CN111629866B - Robot and clamping device - Google Patents
Robot and clamping device Download PDFInfo
- Publication number
- CN111629866B CN111629866B CN201880087092.8A CN201880087092A CN111629866B CN 111629866 B CN111629866 B CN 111629866B CN 201880087092 A CN201880087092 A CN 201880087092A CN 111629866 B CN111629866 B CN 111629866B
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- Prior art keywords
- clamping
- robot
- circuit board
- gripping
- driving
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
The application provides a robot and press from both sides and get device, this robot includes the robot body and presss from both sides and get the device, press from both sides and get the device and install in the robot body, and be used for pressing from both sides and get the circuit board, this clamp is got the device and is included actuating mechanism and two at least fixture, actuating mechanism includes driving piece and two at least first connecting pieces, at least one first connecting piece is equipped with the accommodation space, and at least one fixture movably sets up in the accommodation space, so that at least one fixture can remove for at least one first connecting piece, at least two fixture is used for passing two at least clamp respectively and gets the mouth, pass through this kind of fixture and press from both sides the mode of getting the mouth in order to press from both sides and get the circuit board, not only can avoid fixture and circuit board's components and parts to take place to interfere, thereby clamp the circuit board of different specifications can also be adjusted to the interval in order to press from both sides, thereby increased the robot and the commonality of pressing from both sides and getting the device.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot and a clamping device.
Background
At present, a sucking disc is usually adopted to clamp a circuit board, such as a circuit board of an unwelded component, but the sucking disc has limited sucking space for clamping the circuit board when most components are welded.
Disclosure of Invention
The technical problem that this application mainly solves is to provide a robot and clamp and get device, can solve and press from both sides the relatively poor problem of getting the circuit board effect among the prior art.
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 and movably connected with 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, the 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 the at least one clamping mechanism can move relative to the at least one first connecting piece, and the at least two clamping mechanisms are used for penetrating through at least two clamping openings on the circuit board respectively and are far away from or close to each other under the driving of the driving mechanism, so that 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, wherein the clamping device is the clamping device.
The beneficial effects of this application are: in the condition of prior art, the robot that this application provided includes the robot body and presss from both sides and get the device, press from both sides and get the device and install in the robot body, and be used for pressing from both sides and get the circuit board, press from both sides and get the device and include actuating mechanism and two at least fixture, actuating mechanism includes driving piece and two at least first connecting pieces, at least one first connecting piece is equipped with the accommodation space, and at least one fixture movably sets up in the accommodation space, so that at least one fixture can remove for at least one first connecting piece, at least two fixture is used for respectively passing two at least clamp mouths on the circuit board, pass through this kind of fixture and press from both sides the mode of getting mouthful in order to press from both sides and get the circuit board, not only can avoid fixture and circuit board on the components and parts of circuit board to take place to interfere, still can adjust fixture's interval in order to press from both sides and get the circuit board of different specifications, thereby increased the robot and the commonality of pressing from both sides and getting the device.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a robot provided herein;
FIG. 2 is a schematic view of the gripping device of FIG. 1;
FIG. 3 is a schematic cross-sectional view of the gripping device of FIG. 2;
FIG. 4 is a schematic view of the first connector of FIG. 3;
FIG. 5 is a schematic view of another embodiment of the clamping device of FIG. 1;
FIG. 6 is a schematic cross-sectional view of the gripping device of FIG. 5;
FIG. 7 is a schematic 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
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
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 support portion 111, an installation portion 112, and at least one arm portion 113, wherein two ends of the at least one arm portion 113 are respectively connected to the support portion 111 and the installation portion 112, and in this embodiment, a distance and an angle of the installation portion 112 relative to the support portion 111 can be adjusted by the at least one arm portion 112.
In this embodiment, the gripping device 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 gripping device 12 relative to the supporting portion 111 can be adjusted, thereby facilitating the gripping of the gripping device 12.
In this embodiment, taking the number of the arm parts 113 as three as an example, the three arm parts 113 are movably connected.
Optionally, the robot body 11 is a robotic arm.
The robot 10 of the present embodiment can be applied to industrial production, for example, can realize automatic circuit board clamping, so as to improve production efficiency and reduce labor cost.
Referring to fig. 2, fig. 2 is a schematic diagram of the gripping apparatus 12 of fig. 1.
The clamping device 12 is used for clamping the circuit board 101, wherein at least two clamping ports 1011 are arranged on the circuit board 101, and components 1012 are welded.
In this embodiment, the clamping port 1011 may be a through hole, a notch, or the like, and may be a regular shape such as a circle, a square, a semicircle, or the like, or may be other irregular shape, which is not limited herein.
Referring to fig. 2 and 3 together, fig. 3 is a schematic cross-sectional view of the gripping apparatus 12 of fig. 2.
The gripping device 12 comprises a drive 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, and the at least two clamping mechanisms 122 are respectively arranged to pass through the at least two clamping openings 1011 on the circuit board 101 and are far 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 clamping mechanisms 122 is two.
Alternatively, the driver 1211 is a pneumatic jaw or an electric jaw.
Referring to fig. 3 and 4 together, fig. 4 is a schematic structural view of the first connector 1212 in fig. 3.
The at least one first connecting piece 1212 is provided with a receiving space 12121, and the at least one clamping mechanism 122 is movably disposed in the receiving space 12121, so that the at least one clamping mechanism 122 can move relative to the at least one first connecting piece 1212, and thus, the space between the clamping mechanisms 122 can be conveniently adjusted to clamp circuit boards 101 with different specifications, thereby increasing the versatility of the clamping device 12 and the robot 10, and in this embodiment, the two first connecting pieces 1212 are provided with receiving grooves 12121.
Optionally, at least one of the first connectors is further provided with a fastening portion 12122, in this embodiment, two first connectors 1212 are provided with fastening portions 12122.
Alternatively, the fastening portion 12122 is a chute extending along the driving direction of the driving member 1211, and in other embodiments, the fastening portion 12122 may be a plurality of openings arranged along the driving direction of the driving member 1211, which is not limited herein.
Optionally, at least one first connector 1212 is further provided with a first score line 12123, in this embodiment, two first connectors 1212 are provided with first score lines 12123.
Optionally, the driving mechanism 121 further includes at least two second connecting pieces 1213, where the at least two second connecting pieces 1213 are connected to the at least two first connecting pieces 1212 and connected to the driving piece 1211, so as to drive the at least two first connecting pieces 1212 away from or close to each other under the driving of the driving piece 1211, and in this embodiment, the number of the second connecting pieces 1213 is two as an example.
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 at a side of the third connecting member 1221 away from the driving member 1211, so as to pass through the clamping opening 1011 on the circuit board 101, thereby tensioning or clamping the circuit board 101 and clamping the circuit board 101 under the driving of the driving mechanism 121.
Alternatively, the clamping member 1222 may have a needle-like structure, although other structures are possible and not limited thereto.
In the present embodiment, the driving mechanism 121 drives the two clamping mechanisms 122 to align with the two clamping ports 1011 on the circuit board 101, such that the two clamping mechanisms 122 can pass through the two clamping ports 1011, respectively, and after passing through the two clamping ports 1011, the driving mechanism 121 drives the two clamping mechanisms 122 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 configured to drive the two holding mechanisms 122 toward and away from each other in a direction opposite to the direction in which the circuit board 101 is tensioned or clamped, thereby being released to place the circuit board 101.
As will be appreciated, when the driving mechanism 121 drives the two gripping mechanisms 122 away from each other to tension the circuit board 101 and grip the circuit board 101, the driving mechanism 121 is further configured to drive the two gripping mechanisms 122 toward each other to release the circuit board 101, and when the driving mechanism 121 drives the two gripping mechanisms 122 toward each other to grip the circuit board 101 and grip the circuit board 101, the driving mechanism 121 is further configured to drive the two gripping mechanisms 122 away from each other to release the circuit board 101 to place the circuit board 101.
Optionally, the length of the clamping mechanism 122 is greater than the height of the component 1012 to prevent the component 1012 from being damaged due to interference such as collision of the driving mechanism 121 with the component 1012 when the circuit board 101 is clamped or placed.
Further, the gripping device 12 further includes a detector 123, where the detector 123 is configured to detect the relative positions of the two gripping mechanisms 122 to obtain a first detection result, so that the driving mechanism 121 drives the two gripping mechanisms 122 away from or close to each other according to the first detection result, so as to tension or clamp the circuit board 101 to grip the circuit board 101.
For example, for a certain type of circuit board 101, if two specific clamping ports 1011 are selected to clamp the circuit board 101, the caliber and port distance of the two clamping ports 1011 are determined, these data are used as initial parameters, and the parameters such as the diameter of the clamping member 1222 and the mounting position of the detector 123 can be combined to debug the movement track of the two clamping mechanisms 122, that is, when the driving mechanism 121 drives the distance between the two clamping mechanisms 122 to be the first distance, the two clamping mechanisms 122 can respectively pass through the two clamping ports 1011, and when the driving mechanism 121 drives the distance between the two clamping mechanisms 122 to be the second distance, the two clamping mechanisms 122 can tension or clamp the circuit board 101 to clamp the circuit board 101, wherein the increment between the first distance and the second distance is the distance between the driving mechanism 121 to drive the two clamping mechanisms 122 to be far away from or close to each other, after the debugging is completed, the driving mechanism 121 can respectively drive the two clamping mechanisms 122 to respectively pass through the two clamping ports 1011 and the circuit board 101 according to the comparison of the first detection result and the first distance and the second distance, thereby realizing automatic clamping of the circuit board 101.
The detector 123 is further configured to detect the positions 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 further 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 case that the detector 123 is disposed on the driving mechanism 121, the detector 123 can perform real-time detection during the process of the gripping device 12 gripping the circuit board 101.
Referring to fig. 5, fig. 5 is a schematic diagram illustrating another embodiment of the gripping apparatus 12 of fig. 1. The gripping device 12 of this embodiment also includes an adjustment mechanism 124.
In the present embodiment, the adjusting mechanism 124 is disposed between at least two clamping mechanisms 122, and is used for adjusting the spacing between the clamping mechanisms 122 to clamp circuit boards 101 with different specifications, so as to clamp the versatility of the device 12 and the robot 10.
Referring collectively to fig. 6-7, fig. 6 is a schematic cross-sectional view of the clamping device 12 of fig. 5, and fig. 7 is a schematic structural view of the adjustment mechanism 124 of fig. 5.
The adjusting mechanism 124 is configured to adjust a distance between the at least two clamping mechanisms 122 according to a distance between the at least two clamping ports 1011, so that the at least two clamping mechanisms 122 can respectively pass through the at least two clamping ports 1011, and after the at least two clamping mechanisms 122 respectively pass through the at least two clamping ports 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, and 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 engaged with the at least one sliding member 1242, and when the adjusting screw 1241 rotates, the at least one sliding member 1242 moves along the adjusting screw 1241 relative to the at least one first connecting member 1212, and the at least one clamping mechanism 122 can be abutted to 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 slider 1242 is two.
Optionally, the adjusting screw 1241 further includes an adjusting portion 12412, the two screw portions 12411 and the adjusting portion 12412 are integrally formed 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) having opposite directions of rotation, and the two sliding members 1242 are processed with threaded holes (not shown in the drawings) corresponding to the directions of rotation of the external threads, so that when the adjusting screw 1241 rotates, the two sliding members 1242 are respectively separated from or close 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 sliding members 1242, the two clamping mechanisms 122 are respectively abutted against the two sliding members 1242, thereby adjusting the distance between the two clamping mechanisms 122 by the distance between the two sliding members 1242.
Optionally, two slides 1242 are further used for the drive mechanism 121 to drive the two clamping mechanisms 122, stopping the two clamping mechanisms 122 when they are approaching or moving away from each other in a direction opposite to the direction in which the circuit board 101 is tensioned or clamped.
Optionally, two clamping mechanisms 122 are disposed on the inside or outside of the two slides 1242 relative to the adjustment portion 12412.
Optionally, the adjusting mechanism 124 further includes a force-bearing member 1243, where the force-bearing member 1243 is connected to the adjusting screw 1241, and is configured to receive an external force to rotate the adjusting screw 1241.
In the present embodiment, the force receiving member 1243 is a screw, and is disposed on the adjusting portion 12412, however, knurling may be disposed on the adjusting portion 12412 instead of the screw, which is not limited herein.
Optionally, the adjusting screw 1241 is further provided with a second graduation line 12413, in this embodiment, taking an example that the second graduation line 12413 is disposed on the adjusting portion 12412, when the adjusting screw 1241 rotates to a position where the longest graduation line of the second graduation lines 12413 is aligned with the first graduation line 12123, as shown in fig. 8, the distance between the at least two clamping mechanisms 122 is read.
Further, the clamping mechanism 12 further includes a fastener 125, and the fastener 125 is configured to securely connect the clamping mechanism 122 to the first connector 1212 after the adjustment mechanism 124 is adjusted.
In the present embodiment, the two clamping mechanisms 122 are respectively disposed at the outer sides of the two sliding members 1242 relative to the adjusting portion 12412, after the adjusting mechanism 124 is adjusted, and the two fastening members 125 are respectively fastened to connect the third connecting member 1221 and the first connecting member 1212 through the fastening portion 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 member 1212 away from each other through the second connecting member 1213, and further drives the third connecting member 1221 away from each other, 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 to approach each other via the second connecting member 1213, and further drives the third connecting member 1221 to approach each other and stop approaching the sliding member 1242, and at this time, the distance between the two clamping members 1222 is the distance adjusted by the adjusting mechanism 124, so that the two clamping members 1222 can release and place the circuit board 101.
In the condition of prior art, the robot that this application provided includes the robot body and presss from both sides and get the device, press from both sides and get the device and install in the robot body, and be used for pressing from both sides and get the circuit board, press from both sides and get the device and include actuating mechanism and two at least fixture, actuating mechanism includes driving piece and two at least first connecting pieces, at least one first connecting piece is equipped with the accommodation space, and at least one fixture movably sets up in the accommodation space, so that at least one fixture can remove for at least one first connecting piece, two at least fixture is used for passing respectively and presss from both sides and get the mouth, pass through this kind of fixture and press from both sides the mouth with the mode of getting the circuit board that presss from both sides, not only can avoid fixture and circuit board take place to interfere with the components and parts on the circuit board, thereby still can adjust fixture's interval in order to press from both sides and get the circuit board of different specifications, thereby the commonality that robot and clamp and get the device has been increased.
The foregoing description is only a partial embodiment of the present application, and is not intended to limit the scope of the present application, and all equivalent devices or equivalent process transformations made by using the descriptions and the drawings of the present application, or direct or indirect application to other related technical fields, are included in the patent protection scope of the present application.
Claims (14)
1. A robot, wherein the robot comprises:
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 connected with 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, at least two clamping mechanisms and a detector, 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 the at least one clamping mechanism can move relative to the at least one first connecting piece, and the at least two clamping mechanisms are used for penetrating through at least two clamping openings on the circuit board respectively and are far away from or close to each other under the driving of the driving mechanism, so that the circuit board is clamped by tensioning or clamping, the detector is used for detecting the relative positions of the at least two clamping mechanisms to obtain a first detection result, and the driving mechanism is enabled to clamp the circuit board by tensioning or clamping the circuit board according to the first detection result.
2. The robot of claim 1, wherein the gripping device further comprises an adjusting mechanism disposed between the at least two gripping mechanisms for adjusting a distance between the at least two gripping mechanisms according to a distance between the at least two gripping openings such that the at least two gripping mechanisms can pass through the at least two gripping openings, respectively.
3. The robot of claim 2, wherein the adjusting mechanism comprises an adjusting screw and at least one sliding member, the at least one sliding member is accommodated in the accommodating space, the adjusting screw comprises a screw portion, the screw portion penetrates through the at least one sliding member and at least one clamping mechanism and is meshed with the at least one sliding member, and when the adjusting screw rotates, the at least one sliding member moves along the adjusting screw relative to the at least one first connecting member, and at least one clamping mechanism can be abutted against the at least one sliding member to adjust the distance between the at least two clamping mechanisms.
4. A robot as claimed in claim 3, wherein the adjusting screw further comprises an adjusting portion, at least one of the first connectors being provided with a first scale line, the adjusting portion being connected to the at least one screw portion and being provided with a second scale line, the distance between the at least two clamping mechanisms being read when the adjusting screw is rotated to a position where the second scale line is aligned with the first scale line.
5. The robot of claim 4, wherein the adjusting mechanism further comprises a force receiving member disposed on the adjusting portion, the force receiving member being configured to receive an external force to rotate the adjusting screw.
6. 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.
7. A robot as claimed in claim 3, wherein the slide is further adapted to stop the at least two gripping mechanisms when the driving mechanism drives the at least one gripping mechanism towards or away from each other in a direction opposite to tensioning or clamping the circuit board.
8. The robot of claim 2, wherein the gripping device further comprises a fastener for fastening the clamping mechanism to the first connector after the adjustment of the adjustment mechanism is completed.
9. The robot of claim 8, wherein the driving mechanism further comprises at least two second connection members connected with the at least two first connection members and connected with the driving member to drive the at least two first connection members away from or toward each other under the driving of the driving member.
10. The robot of claim 8, wherein the clamping mechanism comprises a third connecting piece and a clamping piece, the third connecting piece is movably arranged in the accommodating space, the clamping piece is connected with the third connecting piece, and at least part of the clamping piece is exposed out of one side of the third connecting piece away from the driving piece.
11. The robot of claim 10, wherein at least one of the first connectors is provided with a fastening portion by which the fastening member fastens the at least one gripping mechanism to the at least one first connector.
12. The robot of claim 11, wherein the fastening portion is a chute extending in a moving direction of the at least one gripping mechanism.
13. The robot of claim 12, wherein components are provided on the circuit board, and the length of the clamping mechanism is greater than the height of the components.
14. A gripping device for gripping a circuit board, wherein the gripping device is the gripping device according to 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 CN111629866A (en) | 2020-09-04 |
| CN111629866B true CN111629866B (en) | 2023-06-02 |
Family
ID=69722080
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 |
|---|---|---|---|---|
| CN113690678A (en) * | 2021-08-19 | 2021-11-23 | 国网江苏省电力有限公司电力科学研究院 | Automatic test wiring device for distribution transformer detection |
| CN114346571A (en) * | 2022-01-27 | 2022-04-15 | 晟通科技集团有限公司 | Clamping jaw and positioning equipment |
| CN114516539A (en) * | 2022-03-25 | 2022-05-20 | 江苏徐工工程机械研究院有限公司 | Workpiece clamping device and workpiece cleaning equipment |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3344903A1 (en) * | 1983-12-12 | 1985-06-13 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Gripper arrangement for an industrial robot |
| US4789292A (en) * | 1984-04-06 | 1988-12-06 | Holcomb Gregory W | End effector for robotic equipment |
| FR2597389A1 (en) * | 1986-04-22 | 1987-10-23 | Secasi | Device for extracting printed-circuit cards or the like |
| 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 |
| 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 |
| 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 |
| 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 |
-
2018
- 2018-09-07 CN CN201880087092.8A patent/CN111629866B/en active Active
- 2018-09-07 WO PCT/CN2018/104687 patent/WO2020047864A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020047864A1 (en) | 2020-03-12 |
| CN111629866A (en) | 2020-09-04 |
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