213, and stops approaching under the stop of the sliding member 1242, at which time the distance between the two clamping members 1222 is the distance that the adjusting mechanism 124 starts to adjust, so that the two clamping members 1222 can be released and the circuit board 101 can be placed.
Different from the prior art, the robot provided by the application comprises a robot body and a clamping device, wherein the clamping device is mounted on the robot body and used for clamping circuit boards, the clamping device comprises a driving mechanism and at least two clamping mechanisms, the driving mechanism comprises a driving part and at least two first connecting pieces, at least one first connecting piece is provided with an accommodating space, and at least one clamping mechanism is movably arranged in the accommodating space so that the at least one clamping mechanism can move relative to the at least one first connecting piece, the at least two clamping mechanisms respectively penetrate through at least two clamping openings, and the clamping mechanism can not only avoid the interference between the clamping mechanisms and components on the circuit boards in a mode of penetrating through the clamping openings to clamp the circuit boards, thereby effectively clamping the circuit boards, but also adjusting the intervals of the clamping mechanisms to clamp the circuit boards with different specifications, thereby increasing the versatility of the robot and the gripping device.
The above description is only a part of the embodiments of the present application, and not intended to limit the scope of the present application, and all equivalent devices or equivalent processes performed by the content of the present application and the attached drawings, or directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (14)
- A robot, wherein the robot comprises:the robot comprises a robot body, a robot body and a control unit, wherein the robot body comprises a supporting part, an installation part and at least one arm part, and two ends of the at least one arm part are respectively connected to the supporting part and the installation part;the clamping device is arranged on the mounting part and used for clamping the circuit board, the clamping device comprises a driving mechanism and at least two clamping mechanisms, the driving mechanism comprises a driving piece and at least two first connecting pieces, the at least two first connecting pieces are connected with the driving piece, at least one first connecting piece is provided with a containing space, the at least two clamping mechanisms are connected with the at least two first connecting pieces, and the at least one clamping mechanism is movably arranged in the containing space, so that at least one clamping mechanism can move relative to at least one first connector, and the at least two clamping mechanisms respectively pass through at least two clamping openings on the circuit board, and are driven by the driving mechanism to move away from or close to each other, so that the circuit board is tensioned or clamped to clamp the circuit board.
- The robot of claim 1, wherein the grasping apparatus further comprises an adjusting mechanism disposed between the at least two grasping mechanisms for adjusting a distance between the at least two grasping mechanisms according to a distance between the at least two grasping openings such that the at least two grasping mechanisms can pass through the at least two grasping openings, respectively.
- The robot of claim 2, wherein the adjusting mechanism includes an adjusting screw and at least one sliding member, the at least one sliding member is accommodated in the accommodating space, the adjusting screw includes a screw portion, the screw portion is inserted into the at least one sliding member and the at least one clamping mechanism and is engaged with the at least one sliding member, when the adjusting screw rotates, the at least one sliding member moves relative to the at least one first connecting member along the adjusting screw, and the at least one clamping mechanism can abut against the at least one sliding member to adjust a distance between the at least two clamping mechanisms.
- The robot of claim 3, wherein the adjustment screw further comprises an adjustment portion, at least one of the first connectors being provided with a first graduation mark, the adjustment portion being connected with the at least one screw portion and being provided with a second graduation mark, the distance between the at least two gripping mechanisms being read when the adjustment screw is rotated to a position where the second graduation mark is aligned with the first graduation mark.
- The robot according to claim 4, wherein the adjusting mechanism further comprises a force receiving member, the force receiving member is disposed on the adjusting portion, and the force receiving member is configured to receive an external force to rotate the adjusting screw.
- The robot of claim 1, wherein the drive mechanism is further configured to drive the at least two clamping mechanisms toward or away from each other in a direction opposite to tensioning or clamping the circuit board, thereby releasing to place the circuit board.
- The robot of claim 3, wherein the slide is further adapted to stop the at least one gripper mechanism when the drive mechanism drives the at least two gripper mechanisms toward or away from each other in a direction opposite to tensioning or clamping the circuit board.
- The robot of claim 2, wherein the grasping apparatus further comprises a fastener for fastening the grasping mechanism and the first link after the adjustment of the adjustment mechanism is completed.
- The robot of claim 8, wherein the drive mechanism further comprises at least two second links connected to the at least two first links and to the drive member to move the at least two first links away from or toward each other under the drive of the drive member.
- The robot of claim 8, wherein the clamping mechanism includes a third connecting member movably disposed in the accommodating cavity and a clamping member connected to the third connecting member and at least partially exposed on a side of the third connecting member away from the driving member.
- The robot of claim 10, wherein at least one of the first connectors is provided with a fastening portion by which the fastener fastens the at least one gripper mechanism to the at least one first connector.
- The robot of claim 11, wherein the securing portion is a runner extending in a direction of movement of the at least one gripper mechanism.
- The robot of claim 12, wherein a component is disposed on the circuit board, and the length of the clamping mechanism is greater than the height of the component.
- A clamping apparatus for clamping a circuit board, wherein the clamping apparatus is as claimed in any one of claims 1 to 13.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/104687 WO2020047864A1 (en) | 2018-09-07 | 2018-09-07 | Robot and clipping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111629866A true CN111629866A (en) | 2020-09-04 |
| CN111629866B CN111629866B (en) | 2023-06-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880087092.8A Active CN111629866B (en) | 2018-09-07 | 2018-09-07 | Robot and clamping device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111629866B (en) |
| WO (1) | WO2020047864A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113690678B (en) * | 2021-08-19 | 2024-05-28 | 国网江苏省电力有限公司电力科学研究院 | Automatic test wiring device for detecting distribution transformer |
| CN114346571A (en) * | 2022-01-27 | 2022-04-15 | 晟通科技集团有限公司 | Clamping jaw and positioning equipment |
| CN114516539B (en) * | 2022-03-25 | 2024-04-30 | 江苏徐工工程机械研究院有限公司 | Workpiece clamping device and workpiece cleaning equipment |
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| US4789292A (en) * | 1984-04-06 | 1988-12-06 | Holcomb Gregory W | End effector for robotic equipment |
| US4750261A (en) * | 1987-09-22 | 1988-06-14 | Amp Incorporated | Pick up head |
| JPH01259600A (en) * | 1988-04-11 | 1989-10-17 | Oki Electric Ind Co Ltd | Parts holding mechanism for chip parts supply device |
| CN202534249U (en) * | 2011-12-16 | 2012-11-14 | 深圳职业技术学院 | A training apparatus of a transmission robot with multiple arms |
| CN206588970U (en) * | 2017-03-22 | 2017-10-27 | 广东利迅达机器人系统股份有限公司 | A kind of industrial robot automatic pick-up device |
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- 2018-09-07 WO PCT/CN2018/104687 patent/WO2020047864A1/en active Application Filing
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|---|---|---|---|---|
| FR2597389A1 (en) * | 1986-04-22 | 1987-10-23 | Secasi | Device for extracting printed-circuit cards or the like |
| CN202954126U (en) * | 2012-11-06 | 2013-05-29 | 邓三贵 | Clamping device used for circuit board electroplating |
| CN204819428U (en) * | 2015-07-28 | 2015-12-02 | 深圳市创盈时代科技有限公司 | Triaxial moving platform and omnipotent brace table thereof |
| CN205998635U (en) * | 2016-08-09 | 2017-03-08 | 杨志勇 | A kind of clamping device automatically adjusting size |
| WO2018028108A1 (en) * | 2016-08-09 | 2018-02-15 | 杨志勇 | Clamping device for automatically adjusting size |
| CN106863275A (en) * | 2017-03-22 | 2017-06-20 | 广东利迅达机器人系统股份有限公司 | A kind of automatic industrial robot assembly |
| CN208992699U (en) * | 2018-09-07 | 2019-06-18 | 深圳配天智能技术研究院有限公司 | Robot and clamp device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111629866B (en) | 2023-06-02 |
| WO2020047864A1 (en) | 2020-03-12 |
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