CN206511643U - A kind of automatic gripper of tire - Google Patents
A kind of automatic gripper of tire Download PDFInfo
- Publication number
- CN206511643U CN206511643U CN201720101901.9U CN201720101901U CN206511643U CN 206511643 U CN206511643 U CN 206511643U CN 201720101901 U CN201720101901 U CN 201720101901U CN 206511643 U CN206511643 U CN 206511643U
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- Prior art keywords
- guide rails
- racks
- arm
- drive
- directions
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Abstract
The utility model provides a kind of automatic gripper of tire, including workbench (26), conveyer (27), the direction motions of xyz tri-, Mobile base (7), arm for taking material (18) and grasping mechanism；The conveyer (27) is installed in the lower section of the workbench (26), and the conveyer (27) is used for the transfer for realizing tire；The top of the workbench (26) is installed by the direction motions of xyz tri-；Wherein, the direction motions of xyz tri- include x directions moving parts, y directions moving parts and z directions moving parts.The automatic gripper of a kind of tire that the utility model is provided has advantages below：The solution of the crawl tire of three coordinated manners is proposed, three directions freely accurate crawl tire is realized, reduces the input of manpower, improve production efficiency.
Description
Technical field
The utility model belongs to tire crawl technical field, and in particular to a kind of automatic gripper of tire.
Background technology
At present, it is general only to meet the crawl that yz or xz both directions are carried out to tire in automobile tire manufacturing process, be
The flexible transfer of tire is realized, it is necessary to manpower is intervened, and because tire is more thick and heavy, therefore, with labor strength it is big and
The low deficiency of security, and then cause inefficiency.
Utility model content
The defect existed for prior art, the utility model provides a kind of automatic gripper of tire, can effectively solve
State problem.
The technical solution adopted in the utility model is as follows：
The utility model provides a kind of automatic gripper of tire, including workbench (26), conveyer (27), xyz tripartite
To motion, Mobile base (7), arm for taking material (18) and grasping mechanism；
The conveyer (27) is installed in the lower section of the workbench (26), and the conveyer (27) is used to realize tire
Transfer；The top of the workbench (26) is installed by the direction motions of xyz tri-；Wherein, the direction fitness machines of xyz tri-
Structure includes x directions moving parts, y directions moving parts and z directions moving parts；The arm for taking material (18) is arranged at the movement
The grasping mechanism is fixedly mounted in the inside of seat (7), the bottom of the arm for taking material (18), and z directions moving parts is used to drive
The dynamic arm for taking material (18) carries out z direction motions, and then drives the grasping mechanism to carry out z direction motions；The arm for taking material
(18), the entirety of the Mobile base (7) and grasping mechanism formation is designated as z frames；X directions moving parts is used to drive
The z frames carry out x direction motions；The z frames and the entirety of x directions moving parts formation are designated as xz frames；The y
Direction moving parts is used to drive the xz frames to carry out y direction motions, and then realizes the grasping mechanism in the directions of xyz tri-
Motion, captures the tire below workbench, and be transferred to the conveyer (27) above by the grasping mechanism.
It is preferred that, x directions moving parts includes：X- motors (1), x- decelerators (2), x- drive gears (3), x- teeth
Bar (4), x- guide rails (5), x- guide rail slide blocks (33) and x- bridges (6)；
The x- bridges (6) are arranged on the workbench (26) above in the x-direction, and the x- guide rails (5) are fixed on described
Above, the x- racks (4) are arranged on above the x- bridges (6) x- bridges (6), and are be arranged in parallel with the x- guide rails (5)；
The x- guide rail slide blocks (33) are fixedly mounted in the bottom of the Mobile base (7), and the x- guide rail slide blocks (33) are sleeved on the x-
On guide rail (5)；The x- decelerators (2), the top peace of the x- decelerators (2) is fixedly mounted in the side of the Mobile base (7)
Fill the x- motors (1)；The output shaft of the x- decelerators (2) passes through the bonded dynamic installation x- drive gears (3)；The x-
Drive gear (3) is engaged with the x- racks (4), therefore, and the x- motors (1) are driven described by the x- decelerators (2)
X- drive gears (3) are moved along the x- racks (4), and then drive the Mobile base (7) to carry out x side along the x- guide rails (5)
To motion.
It is preferred that, y directions moving parts includes y- motors (8), y- decelerators (9), y- drive gears (10), y- teeth
Article (11), y- guide rails, 1y- guide rail slide blocks, 2y- guide rail slide blocks (34) and y- speed reducer bases (29)；
X- bridges (6) the two ends bottom is respectively installed with 1y- guide rail slide blocks and 2y- guide rail slide blocks (34)；Position
In on the workbench (26) at x- bridges (6) two ends and parallel being in the y-direction provided with 1y- guide rails and 2y- guide rails；
The 1y- guide rail slide blocks and 2y- guide rail slide blocks (34) are set in the 1y- guide rails and the 2y- is led
On rail；
The y- racks (11) are fixed on the workbench (26) above, and are set with the 2y- guide rail parallels；It is described
Y- motors (8) are connected with the y- decelerators (9), and the y- drive gears (10) pass through key and the y- decelerators (9)
Output shaft is connected, and the y- drive gears (10) are meshed with the y- racks (11)；The y- decelerators (9) are fixed on described
On y- speed reducer bases (29), the y- speed reducer bases (29) are fixed on x- bridges (6) side；Therefore, the y- motors (8)
Drive the y- drive gears (10) to be moved along the y- racks (11) by the y- decelerators (9), and then drive the x-
Bridge (6) carries out y directions along the 1y- guide rails and the 2y- guide rails respectively and moved.
It is preferred that, z directions moving parts includes z- motors (13), z- worm type of reduction gearings (14), decelerator mistake
Cab apron (32), z- drive gears, z- racks (16), z- guide rails and z- guide rail slide blocks (35)；
The arm for taking material (18) is arranged on the Mobile base (7) inside, and the z- racks (16) are fixed on the arm for taking material
(18) inner side, the z- guide rails are fixed on the outside of the arm for taking material (18), and the z- guide rails are parallel with the z- racks (16)
Set；
The z- motors (13) are connected with the z- worm type of reduction gearings (14), the z- worm type of reduction gearings
(14) it is fixed on the decelerator rebound (32), the decelerator rebound (32) is fixed on after the Mobile base (7)
Face；The output shaft of the z- worm type of reduction gearings (14) is connected by key with the z- drive gears；The z- drive gears
Engaged with the z- racks (16)；
The z- guide rail slide blocks (35) are fixed on the inner side of the Mobile base (7), and the z- guide rail slide blocks (35) are sleeved on
On the z- guide rails；Therefore, the z- motors (13) drive the z- sliding tooths by the z- worm type of reduction gearings (14)
Wheel is rotated, and then drives z- racks (16) motion, finally drives the arm for taking material (18) to carry out z direction motions.
It is preferred that, the grasping mechanism includes：Fixture connecting seat (19), cylinder (20), wheel disc clamping seats (21), cylinder connect
Joint chair (22), chuck connecting rod (23), hook (24) and rubber cushion blocks (25)；
The fixture connecting seat (19) is fixed on the bottom of the arm for taking material (18), and the wheel disc clamping seats (21) are fixed on
The bottom of the fixture connecting seat (19), the cylinder (20) is arranged on the inside of the wheel disc clamping seats (21), the cylinder
Connecting seat (22) is sleeved on the external part of the cylinder (20)；The wheel disc clamping seats (21) have three outstanding ears, each described
Outstanding ear is mounted on a clamp arm；Each clamp arm includes：Chuck connecting rod (23), hook (24) and rubber cushion blocks
(25)；Wherein, the center section of the chuck connecting rod (23) is arranged on the outstanding ear of the wheel disc clamping seats (21), the chuck
One end of connecting rod (23) is connected with the waist hole (31) of cylinder connecting seat (22), the other end and the hook of the chuck connecting rod (23)
Pawl (24) is connected, and the rubber cushion blocks (25) are fixed on the outside of the hook (24).
The automatic gripper of a kind of tire that the utility model is provided has advantages below：
The solution of the crawl tire of three coordinated manners is proposed, three directions freely accurate crawl tire is realized, subtracts
The input of few manpower, improves production efficiency.
Brief description of the drawings
Fig. 1 is utility model works front view
Fig. 2 is z directions dynamic structure figure of the present utility model
Fig. 3 is x directions dynamic structure figure of the present utility model
Fig. 4 is y directions dynamic structure figure of the present utility model
Fig. 5 is y directions dynamic structure figure of the present utility model
Fig. 6 is that the utility model captures tire schematic diagram
Fig. 7 is the utility model grasping mechanism structure chart
Fig. 8 is the utility model cylinder connecting base structure figure
Description of reference numerals：
1.x- motors, 2.x- decelerators, 3.x- drive gears, 4.x- racks, 5.x- guide rails, 6.x- bridges, 7. Mobile bases,
8.y- motors, 9.y- decelerators, 10.y- drive gears, 11.y- racks, 13.z- motors, 14.z- worm type of reduction gearings,
16.z- racks, 18. arm for taking material, 19. fixture connecting seats, 20. cylinders, 21. wheel disc clamping seats, 22. cylinder connecting seats, 23. chucks
Connecting rod, 24. hooks, 25. rubber cushion blocks, 26. workbench, 27. conveyers, 28. guide plates, 29.y- speed reducer bases, 30. wheels
Tire, 31. waist holes, 32. decelerator rebounds, 33.x- guide rail slide blocks, 34. 2y- guide rail slide blocks, 35.z- guide rail slide blocks.
Embodiment
In order that technical problem, technical scheme and beneficial effect that the utility model is solved are more clearly understood, below
With reference to drawings and Examples, the utility model is further elaborated.It should be appreciated that specific implementation described herein
Example only to explain the utility model, is not used to limit the utility model.
The utility model provides a kind of automatic gripper of tire, it is possible to achieve optional position accurately captures tire, such as Fig. 1 and
Fig. 2, mass motion is carried out set forth below on the basis of Fig. 1 directions：
The automatic gripper of tire includes workbench 26, conveyer 27, the direction motions of xyz tri-, Mobile base 7, feeding
Arm 18 and grasping mechanism；
Conveyer 27 is installed in the lower section of workbench 26, and conveyer 27 is used for the transfer for realizing tire；Workbench 26
Top is installed by the direction motions of xyz tri-；Wherein, the direction motions of xyz tri- can realize freely moving for tri- directions of x/y/z
It is dynamic, including x directions moving parts, y directions moving parts and z directions moving parts；Arm for taking material 18 is arranged at the interior of Mobile base 7
Grasping mechanism is fixedly mounted in portion, the bottom of arm for taking material 18, and z directions moving parts is used to drive arm for taking material 18 to carry out z direction motions,
And then drive grasping mechanism to carry out z direction motions；The entirety of arm for taking material 18, Mobile base 7 and grasping mechanism formation is designated as z frames；x
Direction moving parts is used to drive z frames to carry out x direction motions；Z frames and the entirety of x directions moving parts formation are designated as xz machines
Frame；Y directions moving parts is used to drive xz frames to carry out y direction motions, and then realizes fortune of the grasping mechanism in the directions of xyz tri-
It is dynamic, the tire below workbench is captured by grasping mechanism, and be transferred to above conveyer 27.
(1) x directions moving parts
As shown in Fig. 1,3,4, x directions moving parts includes：X- motors 1, x- decelerators 2, x- drive gears 3, x- racks
4th, x- guide rails 5, x- guide rail slide blocks 33 and x- bridges 6；
X- bridges 6 are arranged on above workbench 26 in the x-direction, and x- guide rails 5 are fixed on above x- bridges 6 by screw, x-
Rack 4 is arranged on the top of x- bridges 6, and is be arranged in parallel with x- guide rails 5；The bottom of Mobile base 7 is fixedly mounted x- by screw and led
Rail sliding block 33, x- guide rail slide blocks 33 are sleeved on x- guide rails 5；X- decelerators 2 are fixedly mounted by screw in the side of Mobile base 7,
The top of x- decelerators 2 x- motors 1 are installed by screw；The output shaft of x- decelerators 2 passes through bonded dynamic installation x- drive gears
3；X- drive gears 3 are engaged with x- racks 4, therefore, and x- motors 1 drive x- drive gears 3 along x- racks 4 by x- decelerators 2
Motion, and then drive Mobile base 7 to be moved along the progress x of x- guide rails 5 directions.
(2) y directions moving parts
As shown in Fig. 1,4,5, y directions moving parts includes y- motors 8, y- decelerators 9, y- drive gears 10, y- racks
11st, y- guide rails, 1y- guide rail slide blocks, 2y- guide rail slide blocks 34 and y- speed reducer bases 29；
The two ends bottom of x- bridges 6 is respectively installed with 1y- guide rail slide blocks and 2y- guide rail slide blocks 34；Positioned at x- bridges 6
On the workbench 26 at two ends and 1y- guide rails and 2y- guide rails are installed parallel through screw in the y-direction；1y- guide rail slide blocks
It is set in 2y- guide rail slide blocks 34 on 1y- guide rails and 2y- guide rails；
Y- racks 11 are fixed by screws in above workbench 26, and are set with 2y- guide rail parallels；Y- motors 8 and y-
Decelerator 9 is connected by screw, and y- drive gears 10 are connected by key with the output shaft of y- decelerators 9, y- drive gears 10
It is meshed with y- racks 11；Y- decelerators 9 are fixed by screws on y- speed reducer bases 29, and y- speed reducer bases 29 are solid by screw
It is scheduled on the side of x- bridges 6；Therefore, y- motors 8 drive y- drive gears 10 to be moved along y- racks 11 by y- decelerators 9, and then
Drive x- bridges 6 to carry out y directions along 1y- guide rails and 2y- guide rails respectively to move.
(3) z directions moving parts
As shown in Figure 1, 2, 3, z directions moving parts includes z- motors 13, z- worm type of reduction gearings 14, decelerator transition
Plate 32, z- drive gears, z- racks 16, z- guide rails and z- guide rail slide blocks 35；
Arm for taking material 18 is arranged on inside Mobile base 7, and z- racks 16 are fixed by screws in the inner side of arm for taking material 18, z- guide rails
The outside of arm for taking material 18 is fixed by screws in, z- guide rails and z- racks 16 be arranged in parallel；
Z- motors 13 are connected with z- worm type of reduction gearings 14 by screw, and z- worm type of reduction gearings 14 are solid by screw
It is scheduled on decelerator rebound 32, decelerator rebound 32 is fixed by screws in behind Mobile base 7；Z- worm and gears subtract
The output shaft of fast device 14 is connected by key with z- drive gears；Z- drive gears are engaged with z- racks 16；
Z- guide rail slide blocks 35 are fixed by screws in the inner side of Mobile base 7, and z- guide rail slide blocks 35 are sleeved on z- guide rails；Cause
This, z- motors 13 drive z- drive gears to rotate by z- worm type of reduction gearings 14, and then drive z- racks 16 to move, finally
Arm for taking material 18 is driven to carry out z direction motions.
For z directions moving parts, movement angle is changed by z- worm type of reduction gearings, the upper of grasping mechanism is realized
Rise and decline.
(4) grasping mechanism
As shown in Fig. 2,6,7, the crawl tire that grasping mechanism can be stablized is not skewed, does not drop.Including：Fixture is connected
Seat 19, cylinder 20, wheel disc clamping seats 21, cylinder connecting seat 22, chuck connecting rod 23, hook 24 and rubber cushion blocks 25；
Fixture connecting seat 19 is fixed by screws in the bottom of arm for taking material 18, and wheel disc clamping seats 21 are fixed by screws in folder
Has the bottom of connecting seat 19, cylinder 20 is arranged on the inside of wheel disc clamping seats 21, and cylinder connecting seat 22 is sleeved on stretching for cylinder 20
Go out end；The structure of wheel disc clamping seats 21 is as shown in figure 8, wheel disc clamping seats 21 have three outstanding ears, and each outstanding ear is mounted on one
Clamp arm；Each clamp arm includes：Chuck connecting rod 23, hook 24 and rubber cushion blocks 25；Wherein, the center section of chuck connecting rod 23
On the outstanding ear that wheel disc clamping seats 21 are arranged on by screw, one end of chuck connecting rod 23 passes through screw and the waist of cylinder connecting seat 22
Hole 31 is connected, and the other end of chuck connecting rod 23 is connected by screw with hook 24, and rubber cushion blocks 25 are fixed by screws in hook
24 outside.
For grasping mechanism, design feature includes：(1) cylinder connecting seat 22 is provided with waist hole 31, and the structure of waist hole 31 is met
Hand grasping operation moves surplus when dynamic, it is moved within the specific limits.(2) set on the outside of hook and rubber cushion blocks are installed, kept away
Exempt to scratch surface of tyre.(3) crawl hand getting allows crawl hand rapidly to capture tire with pneumatic as power source.
During work：The automatic gripper of tire receives instruction, x- motors 1 and the co-operating of y- motors 8, and grasping mechanism is moved
Move to above the tire that need to be handled upside down, z- motors 13 are rotated, decline whole grasping mechanism, reach specified location, cylinder 20 is stretched
Go out, and then hand is grabbed and opened, and tire is blocked, z- motors 13 are rotated backward, and whole grasping mechanism is increased, are risen to specified location
Afterwards, tire is moved to the top of conveyer 27 by x- motors 1 and the co-operating of y- motors 8, and z- motors 13 are rotated, made under grasping mechanism
Specified location is dropped to, cylinder 20 is withdrawn, and hand grabs contraction, and tire is laid down, z- motor reversals rise grasping mechanism, continue to connect
Next instruction is received, the crawl work of tire is performed.
The automatic gripper of a kind of tire that the utility model is provided has advantages below：
(1) solution of the crawl tire of three coordinated manners is proposed, three directions freely accurate crawl tire is realized,
The input of manpower is reduced, production efficiency is improved.
(2) three directions of telecontrol equipment are provided with three groups of motors, and the motion in respectively three directions provides power.X- across
Beam, x- motors, y- motors, z- motors, the combination of arm for taking material and Mobile base so that the structure of whole motion is compacter.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and
Retouching should also regard protection domain of the present utility model.
Claims (5)
1. a kind of automatic gripper of tire, it is characterised in that including workbench (26), conveyer (27), the motion of the directions of xyz tri-
Mechanism, Mobile base (7), arm for taking material (18) and grasping mechanism；
The conveyer (27) is installed in the lower section of the workbench (26), and the conveyer (27) is used to realize turning for tire
Move；The top of the workbench (26) is installed by the direction motions of xyz tri-；Wherein, the direction motion bags of xyz tri-
Include x directions moving parts, y directions moving parts and z directions moving parts；The arm for taking material (18) is arranged at the Mobile base
(7) grasping mechanism is fixedly mounted in inside, the bottom of the arm for taking material (18), and z directions moving parts is used to drive
The arm for taking material (18) carries out z direction motions, and then drives the grasping mechanism to carry out z direction motions；The arm for taking material (18),
The entirety of the Mobile base (7) and grasping mechanism formation is designated as z frames；X directions moving parts is used to drive the z
Frame carries out x direction motions；The z frames and the entirety of x directions moving parts formation are designated as xz frames；The y directions
Moving parts is used to drive the xz frames to carry out y direction motions, and then realizes fortune of the grasping mechanism in the directions of xyz tri-
It is dynamic, the tire below workbench is captured by the grasping mechanism, and be transferred to the conveyer (27) above.
2. the automatic gripper of tire according to claim 1, it is characterised in that x directions moving parts includes：X- electricity
Machine (1), x- decelerators (2), x- drive gears (3), x- racks (4), x- guide rails (5), x- guide rail slide blocks (33) and x- bridges
(6)；
The x- bridges (6) in the x-direction be arranged on the workbench (26) above, the x- guide rails (5) be fixed on the x- across
Above, the x- racks (4) are arranged on above the x- bridges (6) beam (6), and are be arranged in parallel with the x- guide rails (5)；It is described
The x- guide rail slide blocks (33) are fixedly mounted in the bottom of Mobile base (7), and the x- guide rail slide blocks (33) are sleeved on the x- guide rails
(5) on；The x- decelerators (2) are fixedly mounted in the side of the Mobile base (7), and institute is installed on the top of the x- decelerators (2)
State x- motors (1)；The output shaft of the x- decelerators (2) passes through the bonded dynamic installation x- drive gears (3)；The x- drivings
Gear (3) is engaged with the x- racks (4), therefore, and the x- motors (1) drive the x- to drive by the x- decelerators (2)
Moving gear (3) is moved along the x- racks (4), and then drives the Mobile base (7) to carry out x directions fortune along the x- guide rails (5)
It is dynamic.
3. the automatic gripper of tire according to claim 2, it is characterised in that y directions moving parts includes y- electricity
Machine (8), y- decelerators (9), y- drive gears (10), y- racks (11), y- guide rails, 1y- guide rail slide blocks, 2y- guide rails are slided
Block (34) and y- speed reducer bases (29)；
X- bridges (6) the two ends bottom is respectively installed with 1y- guide rail slide blocks and 2y- guide rail slide blocks (34)；Positioned at institute
State on the workbench (26) at x- bridges (6) two ends and parallel in the y-direction 1y- guide rails and 2y- guide rails are installed；It is described
1y- guide rail slide blocks and the 2y- guide rail slide blocks (34) are set on the 1y- guide rails and the 2y- guide rails；
The y- racks (11) are fixed on the workbench (26) above, and are set with the 2y- guide rail parallels；The y- electricity
Machine (8) is connected with the y- decelerators (9), the output that the y- drive gears (10) pass through key and the y- decelerators (9)
Axle is connected, and the y- drive gears (10) are meshed with the y- racks (11)；The y- decelerators (9) are fixed on the y- and subtracted
On fast device seat (29), the y- speed reducer bases (29) are fixed on x- bridges (6) side；Therefore, the y- motors (8) pass through
The y- decelerators (9) drive the y- drive gears (10) to be moved along the y- racks (11), and then drive the x- bridges
(6) y directions are carried out along the 1y- guide rails and the 2y- guide rails respectively to move.
4. the automatic gripper of tire according to claim 3, it is characterised in that z directions moving parts includes z- electricity
Machine (13), z- worm type of reduction gearings (14), decelerator rebound (32), z- drive gears, z- racks (16), z- guide rails and z-
Guide rail slide block (35)；
The arm for taking material (18) is arranged on the Mobile base (7) inside, and the z- racks (16) are fixed on the arm for taking material (18)
Inner side, the z- guide rails are fixed on the outside of the arm for taking material (18), and the z- guide rails and the z- racks (16) be arranged in parallel；
The z- motors (13) are connected with the z- worm type of reduction gearings (14), and the z- worm type of reduction gearings (14) are fixed
On the decelerator rebound (32), the decelerator rebound (32) is fixed on behind the Mobile base (7)；The z-
The output shaft of worm type of reduction gearing (14) is connected by key with the z- drive gears；The z- drive gears and the z- teeth
Bar (16) is engaged；
The z- guide rail slide blocks (35) are fixed on the inner side of the Mobile base (7), and the z- guide rail slide blocks (35) are sleeved on described
On z- guide rails；Therefore, the z- motors (13) drive the z- sliding tooths to rotate by the z- worm type of reduction gearings (14)
It is dynamic, and then z- racks (16) motion is driven, finally drive the arm for taking material (18) to carry out z direction motions.
5. the automatic gripper of tire according to claim 4, it is characterised in that the grasping mechanism includes：Fixture is connected
Seat (19), cylinder (20), wheel disc clamping seats (21), cylinder connecting seat (22), chuck connecting rod (23), hook (24) and rubber cushion blocks
(25)；
The fixture connecting seat (19) is fixed on the bottom of the arm for taking material (18), and the wheel disc clamping seats (21) are fixed on described
The bottom of fixture connecting seat (19), the cylinder (20) is arranged on the inside of the wheel disc clamping seats (21), the cylinder connection
Seat (22) is sleeved on the external part of the cylinder (20)；The wheel disc clamping seats (21) have three outstanding ears, each outstanding ear
It is mounted on a clamp arm；Each clamp arm includes：Chuck connecting rod (23), hook (24) and rubber cushion blocks (25)；Its
In, the center section of the chuck connecting rod (23) is arranged on the outstanding ear of the wheel disc clamping seats (21), the chuck connecting rod
(23) one end is connected with the waist hole (31) of cylinder connecting seat (22), the other end and the hook of the chuck connecting rod (23)
(24) it is connected, the rubber cushion blocks (25) are fixed on the outside of the hook (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720101901.9U CN206511643U (en) | 2017-01-26 | 2017-01-26 | A kind of automatic gripper of tire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720101901.9U CN206511643U (en) | 2017-01-26 | 2017-01-26 | A kind of automatic gripper of tire |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206511643U true CN206511643U (en) | 2017-09-22 |
Family
ID=59867015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720101901.9U Expired - Fee Related CN206511643U (en) | 2017-01-26 | 2017-01-26 | A kind of automatic gripper of tire |
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| CN (1) | CN206511643U (en) |
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2017
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| CN110902382A (en) * | 2019-12-13 | 2020-03-24 | 安徽瑞祥工业有限公司 | High-precision three-dimensional large-space heavy-load material conveying mechanism and using method thereof |
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| CN113697483B (en) * | 2021-09-06 | 2022-10-21 | 咸宁职业技术学院 | Tire assembly line tail end manipulator arrangement collection device |
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