CN111776737A - Variable-pitch adsorption device and multi-axis movement adsorption device and method - Google Patents
Variable-pitch adsorption device and multi-axis movement adsorption device and method Download PDFInfo
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- CN111776737A CN111776737A CN202010688390.1A CN202010688390A CN111776737A CN 111776737 A CN111776737 A CN 111776737A CN 202010688390 A CN202010688390 A CN 202010688390A CN 111776737 A CN111776737 A CN 111776737A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/025—Boxes
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Abstract
The invention discloses a variable-spacing adsorption device, a multi-axis motion adsorption device and a method, comprising a linear motion mechanism and a multi-stage scissors fork mechanism which are positioned on the same straight line; one end of the multi-stage scissor fork mechanism, which is close to the linear motion mechanism, is fixedly arranged, and one end of the multi-stage scissor fork mechanism, which is far away from the linear motion mechanism, is connected with the output end of the linear motion mechanism; the middle cross points of all levels of the multi-level scissor fork mechanism are connected with one end of a connecting rod, and a plurality of connecting rods are arranged in parallel; the other end of the connecting rod is provided with a first pneumatic connector and a sucker, and the sucker is communicated with the first pneumatic connector. The conveying device can convey a plurality of workpieces simultaneously, change the distance between the workpieces in the process of adsorbing the workpieces, and adapt to the placement of the workpieces with different distances.
Description
Technical Field
The invention belongs to the field of mechanical automation, and relates to a variable-pitch adsorption device, a multi-axis motion adsorption device and a method.
Background
With the design of electronic products becoming smaller, lighter and thinner, electronic products are developing towards high-density integration and hyperfine, and accordingly, the requirements on the assembling equipment of electronic components of the electronic products are also becoming higher and higher. In particular, the production process often involves transferring and transferring electronic components to different devices and different stations to complete corresponding assembly operations.
At present, the existing transfer device generally has a gripping head, and the work piece on one tray or one station is transferred to another tray or station by multiple times, and one work piece is transferred at one time, so that the efficiency is relatively low. Some transfer devices are provided with a plurality of gripping heads to transfer a plurality of workpieces at one time, but the space between the gripping heads is generally fixed, when the space and the number of the placing positions on two trays or stations before and after transfer are changed, the existing transfer device with the plurality of gripping heads cannot effectively transfer the workpieces, although the problem can be solved by additionally arranging the plurality of transfer devices, the volume is increased due to the arrangement of the plurality of transfer devices, the structure of the whole equipment is relatively complex, and the manufacturing cost is increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a variable-pitch adsorption device, a multi-axis motion adsorption device and a method, which can change the pitch between workpieces in the process of adsorbing the workpieces and adapt to the placement of the workpieces with different pitches.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a variable-spacing adsorption device comprises a linear motion mechanism and a multi-stage scissor fork mechanism which are positioned on the same straight line;
one end of the multi-stage scissor fork mechanism, which is close to the linear motion mechanism, is fixedly arranged, and one end of the multi-stage scissor fork mechanism, which is far away from the linear motion mechanism, is connected with the output end of the linear motion mechanism; the middle cross points of all levels of the multi-level scissor fork mechanism are connected with one end of a connecting rod, and a plurality of connecting rods are arranged in parallel; the other end of the connecting rod is provided with a first pneumatic connector and a sucker, and the sucker is communicated with the first pneumatic connector.
Preferably, guide rods are arranged on two sides of the multistage scissors fork mechanism in parallel respectively, the guide rods are connected with a plurality of movable transition blocks in a sliding mode, each movable transition block is connected with a middle cross point of the multistage scissors fork mechanism, and the connecting rods are connected with the movable transition blocks.
Preferably, the linear motion mechanism adopts a cylinder, and the input end and the output end of the cylinder are respectively provided with a second pneumatic connector and a third pneumatic connector.
A multi-axis motion adsorption device comprises a multi-axis motion device and the variable-pitch adsorption device;
the variable-pitch adsorption device is arranged on a moving component at the last stage of the multi-axis motion device, and the connecting rod is parallel to the moving component at the last stage.
Preferably, the multi-axis movement device adopts a three-axis movement device, and the three-axis movement device comprises a frame, an X-axis movement system component, a Y-axis movement system component and a Z-axis movement system component;
the X-axis motion system assembly comprises two synchronous belt linear modules which are fixed on the rack in parallel, and the two synchronous belt linear modules are fixedly connected together through a coupling by a transmission shaft;
the Y-axis motion system assembly comprises a Y-axis left support and a Y-axis right support which are respectively fixed on sliding tables at the tops of the two synchronous belt linear modules, and a ball screw device is arranged between the Y-axis left support and the Y-axis right support;
the Z-axis motion system component comprises a linear module and a Z-axis mounting plate fixed on a sliding block of the ball screw device, the linear module is fixed on the linear module, the variable-spacing adsorption device is arranged at the output end of the linear module, and a connecting rod of the variable-spacing adsorption device is parallel to the Z direction.
Furthermore, a Y-axis drag chain groove parallel to the ball screw device is arranged between the Y-axis left support and the Y-axis right support, two sensors are respectively arranged at positions, close to two ends, of the Y-axis drag chain groove, and a photoelectric trigger plate is installed on the Z-axis installation plate.
Furthermore, three material boxes are arranged below the three-axis movement device and are used for placing qualified products, unqualified products and products to be further detected respectively.
A multi-axis motion adsorption method based on the device comprises the following steps;
moving a variable-spacing adsorption device to a position above a workpiece by a three-axis motion device, and moving a linear motion mechanism to drive a multi-stage scissor fork mechanism to stretch and retract so as to change the spacing between adjacent suckers until the suckers correspond to the position of the workpiece, so as to adsorb the workpiece;
and step two, the variable-interval adsorption device is moved to the positions above the three material boxes by the three-axis movement device, the linear movement mechanism moves to drive the multi-stage scissor fork mechanism to stretch and retract, the interval between the adjacent suckers is changed until the position of the workpiece corresponds to the placement position, the workpiece sequentially moves through the three material boxes, and the workpiece placed corresponding to the material boxes is placed after passing through each material box.
Compared with the prior art, the invention has the following beneficial effects:
according to the variable-spacing adsorption device, the multi-stage scissor fork mechanism can be stretched and retracted through the linear motion mechanism 606, and the spacing between the adsorption devices connected with the middle cross point is changed through the change of the length of the multi-stage scissor fork mechanism, so that the spacing among workpieces can be adjusted, and the variable-spacing adsorption device is suitable for placing the workpieces with different spacings.
Furthermore, the movable transition block is connected to the guide rod in a sliding mode, the movable multi-stage scissor fork mechanism can be limited, and stability of the device is guaranteed.
The multi-axis motion adsorption device can be used for simultaneously transporting a plurality of workpieces, and simultaneously changing the distance between every two workpieces in the transportation process, so that the multi-axis motion adsorption device is suitable for placing workpieces with different distances.
The multi-axis motion adsorption method of the invention can transport a plurality of workpieces simultaneously, change the distance between each workpiece during the transportation process, and place different positions on the workpieces with different qualities, thereby improving the production efficiency.
Drawings
FIG. 1 is a first perspective view of a three-axis exercise device according to the present invention;
FIG. 2 is a second perspective view of the three-axis exercise device of the present invention;
FIG. 3 is a schematic view of a first view angle of the storing device according to the present invention;
FIG. 4 is a schematic view of a second view angle of the storing device according to the present invention;
FIG. 5 is a schematic view of a first perspective view of the components of the X-axis motion system of the present invention;
FIG. 6 is a schematic diagram of a second perspective view of the X-axis motion system assembly of the present invention;
FIG. 7 is a schematic view of a first perspective view of the Y-axis motion system assembly of the present invention;
FIG. 8 is a second perspective view of the Y-axis motion system assembly of the present invention;
FIG. 9 is a schematic view of the Z-axis motion system components of the present invention;
FIG. 10 is a schematic structural diagram of a variable pitch adsorption device according to the present invention;
FIG. 11 is a cross-sectional view of a variable pitch adsorption apparatus of the present invention;
FIG. 12 is a cross-sectional view B-B of FIG. 11 in accordance with the present invention;
FIG. 13 is a cross-sectional view C-C of FIG. 11 of the present invention;
FIG. 14 is a schematic view of the internal structure of the variable pitch adsorption device of the present invention;
FIG. 15 is a schematic view of a guide bar structure of the variable pitch adsorption device of the present invention;
FIG. 16 is a schematic structural view of a multi-stage scissor fork mechanism of the present invention.
Wherein: 1. the device comprises a frame, 2, a storage device, 3, an X-axis motion system component, 4, a feeding port, 5, a Z-axis motion system component, 6, a variable-interval adsorption device, 7, a Y-axis motion system component, 201, a handle, 202, a material box, 203, a mounting plate, 204, a material box drawer, 205, a drawer type mounting guide rail, 301, a servo motor, 302, a speed reducer, 303, a mounting flange, 304, a transmission shaft, 305, a support plate, 306, a drag chain groove, 307, an X-direction drag chain, 308, a synchronous belt linear module, 309, a mounting plate, 310, a coupler, 501, a Z-axis servo motor, 502, a linear module, 601, a second pneumatic connector, 602, a third pneumatic connector, 603, a connecting rod, 604, a suction cup, 605, a first pneumatic connector, 606, a linear motion mechanism, 607, a moving transition block, 608, a multi-stage scissor mechanism, 609, a guide rod, 610, a pin shaft, 701, a photoelectric sensor, 702, a, 703, a Y-axis servo motor, 704, an X-axis drag chain mounting plate, 705, a Y-axis right support, 706, a linear guide rail, 707, a ball screw, 708, a Z-axis mounting plate, 709, a Y-axis left support, 710, an aluminum profile bracket, 711, a driven synchronous pulley, 712, a synchronous belt, 713, a driving synchronous pulley, 714, a Y-axis motor mounting seat, 715, a line passing plate, 716, a Y-axis drag chain groove, 717, a Y-axis drag chain groove supporting plate, 718, and a photoelectric trigger plate.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1 and 2, the present invention is a multi-axis motion adsorption apparatus. The device comprises a rack 1, a material storage device 2, a multi-axis motion system and a variable-pitch adsorption device 6; the variable-spacing adsorption device 6 is arranged on a multi-axis motion system, the multi-axis motion system is arranged on the rack 1, and the storage device 2 is located under the multi-axis motion system.
As shown in fig. 2, the multi-axis motion system in this embodiment employs a three-axis motion system, which includes an X-axis motion system component 3, a Z-axis motion system component 5, and a Y-axis motion system component 7. The variable-spacing adsorption device 6 can realize the movement tracks in three directions of X/Y/Z in a three-axis movement system so as to pick up, cut and check the strain gauges on stations, and place the strain gauges in corresponding material outlet boxes to complete the sorting process of the strain gauges, wherein the three directions of X/Y/Z are mutually vertical.
As shown in fig. 3 and 4, the magazine 2 includes a handle 20, a magazine 202, a magazine drawer 204, drawer-type mounting rails 205, and two parallel mounting plates 203, and the two mounting plates 203 are fastened to the rack 1 by standard T-nut bolts. Parallel drawer type mounting guide rails 205 are arranged on opposite surfaces of the two mounting plates 203, the magazine drawer 204 is mounted on the mounting plates 203 through the drawer type mounting guide rails 205, and the handle 201 is mounted at the end of the magazine drawer 204 through pan head screws, so that operation of an operator is facilitated. Three material boxes 202 are arranged in the single material storage device and are used for respectively placing qualified products, unqualified products and products to be further tested.
A feeding plate is arranged right above the material storage device 2, a plurality of feeding ports 4 are arranged on the feeding plate, and one feeding port 4 is arranged above each material box 202 correspondingly.
As shown in fig. 5 and 6, the X-axis motion system assembly 3 is located on the machine frame 1, and the X-axis motion system assembly 3 of the present invention includes a servo motor 301, a reducer 302, a mounting flange 303, a transmission shaft 304, a support plate 305, a drag chain slot 306, an X-direction drag chain 307, a mounting plate 309, a coupling 310, and two parallel synchronous belt linear modules 308. Two hold-in range straight line modules 308 set up respectively in pan feeding board both sides, and two hold-in range straight line modules 308 pass through the fastener by the mounting panel 309 of customization module to be fixed in frame 1. The power source adopts servo motor 301 to connect the drive of reduction gear 302, and mounting flange 303 one end is installed on the flange joint face of reduction gear 302, and an end is installed on one of them hold-in range straight line module 308. The two synchronous belt linear modules 308 are fixedly connected together through a coupling 310 by a transmission shaft 304, and an output shaft of the speed reducer 302 is connected with an input shaft of another synchronous belt linear module through the coupling 310, so that synchronous motion of the two synchronous belt linear modules is realized. Due to the multi-axis motion system, the route is planned by adopting an X-direction drag chain 307, the fixed end of the X-direction drag chain 307 is fastened in a drag chain groove 306, the movable end is fastened on an X-direction drag chain mounting plate 704, the drag chain groove 306 is positioned below one synchronous belt linear module 308, the drag chain groove 306 is mounted on a support plate 305, and the support plate 305 is fastened on the frame 1.
As shown in fig. 7 and 8, the Y-axis motion system component 7 of the present invention includes a photoelectric sensor 701, a Y-axis drag chain 702, a Y-axis servo motor 703, an X-axis drag chain mounting plate 704, a Y-axis right support 705, a linear guide 706, a ball screw 707, a Z-axis mounting plate 708, a Y-axis left support 709, an aluminum profile bracket 710, a driven synchronous pulley 711, a synchronous belt 712, a driving synchronous pulley 713, a Y-axis motor mounting seat 714, a wire passing plate 715, a Y-axis drag chain groove 716, a Y-axis drag chain groove support plate 717, and a photoelectric trigger plate 718.
The Y-axis left support 709 and the Y-axis right support 705 are fastened to a top sliding table in a timing belt linear module 308 in the X-axis motion system component 3 through bolts, and can follow the timing belt linear module 308 to move in the X direction. The side surfaces of the Y-axis left support 709 and the Y-axis right support 705 are respectively connected to the horizontally arranged aluminum profile support 710, and the transmission system is completed by adopting a transmission mode of a ball screw 707 and a linear guide rail 706. The lead screw nut in the ball screw 707 and the slider in the linear guide 706 are both attached to the Z-axis mounting plate 708, and the Z-axis mounting plate 708 is capable of Y-directional movement over the ball screw 707 and the linear guide 706.
The power source drives a driving timing pulley 713 using a Y-axis servo motor 703, the driving timing pulley 713 transmits power to a driven timing pulley 711 via a timing belt 712, and the timing pulley 711 is attached to an input end of a ball screw 707 and further transmits power to the ball screw 707. Due to the position limitation of the feeding port 4, the Y-axis motion system 7 is guaranteed to accurately place the strain gauge into the material storage device 2.
Two photoelectric sensors 701 are installed on the Y-axis in a transmission mode, a photoelectric trigger plate 718 is installed on the Z-axis installation plate 708, and when the photoelectric sensors 701 detect the photoelectric trigger plate 718, the Y-axis movement position can be located, and the movement of the Z-axis installation plate 708 can be limited; photoelectric sensor 701 installs on Y axle tow chain groove 716, and Y axle tow chain groove 716 installs on Y axle tow chain groove backup pad 717, and Y axle tow chain backup pad 717 installs on aluminium alloy support 710. The Y-axis motor mount 714 is mounted on the aluminum profile bracket 710 by fastener screws. The cable passing plate 715 is fastened on the Y-axis motor mounting seat 714 to ensure that the cable of the Y-axis servo motor 703 smoothly enters the X-direction drag chain 307.
As shown in fig. 9, the Z-axis motion system component 5 of the present invention includes a linear module 502 and a Z-axis servo motor 501, wherein the linear module 502 is mounted on a Z-axis mounting plate 708 by screws, and an output end of the Z-axis servo motor 501 is connected to an input end of the linear module 502.
As shown in fig. 9, the variable pitch adsorption device 6 of the present invention is installed on the Z-axis motion system component 5, and specifically, the variable pitch adsorption device 6 is installed at the output end of the linear module 502, so as to realize the movement of the variable pitch adsorption device 6 in the XYZ direction of the space.
As shown in fig. 10, the variable pitch suction device 6 includes a housing, a linear motion mechanism 606, and a multi-stage scissor mechanism 608. As shown in FIG. 11, the linear motion mechanism 606 and the multi-stage scissor mechanism 608 are mounted in a housing. As shown in fig. 14, in the present embodiment, the linear motion mechanism 606 employs an air cylinder, a second pneumatic connector 601 is installed on a rodless end of the air cylinder, a third pneumatic connector 602 is installed on a rod end of the air cylinder, and the air pipe can be quickly inserted into and pulled out of the second pneumatic connector 601 and the third pneumatic connector 602.
As shown in fig. 11-14, the multi-stage scissors fork mechanism 608 is driven by the cylinder to realize the function of changing the distance, one end of the multi-stage scissors fork mechanism 608 close to the cylinder is fixedly arranged, and the output end of the cylinder is connected with one end of the multi-stage scissors fork mechanism 608 far away from the cylinder. As shown in fig. 16, a pin 610 is provided at the middle intersection of the stages in the multi-stage scissor mechanism 608. As shown in fig. 13, a plurality of moving transition blocks 607 are mounted on a pin 610 at the middle intersection of the stages in the multi-stage scissor mechanism 608 to be capable of moving synchronously with the extension and retraction of the multi-stage scissor mechanism 608. As shown in fig. 13, one end of the connecting rod 603 is mounted on the moving transition block 607, and the other end is provided with a suction cup 604 and a first pneumatic connector 605; as shown in fig. 12 and 15, to facilitate the multi-stage scissors mechanism 608 to perform the pitch-varying operation reliably, two parallel guide rods 609 are provided in the housing, the multi-stage scissors mechanism 608 is mounted in the housing to guide the guide rods 609, and a careless bushing is installed in the guide hole of the multi-stage scissors mechanism 608 to reduce the friction of the multi-stage scissors mechanism 608 during the pitch-varying process.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (8)
1. A variable-pitch adsorption device is characterized by comprising a linear motion mechanism (606) and a multi-stage scissor fork mechanism (608) which are positioned on the same straight line;
one end of the multi-stage scissor fork mechanism (608) close to the linear motion mechanism (606) is fixedly arranged, and one end of the multi-stage scissor fork mechanism (608) far away from the linear motion mechanism (606) is connected with the output end of the linear motion mechanism (606); the middle cross points of all levels of the multi-level scissors fork mechanism (608) are connected with one end of a connecting rod (603), and the connecting rods (603) are arranged in parallel; the other end of the connecting rod (603) is provided with a first pneumatic connector (605) and a sucker (604), and the sucker (604) is communicated with the first pneumatic connector (605).
2. The variable-pitch adsorption device according to claim 1, wherein guide rods (609) are respectively arranged on two sides of the multistage scissor mechanism (608) in parallel, the guide rods (609) are connected with a plurality of movable transition blocks (607) in a sliding manner, each movable transition block (607) is connected with a middle intersection of the multistage scissor mechanism (608), and the connecting rod (603) is connected with the movable transition blocks (607).
3. The variable-pitch adsorption device according to claim 1, wherein the linear motion mechanism (606) adopts a cylinder, and the input end and the output end of the cylinder are respectively provided with the second pneumatic connector (601) and the third pneumatic connector (602).
4. A multi-axis motion adsorption apparatus comprising a multi-axis motion apparatus and a variable pitch adsorption apparatus (6) according to any one of claims 1 to 3;
the variable-pitch adsorption device is arranged on the moving component at the last stage of the multi-axis motion device, and the connecting rod (603) is parallel to the moving component at the last stage.
5. The multi-axis motion suction device according to claim 4, wherein the multi-axis motion device employs a three-axis motion device, the three-axis motion device including a frame (1), an X-axis motion system component (3), a Y-axis motion system component (7), and a Z-axis motion system component (5);
the X-axis motion system component (3) comprises two synchronous belt linear modules (308) which are fixed on the rack (1) in parallel, and the two synchronous belt linear modules (308) are fixedly connected together through a coupling (310) by a transmission shaft (304);
the Y-axis motion system component (7) comprises a Y-axis left support (709) and a Y-axis right support (705) which are respectively fixed on sliding tables at the tops of the two synchronous belt linear modules (308), and a ball screw device is arranged between the Y-axis left support (709) and the Y-axis right support (705);
the Z-axis motion system component (5) comprises a linear module (502) and a Z-axis mounting plate (708) fixed on a sliding block of the ball screw device, the linear module (502) is fixed on the linear module (502), the variable-pitch adsorption device (6) is arranged at the output end of the linear module (502), and a connecting rod (603) of the variable-pitch adsorption device (6) is parallel to the Z direction.
6. The multi-axis motion adsorption device of claim 5, wherein a Y-axis drag chain groove (716) parallel to the ball screw device is arranged between the Y-axis left support (709) and the Y-axis right support (705), the Y-axis drag chain groove (716) is provided with a sensor (701) near each end, and the Z-axis mounting plate (708) is provided with a photoelectric trigger plate (718).
7. The multi-axis motion adsorption device of claim 5, wherein three material boxes are arranged below the three-axis motion device, and the three material boxes are used for placing qualified products, unqualified products and further products to be tested respectively.
8. A multi-axis motion adsorption method based on the device of claim 7, which comprises the following steps;
moving a variable-pitch adsorption device (6) to a position above a workpiece by a three-axis motion device, driving a multi-stage scissor fork mechanism (608) to stretch by a linear motion mechanism (606), changing the pitch of adjacent suckers (604) until the suckers (604) correspond to the position of the workpiece, and adsorbing the workpiece;
and step two, the variable-interval adsorption device (6) is moved to the positions above the three material boxes by the three-axis movement device, the linear movement mechanism (606) moves to drive the multi-stage scissor fork mechanism (608) to stretch and retract, the interval between the adjacent suckers (604) is changed until the position of the workpiece corresponds to the placement position, the workpiece sequentially moves through the three material boxes, and the workpiece correspondingly placed in the material boxes is placed after passing through one material box.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010688390.1A CN111776737A (en) | 2020-07-16 | 2020-07-16 | Variable-pitch adsorption device and multi-axis movement adsorption device and method |
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| CN202010688390.1A CN111776737A (en) | 2020-07-16 | 2020-07-16 | Variable-pitch adsorption device and multi-axis movement adsorption device and method |
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Cited By (1)
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| WO2023031487A1 (en) * | 2021-10-01 | 2023-03-09 | Tt Innovation Ag | Handling device and use of a handling device |
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| CN205526648U (en) * | 2016-02-29 | 2016-08-31 | 广东吕顺智能科技有限公司 | Flexible regulation formula sucking disc subassembly |
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| WO2023031487A1 (en) * | 2021-10-01 | 2023-03-09 | Tt Innovation Ag | Handling device and use of a handling device |
| EP4159649A1 (en) * | 2021-10-01 | 2023-04-05 | TT Innovation AG | Handling device and use of a handling device |
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