CN114059776A - Sheet material grabbing device and sheet material transfer robot - Google Patents
Sheet material grabbing device and sheet material transfer robot Download PDFInfo
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- CN114059776A CN114059776A CN202010783869.3A CN202010783869A CN114059776A CN 114059776 A CN114059776 A CN 114059776A CN 202010783869 A CN202010783869 A CN 202010783869A CN 114059776 A CN114059776 A CN 114059776A
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- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 21
- 238000001179 sorption measurement Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/167—Tools or apparatus specially adapted for working-up plates, panels or slab shaped building elements
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Abstract
The invention belongs to the technical field of building equipment, and discloses a sheet material gripping device which comprises a main support, a clamping jaw mechanism and a sucker mechanism, wherein the clamping jaw mechanism is arranged on the main support and comprises two clamping hand assemblies capable of moving in opposite directions or deviating, and the two clamping hand assemblies can clamp a sheet material from two sides of the sheet material; the sucking disc mechanism is arranged on the main support and used for adsorbing the end face of the plate. According to the invention, the clamping jaw mechanism and the sucker mechanism are arranged, so that two different grabbing forces can be provided for the plate, the reliability of grabbing the plate is improved, and the adaptability of the plate grabbing device to different use scenes is improved. The invention also provides a plate transfer robot with the plate grabbing device, and the automation of grabbing and transferring the plate is realized by arranging the plate grabbing device on the movable chassis.
Description
Technical Field
The invention relates to the technical field of building equipment, in particular to a sheet material grabbing device and a sheet material transfer robot.
Background
The wallboard installation robot is an automatic device for grabbing and installing wallboards, the wallboards are large in size and large in mass, workers have certain difficulty and danger during installation, especially under the conditions that the average age of the workers rises year by year and young workers are lack, alternative solutions are required to be found for the labor-consuming work, and therefore the wallboard installation robot gradually becomes an indispensable device in a construction site.
The volume and the mass ratio of wallboard are bigger, and the robot is snatching when installing, and the tong subassembly can be in different gestures, in order to avoid the tong to grab the wallboard, or the wallboard in the tong subassembly breaks away from to pound down, and the robot need guarantee that the relative position of tong subassembly and wallboard does not change, firmly grasps the wallboard.
In view of this, the present invention provides a new sheet material gripping device.
Disclosure of Invention
One object of the present invention is: the plate material grabbing device can improve the reliability of grabbing plate materials.
Another object of the invention is: the plate material transfer robot can realize grabbing and transferring of plate materials.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, a sheet material gripping device includes:
a main support;
the clamping jaw mechanism is arranged on the main support and comprises two clamping hand assemblies capable of moving in an opposite direction or in a deviating direction, and the two clamping hand assemblies can clamp the plate from two sides of the plate;
and the sucker mechanism is arranged on the main support and used for adsorbing the end face of the plate.
Specifically, through setting up clamping jaw mechanism and sucking disc mechanism, can provide the sheet material two kinds of different power of grabbing, and then improve the reliability of grabbing the sheet material to and improve the adaptability of this sheet material grabbing device to different use scenes.
Specifically, the panel stock is a wallboard or other flat plate-like workpiece.
As an alternative, the gripper assembly comprises:
the clamping hand bracket is slidably arranged on the main bracket;
the clamping plates are arranged on the clamping hand supports and can abut against the side faces of the plate.
Particularly, the at least two clamping plates are arranged on the clamping hand support, so that the plate can be clamped more reliably, and abnormal deflection of the plate is avoided.
Optionally, a slide rail is arranged on the main support, a slide block is arranged on the gripper support, the slide block is slidably connected with the slide rail, and the two gripper assemblies are mounted on the same slide rail. Through setting up slidable tong support, can snatch the sheet material of different width.
Optionally, the clamping jaw mechanism further includes a clamping driving member, and the clamping driving member is mounted on the main support and used for driving the clamping hand assembly to slide. Further, the gripping drive is an electric push rod or a hydraulic rod.
Optionally, the gripper assembly further includes a gripper carriage, the gripper carriage is slidably mounted on the gripper bracket along a direction perpendicular to an end surface of the sheet, and the clamping plate is mounted on the gripper carriage.
Specifically, the clamping plate can be adjusted in position along the thickness direction of the plate by arranging the clamping hand sliding frame which can slide in the direction perpendicular to the end face of the plate, so that the grabbing requirements of the plates with different thickness specifications are met.
Optionally, the gripper carriage is driven to slide by an electric push rod or a hydraulic rod.
As an optional scheme, the clamping hand assembly comprises a clamping plate capable of abutting against a side surface of the sheet, and the sheet grabbing device further comprises a handle buckling mechanism mounted on the clamping plate and used for hooking an end surface, far away from the suction cup mechanism, of the sheet.
Specifically, through setting up attacker mechanism can prevent the sheet material is outwards toppled to guarantee operation safety.
Optionally, one side of each clamping plate, which is far away from the plate, is provided with the handle fastening mechanism.
As an alternative, the handle mechanism comprises:
the middle part of the operation handle is hinged to the tail end of the clamping plate, and the first end of the operation handle can hook the end face, far away from the sucker mechanism, of the plate;
the handle driving piece is arranged on the clamping plate and used for driving the operation handle to rotate;
one end of the supporting rod is hinged to the handle driving piece, the other end of the supporting rod is hinged to the second end of the operation handle, and when the operation handle is in a hook state, the second end of the operation handle is located at a stop point with the supporting rod.
Specifically, under the hook state the operation attacker receives the reaction force of sheet material, this scheme forms corresponding relation through the hook state with the operation attacker with the stop, makes under the hook state, and the unable drive bracing piece motion of effort that is applied to the bracing piece is applyed to the operation attacker, and then makes the operation attacker still keep hooking the state of sheet material under the circumstances that the attacker driving piece does not provide the effort, can effectively practice thrift the energy consumption and reduce the wearing and tearing to the attacker driving piece.
As an optional scheme, the attacker mechanism still includes the triangle transmission piece, the one end of triangle transmission piece with the attacker driving piece is articulated, and the other end with the clamp plate is articulated, the middle part with the bracing piece is articulated, works as when the operation attacker is in the hook state, the triangle transmission piece with the pin joint of clamp plate the triangle transmission piece with the pin joint of bracing piece the bracing piece with the pin joint three of operation attacker is located same straight line.
Specifically, the three hinge points are arranged on the same straight line, so that the sheet cannot drive the supporting rod and the triangular transmission block to move under the action of the extrusion force of the operation buckle, the self-locking of the operation buckle is realized, and the reliability of clamping and fixing the sheet is improved.
Optionally, the handle driving part is installed at one end of the clamping plate far away from the operation handle, the main body of the handle driving part is hinged to the clamping plate, and the output end of the handle driving part is hinged to the triangular transmission block.
Optionally, the wrench drive is an electric push rod.
As an alternative, the suction cup mechanism comprises:
the operation sucker is slidably arranged on the main bracket along a direction vertical to the end surface of the plate and is used for adsorbing the end surface of the plate;
and the sucker driving piece is arranged on the main bracket and used for driving the operation sucker to be close to or far away from the plate.
Particularly, the operation suckers which can be close to or far away from the plate materials are arranged, so that the operation suckers can realize stage adsorption under different working states, the plate materials are combined and fixed with the clamping jaw mechanisms more flexibly, and the applicability to different operation scenes is improved.
Optionally, the number of the sucker mechanisms is two, and the two sucker mechanisms are respectively installed at two ends of the main support so as to adsorb two ends of the sheet material in the length direction, thereby improving the reliability of adsorption.
Optionally, the suction cup driving member is a motor.
Optionally, a bearing plate is arranged at one end of the main support, and the bearing plate can bear the plate.
Specifically, the support plate is arranged at one end of the main support in the length direction, namely the support direction of the support plate is perpendicular to the clamping direction of the clamping plate, and the support plate can support the bottom surface of the plate when the plate rotates to be vertical in the length direction, so that the plate is prevented from sliding downwards.
Optionally, the number of the supporting plates is two.
On the other hand, the plate material transfer robot comprises a movable chassis and the plate material grabbing device.
Particularly, the automation of plate grabbing and transferring can be realized by arranging the plate grabbing device on the movable chassis.
As an optional scheme, the sheet material transfer robot further includes a lifting device and a rotating device, the lifting device is installed on the moving chassis, the rotating device is installed on the lifting device, the lifting device can drive the rotating device to move up and down, the sheet material gripping device is installed on the rotating device, and the rotating device can drive the sheet material gripping device to rotate in a vertical plane.
The invention has the beneficial effects that: the plate material gripping device is provided, and through the arrangement of the clamping jaw mechanism and the sucker mechanism, two different gripping forces can be provided for the plate material, so that the reliability of gripping the plate material is improved, and the adaptability of the plate material gripping device to different use scenes is improved. The plate transferring robot with the plate grabbing device is characterized in that the plate grabbing device is arranged on a moving chassis, so that plate grabbing and transferring automation is realized.
Drawings
The invention is explained in more detail below with reference to the figures and examples.
Fig. 1 is a schematic structural view of a first view angle of a sheet material gripping device according to an embodiment;
fig. 2 is a schematic structural view of a second view angle of the sheet material gripping device according to the embodiment;
FIG. 3 is a schematic view of the plate gripping device according to the embodiment and the gripping position of the plate;
FIG. 4 is a left side view of FIG. 3;
FIG. 5 is a schematic view of a large width panel being grabbed with the panel in a vertical position according to an embodiment;
FIG. 6 is a top view of FIG. 5;
FIG. 7 is a schematic view of a small width slab being grabbed and the slab being in a vertical position according to an embodiment;
FIG. 8 is a top view of FIG. 7;
FIG. 9 is a schematic view of an embodiment of the unbooked panel of the catcher mechanism;
FIG. 10 is an enlarged view of a portion of the portion A shown in FIG. 9;
FIG. 11 is a schematic view of the hooked sheet of the gripping mechanism according to the embodiment
FIG. 12 is a partial enlarged view of the position B shown in FIG. 11;
FIG. 13 is a schematic view of the clamping plate and the gripping mechanism according to an embodiment;
fig. 14 is a side view of the panel gripping device according to the embodiment after gripping the panel;
fig. 15 is a partial enlarged view of the position C shown in fig. 14.
In fig. 1 to 15:
1. a main support; 11. a slide rail; 12. a support plate;
2. a jaw mechanism; 21. a gripper bracket; 211. a slider; 22. a clamping plate; 23. a gripper carriage;
3. a suction cup mechanism; 31. an operation sucker;
4. a handle mechanism; 41. an operation buckle; 42. a handle driving member; 43. a support bar; 44. a triangular transmission block;
5. and (5) plate materials.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
The first embodiment is as follows:
a sheet material gripping device is shown in figures 1 to 4 and comprises a main support 1, a clamping jaw mechanism 2 and a sucker mechanism 3, wherein the clamping jaw mechanism 2 is mounted on the main support 1 and comprises two clamping hand assemblies capable of moving in an opposite direction or in a deviating direction, and the two clamping hand assemblies can clamp a sheet material 22 from two sides of a sheet material 5; the sucker mechanism 3 is arranged on the main bracket 1 and is used for adsorbing the end surface of the plate 5. Specifically, through setting up clamping jaw mechanism 2 and sucking disc mechanism 3, can provide the power of grabbing of two kinds of differences for sheet material 5, and then improve the reliability of grabbing sheet material 5 to and improve the adaptability of this sheet material grabbing device to different use scenes. In the present embodiment, the plate 5 is a wall plate, and in other embodiments, the plate 5 may be other flat plate-shaped workpieces.
In this embodiment, the gripper assembly includes a gripper bracket 21 and two clamping plates 22, the gripper bracket 21 is slidably mounted on the main bracket 1, the two clamping plates 22 are mounted at two ends of the gripper bracket 21, and the clamping plates 22 can abut against the side surface of the sheet 5. Of course, the number of the clamping plates 22 on each gripper bracket 21 may be more than 3. Specifically, by arranging at least two clamping plates 22 on the gripper bracket 21, the plates 22 can be clamped more reliably, and abnormal deflection of the plate 5 is avoided.
The main support 1 is provided with a slide rail 11, the gripper support 21 is provided with a slide block 211, the slide block 211 is slidably connected with the slide rail 11, and the two gripper assemblies are mounted on the same slide rail 11. The clamping jaw mechanism 2 further comprises a clamping driving piece, and the clamping driving piece is installed on the main support 1 and used for driving the clamping jaw assembly to slide. Further, the gripping drive is an electric push rod or a hydraulic rod. Through the arrangement of the two clamping hand supports 21 which can be relatively close to or far away from each other, the sheet material grabbing device can meet sheet materials 5 with different widths, and the universality is improved. As shown in fig. 5 and 6, the working state of the panel gripping device when gripping a panel 5 with a large width is shown; also shown in figures 7 and 8 are the operating conditions of the panel gripping device when gripping a panel 5 of smaller width.
Optionally, as shown in fig. 1, the gripper assembly further includes a gripper carriage 23, the gripper carriage 23 is slidably mounted on the gripper bracket 21 in a direction perpendicular to the end surface of the sheet 5, and the clamping plate 22 is mounted on the gripper carriage 23. The clamping plate 22 can be adjusted in position along the thickness direction of the plate 5 by arranging the clamping hand sliding frame 23 which can slide in the direction vertical to the end face of the plate 5, so that the grabbing requirements of the plates 5 with different thickness specifications are met. Alternatively, the gripper carriage 23 is driven to slide by an electric push rod or a hydraulic rod.
Alternatively, as shown in fig. 9 to 13, the sheet material gripping device further comprises a handle mechanism 4 mounted on the clamping plate 22, wherein the handle mechanism 4 is used for hooking the end surface of the sheet material 5 far away from the suction cup mechanism 3. Through setting up attacker mechanism 4, can prevent that sheet material 5 from outwards toppling to guarantee operation safety. Optionally, a handle mechanism 4 is provided on one side of each clamping plate 22 away from the sheet 5.
The gripping mechanism 4 comprises an operation gripping handle 41, a gripping handle driving piece 42 and a supporting rod 43, the middle part of the operation gripping handle 41 is hinged to the tail end of the clamping plate 22, and the first end of the operation gripping handle can hook the end surface, far away from the sucking disc mechanism 3, of the plate 5; the handle driving piece 42 is arranged on the clamping plate 22 and is used for driving the operation handle 41 to rotate; one end of the supporting rod 43 is hinged with the handle driving member 42, and the other end is hinged with the second end of the operation handle 41, when the operation handle 41 is in a hooking state, the second end of the operation handle 41 and the supporting rod 43 are at a stop point. Specifically, operation attacker 41 receives the reaction force of sheet material 5 under the hook state, and this scheme forms corresponding relation through the hook state with operation attacker 41 and stop, makes under the hook state, and operation attacker 41 is exerted the unable drive bracing piece 43 motion of effort of bracing piece 43, and then makes operation attacker 41 still keep hooking sheet material 5's state under the circumstances that attacker driving piece 42 does not provide the effort, can effectively practice thrift the energy consumption and reduce the wearing and tearing to attacker driving piece 42. When the hook needs to be released, the handle driving member 42 drives the supporting rod 43 to move, so that the operation handle 41 rotates to release the hook.
Optionally, the locking mechanism 4 further includes a triangular transmission block 44, one end of the triangular transmission block 44 is hinged to the locking driving member 42, the other end of the triangular transmission block 44 is hinged to the clamping plate 22, the middle portion of the triangular transmission block is hinged to the supporting rod 43, and when the operation locking handle 41 is in the hooking state, the three of the hinge point of the triangular transmission block 44 and the clamping plate 22, the hinge point of the triangular transmission block 44 and the supporting rod 43, and the hinge point of the supporting rod 43 and the operation locking handle 41 are located on the same straight line. Specifically, the three hinge points are arranged on the same straight line, so that the extrusion force of the plate 5 on the operation handle 41 cannot drive the support rod 43 and the triangular transmission block 44 to move, the operation handle 41 is self-locked, and the reliability of clamping and fixing the plate 5 is improved.
Optionally, the handle driving member 42 is mounted at an end of the clamping plate 22 away from the operation handle 41, and a main body of the handle driving member 42 is hinged to the clamping plate 22, and an output end of the handle driving member 42 is hinged to the triangular transmission block 44. Alternatively, the wrench drive 42 is an electric push rod.
In the present embodiment, as shown in fig. 14 and 15, the suction cup mechanism 3 includes a working suction cup 31 and a suction cup driving member, the working suction cup 31 is slidably mounted on the main bracket 1 along a direction perpendicular to the end surface of the sheet material 5, and is used for sucking the end surface of the sheet material 5; the suction cup driving piece is arranged on the main bracket 1 and used for driving the operation suction cup 31 to be close to or far away from the plate 5. Specifically, by arranging the operation suction cups 31 which can be close to or far away from the plate 5, the operation suction cups 31 can be used for realizing stage adsorption under different working states, so that the plate 5 can be combined and fixed with the clamping jaw mechanisms 2 more flexibly, and the applicability to different operation scenes is improved.
Optionally, the number of the sucker mechanisms 3 is two, and the two sucker mechanisms 3 are respectively installed at two ends of the main support 1, so that the two ends of the sheet material 5 in the length direction are adsorbed, and the adsorption reliability is further improved. Optionally, the suction cup drive is a motor.
Optionally, one end of the main support 1 is provided with a bearing plate 12, and the bearing plate 12 can bear the plate 5. Specifically, the bearing plate 12 is arranged at one end of the main support 1 in the length direction, that is, the supporting direction of the bearing plate 12 is perpendicular to the clamping direction of the clamping plate 22, and when the plate 5 rotates to be vertical along the length direction, the bearing plate 12 can support the bottom surface of the plate 5, so that the plate 5 is prevented from sliding downwards. Alternatively, the number of support plates 12 is two.
Example two:
a sheet material transfer robot comprises a mobile chassis and the sheet material grabbing device in the first embodiment. Particularly, the automation of plate grabbing and transferring can be realized by arranging the plate grabbing device on the movable chassis.
Optionally, the sheet material transfer robot further comprises a lifting device and a rotating device, the lifting device is installed on the moving chassis, the rotating device is installed on the lifting device, the lifting device can drive the rotating device to move up and down, the sheet material gripping device is installed on the rotating device, and the rotating device can drive the sheet material gripping device to rotate in the vertical plane.
In the description herein, it is to be understood that the terms "upper", "lower", "left", "right", and the like are used in a descriptive sense or positional relationship based on the orientation or positional relationship shown in the drawings for convenience in description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A sheet material gripping device, comprising:
a main support;
the clamping jaw mechanism is arranged on the main support and comprises two clamping hand assemblies capable of moving in an opposite direction or in a deviating direction, and the two clamping hand assemblies can clamp the plate from two sides of the plate;
and the sucker mechanism is arranged on the main support and used for adsorbing the end face of the plate.
2. A sheet handling apparatus as claimed in claim 1, wherein the gripper assembly comprises:
the clamping hand bracket is slidably arranged on the main bracket;
the clamping plates are arranged on the clamping hand supports and can abut against the side faces of the plate.
3. The sheet handling apparatus of claim 2 wherein the gripper assembly further comprises a gripper carriage, the gripper carriage being slidably mounted to the gripper bracket in a direction perpendicular to the end surface of the sheet, the clamping plate being mounted to the gripper carriage.
4. The apparatus as claimed in claim 1, wherein the gripper assembly includes a clamping plate adapted to abut a side of the sheet, and further comprising a gripping mechanism mounted on the clamping plate for hooking an end of the sheet remote from the suction cup mechanism.
5. A sheet handling apparatus as claimed in claim 4, wherein the gripping mechanism comprises:
the middle part of the operation handle is hinged to the tail end of the clamping plate, and the first end of the operation handle can hook the end face, far away from the sucker mechanism, of the plate;
the handle driving piece is arranged on the clamping plate and used for driving the operation handle to rotate;
one end of the supporting rod is hinged to the handle driving piece, the other end of the supporting rod is hinged to the second end of the operation handle, and when the operation handle is in a hook state, the second end of the operation handle is located at a stop point with the supporting rod.
6. The sheet material gripping device according to claim 5, wherein the locking mechanism further comprises a triangular transmission block, one end of the triangular transmission block is hinged to the locking driving member, the other end of the triangular transmission block is hinged to the clamping plate, the middle of the triangular transmission block is hinged to the supporting rod, and when the operation locking device is in a hook state, the three of the hinge point of the triangular transmission block and the clamping plate, the hinge point of the triangular transmission block and the supporting rod, and the hinge point of the supporting rod and the operation locking device are located on the same straight line.
7. A sheet handling apparatus as claimed in any one of claims 1 to 6, wherein the suction cup mechanism comprises:
the operation sucker is slidably arranged on the main bracket along a direction vertical to the end surface of the plate and is used for adsorbing the end surface of the plate;
and the sucker driving piece is arranged on the main bracket and used for driving the operation sucker to be close to or far away from the plate.
8. A sheet material gripping device as claimed in any one of claims 1 to 6, wherein a support plate is provided at one end of the main support, the support plate being capable of carrying the sheet material.
9. A panel transfer robot comprising a mobile chassis and a panel gripping device according to any one of claims 1 to 8.
10. The sheet transfer robot of claim 9, further comprising a lifting device and a rotating device, wherein the lifting device is mounted on the moving chassis, the rotating device is mounted on the lifting device, the lifting device can drive the rotating device to move up and down, the sheet grabbing device is mounted on the rotating device, and the rotating device can drive the sheet grabbing device to rotate in a vertical plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010783869.3A CN114059776A (en) | 2020-08-06 | 2020-08-06 | Sheet material grabbing device and sheet material transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010783869.3A CN114059776A (en) | 2020-08-06 | 2020-08-06 | Sheet material grabbing device and sheet material transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114059776A true CN114059776A (en) | 2022-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010783869.3A Pending CN114059776A (en) | 2020-08-06 | 2020-08-06 | Sheet material grabbing device and sheet material transfer robot |
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| Country | Link |
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| CN (1) | CN114059776A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0644966U (en) * | 1992-11-18 | 1994-06-14 | 日本車輌製造株式会社 | Panel material gripping device |
| CN209491488U (en) * | 2019-01-31 | 2019-10-15 | Tcl王牌电器(惠州)有限公司 | Assembly equipment |
| CN110485740A (en) * | 2019-08-28 | 2019-11-22 | 广东博智林机器人有限公司 | A kind of wallboard mounting machine device people |
| CN209905891U (en) * | 2018-12-29 | 2020-01-07 | 广东鸿达兴业机器人有限公司 | Clamping device |
| CN110950075A (en) * | 2019-12-25 | 2020-04-03 | 苏州精濑光电有限公司 | Material taking device |
-
2020
- 2020-08-06 CN CN202010783869.3A patent/CN114059776A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0644966U (en) * | 1992-11-18 | 1994-06-14 | 日本車輌製造株式会社 | Panel material gripping device |
| CN209905891U (en) * | 2018-12-29 | 2020-01-07 | 广东鸿达兴业机器人有限公司 | Clamping device |
| CN209491488U (en) * | 2019-01-31 | 2019-10-15 | Tcl王牌电器(惠州)有限公司 | Assembly equipment |
| CN110485740A (en) * | 2019-08-28 | 2019-11-22 | 广东博智林机器人有限公司 | A kind of wallboard mounting machine device people |
| CN110950075A (en) * | 2019-12-25 | 2020-04-03 | 苏州精濑光电有限公司 | Material taking device |
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Application publication date: 20220218 |
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