CN112775973A - Automatic snatch material manipulator - Google Patents
Automatic snatch material manipulator Download PDFInfo
- Publication number
- CN112775973A CN112775973A CN202110032167.6A CN202110032167A CN112775973A CN 112775973 A CN112775973 A CN 112775973A CN 202110032167 A CN202110032167 A CN 202110032167A CN 112775973 A CN112775973 A CN 112775973A
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- China
- Prior art keywords
- sucker
- controller
- clamping
- driving module
- assembly
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a manipulator for automatically grabbing materials, which comprises a manipulator connecting seat, a sucker gripper assembly, a visual positioning assembly, a clamping jaw gripper assembly and a controller. The vision positioning assembly is used for positioning the position of the material to be grabbed. The sucker gripper assembly comprises an upper driving module, a lower driving module, a sucker and a vacuum generator, wherein the upper driving module and the lower driving module drive the sucker to move upwards or downwards according to a control command issued by the controller. The clamping jaw gripper assembly comprises at least two clamping jaw units which are arranged at a certain distance, each clamping jaw unit comprises a clamping driving assembly and two clamping pieces, and the clamping driving assembly drives the two clamping pieces to clamp or release. The automatic material grabbing manipulator integrates the sucker gripper assembly and the clamping jaw gripper assembly, and the sucker gripper assembly can grab common small plane materials; the clamping jaw gripper assembly can grip slender rod materials. The invention improves the working efficiency of the manipulator and enlarges the range of the material which can be grabbed.
Description
Technical Field
The invention belongs to the field of mechanical automation, and particularly relates to a manipulator capable of automatically grabbing materials.
Background
The material grabbing and material carrying on the automatic production line needs to be provided with corresponding automatic material grabbing mechanical arms. At present, traditional material snatchs manipulator generally adopts the sucking disc to absorb the material, however, the sucking disc absorbs the material and requires than higher to the material surface, and generally is difficult to snatch slender rod piece. In view of the above situation, it is necessary to develop a manipulator which can not only suck small materials with a sucker, but also grab long rod materials.
Disclosure of Invention
The invention aims to provide an automatic material grabbing manipulator which can solve the problems that in the prior art, a sucker is adopted to suck materials, the requirements on the surfaces of the materials are high, and long and thin rod pieces are generally difficult to grab.
The invention is realized in such a way that the automatic material grabbing manipulator comprises a manipulator connecting seat, a sucker grabbing component, a visual positioning component, a clamping jaw grabbing component and a controller;
the vision positioning assembly is used for positioning the position of a material to be grabbed and comprises a shooting device, the shooting device is electrically connected with the controller, the shooting device can send shot image information to the controller for processing, and the controller controls the manipulator to move according to a processing result;
the sucker gripper assembly comprises an upper driving module, a lower driving module, a sucker and a vacuum generator, wherein the power output end of the upper driving module is in transmission connection with the sucker, the upper driving module and the lower driving module are electrically connected with the controller, the controller can issue a control instruction to the upper driving module and the lower driving module, and the upper driving module and the lower driving module drive the sucker to move upwards or downwards according to the control instruction;
the sucker is connected with the vacuum generator through a pipeline, the vacuum generator is electrically connected with the controller, and the controller can control the vacuum generator to suck or exhaust air;
the clamping jaw gripper assembly comprises at least two clamping jaw units which are arranged at a certain distance, each clamping jaw unit comprises a clamping driving assembly and two clamping pieces which are arranged oppositely, the clamping driving assembly is electrically connected with the controller, and the controller drives the two clamping pieces to clamp or loosen by controlling the clamping driving assembly.
Further, the upper and lower drive module comprises a vertically arranged sliding table cylinder, a sliding table cylinder mounting plate and a sucker mounting plate, the sliding table cylinder is fixed on the sliding table cylinder mounting plate, the bottom end of a sliding table cylinder piston rod is fixedly connected with the sucker mounting plate, and the sucker is mounted on the sucker mounting plate.
The sucker gripper assembly further comprises a first photoelectric sensor used for judging whether the sucker sucks materials or not, the first photoelectric sensor is mounted on the sucker mounting plate, and the first photoelectric sensor is electrically connected with the controller; when the light emitted by the first photoelectric sensor is reflected back, the sucker is indicated to suck the material, and when the light emitted by the first photoelectric sensor is not reflected back, the sucker is indicated to not suck the material or the material falls.
Furthermore, the clamping jaw gripper assembly further comprises a second photoelectric sensor used for judging whether the clamping jaw units grip the material, the second photoelectric sensor is positioned between the two clamping jaw units, and the second photoelectric sensor is electrically connected with the controller; when the light rays emitted by the second photoelectric sensor are reflected back, the clamping jaw unit is indicated to grab the material, and when the light rays emitted by the second photoelectric sensor are not reflected back, the clamping jaw unit is indicated to not grab the material or the material falls off.
Furthermore, the shooting device is a CCD camera, the visual positioning assembly further comprises a fixing plate, a clamping block, a camera guide rail and a CCD light source, the clamping block is fixed on the fixing plate, the clamping block is provided with a vertical mounting hole, and the vertical mounting hole has an elastic deformation function and a vertical gap; the camera guide rail is clamped in the vertical mounting hole through a connecting piece, and the position of the camera guide rail can be adjusted up and down relative to the clamping block; the CCD camera is fixedly connected with the camera guide rail, and the CCD light source is fixedly connected with the clamping block.
Further, the automatic material grabbing manipulator further comprises a mounting frame, the manipulator connecting seat is fixedly connected with the middle position of the top of the mounting frame, a plurality of connecting portions are arranged at the bottom of the mounting frame, and the two clamping jaw units are mounted on any two connecting portions of the mounting frame in a detachable mode respectively.
Compared with the prior art, the invention has the beneficial effects that:
the automatic material grabbing manipulator integrates the sucker gripper assembly and the clamping jaw gripper assembly, wherein the sucker gripper assembly enables a sucker to generate negative pressure by adopting a vacuum generator to suck materials, so that common small plane materials can be grabbed, and the negative pressure can generate strong adsorption force, so that the materials are effectively prevented from falling off in the moving process; and the clamping jaw gripper assembly can grip slender rod materials. Meanwhile, the whole manipulator is combined with the controller through the vision positioning assembly, the position of a material to be grabbed is automatically positioned, and the movement of the sucker gripper assembly and the clamping jaw gripper assembly is automatically controlled. Therefore, the invention improves the working efficiency of the manipulator and enlarges the range of the grabbed materials.
Drawings
Fig. 1 is a schematic perspective view of an automatic material grabbing manipulator according to an embodiment of the present invention;
FIG. 2 is a perspective view of the visual alignment assembly of FIG. 1;
FIG. 3 is an exploded schematic view of the visual positioning assembly of FIG. 1;
FIG. 4 is a perspective view of the suction cup gripper assembly of FIG. 1;
fig. 5 is a perspective view of the jaw gripper assembly of fig. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, a robot for automatically grabbing materials according to a preferred embodiment of the present invention is shown, which includes a robot connecting base 10, a mounting base 20, a suction cup gripper assembly, a clamping jaw gripper assembly, a vision positioning assembly, and a controller.
The middle position of the top of the mounting frame 20 is fixedly connected with the bottom end of the manipulator connecting seat 10, and the sucker gripper assembly, the clamping jaw gripper assembly and the vision positioning assembly are all mounted on the mounting frame 20.
Referring to fig. 2 and 3, the visual positioning assembly is used for positioning a position of a material to be grabbed, and includes a shooting device 11, a fixing plate 12, a clamping block 13, a camera guide rail 14, and a CCD light source 15.
The clamping block 13 is fixed on the fixing plate 12, the clamping block 13 is provided with a vertical mounting hole 131, and the vertical mounting hole 131 has an elastic deformation function and is provided with a vertical notch. The camera guide rail 14 is clamped in the vertical mounting hole 131 through a connecting piece (such as a bolt), the position of the camera guide rail 14 can be adjusted up and down relative to the clamping block 13, and the camera guide rail 14 can be clamped at different positions through the clamping block 13, so that the up and down adjustment of the shooting device 11 can be realized. Shooting device 11 and camera guide rail 14 fixed connection, CCD light source 15 and the tight piece 11 fixed connection of clamp, CCD light source 15 is used for the illumination of shooting in-process, does benefit to the quality that improves the image. The shooting device 11 is electrically connected with the controller, the shooting device 11 can send shot image information to the controller for processing, and the controller controls the manipulator to move according to the processing result. In the present embodiment, the image capturing device 11 is a CCD camera, and the CCD light source 15 is in a ring shape, and its empty area corresponds to the light inlet of the image capturing device 11.
Referring to fig. 4, the suction cup gripper assembly includes an up-down driving module, a suction cup 21, a vacuum generator, and a first photoelectric sensor 25 for determining whether the suction cup 21 sucks a material.
The power output end of the upper and lower driving module is in transmission connection with the sucking disc 21, the upper and lower driving module is electrically connected with the controller, the controller can issue a control command to the upper and lower driving module, and the upper and lower driving module drives the sucking disc 21 to move upwards or downwards according to the control command.
The suction cup 21 is connected with a vacuum generator through a pipeline, the vacuum generator is electrically connected with a controller, and the controller can control the vacuum generator to suck or exhaust air.
The upper and lower drive module comprises a vertically arranged sliding table cylinder 22, a sliding table cylinder mounting plate 23 and a sucker mounting plate 24, the sliding table cylinder 22 is fixed on the sliding table cylinder mounting plate 23, the bottom end of a piston rod of the sliding table cylinder 22 is fixedly connected with the sucker mounting plate 24, and a sucker 21 is installed on the sucker mounting plate 24.
When the sucker gripper assembly starts to work, the sucker gripper assembly receives a control signal sent by the controller, the sliding table cylinder 22 does stretching or shrinking motion, and the sliding table cylinder 22 can perform linear motion along the stroke. When the sliding table cylinder 22 is in the extending stroke, the gripping plane of the suction cup 21 is lower than the suction cup gripper assembly, and then the suction cup gripper assembly can start to grip or put down. After the suction cup 21 is communicated with the vacuum generator, the suction cup is in contact with the material to be lifted, the vacuum generator is started to suck, negative air pressure is generated in the suction cup 21, and therefore the material to be lifted is firmly sucked, and the material grabbing work can be completed. When the material is conveyed to a destination, the vacuum generator is inflated into the suction cup 21 stably, so that the negative air pressure in the suction cup 21 is changed into zero air pressure or slightly positive air pressure, the suction cup 21 is separated from the material, and the work of moving the material is completed. After the sucker gripper assembly finishes the gripping operation, the sliding table cylinder 22 is restored to the retracted stroke state.
The first photoelectric sensor 25 is arranged on the sucker mounting plate 24, and the first photoelectric sensor 25 is electrically connected with the controller; when the light emitted by the first photoelectric sensor 25 is reflected back, it indicates that the material is sucked by the suction cup 21, and when the light emitted by the first photoelectric sensor 25 is not reflected back, it indicates that the material is not sucked by the suction cup 21 or the material falls.
Referring to fig. 1 and 5, the gripper assembly includes two gripper units 31 spaced apart from each other and a second photoelectric sensor 32 for determining whether the gripper units 31 grip a material. Each clamping jaw unit 31 comprises a clamping driving assembly and two clamping pieces 311 arranged oppositely, the power output end of the clamping driving assembly is in transmission connection with the two clamping pieces 311, the clamping driving assembly is electrically connected with a controller, and the controller drives the two clamping pieces 311 to clamp or loosen by controlling the clamping driving assembly. In this embodiment, the clamping driving assembly includes a solenoid valve 312 and an air cylinder 313, the solenoid valve 312 is used as an air valve, the solenoid valve 312 is electrically connected to the controller, and the air cylinder 313 is connected to the air pump by a hose. The controller controls the opening and closing of the solenoid valve 312 to control the operation of the air cylinder 313, thereby clamping or unclamping the jaw unit 31.
The two clamping jaw units 31 are at a certain distance, and can stably grab the slender rod piece. The solenoid valve 312 receives the command from the control system and controls the opening and clamping of the two clamping pieces 311. When the clamping jaw units 31 start to grab, the clamping jaw units 31 at two ends are simultaneously in an open state to prepare for grabbing action, and move to the position of a material to be grabbed according to the instruction of the control system. After the material is in place, the clamping is started according to the received control signal, the material is clamped and taken, and the clamping jaw units 31 on the two sides are in an open state at the same time after the material is moved to the target position, the material is put down, and the work of moving the material is completed.
The second photoelectric sensor 32 is positioned between the two jaw units 31, and the second photoelectric sensor 32 is electrically connected with the controller; when the light emitted by the second photoelectric sensor 32 is reflected back, it indicates that the gripper unit 31 has grabbed the material, and when the light emitted by the second photoelectric sensor 32 is not reflected back, it indicates that the gripper unit 31 has not grabbed the material or the material falls.
The mounting bracket 20 has a plurality of coupling portions at the bottom thereof, and the two jaw units 31 are detachably mounted on any two coupling portions of the mounting bracket 20, respectively. When the material is grabbed, the distance between the two clamping jaw units 31 can be adjusted according to the size of the material to be grabbed.
To sum up, the automatic material grabbing manipulator of the embodiment integrates the sucker gripper assembly and the clamping jaw gripper assembly, wherein the sucker gripper assembly adopts the vacuum generator to enable the sucker 21 to generate negative pressure to suck materials, so that common small plane materials can be grabbed, and the negative pressure can generate strong adsorption force, so that the materials are effectively prevented from falling off in the moving process; and the clamping jaw gripper assembly can grip slender rod materials. Meanwhile, the whole manipulator is combined with the controller through the vision positioning assembly, the position of a material to be grabbed is automatically positioned, and the movement of the sucker gripper assembly and the clamping jaw gripper assembly is automatically controlled.
Therefore, the embodiment improves the working efficiency of the manipulator and enlarges the range capable of grabbing materials.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. An automatic material grabbing manipulator comprises a manipulator connecting seat and a sucker gripper assembly, and is characterized by further comprising a visual positioning assembly, a clamping jaw gripper assembly and a controller;
the vision positioning assembly is used for positioning the position of a material to be grabbed and comprises a shooting device, the shooting device is electrically connected with the controller, the shooting device can send shot image information to the controller for processing, and the controller controls the manipulator to move according to a processing result;
the sucker gripper assembly comprises an upper driving module, a lower driving module, a sucker and a vacuum generator, wherein the power output end of the upper driving module is in transmission connection with the sucker, the upper driving module and the lower driving module are electrically connected with the controller, the controller can issue a control instruction to the upper driving module and the lower driving module, and the upper driving module and the lower driving module drive the sucker to move upwards or downwards according to the control instruction;
the sucker is connected with the vacuum generator through a pipeline, the vacuum generator is electrically connected with the controller, and the controller can control the vacuum generator to suck or exhaust air;
the clamping jaw gripper assembly comprises at least two clamping jaw units which are arranged at a certain distance, each clamping jaw unit comprises a clamping driving assembly and two clamping pieces which are arranged oppositely, the clamping driving assembly is electrically connected with the controller, and the controller drives the two clamping pieces to clamp or loosen by controlling the clamping driving assembly.
2. The automatic material grabbing manipulator of claim 1, wherein the upper and lower driving module comprises a vertically arranged sliding table cylinder, a sliding table cylinder mounting plate and a sucker mounting plate, the sliding table cylinder is fixed on the sliding table cylinder mounting plate, the bottom end of a sliding table cylinder piston rod is fixedly connected with the sucker mounting plate, and the sucker is mounted on the sucker mounting plate.
3. The automated material handling robot of claim 1, wherein the chuck gripper assembly further comprises a first photosensor for determining whether the chuck is sucking material, the first photosensor mounted on the chuck mounting plate, the first photosensor electrically connected to the controller; when the light emitted by the first photoelectric sensor is reflected back, the sucker is indicated to suck the material, and when the light emitted by the first photoelectric sensor is not reflected back, the sucker is indicated to not suck the material or the material falls.
4. The automated material handling robot of claim 3, wherein the gripper assembly further comprises a second photosensor for determining whether the gripper units are gripping material, the second photosensor being located between the two gripper units, the second photosensor being electrically connected to the controller; when the light rays emitted by the second photoelectric sensor are reflected back, the clamping jaw unit is indicated to grab the material, and when the light rays emitted by the second photoelectric sensor are not reflected back, the clamping jaw unit is indicated to not grab the material or the material falls off.
5. The manipulator of any one of claims 1 to 4, wherein the camera is a CCD camera, the visual positioning assembly further comprises a fixing plate, a clamping block, a camera guide rail and a CCD light source, the clamping block is fixed on the fixing plate, the clamping block is provided with a vertical mounting hole, the vertical mounting hole has an elastic deformation function and is provided with a vertical notch; the camera guide rail is clamped in the vertical mounting hole through a connecting piece, and the position of the camera guide rail can be adjusted up and down relative to the clamping block; the CCD camera is fixedly connected with the camera guide rail, and the CCD light source is fixedly connected with the clamping block.
6. The automated material handling robot of any one of claims 1 to 4, further comprising a mounting frame, wherein the robot connecting base is fixedly connected to a middle portion of a top portion of the mounting frame, wherein a plurality of connecting portions are formed at a bottom portion of the mounting frame, and wherein the two gripper units are detachably mounted to any two of the connecting portions of the mounting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110032167.6A CN112775973A (en) | 2021-01-11 | 2021-01-11 | Automatic snatch material manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110032167.6A CN112775973A (en) | 2021-01-11 | 2021-01-11 | Automatic snatch material manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN112775973A true CN112775973A (en) | 2021-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110032167.6A Pending CN112775973A (en) | 2021-01-11 | 2021-01-11 | Automatic snatch material manipulator |
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| CN (1) | CN112775973A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113245806A (en) * | 2021-06-03 | 2021-08-13 | 成都秦川物联网科技股份有限公司 | Material taking manipulator |
| CN113511511A (en) * | 2021-08-10 | 2021-10-19 | 无锡芯感智半导体有限公司 | Material pipe carrying system for testing machine |
| CN113991165A (en) * | 2021-10-27 | 2022-01-28 | 博众精工科技股份有限公司 | Soft-packaged battery cell transfer mechanism |
| CN114290365A (en) * | 2022-01-24 | 2022-04-08 | 广东美卡智能信息技术有限公司 | Arbitrary variable-pitch vacuum material sucking structure |
| CN114474055A (en) * | 2022-01-25 | 2022-05-13 | 南京航空航天大学苏州研究院 | Visual inspection vacuum suction tool based on four-axis robot |
| CN114700985A (en) * | 2022-04-01 | 2022-07-05 | 柳州柳新汽车冲压件有限公司 | Gripping apparatus |
| CN115092671A (en) * | 2022-06-08 | 2022-09-23 | 深圳市南科佳安机器人科技有限公司 | Feeding and discharging composite robot and corresponding feeding and discharging control method |
| CN115741021A (en) * | 2022-12-23 | 2023-03-07 | 中建材凯盛机器人（上海）有限公司 | Composite gripper device for realizing automatic assembly of float glass gripper |
| CN116787411A (en) * | 2023-08-21 | 2023-09-22 | 广东金鼎光学技术股份有限公司 | Lens snatchs manipulator |
| CN117067244A (en) * | 2023-10-18 | 2023-11-17 | 万向钱潮股份公司 | Manipulator device |
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2021
- 2021-01-11 CN CN202110032167.6A patent/CN112775973A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113245806B (en) * | 2021-06-03 | 2022-05-17 | 成都秦川物联网科技股份有限公司 | Material taking manipulator |
| CN113245806A (en) * | 2021-06-03 | 2021-08-13 | 成都秦川物联网科技股份有限公司 | Material taking manipulator |
| CN113511511A (en) * | 2021-08-10 | 2021-10-19 | 无锡芯感智半导体有限公司 | Material pipe carrying system for testing machine |
| CN113991165B (en) * | 2021-10-27 | 2024-04-19 | 博众精工科技股份有限公司 | Soft packet of electric core moves and carries mechanism |
| CN113991165A (en) * | 2021-10-27 | 2022-01-28 | 博众精工科技股份有限公司 | Soft-packaged battery cell transfer mechanism |
| CN114290365A (en) * | 2022-01-24 | 2022-04-08 | 广东美卡智能信息技术有限公司 | Arbitrary variable-pitch vacuum material sucking structure |
| CN114474055A (en) * | 2022-01-25 | 2022-05-13 | 南京航空航天大学苏州研究院 | Visual inspection vacuum suction tool based on four-axis robot |
| CN114700985A (en) * | 2022-04-01 | 2022-07-05 | 柳州柳新汽车冲压件有限公司 | Gripping apparatus |
| CN115092671B (en) * | 2022-06-08 | 2023-09-26 | 深圳市南科佳安机器人科技有限公司 | Feeding and discharging control method |
| CN115092671A (en) * | 2022-06-08 | 2022-09-23 | 深圳市南科佳安机器人科技有限公司 | Feeding and discharging composite robot and corresponding feeding and discharging control method |
| CN115741021A (en) * | 2022-12-23 | 2023-03-07 | 中建材凯盛机器人（上海）有限公司 | Composite gripper device for realizing automatic assembly of float glass gripper |
| CN116787411A (en) * | 2023-08-21 | 2023-09-22 | 广东金鼎光学技术股份有限公司 | Lens snatchs manipulator |
| CN116787411B (en) * | 2023-08-21 | 2023-11-24 | 广东金鼎光学技术股份有限公司 | Lens snatchs manipulator |
| CN117067244A (en) * | 2023-10-18 | 2023-11-17 | 万向钱潮股份公司 | Manipulator device |
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