CN112079114B - Automatic adjusting and grabbing device and grabbing method for PC component framework - Google Patents
Automatic adjusting and grabbing device and grabbing method for PC component framework Download PDFInfo
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- CN112079114B CN112079114B CN202011054591.2A CN202011054591A CN112079114B CN 112079114 B CN112079114 B CN 112079114B CN 202011054591 A CN202011054591 A CN 202011054591A CN 112079114 B CN112079114 B CN 112079114B
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- screw rod
- grabbing
- adjusting mechanism
- adjusting screw
- bearing seat
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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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- 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
- B65G47/905—Control arrangements
-
- 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
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic adjusting and grabbing device and an automatic adjusting and grabbing method for a PC component framework, wherein the grabbing device comprises a connecting frame, a gripper adjusting mechanism and a plurality of grippers, the gripper adjusting mechanism comprises an X-direction adjusting mechanism and a Y-direction adjusting mechanism which are arranged at the bottom of the connecting frame, and the grippers are fixedly connected with corresponding gripper mounting plates respectively; the grabbing device automatically adjusts the position of the grabbing hand through the Y-direction adjusting mechanism connected with the X-direction adjusting mechanism, does not need manual adjustment, is suitable for various member reinforcement cages, and has excellent universality; according to the grabbing method, the automatic adjusting grabbing device is adopted, under the action of the plurality of grippers, the PC component framework is spatially positioned during grabbing, the grabbing error is reduced, and the precision guarantee is provided for subsequent assembly.
Description
Technical Field
The invention relates to the technical field of concrete prefabricated member equipment, in particular to an automatic adjusting and grabbing device and method for a PC component framework.
Background
In the production of the PC component, the framework is carried by adopting manual work or auxiliary hoisting facilities, and the carrying mode has low production efficiency and high production cost.
The utility model patent application with the number 201820075691.5 discloses stamping gripper equipment, the stamping gripper comprises a gripper fixing device, a gripper connecting rod and at least one grabbing device, the gripper connecting rod penetrates through the gripper fixing device and the grabbing device, the grabbing devices are distributed on two sides of the gripper fixing device, the grabbing device comprises a connecting piece, an adjusting piece and a grabbing piece, the connecting piece is slidable relative to the gripper connecting rod, the adjusting piece is rotatable relative to the connecting piece, and the adjusting piece is connected with the grabbing piece through a fastener. Although this kind of grabbing device all can freely adjust and easy quick loading and unloading on the tongs connecting rod, cooperation between connecting piece and the tongs connecting rod on the grabbing device can make grabbing device translation regulation on the tongs connecting rod, and the cooperation can make adjusting part and grabbing piece rotate 360 between connecting piece and the adjusting part, and the upper and lower distance can be adjusted in the part cooperation in the adjusting part to can make grabbing piece rotate 360, can fix a position the position of change grabbing point fast. However, this method is not suitable for handling PC component frames, and the gripping device is not adjustable according to the specifications of the gripped product object.
Disclosure of Invention
The invention aims to provide an automatic adjusting and grabbing device for a PC component framework, which aims to solve the problem that the existing grabbing device in the background art cannot adapt to frameworks with various specifications.
In order to achieve the above purpose, the invention provides an automatic adjusting and grabbing device for a PC component framework, which comprises a connecting frame, a gripper adjusting mechanism and a plurality of grippers, wherein the connecting frame is arranged at the tail end of an executing mechanism, the gripper adjusting mechanism comprises an X-direction adjusting mechanism arranged at the bottom of the connecting frame and a Y-direction adjusting mechanism connected with the X-direction adjusting mechanism, the X-direction adjusting mechanism comprises a first slide rail, at least two moving plates and at least two first driving devices, the moving plates are arranged in one-to-one correspondence with the first driving devices, the first slide rail is arranged along the X direction, at least two moving plates are respectively arranged on the first slide rail, and the first driving devices drive the corresponding moving plates to be in sliding fit on the first slide rail; the Y-direction adjusting mechanism comprises a second slide rail, two moving beams, two second driving devices and a gripper mounting plate, wherein one second slide rail is arranged at the bottom of each moving plate, the two moving beams are respectively mounted on the second slide rail, the second driving devices are in one-to-one correspondence with the moving beams, the second driving devices drive the corresponding moving beams to be in sliding fit on the second slide rail, the number of the gripper mounting plates is multiple, and the gripper mounting plates are all arranged between the second slide rail and the moving beams; the plurality of grippers are respectively mounted on the corresponding gripper mounting plates.
Further, the first driving device comprises a first driving motor, a first adjusting screw rod, a first bearing seat and a second bearing seat, wherein the first driving motor, the first bearing seat and the second bearing seat are respectively and fixedly connected with the connecting frame, the first driving motor is connected with the first adjusting screw rod, and the first adjusting screw rod is arranged along the X direction, and two ends of the first adjusting screw rod are respectively arranged on the first bearing seat and the second bearing seat; the movable plate is provided with a first adjusting screw rod sleeve, and the first adjusting screw rod penetrates through the first adjusting screw rod sleeve and is connected with the first adjusting screw rod sleeve in a matched mode.
Further, the X-direction adjusting mechanism comprises a first sliding block matched with the first sliding rail and a second sliding block matched with the moving beam.
Further, the X-direction adjusting mechanism further comprises two fixed moving plates connected with the connecting frame, and one second sliding rail is arranged at the bottoms of the two fixed moving plates.
Further, the second driving device comprises a second driving motor, a second adjusting screw rod, a third bearing seat and a fourth bearing seat, the second driving motor, the third bearing seat and the fourth bearing seat are fixedly connected with the fixed moving plate, the second driving motor is connected with the second adjusting screw rod, and the second adjusting screw rod is arranged along the Y direction, and two ends of the second adjusting screw rod are respectively arranged on the third bearing seat and the fourth bearing seat; the movable beam is provided with a second adjusting screw rod sleeve, and the second adjusting screw rod penetrates through the second adjusting screw rod sleeve and is connected with the second adjusting screw rod sleeve in a matched mode.
Further, the Y-direction adjusting mechanism comprises a third sliding block matched with the second sliding rail, and the third sliding block is fixedly connected with the gripper mounting plate.
Further, the tongs include the connecting plate and with actuating mechanism, location oblique briquetting and the lower claw that colludes that the connecting plate is connected, the connecting plate with the tongs mounting panel links to each other, the claw that colludes down has the horizontal locating surface and the vertical locating surface that mutually perpendicular set up, the bottom of location oblique briquetting is equipped with the location inclined plane, actuating mechanism is used for the drive location oblique briquetting pushes down, the location inclined plane is used for making skeleton reinforcing bar next to the horizontal locating surface of claw is colluded down.
Further, the number of the moving plates is three, and the three moving plates are arranged at intervals in parallel along the X direction; the cooperation department of movable plate with the movable beam all is equipped with one the tongs mounting panel.
The invention also provides a method for automatically adjusting and grabbing the PC component framework, which adopts the grabbing device and comprises the following steps: before grabbing, firstly inputting the position parameters of the grippers into a database according to the parameters of the PC component framework to be grabbed and the combined forming parameters; the control system of the grabbing device calls set parameters in a database according to the model of the PC component framework to be grabbed, and adjusts the grippers to corresponding positions through the X-direction adjusting mechanism and the Y-direction adjusting mechanism; the positioning inclined pressing block of the gripper is in a lifting state, the lower hook claw moves to the side of the framework, the horizontal positioning surface of the lower hook claw is lower than the bottom surface of the framework, and the lower hook claw is controlled to transversely move so that the side surface of the framework contacts with the vertical positioning surface of the lower hook claw; and the positioning inclined pressing blocks of one row of grippers are lowered to position and fix the framework, and the positioning inclined pressing blocks of the other row of grippers are lowered to fix the framework and assist in positioning the gripping device to grip the reinforcement cage for combined forming.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention discloses an automatic adjusting and grabbing device for a PC component framework, which comprises a connecting frame, a gripper adjusting mechanism and a plurality of grippers, wherein the positions of the grippers are automatically adjusted by the Y-direction adjusting mechanism connected with the X-direction adjusting mechanism, the grippers adopt a structure of matching a positioning inclined pressing block and a lower hook claw, the lower hook claw is used for extracting the framework and providing a horizontal positioning surface, the positioning inclined pressing block is pressed under the action of a driving device of the positioning inclined pressing block, and the positioning inclined surface enables framework steel bars to abut against a positioning plane of the lower hook claw. The device can quickly and accurately grasp the steel reinforcement framework without manual adjustment, is suitable for various member steel reinforcement frameworks, and has excellent universality.
(2) According to the grabbing method of the PC component framework, the automatic adjusting grabbing device is adopted, under the action of the plurality of grippers, the PC component framework is spatially positioned during grabbing, grabbing errors are reduced, and precision assurance is provided for subsequent assembly.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic view of a structure of an automatic adjusting and grabbing device for a PC component framework of the invention;
FIG. 2 is a schematic view of the structure of the gripper adjustment mechanism of the present invention;
fig. 3 is a schematic view of the structure of the inventive grip.
Detailed Description
Embodiments of the invention are described in detail below with reference to the attached drawings, but the invention can be implemented in a number of different ways, which are defined and covered by the claims.
Referring to fig. 1, the present embodiment provides an automatic adjusting and grabbing device for a PC component framework, which includes a connection frame 1, a gripper adjusting mechanism 2 and a plurality of grippers 3, wherein the connection frame 1 is used for connecting with a robot end or an end of another kind of executing mechanism.
As shown in fig. 2, the gripper adjusting mechanism 2 includes an X-direction adjusting mechanism mounted on the bottom of the connecting frame and a Y-direction adjusting mechanism connected to the X-direction adjusting mechanism, and in this embodiment, the X-direction is perpendicular to the Y-direction. The X-direction adjusting mechanism is used for adjusting a plurality of rows of handles to a set position along the X direction and comprises a first sliding rail 2.1, three moving plates 2.2, two fixed moving plates 2.3 and three first driving devices, wherein the first sliding rail 2.1 is two parallel to the X direction, and two ends of the two first sliding rails 2.1 are fixedly connected with the connecting frame 1 through vertical connecting plates. The three movable plates 2.2 are arranged on the first slide rail 2.1 at intervals along the first slide rail in parallel, the first driving device drives the corresponding movable plate to slide along the first slide rail 2.1, and the length direction of each movable plate is arranged along the Y direction. The two fixed movable plates 2.3 are respectively positioned at two ends of the area formed by the three movable plates and are fixedly connected with the connecting frame 1 through the vertical connecting plates. In this embodiment, a plurality of grippers that move in cooperation with the same moving plate is referred to as a row of grippers.
In a preferred embodiment of the invention, the first driving device comprises a first driving motor 2.4, a first adjusting screw rod 2.5, a first bearing seat and a second bearing seat; the first driving motor, the first bearing seat and the second bearing seat are respectively and fixedly arranged at the bottom of the connecting frame, the first driving motor is connected with a first adjusting screw rod, and the first adjusting screw rod is arranged along the X direction, and two ends of the first adjusting screw rod are respectively arranged on the first bearing seat and the second bearing seat; and the movable plate is provided with a first adjusting screw rod sleeve 2.8, and the first adjusting screw rod penetrates through the first adjusting screw rod sleeve and is connected with the first adjusting screw rod sleeve in a matched mode. According to the invention, the three first driving devices respectively connected with the three moving plates are arranged independently and in a staggered manner along the Y direction, so that the three first driving devices are not mutually influenced, and the adjusting effect can be effectively ensured.
In the preferred embodiment of the invention, the Y-direction adjusting mechanism is used for adjusting the relative positions of two rows of grippers along the Y direction and comprises a second slide rail 2.9, two moving beams 2.10, two second driving devices and a gripper mounting plate 2.11, wherein the bottoms of all the moving plates and the fixed plates are respectively provided with a second slide rail, the two moving beams are respectively arranged on the second slide rails, the second driving devices drive the corresponding moving beams to be in sliding fit on the second slide rails, and the gripper mounting plate is a plurality of the gripper mounting plates arranged at the positions of the second slide rails and the moving beams; the plurality of grippers are fixedly connected with the corresponding gripper mounting plates respectively. In this embodiment, a plurality of grippers that move in cooperation with the same moving beam is referred to as a row of grippers.
In the preferred embodiment of the invention, the structure of the second driving device is the same as that of the first driving device, the second driving device comprises a second driving motor 2.12, a second adjusting screw rod 2.13, a third bearing seat and a fourth bearing seat, the second driving motor, the third bearing seat and the fourth bearing seat are respectively and fixedly arranged on the inner side of a fixed moving plate, the second driving motor is connected with the second adjusting screw rod, and the second adjusting screw rod is arranged along the Y direction and two ends of the second adjusting screw rod are respectively arranged on the third bearing seat and the fourth bearing seat; the movable beam is provided with a second adjusting screw rod sleeve 2.16, and the second adjusting screw rod penetrates through the second adjusting screw rod sleeve and is connected with the second adjusting screw rod sleeve in a matched mode.
In a preferred embodiment of the invention, the X-direction adjusting mechanism comprises a first sliding block arranged at the top of the moving plate and used for being matched with the first sliding rail, and a second sliding block arranged at the bottom of the gripper mounting plate and used for being matched with the moving beam. When the gripper needs to be adjusted along the X direction, the first driving motor is started, the first driving motor drives the first adjusting screw rod to rotate, and the first adjusting screw rod sleeve are matched to drive the moving plate to move along the first sliding rail, so that the gripper can be adjusted along the X direction. In this structure, the first adjusting screw sleeve of preferred sets up between two first slide rails, guarantees that first adjusting screw drives the smooth slip of movable plate.
In a preferred embodiment of the invention, the Y-direction adjusting mechanism comprises a third sliding block arranged between the gripper mounting plate and the second sliding rail, and the third sliding block is fixedly connected with the gripper mounting plate. When the gripper needs to be adjusted along the Y direction, the second driving motor is started, the second driving motor drives the second adjusting screw rod to rotate, and the second adjusting screw rod sleeve are matched to drive the moving plate to move along the second sliding rail, namely the third sliding block moves along the second sliding rail, so that the gripper can be adjusted along the Y direction.
As shown in fig. 3, the gripper 3 comprises a connecting plate 3.1, a driving mechanism 3a connected with the connecting plate 3.1, a positioning oblique pressing block 3.2 and a lower hook claw 3.3 for extracting a reinforcement cage, the connecting plate is connected with a gripper mounting plate, and the lower hook claw comprises a horizontal positioning surface 3.11 and a vertical positioning surface 3.12 which are mutually and vertically arranged; the positioning inclined pressing block is pressed under the action of the driving mechanism 3a, and the positioning inclined surface 3.21 enables the framework steel bars to abut against the horizontal positioning surface of the lower hook claw. Two ends of the movable plate are respectively provided with a gripper mounting plate at the matching position of the two movable beams, and each gripper mounting plate is connected with one gripper. According to the grabbing device, the position of the grabbing hand is automatically adjusted by the Y-direction adjusting mechanism connected with the X-direction adjusting mechanism, manual adjustment is not needed, the grabbing device is suitable for various member steel bar frameworks, the universality is good, and the grabbing device is easy to popularize and apply.
The automatic adjusting and grabbing method for the PC component framework provided by the embodiment of the invention adopts the grabbing device, and comprises the following steps: before grabbing, the position parameters of the grippers are input into a database in advance according to the parameters of the PC component framework to be grabbed and the combined forming parameters; the action point of the gripper is near the penetrating part of the framework assembly, so that the influence of deformation, gravity and the like on the penetrating part is reduced. The control system of the grabbing device calls set parameters in a database according to the model of the PC component framework to be grabbed, and the grippers are adjusted to corresponding positions through the X-direction adjusting mechanism and the Y-direction adjusting mechanism. The positioning inclined pressing block of the gripper is in a lifting state, the lower hook claw moves to the side of the framework steel bar, the horizontal positioning surface of the lower hook claw is lower than the bottom surface of the framework steel bar, and the lower hook claw is controlled to transversely move so that the side surface of the framework steel bar contacts the vertical positioning surface of the lower hook claw; and the positioning inclined pressing blocks of one row of grippers are lowered to position and fix the framework steel bars, the positioning inclined pressing blocks of the other row of grippers are lowered to fix and assist in positioning the steel bar framework, and the grabbing device grabs the steel bar framework to carry out combined forming. According to the grabbing method, under the combined action of the plurality of groups of grippers, the PC component framework is spatially positioned during grabbing, the grabbing error is reduced, and the precision guarantee is provided for subsequent assembly.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The automatic PC component framework adjusting and grabbing method is characterized in that the grabbing method adopts an automatic PC component framework adjusting and grabbing device, the grabbing device comprises a connecting frame, a gripper adjusting mechanism and a plurality of grippers, the connecting frame is arranged at the tail end of an executing mechanism, the gripper adjusting mechanism comprises an X-direction adjusting mechanism and a Y-direction adjusting mechanism, the X-direction adjusting mechanism is arranged at the bottom of the connecting frame, the X-direction adjusting mechanism comprises a first sliding rail, at least two moving plates and at least two first driving devices, the moving plates and the first driving devices are arranged in one-to-one correspondence, the first sliding rail is arranged along the X direction, the at least two moving plates are respectively arranged on the first sliding rail, and the first driving devices drive the corresponding moving plates to be in sliding fit on the first sliding rail; the Y-direction adjusting mechanism is connected with the X-direction adjusting mechanism through a second sliding rail arranged at the bottom of the moving plate, a plurality of grippers are respectively arranged on the Y-direction adjusting mechanism, the X-direction adjusting mechanism is used for adjusting each row of grippers to a set position in the X direction, and the Y-direction adjusting mechanism is used for adjusting the relative positions of two rows of grippers in the Y direction; the Y-direction adjusting mechanism comprises a second sliding rail, two moving beams, two second driving devices and a gripper mounting plate, wherein one second sliding rail is arranged at the bottom of each moving plate, the two moving beams are respectively mounted on the second sliding rail, the second driving devices are in one-to-one correspondence with the moving beams, the second driving devices drive the corresponding moving beams to be in sliding fit on the second sliding rails, the number of the gripper mounting plates is multiple, and the gripper mounting plates are all arranged between the second sliding rails and the moving beams; the grippers are respectively arranged on the corresponding gripper mounting plates; the gripper comprises a connecting plate, a driving mechanism, a positioning inclined pressing block and a lower hook claw, wherein the driving mechanism, the positioning inclined pressing block and the lower hook claw are connected with the connecting plate, the connecting plate is connected with the gripper mounting plate, the lower hook claw is provided with a horizontal positioning surface and a vertical positioning surface which are mutually perpendicular, the bottom of the positioning inclined pressing block is provided with a positioning inclined surface, the driving mechanism is used for driving the positioning inclined pressing block to press down, and the positioning inclined surface is used for enabling framework steel bars to abut against the horizontal positioning surface of the lower hook claw; the grabbing method comprises the following steps: before grabbing, firstly inputting the position parameters of the grippers into a database according to the parameters of the PC component framework to be grabbed and the combined forming parameters; the control system of the grabbing device calls set parameters in a database according to the model of the PC component framework to be grabbed, and adjusts the grippers to corresponding positions through the X-direction adjusting mechanism and the Y-direction adjusting mechanism; the positioning inclined pressing block of the gripper is in a lifting state, the lower hook claw moves to the side of the framework steel bar, the horizontal positioning surface of the lower hook claw is lower than the bottom surface of the framework steel bar, and the lower hook claw is controlled to transversely move so that the side surface of the framework steel bar contacts the vertical positioning surface of the lower hook claw; the positioning inclined pressing blocks of one row of grippers are lowered to position and fix skeleton reinforcements, and the positioning inclined pressing blocks of the other row of grippers are lowered to fix and assist in positioning the skeleton; the grabbing device grabs the steel bar framework to carry out combined forming.
2. The grabbing method according to claim 1, wherein the first driving device comprises a first driving motor, a first adjusting screw rod, a first bearing seat and a second bearing seat, the first driving motor, the first bearing seat and the second bearing seat are respectively and fixedly connected with the connecting frame, the first driving motor is connected with the first adjusting screw rod, and the first adjusting screw rod is arranged along the X direction, and two ends of the first adjusting screw rod are respectively arranged on the first bearing seat and the second bearing seat; the movable plate is provided with a first adjusting screw rod sleeve, and the first adjusting screw rod penetrates through the first adjusting screw rod sleeve and is connected with the first adjusting screw rod sleeve in a matched mode.
3. The grasping method according to claim 2, wherein the X-direction adjusting mechanism includes a first slider for engaging with the first slide rail and a second slider for engaging with the moving beam.
4. The grabbing method of claim 1, wherein the X-direction adjusting mechanism further comprises two fixed moving plates connected to the connecting frame, and one second sliding rail is disposed at the bottom of each fixed moving plate.
5. The grabbing method of claim 4, wherein the second driving device comprises a second driving motor, a second adjusting screw rod, a third bearing seat and a fourth bearing seat, the second driving motor, the third bearing seat and the fourth bearing seat are fixedly connected with the fixed moving plate, the second driving motor is connected with the second adjusting screw rod, and the second adjusting screw rod is arranged along the Y direction and two ends of the second adjusting screw rod are respectively arranged on the third bearing seat and the fourth bearing seat; the movable beam is provided with a second adjusting screw rod sleeve, and the second adjusting screw rod penetrates through the second adjusting screw rod sleeve and is connected with the second adjusting screw rod sleeve in a matched mode.
6. The method of claim 5, wherein the Y-direction adjustment mechanism includes a third slider for mating with the second slide rail, the third slider being fixedly coupled to the gripper mounting plate.
7. The method according to any one of claims 1 to 6, wherein the number of the moving plates is three, and the three moving plates are arranged at intervals in parallel in the X direction; the cooperation department of movable plate with the movable beam all is equipped with one the tongs mounting panel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011054591.2A CN112079114B (en) | 2020-09-30 | 2020-09-30 | Automatic adjusting and grabbing device and grabbing method for PC component framework |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011054591.2A CN112079114B (en) | 2020-09-30 | 2020-09-30 | Automatic adjusting and grabbing device and grabbing method for PC component framework |
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| CN112079114B true CN112079114B (en) | 2024-10-22 |
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| CN112660820A (en) * | 2020-12-29 | 2021-04-16 | 江西威力固智能设备有限公司 | Automatic plate grabbing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212333944U (en) * | 2020-09-30 | 2021-01-12 | 中民筑友智能装备科技有限公司 | PC component skeleton automatically regulated grabbing device |
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| JPH0676232U (en) * | 1993-04-08 | 1994-10-28 | 鐘紡株式会社 | Work space adjustment device |
| US7798546B2 (en) * | 2006-11-09 | 2010-09-21 | Delaware Capital Formation, Inc. | Material handling device with level indicator |
| CN104816945B (en) * | 2015-05-13 | 2017-04-05 | 中国东方电气集团有限公司 | A kind of workpiece automatic conveying device |
| CN206735329U (en) * | 2016-12-01 | 2017-12-12 | 重庆虹南机械有限公司 | Sheet material automatic grabbing device |
| CN208828801U (en) * | 2018-06-19 | 2019-05-07 | 盟立自动化科技(上海)有限公司 | One kind adjusting center gripping body for the synchronous Unequal distance of multiposition |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN212333944U (en) * | 2020-09-30 | 2021-01-12 | 中民筑友智能装备科技有限公司 | PC component skeleton automatically regulated grabbing device |
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