CN205201178U - Engine cylinder block's robot transport anchor clamps and handling system based on vision - Google Patents
Engine cylinder block's robot transport anchor clamps and handling system based on vision Download PDFInfo
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- CN205201178U CN205201178U CN201521007929.3U CN201521007929U CN205201178U CN 205201178 U CN205201178 U CN 205201178U CN 201521007929 U CN201521007929 U CN 201521007929U CN 205201178 U CN205201178 U CN 205201178U
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Abstract
The utility model discloses a because the engine cylinder block's of vision robot transport anchor clamps, including the anchor clamps body, the anchor clamps body links to each other with transport the robot, is equipped with visual system, detecting system and gas accuse system on the anchor clamps body, visual system, detecting system and gas accuse system are all continuous with the control system of transfer robot. The utility model also discloses a robot handling system of based on the engine cylinder block of vision, including transfer robot, robot control system and as foretell visual system, detecting system gentleness accuse system, robot control system control transfer robot, visual system, detecting system and gas accuse system. The utility model discloses a robot transport anchor clamps and control system can realize the automation and the intellectuality of cylinder body transport, and the security of handling efficiency height, low in production cost, transport is high, just can satisfy the beat requirement of robot machine tooling.
Description
Technical field
The utility model relates to robot transport fixture and the handling system field of cylinder body, especially, relates to a kind of robot transport fixture of engine cylinder-body of view-based access control model.In addition, the utility model also relates to a kind of robot transportation system of engine cylinder-body of view-based access control model.
Background technology
At present, engine cylinder-body production and processing mainly adopts mode manually to carry out material loading and blanking, and for the engine cylinder-body of big-and-middle-sized automobile or large-tonnage engineering machinery, due to its of a great variety and heavier-weight, therefore, when cylinder body material loading and blanking are manually carried out in employing, its handling efficiency is low, easily occurs security incident; And along with the fast development of industrial automation, rhythm of production is constantly accelerated, human cost continues to increase, under this situation, adopt and manually carry out cylinder body production material loading and blanking, inefficiency, production cost is high, more very be adopt artificial loading and blanking can not meet the mach beat requirement of robot.
Utility model content
The utility model provides a kind of robot transport fixture and handling system of engine cylinder-body of view-based access control model, with solve existing manually carry out cylinder body loading and unloading time the handling efficiency that exists low, security is low, production cost is high and can not meet the technical problem that the mach beat of robot requires.
The technical solution adopted in the utility model is as follows:
A kind of robot transport fixture of engine cylinder-body of view-based access control model, comprise the chuck body for clamping cylinder body, chuck body is connected with conveying robot human body, chuck body be provided with for identify cylinder body and obtain the position coordinates of cylinder body vision system, for the detection system that whether puts in place before judging chuck body carrying cylinder body and the pneumatic control system controlling chuck body clamping cylinder body; Vision system, detection system and pneumatic control system are all connected with the control system of transfer robot.
Further, chuck body comprises the first installing plate, and the first installing plate is provided with the adpting flange for being connected with conveying robot human body and the clamping components for clamping cylinder body; Clamping components is connected with pneumatic control system; Vision system and detection system are all arranged on the first installing plate.
Further, clamping components comprise fix with the first installing plate clamp hand, to coordinate with the dynamic tong clamping cylinder body and the actuator driving dynamic tong to slide with clamp hand; Actuator to be arranged on the first installing plate and to be connected with pneumatic control system; Dynamic tong slides to be arranged on the first installing plate and with the output of actuator and is connected.
Further, clamping components also comprises the guide led to the slip of dynamic tong, and guide comprises: be arranged at the guide rail on the lower surface of the first installing plate, be arranged at the guide block on guide rail and be arranged on the lower surface of the first installing plate in order to carry out spacing limited block to guide block along the slip of guide rail; Guide block is connected with the output shaft of actuator, and dynamic tong and guide block are fixed.
Further, clamp hand comprise the cushion block fixed with the lower surface of the first installing plate and with cushion block fixing determine handgrip; Dynamic tong comprises the slide plate and the dynamic handgrip fixing with slide plate fixed with guide block; Determine handgrip and dynamic handgrip all in " L " type, comprise the montant for stretching in the cylinder barrel of cylinder body and be connected with the bottom of montant for embedding the dop in the through hole that is communicated with cylinder barrel.
Further, detection system comprises buffer component for supporting with the upper surface of cylinder body and for coordinating to detect the detection means whether put in place before chuck body clamps cylinder body with buffer component; Buffer component and detection means are all arranged on the first installing plate.
Further, buffer component comprises the mounting flange fixing with the upper surface of the first installing plate, and mounting flange slides is provided with the push rod that two ends pass mounting flange and the first installing plate respectively; The top of push rod is arranged with to make push rod hang the locking nut be arranged on mounting flange, and push rod is arranged with spring, and the two ends of spring are supported with the bottom of the first installing plate and push rod respectively.
Further, detection means comprises the upper surface and the first support plate of close mounting flange that are arranged at the first installing plate, first support plate be provided with up and down adjustable for detect push rod on the sense switch of the amount of moving, sense switch is connected with the control system of transfer robot.
Further, vision system comprises second installing plate fixing with the first installing plate, and the second installing plate is provided with the second support plate, light source and graphics processing unit; Second support plate is provided with the camera of taking pictures to cylinder body, graphics processing unit is connected with camera and processes to obtain the elements of a fix data of cylinder body with the picture absorbed camera, and elements of a fix data are transferred to the control system of transfer robot by graphics processing unit by vision data transmission line.
According to another aspect of the present utility model, additionally provide a kind of robot transportation system of engine cylinder-body of view-based access control model, comprise transfer robot, robot control system and vision system, detection system and pneumatic control system described above, robot control system controls transfer robot, vision system, detection system and pneumatic control system; The elements of a fix data of engine cylinder-body in order to take pictures and coordinate setting to engine cylinder-body, and are sent to robot control system by vision system; Whether detection system puts in place before detecting the handling gripper carrying cylinder body on transfer robot, and testing result is sent to robot control system; Robot control system according to the attitude of elements of a fix data point reuse transfer robot, and controls pneumatic control system to make handling gripper clamping cylinder body according to testing result, and controls the position that transfer robot moves to the required carrying of cylinder body.
The utility model has following beneficial effect:
1, robot transport fixture of the present utility model adopts vision system location, and positioning precision is high and applicability is strong; Robot transport fixture of the present utility model can realize automation and the intellectuality of cylinder body carrying, and handling efficiency is high, production cost is low, the security of carrying is high and can meet the mach beat requirement of robot.
2, robot transportation system of the present utility model can realize automation and the intellectuality of cylinder body carrying, and handling efficiency is high, it is high and can meet the mach beat requirement of robot to become to produce cost security that is low, carrying.
Except object described above, feature and advantage, the utility model also has other object, feature and advantage.Below with reference to figure, the utility model is described in further detail.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide further understanding of the present utility model, and schematic description and description of the present utility model, for explaining the utility model, is not formed improper restriction of the present utility model.In the accompanying drawings:
View when Fig. 1 is the robot transport holder cylinder body of the engine cylinder-body of the view-based access control model of the utility model preferred embodiment;
Fig. 2 is the space structure schematic diagram of the robot transport fixture of the engine cylinder-body of view-based access control model in Fig. 1;
Fig. 3 is the main TV structure schematic diagram of Fig. 2;
Fig. 4 is the broken section structural representation of the buffer component in Fig. 2;
Flow chart when Fig. 5 is the robot transportation system carrying cylinder body of the engine cylinder-body of the view-based access control model of the utility model preferred embodiment.
Marginal data
1, cylinder body; 101, cylinder barrel; 2, vision system; 21, the second installing plate; 22, the second support plate; 23, light source; 24, graphics processing unit; 25, camera; 26, vision data transmission line; 3, detection system; 31, buffer component; 311, mounting flange; 312, push rod; 313, locking nut; 314, spring; 315, wear washer; 32, detection means; 321, the first support plate; 322, sense switch; 4, the first installing plate; 5, adpting flange; 6, clamping components; 61, clamp hand; 611, cushion block; 612, handgrip is determined; 62, dynamic tong; 621, slide plate; 622, dynamic handgrip; 63, actuator; 64, guide; 641, guide rail; 642, guide block; 643, limited block.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail, but the multitude of different ways that the utility model can be defined by the claims and cover is implemented.
As shown in Figure 1, preferred embodiment of the present utility model provides a kind of robot transport fixture of engine cylinder-body of view-based access control model, comprise the chuck body for clamping cylinder body 1, chuck body is connected with conveying robot human body, chuck body be provided with for identify cylinder body and obtain the position coordinates of cylinder body vision system 2, for the detection system 3 that whether puts in place before judging chuck body carrying cylinder body and the pneumatic control system controlling chuck body clamping cylinder body; Vision system 2, detection system 3 and pneumatic control system are all connected with the control system of transfer robot.Constantly, first vision system 2 identifies cylinder body and obtains the position coordinates of cylinder body the robot transport fixture carrying cylinder body of the engine cylinder-body of view-based access control model of the present utility model, and the position coordinates of acquisition is sent to the control system of transfer robot; Detection system 3 judges whether handling gripper puts in place, and testing result being sent to the control system of transfer robot, the control system of transfer robot controls pneumatic control system according to testing result and moves to clamp cylinder body to drive chuck body and cylinder body is carried to desired location.Robot transport fixture of the present utility model adopts vision system 2 to locate, and positioning precision is high and applicability is strong; Robot transport fixture of the present utility model can realize automation and the intellectuality of cylinder body carrying, and handling efficiency is high, production cost is low, the security of carrying is high and can meet the mach beat requirement of robot.
Alternatively, as shown in Figure 2, chuck body comprises the first installing plate 4, first installing plate 4 and is provided with the adpting flange 5 for being connected with conveying robot human body and the clamping components 6 for clamping cylinder body 1; Clamping components 6 is connected with pneumatic control system; Vision system 2 and detection system 3 are all arranged on the first installing plate 4.
Alternatively, as shown in Figure 2, clamping components 6 comprises the clamp hand 61 fixing with the first installing plate 4, coordinates to clamp the dynamic tong 62 of cylinder body 1 and drive the actuator 63 moving tong 62 and slide with clamp hand 61; Actuator 63 to be arranged on the first installing plate 4 and to be connected with pneumatic control system; Dynamic tong 62 slides and is arranged on the first installing plate 4 and is connected with the output of actuator 63, with the effect lower slider at actuator 63 to clamp cylinder body 1.Preferably, dynamic tong 62 is oppositely arranged with clamp hand 61, and under the effect of actuator 63, slides to clamp cylinder body 1 towards the direction of clamp hand 61 or slide to unclamp cylinder body 1 towards the direction away from clamp hand 61 under the effect of actuator 63.In the utility model specific embodiment, actuator 63 is cylinder.Chuck body structure of the present utility model is simple, is easy to manufacture, simple to operate when clamping or unclamp cylinder body.
Preferably, as shown in Figure 3, clamping components 6 of the present utility model also comprises the guide 64 led to the slip of dynamic tong 62 on the first installing plate 4, and guide 64 comprises: be arranged at the guide rail 641 on the lower surface of the first installing plate 4, be arranged at the guide block 642 on guide rail 641 and be arranged on the lower surface of the first installing plate 4 in order to carry out spacing limited block 643 to guide block 642 along the slip of guide rail 641; Guide block 642 is connected with the output shaft of actuator 63, and dynamic tong 62 is fixed with guide block 642.Actuator 63 drives guide block 642 to slide along guide rail 641, thus drives and be fixed on the dynamic tong 62 on guide block 642 and slide along the length direction of the first installing plate 4.
Alternatively, clamp hand 61 comprise the cushion block 611 fixed with the lower surface of the first installing plate 4 and with cushion block 611 fixing determine handgrip 612.Preferably, as shown in Figure 2, determine handgrip 612 in " L " type, comprise the montant for stretching in the cylinder barrel 101 of cylinder body 1 and be connected with the bottom of montant for embedding the dop in the through hole that is communicated with cylinder barrel 101.Dynamic tong 62 comprises the slide plate 621 fixing with guide block 642 and the dynamic handgrip 622 fixing with slide plate 621.Preferably, as shown in Figure 2, the structure of dynamic handgrip 622 is identical with the structure of determine handgrip 612, and moving handgrip 622 is " L " type, comprise the montant for stretching in the cylinder barrel 101 of cylinder body 1 and be connected with the bottom of montant for embedding the dop in the through hole that is communicated with cylinder barrel 101.Dop for embedding in the through hole that is communicated with cylinder barrel 101 is included owing to determining handgrip 612 and dynamic handgrip 622, thus clamping cylinder body 1 that can be more firm.
In the utility model, as shown in Figure 2, detection system 3 comprises the buffer component 31 for supporting with the upper surface of cylinder body 1 and detects for coordinating with buffer component 31 detection means 32 whether put in place before chuck body clamps cylinder body 1; Buffer component 31 and detection means 32 are all arranged on the first installing plate 4.
Alternatively, as shown in Figure 2 and Figure 4, buffer component 31 comprises the mounting flange 311 fixing with the upper surface of the first installing plate 4, and mounting flange 311 slides is provided with the push rod 312 that two ends pass mounting flange 311 and the first installing plate 4 respectively; The top of push rod 312 is arranged with to make push rod 312 hang the locking nut 313 be arranged on mounting flange 311, push rod 312 is arranged with spring 314, and the two ends of spring 314 are supported with the bottom of the first installing plate 4 and push rod 312 respectively.Preferably, the bottom of push rod 312 and the contact position of cylinder body are provided with wear washer 315.During detection, buffer component 31 is followed chuck body and is moved down, upper surface with cylinder body is supported by push rod 312 in folding process, be arranged on mounting flange 311 because push rod 312 slides, when the bottom of push rod 312 and cylinder body are supported, push rod 312 will move up, detection means 32 detect push rod 312 on the amount of moving, and judge whether chuck body puts in place according to the amount of moving on push rod 312, and by testing result transmission to the control system of transfer robot.Buffer component 31 is not only for cushioning handling gripper, slow down the collision between handling gripper and cylinder body, also handling gripper short transverse is compensated, make up the shortcoming that vision system can not detect vertical height, also coordinate with detection means 32, realize handling gripper to put in place detection, improve the serviceability of handling gripper.In the utility model specific embodiment, as shown in Figure 2, the group number of buffer component 31 is four groups, four groups of buffer components 31 are divided into the two large groups that the length direction along the first installing plate 4 is arranged successively, and two groups of buffer components 31 in every large group buffer component 31 are arranged along the width of the first installing plate 4.
Alternatively, as shown in Figure 2, detection means 32 comprises the upper surface and the first support plate 321 of close mounting flange 311 that are arranged at the first installing plate 4, first support plate 321 be provided with up and down adjustable for detect push rod 312 on the sense switch 322 of the amount of moving, sense switch 322 is connected with the control system of transfer robot.Preferably, first support plate 321 is in " L " type, its level board and the first installing plate 4 are fixed, its vertical plate vertical with level board offers mounting hole, mounting hole extends along the short transverse of vertical plate, sense switch 322 is installed on vertical plate by screw, and by adjustment screw, the installation site of adjustable sense switch on vertical plate.
In the utility model, as shown in Figure 2, vision system 2 comprises second installing plate 21, second installing plate 21 fixing with the first installing plate 4 and is provided with the second support plate 22, light source 23 and graphics processing unit 24; Second support plate 22 is provided with the camera 25 of taking pictures to cylinder body 1, camera 25 is connected with graphics processing unit 24 and processes to obtain the elements of a fix data of cylinder body with the picture absorbed camera 25, and elements of a fix data are transferred to the control system of transfer robot by graphics processing unit 24 by vision data transmission line 26.
In the utility model, pneumatic control system comprises air compressor machine, pneumatic bigeminy part, two solenoid electric valves, silencer, air pressure lock and flow speed control valves, robot control system controls two solenoid electric valves according to the testing result of detection system and obtains electric, thus makes actuator 63 action to clamp cylinder body cylinder body.
The invention also discloses a kind of robot transportation system of engine cylinder-body of view-based access control model, comprise transfer robot, robot control system and vision system 2, detection system 3 and pneumatic control system described above, robot control system controls transfer robot, vision system 2, detection system 3 and pneumatic control system; The elements of a fix data of engine cylinder-body in order to take pictures and coordinate setting to engine cylinder-body, and are sent to robot control system by vision system 2; Whether detection system 3 puts in place before detecting the handling gripper carrying cylinder body on transfer robot, and testing result is sent to robot control system; Robot control system according to the attitude of elements of a fix data point reuse transfer robot, and controls pneumatic control system to make handling gripper clamping cylinder body according to testing result, and controls the position that transfer robot moves to the required carrying of cylinder body.Workflow during robot transportation system carrying cylinder body of the present utility model as shown in Figure 5, robot control system initializes, and control transfer robot and move to feeding station, first vision system 2 takes pictures and coordinate setting to engine cylinder-body, and the elements of a fix data of engine cylinder-body are sent to robot control system, robot control system according to the attitude of elements of a fix data point reuse transfer robot received to clamp cylinder body, before clamping cylinder body, whether detection system 3 puts in place before detecting the handling gripper carrying cylinder body on transfer robot, and send testing result to robot control system, robot control system controls pneumatic control system according to the testing result received and clamps cylinder body to make handling gripper, and control the position that transfer robot moves to the required carrying of cylinder body.Robot transportation system of the present utility model can realize automation and the intellectuality of cylinder body carrying, and handling efficiency is high, it is high and can meet the mach beat requirement of robot to become to produce cost security that is low, carrying.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. a robot transport fixture for the engine cylinder-body of view-based access control model, is characterized in that,
Comprise the chuck body for clamping cylinder body (1), described chuck body is connected with conveying robot human body, described chuck body be provided with for identify cylinder body and obtain the position coordinates of cylinder body vision system (2), for the detection system (3) that whether puts in place before judging described chuck body carrying cylinder body and the pneumatic control system controlling described chuck body clamping cylinder body;
Described vision system (2), described detection system (3) and described pneumatic control system are all connected with the control system of transfer robot.
2. the robot transport fixture of the engine cylinder-body of view-based access control model according to claim 1, is characterized in that,
Described chuck body comprises the first installing plate (4), and described first installing plate (4) is provided with the adpting flange (5) for being connected with described conveying robot human body and the clamping components (6) for clamping described cylinder body (1);
Described clamping components (6) is connected with described pneumatic control system;
Described vision system (2) and described detection system (3) are all arranged on described first installing plate (4).
3. the robot transport fixture of the engine cylinder-body of view-based access control model according to claim 2, is characterized in that,
Described clamping components (6) comprises clamp hand (61), the dynamic tong (62) that with described clamp hand (61) coordinate clamp described cylinder body (1) and the actuator (63) that drive described dynamic tong (62) slide fixing with described first installing plate (4);
Described actuator (63) is arranged at described first installing plate (4) and goes up and be connected with described pneumatic control system;
The slip of described dynamic tong (62) is arranged at described first installing plate (4) and goes up and be connected with the output of described actuator (63).
4. the robot transport fixture of the engine cylinder-body of view-based access control model according to claim 3, is characterized in that,
Described clamping components (6) also comprises the guide (64) led to the slip of described dynamic tong (62), and described guide (64) comprising:
Be arranged at the guide rail (641) on the lower surface of described first installing plate (4), be arranged at the guide block (642) on described guide rail (641) and be arranged on the lower surface of described first installing plate (4) in order to carry out spacing limited block (643) to described guide block (642) along the slip of described guide rail (641);
Described guide block (642) is connected with the output shaft of described actuator (63), and described dynamic tong (62) is fixed with described guide block (642).
5. the robot transport fixture of the engine cylinder-body of view-based access control model according to claim 4, is characterized in that,
Described clamp hand (61) comprise the cushion block (611) fixing with the lower surface of described first installing plate (4) and with described cushion block (611) fixing determine handgrip (612);
Described dynamic tong (62) comprises the slide plate (621) fixing with described guide block (642) and the dynamic handgrip (622) fixing with described slide plate (621);
Describedly determine handgrip (612) and described dynamic handgrip (622) all in " L " type, comprise the montant in the cylinder barrel (101) for stretching into described cylinder body (1) and be connected with the bottom of described montant for embedding the dop in the through hole that is communicated with described cylinder barrel (101).
6. the robot transport fixture of the engine cylinder-body of view-based access control model according to claim 2, is characterized in that,
Described detection system (3) comprises the buffer component (31) for supporting with the upper surface of described cylinder body (1) and clamps the front detection means (32) whether put in place of described cylinder body (1) for coordinating to detect described chuck body with described buffer component (31);
Described buffer component (31) and described detection means (32) are all arranged on described first installing plate (4).
7. the robot transport fixture of the engine cylinder-body of view-based access control model according to claim 6, is characterized in that,
Described buffer component (31) comprises the mounting flange (311) fixing with the upper surface of described first installing plate (4), and the upper slip of described mounting flange (311) is provided with the push rod (312) that two ends pass described mounting flange (311) and described first installing plate (4) respectively;
The top of described push rod (312) is arranged with to make described push rod (312) hang the locking nut (313) be arranged on described mounting flange (311), described push rod (312) is arranged with spring (314), the two ends of described spring (314) are supported with the bottom of described first installing plate (4) and described push rod (312) respectively.
8. the robot transport fixture of the engine cylinder-body of view-based access control model according to claim 7, is characterized in that,
Described detection means (32) comprises the upper surface and first support plate (321) of close described mounting flange (311) that are arranged at described first installing plate (4), described first support plate (321) be provided with up and down adjustable for detect described push rod (312) on the sense switch (322) of the amount of moving, described sense switch (322) is connected with the control system of described transfer robot.
9. the robot transport fixture of the engine cylinder-body of view-based access control model according to claim 2, is characterized in that,
Described vision system (2) comprises second installing plate (21) fixing with described first installing plate (4), and described second installing plate (21) is provided with the second support plate (22), light source (23) and graphics processing unit (24);
Described second support plate (22) is provided with the camera (25) of taking pictures to described cylinder body (1), described graphics processing unit (24) is connected with described camera (25) and processes to obtain the elements of a fix data of cylinder body with the picture absorbed described camera (25), and described elements of a fix data are transferred to the control system of described transfer robot by described graphics processing unit (24) by vision data transmission line (26).
10. a robot transportation system for the engine cylinder-body of view-based access control model, is characterized in that,
Comprise transfer robot, robot control system and vision system (2), detection system (3) and pneumatic control system as claimed in any one of claims 1-9 wherein, described robot control system controls described transfer robot, described vision system (2), described detection system (3) and described pneumatic control system;
The elements of a fix data of described engine cylinder-body in order to take pictures and coordinate setting to engine cylinder-body, and are sent to described robot control system by described vision system (2);
Whether described detection system (3) puts in place before detecting the described handling gripper carrying cylinder body on described transfer robot, and testing result is sent to described robot control system;
The attitude of described robot control system transfer robot according to described elements of a fix data point reuse, and control described pneumatic control system to make described handling gripper clamping cylinder body according to described testing result, and control the position that described transfer robot moves to the required carrying of cylinder body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521007929.3U CN205201178U (en) | 2015-12-08 | 2015-12-08 | Engine cylinder block's robot transport anchor clamps and handling system based on vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521007929.3U CN205201178U (en) | 2015-12-08 | 2015-12-08 | Engine cylinder block's robot transport anchor clamps and handling system based on vision |
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| Publication Number | Publication Date |
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| CN205201178U true CN205201178U (en) | 2016-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521007929.3U Withdrawn - After Issue CN205201178U (en) | 2015-12-08 | 2015-12-08 | Engine cylinder block's robot transport anchor clamps and handling system based on vision |
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| CN (1) | CN205201178U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105345585A (en) * | 2015-12-08 | 2016-02-24 | 长沙长泰机器人有限公司 | Vision-based robot transfer clamp and system for engine cylinder blocks |
| CN111258267A (en) * | 2020-01-17 | 2020-06-09 | 北京科技大学 | Man-machine cooperation carrying system and hybrid vision control method thereof |
-
2015
- 2015-12-08 CN CN201521007929.3U patent/CN205201178U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105345585A (en) * | 2015-12-08 | 2016-02-24 | 长沙长泰机器人有限公司 | Vision-based robot transfer clamp and system for engine cylinder blocks |
| CN105345585B (en) * | 2015-12-08 | 2018-04-20 | 长沙长泰机器人有限公司 | The robot handling gripper and handling system of the engine cylinder body of view-based access control model |
| CN111258267A (en) * | 2020-01-17 | 2020-06-09 | 北京科技大学 | Man-machine cooperation carrying system and hybrid vision control method thereof |
| CN111258267B (en) * | 2020-01-17 | 2021-07-16 | 北京科技大学 | Man-machine cooperation carrying system and hybrid vision control method thereof |
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Granted publication date: 20160504 Effective date of abandoning: 20180420 |
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