CN205852794U - Vac sorb catching robot - Google Patents
Vac sorb catching robot Download PDFInfo
- Publication number
- CN205852794U CN205852794U CN201620582142.8U CN201620582142U CN205852794U CN 205852794 U CN205852794 U CN 205852794U CN 201620582142 U CN201620582142 U CN 201620582142U CN 205852794 U CN205852794 U CN 205852794U
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- assembly
- axis
- moves
- slide block
- plane
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Abstract
This utility model relates to a kind of vac sorb catching robot, move assembly including X-axis, at least two Y-axis moves assembly, Z axis moves assembly and rotary grasping assembly, X-axis moves assembly and is fixedly arranged on said two Y-axis and moves assembly and can move assembly in described Y-axis and move along Y direction, Z axis moves assembly and is fixedly arranged on described X-axis and moves assembly moving in described X-axis and move along X-direction on assembly, and rotary grasping assembly is fixedly arranged on described Z axis and moves assembly moving at described Z axis and move along Z-direction on assembly；Rotary grasping assembly moves assembly by described X-axis, two Y-axis move assembly, Z axis moves the combination of assembly and moves and carry out location grabbing workpiece.In above-mentioned vac sorb catching robot, vacuum cup is used to draw glass pieces, to glass pieces not damaged；The supporter of mobile assembly is aluminium profile structure body, and installation accuracy is high, lightweight, operates safety.
Description
Technical field
This utility model relates to catching robot field, and a kind of vac sorb being specifically related on the equipment of clearing off captures machinery
Hands.
Background technology
Mechanical hand is generally used for the workpiece grabbing of industrial circle, replaces workman to complete to repeat operation efficiently, in high precision.Mesh
Before, capturing field at glass, the crawl glass machinery hands of prior art uses Welding Structure and cast structure, owing to it is tied
Structure span big (maximum across spending more than 2 meters), levelness, the depth of parallelism and the perpendicularity of Welding Structure class mechanical hand are difficult to reach
Required required precision, when capturing glass pieces, the location of workpiece is inaccurate, it is impossible to capture glass pieces accurately；Casting
Make the crawl glass machinery hands huge structure of structure class, heaviness and structure complicated, need during assembling para-position to use bottle gouard moved by hands or
The equipment tool such as fork lift truck, careless manipulation easily causes potential safety hazard, is unfavorable for the safety operation of operator.Additionally, it is existing
The Grasp Modes capturing glass machinery hands of technology is pneumatic-finger mostly, and pneumatic-finger somewhat air pressure processing controls is bad, holds
Easily crush, scratch or damage glass pieces, affect yield.
Utility model content
In view of this, it is necessary to provide a kind of vac sorb catching robot, accurate aluminum profiles is used to grab as suction is attached
Taking mechanical hand and perform the supporter of structure, compact conformation, lightweight, installation accuracy is high, easy to install, uses vacuum simultaneously
Glass pieces drawn by sucker, draws and places glass pieces and stablize, and to glass pieces not damaged.
A kind of vac sorb catching robot, moves assembly including X-axis, at least two Y-axis moves assembly, Z axis moves
Dynamic assembly and rotary grasping assembly, described X-axis moves assembly and is fixedly arranged on said two Y-axis and moves assembly can be in institute
Stating Y-axis to move assembly and move along Y direction, described Z axis moves assembly and is fixedly arranged on described X-axis and moves assembly can be
Described X-axis moves and moves along X-direction on assembly, and described rotary grasping assembly is fixedly arranged on described Z axis and moves assembly
And can move at described Z axis and move along Z-direction on assembly；Described rotary grasping assembly moves group by described X-axis
Dress body, said two Y-axis move assembly, described Z axis moves the combination of assembly and moves and carry out location grabbing workpiece.
Further, described X-axis moves assembly, said two Y-axis moves assembly, described Z axis moves assembly and divides
Do not include driving means, drive mechanism, slide block, guide rail, supporter, described driving means, described drive mechanism, described slide block,
Described guide rail is sequentially connected with and is installed on described supporter；Described X-axis moves the supporter of assembly and is arranged on said two Y
Axle moves on the respective slide block of assembly, and described Z axis moves the supporter of assembly and is arranged on described X-axis and moves the cunning of assembly
On block, described rotary grasping assembly is arranged on described Z axis and moves on the slide block of assembly；Said two Y-axis moves assembly
Two slide blocks driven by same described driving means.
Further, described rotary grasping assembly includes horizontal rotation apparatus and inclined-plane rotary apparatus, grabbing device, institute
Stating horizontal rotation apparatus to be arranged on described Z axis and move on the slide block of assembly, described inclined-plane rotary apparatus is arranged on described level
On rotary apparatus, described grabbing device is arranged on described inclined-plane rotary apparatus.
Further, described horizontal rotation apparatus includes servomotor, transmission connecting structure, spill spin block, proximity switch, peace
Dress plate, described spill spin block is connected to servomotor by described transmission connecting structure, and described transmission connecting structure includes that gear passes
Dynamic structure, described servomotor is installed to described Z axis by described installing plate and moves on the slide block of assembly, described proximity switch
It is installed on described installing plate and is in correspondence position with described spill spin block and detect described spill spin block with sensing；Described spill spin block has
Inclined-plane, described inclined-plane rotary apparatus is had to be fixedly arranged on described inclined-plane.
Further, described inclined-plane rotary apparatus includes that rotary cylinder, index arm, described rotary cylinder are arranged on described rotation
On the inclined-plane of block, described index arm is arranged on described rotary cylinder；Described grabbing device includes vacuum cup, described vacuum cup
It is arranged on index arm.
Further, described index arm has upper bottom surface, bottom surface and the side between upper bottom surface and bottom surface, extremely
A few side is parallel to XY face, the trapezoidal plane in both sides, and upper bottom surface is parallel to described spill spin block inclined-plane, upper bottom surface with go to the bottom
Face between face is inclined-plane；Described index arm bottom surface is fixedly mounted on described rotary cylinder, and described vacuum cup is installed on institute
The inclined-plane stating index arm is parallel on the side in XY face.
Further, described supporter is aluminium profile structure body, described supporting body surface be provided with proximity switch, mounting groove,
Fixing seat, described proximity switch is arranged in the supporter mounting groove at guide rail two ends and is in correspondence position with sense with described slide block
Described slide block should be detected；Described driving means is installed on described fixing seat, and described drive mechanism, described slide block are arranged at described peace
In tankage, described guide rails assembling is bottom described mounting groove.
Further, described driving means includes that servomotor, described drive mechanism include belt transfer structure or screw mandrel
Assembly, described servomotor is connected to described slide block by described belt transfer structure or described screw component, and drives described
Slide block moves on described guide rail.
Further, described supporter side and bottom surface are provided with fixing groove, and described X-axis moves the supporter of assembly and passes through
The said two Y-axis that is fixedly attached to described fixing groove moves on the respective slide block of assembly, and described Z axis moves the support of assembly
Body is fixedly attached to described X-axis by described fixing groove and moves the slide block of assembly, and described rotary grasping assembly is by described
Fixing groove is fixedly attached to described Z axis and moves on the slide block of assembly.
Further, described vac sorb catching robot also includes support, and it is respective that said two Y-axis moves assembly
Slide block is respectively fixedly connected with two described supports by the fixing groove of described supporter.
In above-mentioned vac sorb catching robot, use and move assembly by X-axis, two Y-axis move assembly, Z axis
The combination of mobile assembly is moved and is carried out positioning and pass through rotary grasping assembly crawl glass pieces, and location captures accurately；Adopt
Perform the supporter of structure, compact conformation, lightweight, installation essence as above-mentioned vac sorb catching robot with accurate aluminum profiles
Degree height；Using convolution cylinder and trapezoidal shape index arm and vacuum cup as rotary grasping assembly, response is fast, rotational angle essence
Standard, and use vacuum cup to draw glass pieces, glass pieces is drawn stable and will not damage glass surface.
Accompanying drawing explanation
Fig. 1 is the vac sorb catching robot structural representation of this utility model embodiment.
Fig. 2 is the rotary grasping assembly structural representation of this utility model embodiment.
Detailed description of the invention
Below with reference to specific embodiments and the drawings, this utility model is described in detail.
Refer to Fig. 1, Fig. 2, it is shown that a kind of vac sorb catching robot 10 of this utility model embodiment, including X-axis
Move assembly 11, at least two Y-axis moves assembly 12, Z axis moves assembly 13 and rotary grasping assembly 14, and X-axis is moved
Two Y-axis that are fixedly mounted on dynamic assembly 10 move assembly 15 moving in Y-axis and move along Y-axis on assembly 15, Z axis
Mobile assembly 13 is fixedly mounted on X-axis and moves assembly 11 and can move along X-axis on X-axis assembly 11, rotary grasping
Assembly 14 is fixedly mounted on Z axis and moves assembly 13 moving at Z axis and move along Z axis on assembly 13；Rotary grasping
Assembly 14 moves by X-axis that 11, two Y-axis of assembly move assembly 12, Z axis moves the combination of assembly 13 and moves and carry out
Position and capture glass pieces.
Further, X-axis moves that 11, two Y-axis of assembly move assembly 12, Z axis moves assembly 13 and includes respectively
Driving means, drive mechanism, slide block, guide rail, supporter 17, driving means, drive mechanism, slide block, guide rail are sequentially connected with and pacify
Being loaded on supporter 17, X-axis moves the supporter 17 of assembly 11 and is arranged on two Y-axis and moves the respective slide block of assembly 12 15
On, Z axis moves the supporter 15 of assembly 13 and is arranged on X-axis and moves on the slide block 15 of assembly 11, rotary grasping assembly 14
It is arranged on Z axis to move on the slide block 15 of assembly 13；Two Y-axis move two slide blocks 15 of assembly 12 by same driving
Device drives.
Further, supporter 17 side and bottom surface are provided with fixing groove, and X-axis moves the supporter 17 of assembly 11 by solid
Determining groove to be fixedly attached to two Y-axis and move on the respective slide block of assembly 12 15, Z axis moves the supporter 17 of assembly 13 to be passed through
The X-axis that is fixedly attached to fixing groove moves the slide block 15 of assembly 11, and rotary grasping assembly 14 is fixedly attached to Z by fixing groove
Axle moves on the slide block 15 of assembly 13.
Further, driving means includes servomotor 16, and drive mechanism includes belt transfer structure or screw component, watches
Take motor 16 and be connected to slide block 15 by belt transfer structure or screw component, and band movable slider 15 moves on guide rail
In the present embodiment, it is preferred that driving means selects servomotor 16, drive mechanism selects belt transfer structure,
Two Y-axis that use above-mentioned vac sorb catching robot 10 move assembly 12 and support and drive X-axis to move assembly 11, Z axis
Mobile assembly 13, rotary grasping assembly 14 move in Y-axis, and servomotor 16 is driven by synchronizing shaft and drive mechanism
The slide block 15 that two Y-axis move assembly 12 moves.Concrete, X-axis moves assembly 11 and is installed to two Y by supporter 17
Axle moves on the slide block 15 of assembly 12, and Z axis moves assembly 13 and is arranged on X-axis and moves assembly 11 and be located at the slide block 15 of side
Upper so that the slide block that Z axis moves assembly 13 moves in the Z-axis direction, rotary grasping assembly 14 is installed by installing plate 141
Move on the slide block 15 of assembly 13 to Z axis.During work, servomotor 16 drives two Y-axis to move the slide block 15 of assembly 12
Y-axis moves, is arranged on two Y-axis and moves that the X-axis on assembly 12 slide block 15 moves assembly 11, Z axis moves assembly
13, rotary grasping assembly 14 moves along with slide block 15 in Y-axis, and in like manner, servomotor 16 drives X-axis to move assembly 11
Slide block 15 moves in X-axis and drives Z axis to move assembly 13 and rotary grasping assembly 14 moves in X-axis, servomotor
16 slide blocks 15 driving Z axis to move assembly 13 move and are rotated crawl assembly 14 on Z axis and move on Z axis, rotation
Turn and capture that assembly 14 moves assembly 11 by X-axis, Y-axis moves assembly 12, Y-axis moves the group of the respective slide block of assembly 13
Closing and moved the location to glass pieces, last rotary grasping assembly 14 performs grasping movement again.
Further, supporter 17 is aluminium profile structure body, and supporter 17 surface is provided with mounting groove, fixing seat, drives dress
Putting and be installed on fixing seat, drive mechanism, slide block are arranged in mounting groove, and guide rails assembling is bottom mounting groove
In the present embodiment, guide rail, conveyer structure are built in supporter 17, the drive connection part of conveyer structure
Being located at the two ends of supporter, servomotor 16 is installed to supporter end by fixing seat, and is connected by belt and belt wheel
To conveyer structure, guide rail is arranged in the mounting groove of supporter 17, and slide block is located on slide rail and is connected with belt transfer structure.
During work, servomotor 16 drives the conveyer structure being built in supporter 17 to move by belt and belt wheel, above-mentioned transmission
Band structure band movable slider moves on slide rail.The precision of aluminium section bar is high, lightweight, and aluminium section bar can improve as supporter 17
Installation accuracy, easy for installation, compact conformation.
Further, rotary grasping assembly 14 includes horizontal rotation apparatus and inclined-plane rotary apparatus, grabbing device, level
Rotary apparatus is arranged on Z axis and moves on the slide block 15 of assembly 13, and inclined-plane rotary apparatus is arranged on horizontal rotation apparatus, captures
Device is arranged on inclined-plane rotary apparatus.Concrete, horizontal rotation apparatus includes servomotor 16, transmission connecting structure, rotation
Block 142, installing plate 141, spill spin block 142 is connected to servomotor 16 by transmission connecting structure, and transmission connecting structure includes tooth
Wheel drive mechanism, spill spin block 142 has inclined-plane, and inclined-plane rotary apparatus is fixedly arranged on the inclined-plane of spill spin block 142.
Further, inclined-plane rotary apparatus includes rotary cylinder 144, index arm 145, and rotary cylinder 144 is arranged on spill spin block
On the inclined-plane of 142, index arm 145 is arranged on rotary cylinder 144；Grabbing device includes that vacuum cup 146, vacuum cup 146 set
Put on index arm.
Further, index arm 145 has upper bottom surface, bottom surface and the side between upper bottom surface and bottom surface, extremely
A few side is parallel to XY face, the trapezoidal plane in both sides, and upper bottom surface is parallel to the inclined-plane of spill spin block 142, upper bottom surface with under
Face between bottom surface is inclined-plane；Index arm 145 bottom surface is fixedly mounted on rotary cylinder 144, and vacuum cup 146 is installed on index arm
The inclined-plane of 145 is parallel on the side in XY face.
In the present embodiment, the servomotor 16 of horizontal rotation apparatus is fixed on Z axis by installing plate 141 and moves assembly
On the slide block 15 of 13, spill spin block 142 is connected to servomotor 16, the rotary cylinder of inclined-plane rotary apparatus by transmission connecting structure
On 144 inclined-planes being arranged on spill spin block 142, vacuum cup 146 is fixing with index arm 145 to be connected, and index arm 145 is installed on rotary cylinder
On 144.Wherein, transmission connecting structure includes that gear connects and shaft coupling connects 143, it is preferred that transmission connecting structure selects connection
Axial organ connects 143.During work, servomotor 16 is rotated block 142 and rotates in the horizontal plane, thus drives rotary cylinder 144
And vacuum cup 146 rotates location in the horizontal direction, rotary cylinder 144 drives very on the inclined-plane of spill spin block 142 afterwards
Suction dish 146 rotates location on bevel direction, and after navigating to accurate location, the servomotor 16 of Z axis moving assembly 13 drives Z
Slide block 15 and the vacuum cup 146 of axle moving assembly 13 move on Z axis, and then vacuum cup 146 performs to draw or place
Action.
In the present embodiment, proximity switch is respectively arranged in that X-axis moves assembly 11, Y-axis moves assembly 12, Z axis moves
On the dynamic respective supporter of assembly 13, concrete, it is installed on guide rail two ends and is in correspondence position, slide block 15 with slide block 15
Time close, proximity switch can sense, two extreme positions of slide block 15 motion are equipped with proximity switch, in time by slide block 15
Position feed back to servomotor, it is to avoid slide block 15 goes beyond the limit of position and clashes into.Horizontal rotation apparatus also is provided with close to opening
Closing, proximity switch is installed on installing plate and is in correspondence position with sensing detection spill spin block 142, spill spin block with spill spin block 142
Two rotation limit positions of 142 are also provided with proximity switch, it is to avoid spill spin block 142 causes equipment to damage beyond rotation limit position
Bad.
Further, above-mentioned vac sorb catching robot 10 also includes support, and it is respective that two Y-axis move assembly 12
Slide block 15 be respectively fixedly connected with two pedestal upper end by the fixing groove of supporter 17, two pedestal lower end are provided with installation
Block, above-mentioned vac sorb catching robot 10 is installed to the both sides of the equipment of clearing off by the mounting blocks of above-mentioned two pedestal lower end.
In above-mentioned vac sorb catching robot 10, employing is moved 11, two Y-axis of assembly by X-axis and is moved assembly
12, Z axis moves the combination movement of assembly 13 and positions workpiece and pass through rotary grasping assembly 14 and capture glass pieces,
Location captures accurately；Accurate aluminum profiles is used to perform the supporter 17 of structure, knot as above-mentioned vac sorb catching robot 10
Structure is compact, lightweight, installation accuracy is high；Use convolution cylinder 144 and trapezoidal shape index arm and vacuum cup as rotary grasping
Assembly 14, response is fast, and rotational angle is accurate, and uses vacuum cup 146 to draw glass pieces, and glass pieces is drawn stable
And glass surface will not be damaged.
It should be noted that this utility model is not limited to above-mentioned embodiment, create essence according to of the present utility model
God, those skilled in the art can also make other and change, these changes done according to creative spirit of the present utility model, all
Should be included in this utility model claimed within the scope of.
Claims (10)
1. a vac sorb catching robot, it is characterised in that include that X-axis moves assembly, at least two Y-axis moves assembling
Body, Z axis move assembly and rotary grasping assembly, and described X-axis moves assembly and is fixedly arranged on said two Y-axis and moves assembly
And assembly can be moved in described Y-axis and move along Y direction, described Z axis moves assembly and is fixedly arranged on described X-axis and moves assembling
Body moving in described X-axis moves along X-direction on assembly, and described rotary grasping assembly is fixedly arranged on described Z axis and moves
Dynamic assembly moving at described Z axis moves along Z-direction on assembly；Described rotary grasping assembly passes through described X
Axle moves assembly, said two Y-axis moves assembly, described Z axis moves the combination of assembly and moves and position and capture
Workpiece.
2. vac sorb catching robot as claimed in claim 1, it is characterised in that described X-axis move assembly, described two
Individual Y-axis moves assembly, described Z axis moves assembly and includes driving means, drive mechanism, slide block, guide rail, supporter respectively,
Described driving means, described drive mechanism, described slide block, described guide rail are sequentially connected with and are installed on described supporter；Described X
Axle moves the supporter of assembly and is arranged on said two Y-axis and moves on the respective slide block of assembly, and described Z axis moves assembly
Supporter be arranged on described X-axis and move on the slide block of assembly, described rotary grasping assembly is arranged on described Z axis and moves group
On the slide block of dress body；Said two Y-axis is moved two slide blocks of assembly and is driven by same described driving means.
3. vac sorb catching robot as claimed in claim 2, it is characterised in that described rotary grasping assembly includes water
Flat rotary apparatus and inclined-plane rotary apparatus, grabbing device, described horizontal rotation apparatus is arranged on described Z axis and moves the cunning of assembly
On block, described inclined-plane rotary apparatus is arranged on described horizontal rotation apparatus, and described grabbing device is arranged on described inclined-plane and rotates
On device.
4. vac sorb catching robot as claimed in claim 3, it is characterised in that described horizontal rotation apparatus includes servo
Motor, transmission connecting structure, spill spin block, proximity switch, installing plate, described spill spin block is connected to by described transmission connecting structure
Servomotor, described transmission connecting structure includes that gear transmission structure, described servomotor are installed to institute by described installing plate
Stating Z axis and move on the slide block of assembly, described proximity switch is installed on described installing plate and is in corresponding with described spill spin block
Described spill spin block is detected with sensing in position；Described spill spin block has inclined-plane, and described inclined-plane rotary apparatus is fixedly arranged on described inclined-plane.
5. vac sorb catching robot as claimed in claim 3, it is characterised in that described inclined-plane rotary apparatus includes revolution
Cylinder, index arm, described rotary cylinder is arranged on the inclined-plane of described spill spin block, and described index arm is arranged on described rotary cylinder；
Described grabbing device includes that vacuum cup, described vacuum cup are arranged on index arm.
6. vac sorb catching robot as claimed in claim 5, it is characterised in that described index arm has upper bottom surface, goes to the bottom
Face and the side between upper bottom surface and bottom surface, at least one side is parallel to XY face, the trapezoidal plane in both sides, up and down
Bottom surface is parallel to described spill spin block inclined-plane, and the face between upper bottom surface and bottom surface is inclined-plane；Described index arm bottom surface fixedly mounts
On described rotary cylinder, described vacuum cup is installed on the inclined-plane of described index arm and is parallel on the side in XY face.
7. vac sorb catching robot as claimed in claim 2, it is characterised in that described supporter is aluminium profile structure
Body, described supporting body surface is provided with proximity switch, mounting groove, fixing seat, and described proximity switch is arranged on the support at guide rail two ends
In body mounting groove and it is in correspondence position with described slide block and detects described slide block with sensing；Described driving means is installed on described solid
Reservation, described drive mechanism, described slide block be arranged in described mounting groove, and described guide rails assembling is bottom described mounting groove.
8. vac sorb catching robot as claimed in claim 7, it is characterised in that described driving means includes servo electricity
Machine, described drive mechanism includes belt transfer structure or screw component, described servomotor by described belt transfer structure or
Described screw component is connected to described slide block, and drives described slide block to move on described guide rail.
9. vac sorb catching robot as claimed in claim 2, it is characterised in that described supporter side and bottom surface are provided with
Fixing groove, described X-axis moves the supporter of assembly and is fixedly attached to said two Y-axis by described fixing groove and moves assembly
On respective slide block, described Z axis moves the supporter of assembly and is fixedly attached to described X-axis by described fixing groove and moves assembling
The slide block of body, described rotary grasping assembly is fixedly attached to described Z axis by described fixing groove and moves on the slide block of assembly.
10. vac sorb catching robot as claimed in claim 9, it is characterised in that described vac sorb catching robot
Also include that support, said two Y-axis are moved the respective slide block of assembly and be respectively fixedly connected with by the fixing groove of described supporter
To two described supports.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620582142.8U CN205852794U (en) | 2016-06-15 | 2016-06-15 | Vac sorb catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620582142.8U CN205852794U (en) | 2016-06-15 | 2016-06-15 | Vac sorb catching robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205852794U true CN205852794U (en) | 2017-01-04 |
Family
ID=57638887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620582142.8U Expired - Fee Related CN205852794U (en) | 2016-06-15 | 2016-06-15 | Vac sorb catching robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205852794U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107584476A (en) * | 2017-09-07 | 2018-01-16 | 嘉兴学院 | A kind of Multi-freedom-degreemanipulator manipulator system with identical tension and zero-g |
| CN107662093A (en) * | 2017-11-06 | 2018-02-06 | 石家庄铁道大学 | Manipulator travel mechanism and the detection device installation system containing the travel mechanism |
| CN107756183A (en) * | 2017-11-06 | 2018-03-06 | 石家庄铁道大学 | Bogie acoustic emission sensor installation system |
| CN108216810A (en) * | 2017-12-25 | 2018-06-29 | 东莞捷荣技术股份有限公司 | A kind of suction nozzle swing offset control structure, label-sticking mechanism and auxiliary material adsorption method |
| CN108555892A (en) * | 2018-05-30 | 2018-09-21 | 东莞市佐臣自动化机械有限公司 | It is a kind of can simultaneously sub-material and cleaning materials and parts depiler |
| CN108582028A (en) * | 2018-07-09 | 2018-09-28 | 深圳市创世纪机械有限公司 | Five axis running vehicle type manipulators |
| CN109249417A (en) * | 2018-09-26 | 2019-01-22 | 重庆元谱机器人技术有限公司 | Skylight grabbing device |
| CN110976921A (en) * | 2019-12-19 | 2020-04-10 | 佛山市铭柯智能设备科技有限公司 | Feeding and discharging mechanical arm for lathe |
| CN114380053A (en) * | 2022-03-08 | 2022-04-22 | 哈尔滨工业大学 | Glass carrying robot |
| CN114987837A (en) * | 2022-08-01 | 2022-09-02 | 安徽唯嵩光电科技有限公司 | Snatch mechanism, manipulator and sparingly move device that carries of ejection of compact beat point |
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2016
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107584476A (en) * | 2017-09-07 | 2018-01-16 | 嘉兴学院 | A kind of Multi-freedom-degreemanipulator manipulator system with identical tension and zero-g |
| CN107662093B (en) * | 2017-11-06 | 2020-01-07 | 石家庄铁道大学 | Manipulator moving mechanism and detection equipment mounting system comprising same |
| CN107662093A (en) * | 2017-11-06 | 2018-02-06 | 石家庄铁道大学 | Manipulator travel mechanism and the detection device installation system containing the travel mechanism |
| CN107756183A (en) * | 2017-11-06 | 2018-03-06 | 石家庄铁道大学 | Bogie acoustic emission sensor installation system |
| CN108216810B (en) * | 2017-12-25 | 2022-03-15 | 东莞捷荣技术股份有限公司 | Suction head rotary displacement control structure, labeling mechanism and auxiliary material adsorption method |
| CN108216810A (en) * | 2017-12-25 | 2018-06-29 | 东莞捷荣技术股份有限公司 | A kind of suction nozzle swing offset control structure, label-sticking mechanism and auxiliary material adsorption method |
| CN108555892A (en) * | 2018-05-30 | 2018-09-21 | 东莞市佐臣自动化机械有限公司 | It is a kind of can simultaneously sub-material and cleaning materials and parts depiler |
| CN108582028A (en) * | 2018-07-09 | 2018-09-28 | 深圳市创世纪机械有限公司 | Five axis running vehicle type manipulators |
| CN109249417A (en) * | 2018-09-26 | 2019-01-22 | 重庆元谱机器人技术有限公司 | Skylight grabbing device |
| CN110976921A (en) * | 2019-12-19 | 2020-04-10 | 佛山市铭柯智能设备科技有限公司 | Feeding and discharging mechanical arm for lathe |
| CN114380053A (en) * | 2022-03-08 | 2022-04-22 | 哈尔滨工业大学 | Glass carrying robot |
| CN114987837A (en) * | 2022-08-01 | 2022-09-02 | 安徽唯嵩光电科技有限公司 | Snatch mechanism, manipulator and sparingly move device that carries of ejection of compact beat point |
| CN114987837B (en) * | 2022-08-01 | 2022-11-08 | 安徽唯嵩光电科技有限公司 | Snatch mechanism, manipulator and sparingly move device that carries of ejection of compact beat point |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170104 Termination date: 20210615 |