CN113059550A - Lifting rotation and self-adaptive high-precision gripper - Google Patents
Lifting rotation and self-adaptive high-precision gripper Download PDFInfo
- Publication number
- CN113059550A CN113059550A CN202110339178.9A CN202110339178A CN113059550A CN 113059550 A CN113059550 A CN 113059550A CN 202110339178 A CN202110339178 A CN 202110339178A CN 113059550 A CN113059550 A CN 113059550A
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- lifting
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- plate
- rotating
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- 239000000463 material Substances 0.000 claims abstract description 27
- 238000009434 installation Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 29
- 230000003044 adaptive effect Effects 0.000 claims description 25
- 230000001360 synchronised effect Effects 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 4
- 239000011521 glass Substances 0.000 description 3
- 238000001467 acupuncture Methods 0.000 description 2
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Abstract
The invention discloses a lifting rotating and self-adaptive high-precision gripper which comprises an installation frame part, a lifting rotating part arranged on an installation frame and a self-adaptive gripping part which is arranged on the lifting rotating part and can be used for horizontally placing a gripped material or enabling one end of the gripping part to contact a placing position firstly. The lifting rotation and self-adaptive high-precision gripper can simulate manual operation and can realize material taking and placing from one station to another station in lifting. When materials are placed, rotation can be achieved according to the position of the utensil, one end of the materials is placed into the utensil in a self-adaptive mode according to the shape of the utensil, then the materials are placed into the other end of the utensil, and placement deviation of a common hand grip is avoided. Besides, the gripper can be combined with a vision system to realize position positioning and high-precision material gripping and placing.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a lifting rotating and self-adaptive high-precision gripper.
Background
The cover plate glass production process relates to a plurality of processing treatment processes, wherein glass needs to be placed in each acupuncture point in the jig for one process, the accuracy of the glass placed in each acupuncture point on the jig is high in front-back and left-right directions, and the gripper is designed for realizing automation of a glass jig feeding process.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a lifting rotating and self-adaptive high-precision gripper.
The technical scheme adopted by the invention for solving the technical problems is as follows: the lifting rotation and self-adaptive high-precision gripper comprises an installation frame part, a lifting rotation part arranged on an installation frame and a self-adaptive grabbing part which is arranged on the lifting rotation part and can be used for flatly placing a grabbed material or enabling one end of the grabber to contact with a placing position firstly.
Further, the elevating and rotating part includes a ball screw mechanism, and the ball screw mechanism is mounted to the mounting frame part; the screw nut synchronous belt wheel is arranged on a screw nut of the ball screw mechanism, the screw nut synchronous belt wheel is connected with a motor synchronous wheel on the lifting motor through a synchronous belt, and the lifting motor drives a screw rod of the ball screw mechanism to move up and down; the synchronizing wheel is arranged on a spline nut of the ball screw mechanism and is connected with another motor synchronizing wheel on the rotating motor through the synchronous belt, and the rotating motor drives a screw of the ball screw mechanism to rotate.
Further, the elevating rotation part further includes a shield installed to the mounting frame part and a stopper ring fastened to an end of a screw shaft of the ball screw mechanism.
Furthermore, the self-adaptive grabbing part comprises a coupler used for being connected with the lifting rotating part and two symmetrically arranged independent single-output-shaft motors, the single-output-shaft motors are connected with the two ends of the self-adaptive plate through intermediate connecting pieces and pins respectively, a suction tool used for grabbing materials to be grabbed is arranged on the self-adaptive plate, the materials to be grabbed can be flatly placed through synchronous actions of the two single-output-shaft motors, and one ends of the materials to be grabbed can be firstly contacted with a placing position through asynchronous actions of the two single-output-shaft motors.
Furthermore, the self-adaptive grabbing part also comprises a connecting plate, the coupler is arranged on the top surface of the connecting plate, and the two single-output-shaft motors are symmetrically arranged at two ends of the connecting plate; the linear slide rail set is arranged on the bottom surface of the connecting plate; the middle connecting piece comprises a sliding connecting piece and a connecting rod; the horizontal part of the sliding connecting piece is arranged on a screw nut on the single-output-shaft motor, and the vertical part of the sliding connecting piece is arranged on a sliding block of the linear sliding rail group; one end of the connecting rod is connected with the sliding connecting piece, and the other end of the connecting rod is hinged with the self-adaptive plate through a pin.
Furthermore, the self-adaptive grabbing part further comprises two connecting seats, one end of each connecting rod is connected with the corresponding sliding connecting piece, the other end of each connecting rod is hinged to the corresponding connecting seat through a pin, the connecting seats are respectively installed at two ends of the self-adaptive plate, one connecting seat is provided with a long hole, and the pin is installed at the long hole.
Furthermore, the self-adaptive grabbing part also comprises a photoelectric and sensing sheet for detecting the lifting distance and the position information of the hand grab.
Further, the adaptive grabbing part also comprises an air chamber plate arranged on the adaptive plate, and the suction tool penetrates through the adaptive plate and then is arranged on the air chamber plate.
Further, the adaptive gripping part C also comprises an auxiliary element 29 for mounting a vision system.
In summary, the technical scheme of the invention has the following beneficial effects:
the lifting rotation and self-adaptive high-precision gripper can simulate manual operation and can realize material taking and placing from one station to another station in lifting. When materials are placed, rotation can be achieved according to the position of the utensil, one end of the materials is placed into the utensil in a self-adaptive mode according to the shape of the utensil, then the materials are placed into the other end of the utensil, and placement deviation of a common hand grip is avoided. Besides, the gripper can be combined with a vision system to realize position positioning and high-precision material gripping and placing.
Drawings
Fig. 1 is an overall layout of the present invention.
Fig. 2 is a perspective view of a mounting bracket portion.
Fig. 3 is a perspective view of another angle of the mounting bracket portion.
Fig. 4 is an overall structural view of the elevating rotation part.
Fig. 5 is a perspective view of the elevating rotating part at another angle.
Fig. 6 is a structural view of the elevation rotation part after a shield is provided.
Fig. 7 is a structural view of the ball screw mechanism.
Fig. 8 is a structural view of the nut timing pulley.
FIG. 9 is a structural view of a spline female synchronizing wheel.
Fig. 10 is an overall structural view of the adaptive grasping portion.
Fig. 11 is a structural view of a connecting plate.
Fig. 12 is a structural view of a rail mounting block.
Figure 13 is a structural view of a slip connector.
Fig. 14 is a view of a link structure.
Fig. 15 is a structural view of the coupling socket provided with the elongated hole.
Fig. 16 is a structural view of an adaptive plate.
FIG. 17 is a view of a plenum plate structure.
Fig. 18 is a coupling construction view.
Figure 19 is a view of a suction attachment configuration.
Fig. 20 is a structural view of the auxiliary member.
Fig. 21 is a structural view of the working state of the present invention.
Detailed Description
The features and principles of the present invention will be described in detail below with reference to the accompanying drawings, which illustrate embodiments of the invention and are not intended to limit the scope of the invention.
The lifting rotating and self-adaptive high-precision gripper consists of 3 parts, namely an A mounting frame part, a B lifting rotating part and a C self-adaptive gripping part. The overall layout is shown in fig. 1, wherein X is the material to be grabbed.
A. Mounting frame part:
the mounting frame part A is a mounting base body of the hand grip and provides a connecting function for the hand grip and the execution tail end of the machine. The assembly may be carbon steel spray or SUS304 or 6061 depending on the load and installation. The mounting frame part A consists of a mounting vertical plate 1, a mounting plate 2, a reinforcing plate 3 and a motor tensioning plate 4. The parts are connected through screws. Where the mounting plate 2 has 2 pieces in the mounting frame part a and the motor tensioner plate 4 has 2 pieces in the mounting frame part a. The structure of the device is shown in fig. 2 and 3.
B. The lifting and rotating part:
the lifting rotating part B consists of a precise ball screw mechanism 5, a nut synchronizing wheel 6, a synchronous belt 7, a spline nut synchronizing wheel 8, a motor synchronizing wheel 9, a motor mounting plate 10, a rotating motor 11, a lifting motor 12, a shield 13 and a limiting ring 14, and the whole structure and layout are shown in figures 4-6.
As shown in fig. 7, the upper end screw seat flange of the precision ball screw mechanism 5 is mounted on the upper mounting plate 2 in the mounting frame section a by screws, and the lower end spline flange is mounted on the lower mounting plate 2 in the mounting frame section a by screws.
As shown in fig. 8, the nut synchronous pulley 6 is attached to the nut of the precision ball screw mechanism 5 by a screw. The synchronous belt 7 and a motor synchronous wheel 9 on a lifting motor 12 form belt transmission. The up-and-down movement of the screw in the precision ball screw mechanism 5 is realized by the driving of the lifting motor 12.
As shown in fig. 9, the spline-female synchronizing wheel 8 is mounted on a spline female of the precision ball screw mechanism 5 by a screw. The synchronous belt 9 and the motor synchronous wheel 9 on the rotating motor 11 form belt transmission. The rotation of the screw in the precision ball screw mechanism 5 is achieved by the driving of the rotating motor 11. The structure of the spline female synchronizing wheel 8 is shown in the following figures.
The motor synchronizing wheel 9 is matched on the motor shaft through the shaft hole and fixed on the output shaft of the motor through a jackscrew. There are 2 pieces in the lifting and lowering rotating part B.
The rotating motor 11 is installed on the motor installation plate 10 through screws, the lifting motor 12 is installed on the motor installation plate 10 through screws, the motor installation plate 10 is connected with the long strip holes in the motor tensioning plate 4 through screws in a matched mode, and tensioning of the synchronous belt can be achieved through adjustment of the long strip holes during installation.
The shield 13 is a shield for the lifting and lowering rotary part B and is mounted to the mounting bracket part a by screws.
The limit ring 14 is a hard limit and is tightly held on a screw shaft of the precision ball screw mechanism 5 through a screw.
The working principle of the lifting rotating part B is as follows: the lifting and rotating part B mainly realizes the lifting and rotating functions of the whole gripper, and in the use process, if the lifting and falling functions are required to be realized, the lifting motor 12 is driven to drive the screw nut of the precise ball screw mechanism 5 to rotate through belt transmission, so that the up-and-down motion of the screw rod in the precise ball screw mechanism 5 is realized. If the rotation function needs to be realized, the rotating motor 11 drives and drives the spline nut of the precision ball screw mechanism 5 to rotate through belt transmission, so that the rotation motion of the screw rod in the precision ball screw mechanism 5 is realized. Thereby realizing the lifting and rotating motion of the self-adaptive grabbing part C.
C. Adaptive grab section
As shown in fig. 10, the adaptive gripping part C is composed of a connecting plate 15, a guide rail mounting block 16, a single output shaft motor 17, a sliding connector 18, a connecting rod 19, a pin 20, a connecting seat 21, a linear slide rail set 22, a groove-shaped photoelectric device 23, a sensing piece 24, an adaptive plate 25, an air chamber plate 26, a coupling 27, a suction tool 28 and an auxiliary member 29.
As shown in fig. 11, the connection plate 15 is a mounting substrate of the adaptive grasping portion C, and is connected to the connection coupling 27 by screws.
As shown in fig. 12, the rail mounting block 16 is mounted to the attachment plate 15 by screws.
The single output shaft motor 17 is a finished product outsourcing member, wherein the single output shaft can be regarded as a screw and nut mechanism. The single-output-shaft motor 17 is mounted on the connecting plate 15 through screws, and 2 pieces of the self-adaptive grabbing part C are symmetrically mounted on the connecting plate 15.
As shown in fig. 13, the sliding connection member 18 is horizontally mounted on a nut of the single-output-shaft motor 17 by a screw, and vertically mounted on a slide block of the linear slide rail set 22 by a screw.
As shown in fig. 14, the link 19 is mounted to the slide connector 18 by screws.
The pin 20 connects the connecting rod 19 and the connecting seat 21 together through a circlip for a shaft, and the connecting seat 21 can make a relative movement of rotation with the connecting rod 19 through the pin 20.
As shown in fig. 15, the connecting base 21 has a mounting hole at the top thereof for connecting with the pin 20, and the other end thereof is mounted on the adaptive plate 25 by a screw. There are 2 pieces in the adaptive gripping section C, arranged in correspondence with the single-output shaft motor 17. The connecting seat 21 provided with the elongated hole can be adjusted according to the installation position, so that the installation is convenient.
The linear slide rail sets 22 are 2 sets in the adaptive grasping portion C, and are respectively mounted on the rail mounting block 16 by screws.
The groove-shaped photo 23 is mounted on the rail mounting block 16 by screws. 2 pieces of the self-adaptive grabbing part C are uniformly arranged on the front surface and the rear surface of the self-adaptive grabbing part C.
The sensor strip 24 is mounted to the slide connection 18 by screws. 2 pieces of the self-adaptive grabbing part C are uniformly arranged on the front surface and the rear surface of the self-adaptive grabbing part C.
As shown in fig. 16, the self-adaptive plates 25 are mounted to the connection seats 21 at both ends, respectively, by screws.
As shown in fig. 17, the air chamber plate 26 is mounted on the adaptive plate 25 by screws.
As shown in fig. 18, the bottom of the coupling 27 is mounted on the connecting plate 15 by screws, fitted to a screw shaft on the precision ball screw mechanism 5 in the elevation rotation part B through the shaft hole, and clasped to the precision ball screw mechanism 5 by screws. The connection of the self-adaptive grabbing part C and the lifting rotating part B is realized.
As shown in fig. 19, the suction tool 28 may be a suction tool suitable for the object to be grasped and screwed to the air chamber plate 26.
As shown in fig. 20, the auxiliary element 29 may be a vision system mount, which may be attached in case a visual positioning is required.
The adaptive grabbing part C is connected with the lifting rotating part B through a connecting coupler 27.
When the lifting device is used, under the driving of the single-output-shaft motor 17, the sliding connecting piece 18 can realize lifting and descending motion under the guiding of the linear sliding rail set 22, so that the connecting rod 19 is driven to realize lifting and descending motion, and then the connecting seat 21 is connected through the pin 20 to realize lifting and descending or rotating motion. If the two single-output-shaft motors 17 on the connecting plate 15 are synchronously driven, the horizontal synchronous ascending and descending movement of the air chamber plate 26 suction tool 28 driven by the self-adaptive plate 25 is finally realized. If the two single-output-shaft motors 17 on the connecting plate 15 are driven asynchronously, so that the sliding connectors 18 arranged on the two sides can be driven one above the other, the adaptation plate 25 is finally realized to drive the air chamber plate 26 and the suction tool 28 to incline, and therefore, one end of the grabbed material is firstly contacted with the placing position when the grabbed material is placed. In the moving process, the distance and position information of the lifting and descending of the hand grip is obtained through the feedback of the groove type photoelectric 23 and the induction sheet 24 to the system.
The working principle of the invention is as follows:
as shown in fig. 21, X is the object to be gripped, and Y is the tool for carrying the material.
The gripper can be widely applied to high-precision gripping and releasing working conditions. The hand grip A is arranged at the equipment execution end through a screw. When grabbing, the material X is grabbed in a descending mode under the action of the lifting rotating part B and then ascends to move to the position of the jig Y, and the material X descends under the action of the lifting rotating part B. In order to ensure the placing precision, the lifting and rotating part B stops moving after the self-adaptive grabbing part C descends to a certain position. Under the drive of the motor in the C, according to actual operating condition, material X realizes fine motion or slope, and one end contacts with the tool earlier then the other end contacts with the tool again, realizes that the material high accuracy is placed.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the present invention by those skilled in the art without departing from the spirit of the present invention are intended to be covered by the protection scope defined by the claims of the present invention.
Claims (9)
1. The lifting rotating and self-adaptive high-precision gripper is characterized by comprising an installation frame part, a lifting rotating part arranged on the installation frame and a self-adaptive grabbing part which is arranged on the lifting rotating part and can be used for flatly placing grabbed materials or enabling one end of the grabber to contact with a placing position firstly.
2. Lifting and lowering rotation and adaptive high precision gripper according to claim 1, characterized in that the lifting and lowering rotation part comprises a ball screw mechanism (5), the ball screw mechanism (5) being mounted to the mounting frame part; a screw nut synchronous belt wheel (6) is arranged on a screw nut of the ball screw mechanism (5), the screw nut synchronous belt wheel (6) is connected with a motor synchronous wheel (9) on a lifting motor (12) through a synchronous belt (7), and the lifting motor (12) drives a screw rod of the ball screw mechanism (5) to move up and down; a synchronizing wheel (8) is arranged on a spline nut of the ball screw mechanism (5), the synchronizing wheel (8) is connected with another motor synchronizing wheel (9) on a rotating motor (11) through a synchronous belt (7), and the rotating motor (11) drives a screw of the ball screw mechanism (5) to rotate.
3. Lifting and lowering rotation and adaptive high precision gripper according to claim 2, characterized in that the lifting and lowering rotation part further comprises a shield (13) mounted to the mounting frame part and a stop collar (14) fastened to the end of the screw shaft of the ball screw mechanism (5).
4. The lifting rotating and self-adapting high-precision gripper as claimed in claim 1, wherein the self-adapting gripping part comprises a coupler (27) connected with the lifting rotating part and two symmetrically arranged independent single-output-shaft motors (17), the single-output-shaft motors (17) are respectively connected with two ends of a self-adapting plate (25) through intermediate connectors and pins (20), a suction tool (28) for gripping a material to be gripped is arranged on the self-adapting plate (25), the two single-output-shaft motors (17) can synchronously move to horizontally place the material to be gripped, and the asynchronous movement of the two single-output-shaft motors (17) can firstly contact one end of the material to be gripped to a placing position.
5. The lifting rotating and self-adaptive high-precision gripper is characterized in that the self-adaptive gripping part further comprises a connecting plate (15), a coupler (27) is arranged on the top surface of the connecting plate (15), and two single-output-shaft motors (17) are symmetrically arranged at two ends of the connecting plate (15); the linear slide rail group (22) is arranged on the bottom surface of the connecting plate (15); the middle connecting piece comprises a sliding connecting piece (18) and a connecting rod (19); the horizontal part of the sliding connecting piece (18) is arranged on a screw nut on the single-output-shaft motor (17), and the vertical part is arranged on a sliding block of the linear sliding rail set (22); one end of the connecting rod (19) is connected with the sliding connecting piece (18), and the other end is hinged with the self-adaptive plate (25) through a pin (20).
6. A lifting and rotating and self-adaptive high-precision gripper according to claim 5, characterized in that the self-adaptive gripping part further comprises two connecting seats (21), one end of the connecting rod (19) is connected with the sliding connecting piece (18), the other end is hinged with the connecting seats (21) through a pin (20), the connecting seats (21) are respectively installed at two ends of the self-adaptive plate (25), one of the connecting seats (21) is provided with a long hole, and the pin (20) is installed at the long hole.
7. Lifting rotating and adaptive high-precision hand grip according to claim 4, characterized in that the adaptive gripping part further comprises a photoelectric (23) and a sensing plate (24) for detecting the lifting distance and position information of the hand grip.
8. Lifting, rotating and adaptive high-precision gripper according to claim 4, characterized in that the adaptive gripping part further comprises an air chamber plate (26) mounted on the adaptive plate (25), and the suction tool (28) is mounted on the air chamber plate (16) after passing through the adaptive plate (25).
9. Lifting, rotating and adaptive high-precision gripper according to claim 4, characterized in that said adaptive gripping portion further comprises auxiliary means (29) for mounting a vision system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110339178.9A CN113059550A (en) | 2021-03-30 | 2021-03-30 | Lifting rotation and self-adaptive high-precision gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110339178.9A CN113059550A (en) | 2021-03-30 | 2021-03-30 | Lifting rotation and self-adaptive high-precision gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113059550A true CN113059550A (en) | 2021-07-02 |
Family
ID=76564673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110339178.9A Pending CN113059550A (en) | 2021-03-30 | 2021-03-30 | Lifting rotation and self-adaptive high-precision gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113059550A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4518298A (en) * | 1982-03-25 | 1985-05-21 | Kabushiki Kaisha Sankyo Seiki Seisakusho | Head for industrial robot |
| CN101417422A (en) * | 2008-12-05 | 2009-04-29 | 上海耀皮康桥汽车玻璃有限公司 | Automatic original-glass fetching manipulator of automobile glass pre-treatment production line |
| CN102896641A (en) * | 2011-07-25 | 2013-01-30 | 雅马哈发动机株式会社 | Scara robot |
| CN103934825A (en) * | 2014-02-18 | 2014-07-23 | 威海正棋机电技术有限公司 | Horizontal joint robot |
| CN205928637U (en) * | 2016-06-27 | 2017-02-08 | 北京志丰旺林新型建材有限公司 | Column cantilever crane glass suction manipulator |
| CN106514616A (en) * | 2016-10-11 | 2017-03-22 | 江苏大学 | Multi-purpose multiple-series transplanting robot |
| CN107160375A (en) * | 2016-03-07 | 2017-09-15 | 上海酷铃自动化设备有限公司 | Plate go-on-go manipulator |
| CN109159140A (en) * | 2018-08-18 | 2019-01-08 | 王经伟 | A kind of cargo grabbing device for industrial robot |
| CN109551515A (en) * | 2018-12-27 | 2019-04-02 | 南京埃斯顿机器人工程有限公司 | Horizontal articulated industry robot |
| CN110154060A (en) * | 2019-06-24 | 2019-08-23 | 纪超云巢数据科技有限公司 | Omni-mobile glass installation manipulator |
| CN210414547U (en) * | 2019-06-21 | 2020-04-28 | 南京润泽玻璃有限公司 | Full-freedom glass carrying manipulator |
-
2021
- 2021-03-30 CN CN202110339178.9A patent/CN113059550A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4518298A (en) * | 1982-03-25 | 1985-05-21 | Kabushiki Kaisha Sankyo Seiki Seisakusho | Head for industrial robot |
| CN101417422A (en) * | 2008-12-05 | 2009-04-29 | 上海耀皮康桥汽车玻璃有限公司 | Automatic original-glass fetching manipulator of automobile glass pre-treatment production line |
| CN102896641A (en) * | 2011-07-25 | 2013-01-30 | 雅马哈发动机株式会社 | Scara robot |
| CN103934825A (en) * | 2014-02-18 | 2014-07-23 | 威海正棋机电技术有限公司 | Horizontal joint robot |
| CN107160375A (en) * | 2016-03-07 | 2017-09-15 | 上海酷铃自动化设备有限公司 | Plate go-on-go manipulator |
| CN205928637U (en) * | 2016-06-27 | 2017-02-08 | 北京志丰旺林新型建材有限公司 | Column cantilever crane glass suction manipulator |
| CN106514616A (en) * | 2016-10-11 | 2017-03-22 | 江苏大学 | Multi-purpose multiple-series transplanting robot |
| CN109159140A (en) * | 2018-08-18 | 2019-01-08 | 王经伟 | A kind of cargo grabbing device for industrial robot |
| CN109551515A (en) * | 2018-12-27 | 2019-04-02 | 南京埃斯顿机器人工程有限公司 | Horizontal articulated industry robot |
| CN210414547U (en) * | 2019-06-21 | 2020-04-28 | 南京润泽玻璃有限公司 | Full-freedom glass carrying manipulator |
| CN110154060A (en) * | 2019-06-24 | 2019-08-23 | 纪超云巢数据科技有限公司 | Omni-mobile glass installation manipulator |
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Application publication date: 20210702 |