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CN202964663U - Auxiliary manipulator used for product transfer and location correction between manipulators - Google Patents

Auxiliary manipulator used for product transfer and location correction between manipulators Download PDF

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Publication number
CN202964663U
CN202964663U CN 201220739358 CN201220739358U CN202964663U CN 202964663 U CN202964663 U CN 202964663U CN 201220739358 CN201220739358 CN 201220739358 CN 201220739358 U CN201220739358 U CN 201220739358U CN 202964663 U CN202964663 U CN 202964663U
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CN
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clamping
cylinder
base
transverse
manipulator
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CN 201220739358
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Chinese (zh)
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胡斌
杨国华
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余姚市嘉力机械设备制造有限公司
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Abstract

The utility model discloses an auxiliary manipulator used for product transfer and location correction between manipulators. The auxiliary manipulator used for the product transfer and the location correction between the manipulators comprises a transverse pushing pneumatic rod and a movable first pneumatic clamp which comprises first clamping blocks, a first clamping cylinder, a rotary cylinder and a transverse moving base seat, wherein the first clamping blocks comprise a left clamping block and a right clamping block which are respectively connected with a pushing rod of the first clamping cylinder which is rotationally connected with the transverse moving base seat, a base plate is arranged on the upper side of the first clamping cylinder, and first clamping openings are formed between the base plate and the left clamping block and between the base plate and the right clamping block; the transverse pushing pneumatic rod is installed on the transverse moving base seat; and one end of the rotary cylinder is rotationally connected with the transverse moving base seat, and the other end of the rotary cylinder is rotationally connected with the first clamping cylinder. The auxiliary manipulator used for the product transfer and the location correction between the manipulators can adapt to clamping and correcting for regular straight form products and irregular form products, position accuracy of the products on the manipulator clamp is improved, and working efficiency is enhanced.

Description

一种用于机械手之间对产品传递、位置矫正的辅助机械手技术领域[0001] 本实用新型涉及机械手设备领域,特别涉及一种用于机械手之间对产品传递、位置矫正的辅助机械手。 A method for delivery of products between the robot, the robot assisted position correction Field [0001] The present invention relates to the field of robotic equipment, particularly to a product for delivery, to correct the position of the robot between the auxiliary robot. 背景技术[0002] 在现有的用于机械手之间的辅助机械手一般只能可以用于传递直线的常规产品(如常规直型接头等),像一些异型结构(如直角型接头和三通接头等)无法传递,使用功能性不高。 [0002] In existing conventional product (such as a conventional straight connector, etc.) for assisting the robot between the robot can only be used to deliver generally linear, as some profiled structure (e.g., right-angle type connector and tees etc.) can not be delivered, using functional is not high. 而且在使用过程中,因上道工序的机械手可能对产品夹取的位置不对,造成对上道工序的机械手传递到辅助机械手时的夹取产品位置也不对而引起传递错误,降低了工作效率。 Also during use, because the procedure of the robot may be product grippable wrong location, resulting in gripping the product position of the manipulator on the procedure is transmitted to the auxiliary robot not to cause transmission errors, reducing work efficiency. 实用新型内容[0003]( 一)要解决的技术问题[0004] 本实用新型要解决的技术问题是要提出一种用于机械手之间对产品传递、位置矫正的辅助机械手,以适应常规直型产品和异型产品的夹取和状态矫正,提高产品在机械手夹具上位置的精确性。 SUMMARY [0003] (a) Technical Problem to be Solved [0004] The present invention to solve the technical problem is to provide a product for transfer between the robot, the position correction auxiliary manipulator, in order to adapt a conventional straight and the gripping state of the product and the product correction profile, improve the accuracy of the position of the product to the robot gripper. [0005] ( 二)技术方案[0006] 为解决上述问题,本实用新型提出一种用于机械手之间对产品传递、位置矫正的辅助机械手,包括包括横向推动气杆和可移动的第一气动夹具。 [0005] (ii) Technical Solution [0006] To solve the above problems, the present invention provides a product for delivery, correcting the position between the auxiliary manipulator robot, comprising a gas comprising a first pneumatic push rod and laterally movable fixture. 所述第一气动夹具包括第一夹块、第一夹紧气缸、旋转气缸和横向移动底座;所述第一夹块有左、右两块,分别与第一夹紧气缸的推杆连接,所述第一夹紧气缸与横向移动底座旋转连接,在所述第一夹紧气缸的上侧设置有底板,所述底板与左、右第一夹块之间形成第一夹口;所述横向推动气杆安装横向移动底座上;所述旋转气缸一端与横向移动底座旋转连接,另一端与第一夹紧气缸旋转连接。 The first pneumatic clamp comprises a first clamp block, a first clamping cylinder, rotating cylinder, and lateral movement of the base; said first clamp block has left and right two, are connected to the first clamping ram cylinder, the first clamping cylinder rotatably connected with the transverse movable base, on the side of the first clamping cylinder is provided with a base plate of the left and the right to form a first nip between a first clamp block; the lateral pushing air bar mounted on the transverse movable base; end of the rotary cylinder rotatably connected with the transverse movable base, and the other end rotatably connected with the first clamping cylinders. [0007] 作为本实用新型的进一步改进,所述第一夹口为常规直型产品或者角通型产品的夹口。 [0007] As a further improvement of the present invention, the first jaws conventional straight angle on type product or products jaws. [0008] 作为本实用新型的进一步改进,所述常规直型产品的第一夹口包含横向夹口和纵向夹口。 [0008] The present invention is further improved, a first of said jaws comprises conventional products straight lateral longitudinal jaws and the jaws. [0009] 作为本实用新型的进一步改进,所述横向夹口中的产品进入端缺口大于产品移出端缺口。 [0009] As a further improvement of the present invention, the lateral end products into the clip mouth is greater than the gap end products are removed from the gap. [0010] 作为本实用新型的进一步改进,所述第一夹紧气缸与所述横向移动底座的旋转角度为90°。 [0010] As a further improvement of the present invention, the first clamping cylinder and the rotation angle of said transverse movable base is 90 °. [0011] 作为本实用新型的进一步改进,所述角通型的第一夹口为横向横向放入下一道工序的机械手位置的夹口。 [0011] As a further improvement of the present invention, the angle of the first conductive type lateral jaws laterally next process into the jaws of the robot position. [0012](三)有益效果[0013] 本实用新型的传递弯管的机械手装置的优点:[0014] 1.可以将上道工序的机械手夹取产品的位置位置状态通过第一气动夹具旋转角度,改变其夹取状态传以适应下道工序机械手的夹取状态,使常规直型和异型产品均可以夹取正常传递,增强了机械手的功能性。 [0012] (c) Advantageous Effects [0013] The present invention elbow transfer robot apparatus advantages: [0014] 1. The procedure may be on robotic gripping position of the rotational angle state of the product by the first pneumatic clamp , the gripping state change to adapt to the next process pass robot gripping state, and the conventional straight-shaped products can be properly transmitted gripping, enhance the functionality of the robot. [0015] 2.通过把横向夹口中的产品进入端缺口大于产品移出端缺口的结构,可以使产品放入夹口内更加方便,又可以矫正产品的夹取位置;通过设置纵向的夹口也同样即可以直接夹取纵向位置的产品,也可以对产品直接进行矫正。 [0015] 2. The clamp mouth by the lateral structure of the end products into end products are removed from the gap is greater than the gap, you can make the product easier to clip into the mouth, and can correct gripping position of the product; the jaws by providing the longitudinal also That product can be directly gripping the longitudinal position, the product may be corrected directly. 上述矫正方式,不但提高产品在机械手夹具上位置的精确性,减少由于夹取产品状态不对而引起的产品传递错误,提高工作效率,符合机械自动化发展规律。 The correction mode, the product will not only improve the accuracy of the position on the robot fixture, reduce product because the state does not gripping the product caused by delivery errors, improve efficiency, in line with the law of development of automation machinery. 附图说明[0016] 图1为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手的立体图;[0017] 图2为本实用新型的第一气动夹具的立体图;[0018] 图3为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手中无拾取机械手的主视图;[0019] 图4为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手中无拾取机械手的俯视图;[0020] 图5为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手的使用状态图1 ;[0021] 图6为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手的使用状态图2 ;[0022] 图7为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手的使用状态图3 ;[0023] 图8为本实用新型的用于机械手之间对产品传递、位置矫正的辅助机械手的使用状态图4 ;[0024] 图9为本实用新型的用于 BRIEF DESCRIPTION [0016] FIG. 1 is novel, a perspective view of an auxiliary robot corrected the position of the robot for transfer between the products of the present utility; [0017] FIG. 2 is a perspective view of a first novel and practical pneumatic clamp; [0018] Figure 3 is a front view of a novel product transfer between the robot, the auxiliary robot without correcting the position of the pick-up utility robot; [0019] FIG. 4 of the present invention between the product transfer robot for correcting the position the auxiliary robot no pickup plan view of the robot; [0020] FIG. 5 of the present invention for products transferred between the robot, the auxiliary robot position corrected using the state of FIG. 1; [0021] FIG. 6 of the present invention for products transferred between the robot, the robot positions the auxiliary corrected using the state of FIG. 2; [0022] FIG. 7 of the present invention is used to transfer products between robots, using state of the auxiliary correcting the position of the robot in FIG 3; [0023] FIG. 8 of the present invention the product transfer between the robot, the robot positions the auxiliary corrected for using the state of FIG. 4; [0024] FIG. 9 of the present invention for 械手之间对产品传递、位置矫正的辅助机械手的使用状态图5 ;[0025] 图中2为产品送至机床机械手装置、3为拾取机械手、4为接头、101为第一气动夹具、102为横向推动气杆、111为横向移动底座、112为第一夹紧气缸、113为第一夹块、114为底板、115为旋转气缸、116为第一夹口、117为横向夹口、118为纵向夹口。 Between the robot of the product delivery, the auxiliary robot position corrected using the state of FIG. 5; [0025] FIG. 2 is a product to a tool manipulator apparatus, 3 is a pick-up robot 4 is a linker, 101 to a first pneumatic fixture 102 to push the gas lever laterally, transversely movable base 111, a first clamping cylinders 112, 113 is a first clamp block, the bottom plate 114, a rotating cylinder 115, 116 is a first nip, the lateral jaws 117, 118 longitudinal jaws. 具体实施方式[0026] 下面结合附图和实施例,对本实用新型的具体实施方式作进一步详细描述。 DETAILED DESCRIPTION [0026] accompanying drawings and the following embodiments, the present invention specific embodiments described in further detail. 以下实施例用于说明本实用新型,但不用来限制本实用新型的范围。 The following examples serve to illustrate the present invention but are not intended to limit the scope of the invention. [0027] 如图1、图2、图3和图4所不,一种用于机械手之间对产品传递、位置矫正的辅助机械手,包括横向推动气杆102和可移动的第一气动夹具101,所述第一气动夹具101包括第一夹块113、第一夹紧气缸112、旋转气缸115和横向移动底座111 ;所述第一夹块113有左、右两块,分别与第一夹紧气缸112的推杆连接,所述第一夹紧气缸112与横向移动底座111旋转连接,在所述第一夹紧气缸112的上侧设置有底板114,所述底板114与左、右第一夹块113之间形成横向的第一夹口116 ;所述横向推动气杆102安装横向移动底座111上;所述旋转气缸115—端与横向移动底座111旋转连接,另一端与第一夹紧气缸112旋转连接,此目的是为了通过旋转可改变角通的异型产品的夹取状态位置调整到与下一道工序的机械手相对应的夹取位置,还可以调整到上一道工序的机械手位置,方便产品从上一道工 [0027] 1, 2, 3 and 4 is not a product for delivery, correcting the position of the auxiliary robot, comprising a transverse push bar 102 and the first gas pneumatic clamp 101 is movable between the robot the first pneumatic clamp 101 includes a first clamp block 113, a first clamping cylinder 112, rotating cylinder 115 and a transverse movable base 111; the first clamp block 113 has right and left two, with the first clip tighten the cylinder 112 is connected to the push rod 111 rotating the first clamping cylinder 112 is connected with the transverse movable base, a bottom plate 114 is provided on the first side of the clamping cylinder 112, the bottom plate 114 and the left and right of a first lateral jaws 116 between a clamp block 113 is formed; the lateral push rod 102 is mounted on the lateral air movable base 111; end of the rotating cylinder 115- 111 rotates transversely movable base connected to the other end of the first clip tight cylinder 112 rotatably connected, this purpose is to be adjusted to the gripping position of the mechanical hand of the next process corresponding may also be adjusted to the robot position on a step by the gripping state position of rotation may change the angle through which shaped product, products from a convenient work 序的机械手产品放入到第一夹口116内,从而可以传递常规直型和异形产品。 Sequence products into the robot to the first nip 116, which can pass a conventional straight and shaped products. 所述第一夹紧气缸112与所述横向移动底座111的旋转角度为90°通过横向推动气杆102可以将产品推送到产品送至机床机械手装置2实现传递。 Clamping the first cylinder 112 and the rotation angle of the base 111 for lateral movement of 90 ° by a transverse rod 102 may push the product gas to push the product to a machine tool transfer robot apparatus 2 implemented. 所述第一夹口116为常规直型或者角通型的夹口,所述角通型的第一夹口116为横向的弯管夹口。 The first jaws 116 or a conventional straight-through angle of jaws, the angle of the first conductive type jaws 116 transversely elbow jaws. . 所述常规直型的第一夹口116包含横向夹口117和纵向夹口,通过纵向夹口不但可以矫正其纵向方向的产品夹取位置,也可以不用使第一气动夹具101旋转角度,可直接夹取产品。 The conventional straight port 116 includes a first clamp jaws 117 and the longitudinal lateral jaws, the jaws by longitudinal not only correct the longitudinal direction of the product gripping position, air can not clamp 101 of the first rotation angle, can be direct gripping products. 所述横向夹口117中的产品进入端缺口大于产品移出端缺口,此目的是一是为了避免产品送入第一夹口116时堵塞、卡住,还可以矫正其上道工序机械手的夹取位置错误使传递到第一夹口的位置也发生错误。 The lateral opening in the clip 117 is greater than the gap end products into end products are removed from the notch, first, to avoid this purpose is the product fed to the first nip 116 clogging, jamming, which may also correct procedure gripping manipulator so that the position error is transmitted to the first position of the jaws errors also occur. [0028] 实施例一:当传递加工常规直型的接头4时,,整个加工设备包括拾取机械手3、辅助机械手和产品送至机床机械手装置2如图1和图5所示。 [0028] Example 1: When the transfer processing of conventional straight connector ,, entire processing equipment includes a pickup robot 3, the auxiliary manipulator to the tool and product robot apparatus 1 and 2 As shown in FIG. 54. 所述第一夹紧气缸112通过旋转气缸115顺时针推动旋转90°,所述拾取机械手3松开将弯管4从横向夹口117的横向夹口117中的产品进入端缺口放入,所述旋转气缸115逆时针推动旋转90°,通过横向移动底座111移动到产品送至机床的机械手装置2处,所述横向推动气杆102将接头4从横向夹口117的产品进入端缺口慢慢向前推进,接头因缺口变化慢慢矫正其位置,最后推送到产品送至机床的机械手装置2内的夹具内,所述机床的机械手装置2夹紧接头4,送至机床加工处如图6。 The clamping cylinder 112 push through first rotating cylinder 115 is rotated clockwise 90 °, the pick-up robot 3 Release 4 from the lateral transverse bending jaws 117 in the jaws 117 of the end product enters into the gap, the said rotating cylinder 115 driven counterclockwise rotation of 90 °, transversely to the machine by moving the movable base 111 to the manipulator apparatus at a product 2, the transverse rods 102 push the air joint 117 of the jaws 4 from the lateral end of the product into the gap slowly forward, the joint gap changes slowly due to its correct position, and finally to push the product to the machine tool manipulator jig device 2, the machine tool 2 a clamping joint manipulator apparatus 4, as shown at 6 to the machining . 加工好后,所述第一夹紧气缸112通过旋转气缸115顺时针推动旋转90°横向移动到产品送至机床的机械手装置2处,所述产品送至机床的机械手装置2松开接头4。 After good processing, the first clamping cylinder 112 pushed through the rotating cylinder 115 is rotated clockwise 90 ° to the lateral movement of the product to the machine tool manipulator apparatus 2, the product of the robotic device to the machine tool 2 releasable joint 4. 所述左、右第一夹块113上的纵向夹口118夹住弯管向后横向移动如图7。 The left and right first longitudinal clamp jaws 118 grip on the bending 113 laterally moves rearward as shown in FIG 7. 然后旋转气缸115逆时针推动旋转90°,所述左、右第二夹块211松开,所述拾取机械手3向下夹住接头4并取出完成往返传递操作如图8。 Pushing cylinder 115 is then rotated counter-clockwise rotation of 90 °, the left and right second clamp block 211 released, the pick-joint robot 3 4 clamped down and taken to complete the round-trip transfer operation in FIG. 8. [0029] 实施例二:当传递加工角通型的接头4时,整个加工设备包括拾取机械手3、辅助机械手和产品送至机床机械手装置2。 [0029] Example 2: When the processing is transmitted 4:00 angle on type connector, the entire processing apparatus includes a pickup robot 3, the auxiliary manipulator to the tool and product robot apparatus 2. 所述所述拾取机械手3向下移动将接头4放置角通型的第一夹口116内,所述左、右第一夹块113慢慢加紧,使接头4根据第一夹口116位置自动矫正,夹紧接头4通过横向移动底座111向前移动到产品送至机床的机械手装置2处,所述所述左、右第一夹块113松开,所述横向推动气杆102将接头4从横向夹口117的后端推向前,所述送至机床的机械手装置2夹紧接头4,然后送至机床加工。 Said pick-up robot 3 is moved downward angle of the inner joint 4 is placed on a first type of jaws 116, the left and right first clamp block 113 gradually intensified, according to the joint 4 automatically position the first jaws 116 correcting, by a transverse clamping joint movable base 4 moves forward to the product 111 to the robotic device at the machine tool 2, the left and right first clamp block 113 released, the rod 102 will be pushed laterally air joint 4 the rear end from the front toward the lateral jaws 117, the robotic device to the machine tool 2 a clamping joint 4, and then sent to the machining. 加工后,所述送至机床的机械手装置2松开接头4,与此同时所述左、右第一夹块113夹住接头4,移动到拾取机械手3的下方,所述拾取机械手3向下夹住接头4并取出完成如图1和图9。 After the machining, the machine tool to the robot 2 the releasable joint means 4, while the left and right clamp block 113 sandwiched between a first joint 4, to move the pickup 3 below the robot manipulator 3 the pick down remove the finished sandwich joint 4 and 9 in FIG. 1 and FIG. [0030] 本实用新型的传递弯管的机械手装置的优点:[0031] 1.可以将上道工序的机械手夹取产品的位置位置状态通过第一气动夹具101旋转角度,改变其夹取状态传以适应下道工序机械手的夹取状态,使常规直型和异型产品均可以夹取正常传递,增强了机械手的功能性。 [0030] The advantages of the present invention the robot transfer device elbow: [0031] 1. The position may be a position on the procedures of the state of the robot gripper 101 gripping the product through a first angle of rotation of a pneumatic, the gripping state change transmission to adapt to the next process robot gripping state, and the conventional straight-shaped products can be properly transmitted gripping, enhance the functionality of the robot. [0032] 2.通过把横向夹口116中的产品进入端缺口大于产品移出端缺口的结构,可以使产品放入夹口内更加方便,又可以矫正产品的夹取位置;通过设置纵向的夹口也同样即可以直接夹取纵向位置的产品,也可以对产品直接进行矫正。 [0032] 2. the lateral jaws 116, into the structure of the end product is greater than the gap end products are removed from the gap, you can make the product easier to clip into the mouth, and can correct gripping position of the product; the jaws by providing the longitudinal which can also be directly gripping the longitudinal position of the product, the product may be corrected directly. 上述的矫正方式,不但提高产品在机械手夹具上位置的精确性,减少由于夹取产品状态不对而引起的产品传递错误,提高工作效率,符合机械自动化发展规律。 The above correction mode, the product will not only improve the accuracy of the position on the robot gripper, reduce product because the state does not gripping the product caused by delivery errors, improve efficiency, in line with the law of development of automation machinery. [0033] 以上所述仅是本实用新型的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本实用新型技术原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也应视为本实用新型的保护范围。 [0033] The above description is only the preferred embodiment of the present invention embodiments, it should be noted that those of ordinary skill in the art, in the present invention without departing from the principles of the technology premise, can make various improvements and modifications , these improvements and modifications should be considered within the scope of the present invention to protect.

Claims (6)

1.一种用于机械手之间对产品传递、位置矫正的辅助机械手,其特征在于,包括横向推动气杆(102)和可移动的第一气动夹具(101);所述第一气动夹具(101)包括第一夹块(113)、第一夹紧气缸(112)、旋转气缸(115)和横向移动底座(111);所述第一夹块(113)有左、右两块,分别与第一夹紧气缸(112)的推杆连接,所述第一夹紧气缸(112)与横向移动底座(111)旋转连接,在所述第一夹紧气缸(112)的上侧设置有底板(114),所述底板(114)与左、右第一夹块(113)之间形成第一夹口(116);所述横向推动气杆(102)安装在横向移动底座(111)上;所述旋转气缸(115) —端与横向移动底座(111)旋转连接,另一端与第一夹紧气缸(112)旋转连接。 1. A method for transmitting product, correcting the position of the auxiliary manipulator, characterized in that between the robot, comprising a transverse gas push rod (102) and the first pneumatic clamp (101) movable; the first pneumatic clamp ( 101) comprises a first clamp block (113), a first gripping cylinder (112), rotating cylinder (115) and a transverse movable base (111); the first clamp block (113) has left and right two, respectively, a first clamping cylinder push rod (112) is connected to the first clamping cylinder (112) and the transverse movable base (111) rotatably connected with said first gripping cylinder (112) is disposed on the side of bottom plate (114), said base plate (114) and the left, is formed between the block (113) a first right first clamp jaws (116); the lateral pushing pneumatic rod (102) mounted transversely movable base (111) ; said rotating cylinder (115) - and the end transverse movable base (111) is rotated and the other end of the first gripping cylinder (112) rotatably connected.
2.根据权利要求1所述的用于机械手之间对产品传递、位置矫正的辅助机械手,其特征在于,所述第一夹口(116)为常规直型产品或者角通型产品的夹口。 The product is used for transmission between the manipulator, the position correction auxiliary robot, characterized in that said first jaws (116) product or a conventional straight angle on products according to claim 1 jaws .
3.根据权利要求1或2所述的用于机械手之间对产品传递、位置矫正的辅助机械手,其特征在于,所述常规直型产品的第一夹口(116)包含横向夹口(117)和纵向夹口(118)。 The product is used for transmission between the manipulator, the position correction auxiliary robot, characterized in that said first jaws straight Conventional product (116) comprising a lateral jaws (117 or according to claim 12 ) and longitudinal jaws (118).
4.根据权利要求3所述的的用于机械手之间对产品传递、位置矫正的辅助机械手,其特征在于,所述横向夹口(117)中的产品进入端缺口大于产品移出端缺口。 4. products for delivery, correcting the position of the auxiliary manipulator, characterized in that between the robot according to claim 3, in the lateral jaws (117) into the end product is greater than the gap end products are removed from the gap.
5.根据权利要求1所述的的用于机械手之间对产品传递、位置矫正的辅助机械手,其特征在于,所述第一夹紧气缸(112)与所述横向移动底座(111)的旋转角度为90°。 According to claim 1 for the delivery of the product, correcting the position of the auxiliary manipulator, characterized in that between the robot, the first clamping cylinder (112) rotating with said transverse movable base (111) angle of 90 °.
6.根据权利要求2所述的用于机械手之间对产品传递、位置矫正的辅助机械手,其特征在于,所述角通型的第一夹口(116)为横向放入下一道工序的机械手位置的夹口。 The product is used for transmission between the manipulator, the position correction auxiliary robot, characterized in that the angle through a first nip-type (116) is placed a step lower transverse robot according to claim 2 jaws position.
CN 201220739358 2012-12-27 2012-12-27 Auxiliary manipulator used for product transfer and location correction between manipulators CN202964663U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103817691A (en) * 2014-03-06 2014-05-28 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103817691A (en) * 2014-03-06 2014-05-28 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof
CN103817691B (en) * 2014-03-06 2015-06-03 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof

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