CN209954682U - Automatic change and get a manipulator - Google Patents
Automatic change and get a manipulator Download PDFInfo
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- CN209954682U CN209954682U CN201920662295.7U CN201920662295U CN209954682U CN 209954682 U CN209954682 U CN 209954682U CN 201920662295 U CN201920662295 U CN 201920662295U CN 209954682 U CN209954682 U CN 209954682U
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Abstract
The utility model discloses an automatic change and get a manipulator, include: a three-dimensional manipulation assembly and a manipulator assembly; the three-dimensional control assembly is used for driving the manipulator assembly to move in a three-dimensional space; the manipulator assembly comprises a fixed block, a fixed plate, a slide block, a hydraulic rod, a connecting frame, a supporting frame, a conveying belt and a driving member; the utility model adopts the supporting frames with the conveying belts which are arranged in a triangle to clamp the articles, the hydraulic rods can adjust the size intervals of the three supporting frames, and the articles can be clamped upwards by the upward movement of the conveying belts; simultaneously, when article are tubular structure, can stretch into a section of thick bamboo with three support frames in, support the centre gripping from inside, consequently, the utility model discloses a support frame with conveyer belt can adopt inside centre gripping and outwards support two kinds of modes of getting, can get a centre gripping mode according to the adjustment of product shape selectivity of difference, and the commonality is high, and stability is strong.
Description
Technical Field
The utility model relates to a mechanical conveying equipment technical field, more specifically the utility model relates to an automatic change and get a manipulator that says so.
Background
At present, a manipulator is a new device developed in the process of mechanized and automated production, and in the modern production process, the manipulator is widely applied to an automatic production line, and can imitate certain motion functions of a human hand and an arm so as to grab, carry objects or operate tools according to a fixed program. In order to improve the automation degree of a factory, a special workpiece taking mechanical arm is generally adopted to realize workpiece taking and transporting work on a specific product, and a large amount of manual labor is released.
However, the existing manipulator has a single function, is generally designed for specific products, and can take only one product although the automation degree is high. Moreover, because the shapes, structures and volumes of different products are different, the manipulator is difficult to universally fetch the workpieces, and the stability of fetching the workpieces cannot be ensured.
Therefore, how to provide a general-purpose manipulator with stable workpiece taking is a problem that needs to be solved by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides an automatic change and get a manipulator can adapt to the article of isostructure and get a, and stability is strong, and the commonality is high.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an automated part picking robot comprising: a three-dimensional manipulation assembly and a manipulator assembly;
the three-dimensional control assembly is used for driving the manipulator assembly to move in a three-dimensional space;
the manipulator assembly comprises a fixed block, a fixed plate, a sliding block, a hydraulic rod, a connecting frame, a supporting frame, a conveying belt and a driving member; the fixed block is connected with the three-dimensional control assembly; the middle clamp of the fixing plate is fixedly connected with the bottom of the fixing block, and the fixing plate is provided with three sliding chutes by taking the fixing block as the center; the sliding block is connected in the sliding groove in a sliding manner; one end of the hydraulic rod is connected with the sliding block, and the other end of the hydraulic rod is connected with the fixed block; the connecting frames are respectively fixedly connected with the sliding blocks and are positioned below the fixed plate; the support frame is a long strip frame body, one end head of the support frame is fixed with the connecting frame, and the axial direction of the support frame is perpendicular to the fixed plate; the conveying belt is sleeved on the end heads at the two ends of the supporting frame; the driving component is fixed on the connecting frame and used for driving the conveying belt to transmit along the axial outer wall of the supporting frame.
Through the technical scheme, the utility model adopts the support frames with the conveying belts arranged in a triangle to clamp the articles, the hydraulic rods can adjust the clamping sizes of the three support frames, the articles can be upwards clamped through the upward movement of the conveying belts, the clamping effect is stable, the universality is strong, and the articles with different shapes and structures can be clamped; simultaneously, when article are tubular structure, can stretch into a section of thick bamboo with three support frames in, support the centre gripping from inside, consequently, the utility model discloses a support frame with conveyer belt can adopt inside centre gripping and outwards support two kinds of modes of getting, can get a centre gripping mode according to the adjustment of product shape selectivity of difference, and the commonality is high, and stability is strong.
Preferably, in the above automatic workpiece taking manipulator, the three-dimensional control assembly includes a horizontal transmission shaft, a vertical transmission shaft, a rotating seat and a fixed seat; the horizontal transmission shaft is provided with a horizontal slideway, and the fixing block is connected to the horizontal slideway in a sliding manner; the vertical transmission shaft is provided with a vertical slideway, and one end of the horizontal transmission shaft is connected to the vertical slideway in a sliding manner; the rotating seat is fixed at the bottom end of the vertical transmission shaft; the fixing seat is connected to the bottom of the rotating seat, and the rotating seat is rotatably connected with the fixing seat. The three-dimensional control assembly can control the manipulator assembly to rotate and translate in a horizontal plane and move in a vertical plane, and the flexibility of manipulator taking is improved.
Preferably, in the above automatic workpiece taking manipulator, the three-dimensional control assembly further includes a connecting block and a rotating shaft; the connecting block is fixed at the bottom of the fixed seat; the pivot with the connecting block is connected, the pivot drives through rotating the fixing base centers on the connecting block rotates. The arrangement of the rotating shaft can enable the manipulator assembly to rotate in the vertical plane, and the flexibility of the manipulator taking is further improved.
Preferably, in the above automatic part taking manipulator, the fixing plate is a circular disc. The integrity of the whole structure of the manipulator assembly is improved.
Preferably, in the above automatic workpiece taking manipulator, one end of each of the three sliding chutes intersects at the center of the fixed plate, the other end of each of the three sliding chutes extends to the edge of the fixed plate, and the included angles of every two sliding chutes are equal. The motion stability of the manipulator assembly is stronger, and the coordination of the integral drive is higher.
Preferably, in the above automatic part taking manipulator, a hydraulic driving system for driving the hydraulic rod to move is installed inside the fixed block. The stable driving of the hydraulic rod can be ensured.
Preferably, in the above automatic workpiece taking manipulator, the connecting frame is a U-shaped plate, the two side plates of the connecting frame are respectively and fixedly connected with the two sides of the supporting frame, and the middle plate of the connecting frame is fixedly connected with the sliding block. The connecting structure of the connecting frame and the supporting frame does not influence the relative movement between the conveying belt and the supporting frame.
Preferably, in the above automatic workpiece taking manipulator, the support frame includes a rectangular plate and a connecting plate; the two rectangular plates are arranged in parallel; and the connecting plates are fixed at the edges of the two rectangular plates. The stability that makes support frame and conveyer belt be connected is stronger, is favorable to improving the stability that the manipulator got the piece.
Preferably, in the above automatic part taking manipulator, the driving member includes a motor, a driving wheel, a transmission shaft, a transmission wheel and a transmission belt; the motor is fixed between the two side plates of the connecting frame, and a power output shaft of the motor penetrates out of the side plates of the connecting frame; the driving wheel is fixedly connected with the power output shaft; two ends of the transmission shaft are rotatably connected between the two rectangular plates and are respectively positioned at two ends of the rectangular plates; the driving wheel is fixedly connected with one end of one transmission shaft; the transmission belt is sleeved on the driving wheel and the transmission wheel. The driving member can ensure the stable operation of the conveying belt, and the mounting position is reasonable, so that the overall spatial layout cannot be influenced.
Preferably, in the above automatic part taking manipulator, the outer surfaces of the three conveying belts are higher than the axial edge of the support frame, and the outer surface of the conveying belt faces the center of the fixing plate. When can prevent to get a piece, mutual interference between article and the support frame improves the stability of getting a piece to play the protection effect to getting a product.
Can know via foretell technical scheme, compare with prior art, the utility model discloses an automatic change and get a manipulator has following beneficial effect:
1. the utility model discloses a triangle-shaped's the support frame that has the conveyer belt of arranging carries out the centre gripping to article, and the centre gripping size of three support frame can be adjusted to the hydraulic stem, can make progress the centre gripping with article through the conveyer belt upward movement, and the centre gripping effect is stable, and the commonality is strong, can carry out the centre gripping to the article of different shapes, structure.
2. The utility model discloses a support frame with conveyer belt can adopt inside centre gripping and outwards support two kinds and get a mode, can get a centre gripping mode according to the adjustment of product shape selectivity of difference, when article are tubular structure, can stretch into a section of thick bamboo with three support frames in, supports the centre gripping from inside, and the commonality is high, and stability is strong.
3. The utility model discloses a three-dimensional control assembly can control manipulator subassembly at horizontal plane internal rotation and translation to and at vertical in-plane rotation and translation, improved the flexibility ratio that the manipulator got the piece.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of the overall structure provided by the present invention;
fig. 2 is a schematic structural diagram of a manipulator assembly provided by the present invention;
FIG. 3 is a schematic view of a part of the structure of the supporting frame provided by the present invention;
FIG. 4 is a front view of a portion of the support frame provided by the present invention;
fig. 5 is a schematic structural view of the support frame provided by the present invention;
fig. 6 is a schematic structural view of the inward clamping and product gripping device of the manipulator assembly according to the present invention;
figure 7 is the utility model provides a product structure sketch map is got to outside support clamp of manipulator subassembly.
Wherein:
1-a three-dimensional manipulation assembly;
11-a horizontal transmission shaft;
111-horizontal slide;
12-a vertical drive shaft;
121-vertical slide;
13-a rotating seat;
14-a fixed seat;
15-connecting blocks;
16-a rotating shaft;
2-a robot assembly;
21-fixing block;
22-a fixing plate;
221-a chute;
23-a slide block;
24-a hydraulic lever;
25-a connecting frame;
26-a support frame;
261-rectangular plate; 262-a connecting plate;
27-a conveyor belt;
28-a drive member;
281-a motor; 282-drive wheel; 283-a drive shaft; 284-a transmission wheel; 285-a transmission belt;
3-products.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 5, the embodiment of the utility model discloses an automatic change and get a manipulator, include: a three-dimensional control assembly 1 and a manipulator assembly 2;
the three-dimensional control assembly 1 is used for driving the manipulator assembly 2 to move in a three-dimensional space;
the manipulator assembly 2 comprises a fixed block 21, a fixed plate 22, a slide block 23, a hydraulic rod 24, a connecting frame 25, a supporting frame 26, a conveying belt 27 and a driving member 28; the fixed block 21 is connected with the three-dimensional control assembly 1; the center of the fixing plate 22 is fixedly connected with the bottom of the fixing block 21, and the fixing plate 22 is provided with three sliding grooves 221 by taking the fixing block 21 as the center; the sliding block 23 is connected in the sliding groove 221 in a sliding manner; one end of the hydraulic rod 24 is connected with the sliding block 23, and the other end is connected with the fixed block 21; the connecting frames 25 are respectively fixedly connected with the sliding blocks 23 and are positioned below the fixed plate 22; the supporting frame 26 is a long-strip frame body, one end of the supporting frame is fixed with the connecting frame 25, and the axial direction of the supporting frame 26 is perpendicular to the fixing plate 22; the conveyer belt 27 is sleeved on the two end heads of the support frame 26; the driving member 28 is fixed on the connecting frame 25 and is used for driving the conveying belt 27 to drive along the axial outer wall of the supporting frame 26.
In order to further optimize the technical scheme, the three-dimensional control assembly 1 comprises a horizontal transmission shaft 11, a vertical transmission shaft 12, a rotating seat 13 and a fixed seat 14; the horizontal transmission shaft 11 is provided with a horizontal slideway 111, and the fixed block 21 is connected to the horizontal slideway 111 in a sliding manner; the vertical transmission shaft 12 is provided with a vertical slideway 121, and one end of the horizontal transmission shaft 11 is connected to the vertical slideway 121 in a sliding manner; the rotating seat 13 is fixed at the bottom end of the vertical transmission shaft 12; the fixed seat 14 is connected to the bottom of the rotating seat 13, and the rotating seat 13 is rotatably connected with the fixed seat 14.
It is required to explain, the utility model provides a horizontal drive shaft 11, vertical drive shaft 12 among the three-dimensional subassembly 1, rotate the prior art scheme among seat 13 and the fixing base 14 are conventional triaxial robot and six robots, and specific structure is no longer repeated here, the utility model discloses a three-dimensional subassembly 1 of controlling aim at control manipulator assembly 2's nimble motion, make manipulator assembly 2 have enough get and put a space.
In order to further optimize the technical scheme, the three-dimensional control assembly 1 further comprises a connecting block 15 and a rotating shaft 16; the connecting block 15 is fixed at the bottom of the fixed seat 14; the rotating shaft 16 is connected with the connecting block 15, and the rotating shaft 16 drives the fixing seat 14 to rotate around the connecting block 15 through rotation.
It should be noted that, the utility model discloses of course still including the pedestal that is used for joint support overall structure, the pedestal is connected with pivot 16 to possess corresponding motor control pivot and rotate, be current conventional technical scheme, specific structure is no longer repeated here, the utility model discloses a pivot 16's aim at makes support frame 26 can follow vertical direction and adjust to the horizontal direction, that is to say, manipulator assembly 2 not only can follow 3 tops of product and press from both sides the product, can set up at the direction level that 3 transport of product moreover, waits for 3 transport support frames 26 of product, accepts product 3. In the process of horizontally supporting the supporting frames 26, two supporting frames 26 are arranged at the bottom, one supporting frame 26 is arranged at the top, and the product 3 is conveyed to the two supporting frames 26 at the bottom, so that the product 3 can be clamped only by driving the supporting frame 26 at the top to move downwards.
In order to further optimize the above solution, the fixing plate 22 is a circular disk.
In order to further optimize the above technical solution, one end of each of the three sliding grooves 221 intersects at the center of the fixed plate 22, and the other end extends to the edge of the fixed plate 22, and the included angles of every two sliding grooves 221 are equal.
In order to further optimize the technical scheme, a hydraulic driving system for driving the hydraulic rod 24 to move is installed inside the fixed block 21.
It should be noted that, hydraulic drive system can control three hydraulic stems 24 simultaneous movement, also can move by 24 hydraulic stems of individual drive, and hydraulic drive system is conventional hydraulic drive device equally, is not the utility model discloses a key point, no longer gives details here.
In order to further optimize the technical scheme, the connecting frame 25 is a U-shaped plate, two side plates of the connecting frame 25 are respectively and fixedly connected with two sides of the supporting frame 26, and a middle plate of the connecting frame 25 is fixedly connected with the sliding block 23.
In order to further optimize the above technical solution, the supporting frame 26 includes a rectangular plate 261 and a connecting plate 262; the two rectangular plates 261 are arranged in parallel; a plurality of connecting plates 262 are fixed to the edges of the two rectangular plates 261.
In order to further optimize the above technical solution, the driving member 28 comprises a motor 281, a driving wheel 282, a transmission shaft 283, a transmission wheel 284 and a transmission belt 285; the motor 281 is fixed between the two side plates of the connecting frame 25, and a power output shaft of the motor 281 penetrates out of the side plates of the connecting frame 25; the drive wheel 282 is fixedly connected with the power output shaft; the two ends of the transmission shaft 283 are rotatably connected between the two rectangular plates 261 and are respectively positioned at the two ends of the rectangular plates 261; the driving wheel 284 is fixedly connected with one end of a driving shaft 283; a belt 285 is mounted around the drive wheel 282 and drive wheel 284.
It should be noted that, the utility model discloses a three-dimensional transmission of controlling subassembly 1, hydraulic control system's control and the drive of motor 281 has corresponding total control system control, and total control system can be for the PLC system, and perhaps current robot control system is prior art, no longer gives unnecessary details here.
In order to further optimize the above technical solution, the outer surfaces of the three conveyor belts 27 are higher than the axial edges of the supporting frame 26, and the outer surfaces of the conveyor belts 27 face the center of the fixing plate 22.
The utility model discloses a use method does:
referring to fig. 6, there is shown a schematic view of the robot assembly 2 gripping the product 3 inwardly. When a piece is got to needs, at first hydraulic stem 24 can be through the operation of drive slider 23 on spout 221, drive support frame 26 spacing, make the interval between three support frames 26 be greater than the size of product 3, then drive support frame 26 downstream, make product 3 be located between three support frames 26, at this moment, hydraulic stem 24 contracts, drive three support frames 26 and draw close to product 3, finally press from both sides tight product 3, motor 281 starts, drive conveyer belt 27 motion, product 3 upward movement under conveyer belt 27's transportation, make the centre gripping more stable.
Referring to fig. 7, there is shown a schematic diagram of the structure of the robot assembly 2 supporting the products 3 outwardly. When a piece is got to needs, at first hydraulic stem 24 can be through the operation of drive slider 23 on spout 221, drive support frame 26 spacing, make the interval between three support frames 26 be less than the size of product 3, then drive support frame 26 downstream, make three support frames 26 be located the tubular structure of product 3, at this moment, hydraulic stem 24 extension, drive three support frames 26 and draw close to product 3, the final support compresses tightly product 3, motor 281 starts, drive conveyer belt 27 motion, product 3 upward movement under conveyer belt 27's transportation, make the centre gripping more stable.
The utility model adopts the three-dimensional control component 1 to realize the control of the manipulator component 2, and the fixed block 21 moves on the horizontal slideway 111 of the horizontal transmission shaft 11 to realize the horizontal movement of the manipulator component 2; the horizontal transmission shaft 11 moves on the vertical slide way 121 of the vertical transmission shaft 12 to realize the vertical movement of the manipulator assembly 2; the rotating seat 13 rotates by taking the fixed seat 14 as a center, so that the manipulator assembly 2 rotates in the horizontal plane, and the connecting block 15 rotates by taking the rotating shaft 16 as a center, so that the manipulator assembly 2 rotates in the vertical plane.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An automatic workpiece taking manipulator is characterized by comprising: a three-dimensional control assembly (1) and a manipulator assembly (2);
the three-dimensional control assembly (1) is used for driving the manipulator assembly (2) to move in a three-dimensional space;
the manipulator assembly (2) comprises a fixing block (21), a fixing plate (22), a sliding block (23), a hydraulic rod (24), a connecting frame (25), a supporting frame (26), a conveying belt (27) and a driving member (28); the fixed block (21) is connected with the three-dimensional control assembly (1); the center of the fixing plate (22) is fixedly connected with the bottom of the fixing block (21), and the fixing plate (22) is provided with three sliding grooves (221) by taking the fixing block (21) as the center; the sliding block (23) is connected in the sliding groove (221) in a sliding manner; one end of the hydraulic rod (24) is connected with the sliding block (23), and the other end of the hydraulic rod is connected with the fixed block (21); the connecting frames (25) are respectively fixedly connected with the sliding blocks (23) and are positioned below the fixed plate (22); the supporting frame (26) is a long-strip frame body, one end head of the supporting frame is fixed with the connecting frame (25), and the axial direction of the supporting frame (26) is perpendicular to the fixing plate (22); the conveying belt (27) is sleeved on the end heads of the two ends of the supporting frame (26); the driving component (28) is fixed on the connecting frame (25) and is used for driving the conveying belt (27) to transmit along the axial outer wall of the supporting frame (26).
2. The automated part picking manipulator according to claim 1, wherein the three-dimensional manipulation assembly (1) comprises a horizontal transmission shaft (11), a vertical transmission shaft (12), a rotating seat (13) and a fixed seat (14); the horizontal transmission shaft (11) is provided with a horizontal slideway (111), and the fixed block (21) is connected to the horizontal slideway (111) in a sliding manner; a vertical slideway (121) is arranged on the vertical transmission shaft (12), and one end of the horizontal transmission shaft (11) is connected to the vertical slideway (121) in a sliding manner; the rotating seat (13) is fixed at the bottom end of the vertical transmission shaft (12); the fixing seat (14) is connected to the bottom of the rotating seat (13), and the rotating seat (13) is rotatably connected with the fixing seat (14).
3. An automated part-picking robot as claimed in claim 2, characterised in that the three-dimensional handling assembly (1) further comprises a connecting block (15) and a spindle (16); the connecting block (15) is fixed at the bottom of the fixed seat (14); the rotating shaft (16) is connected with the connecting block (15), and the rotating shaft (16) drives the fixing seat (14) to rotate around the connecting block (15).
4. An automated part picking robot as claimed in claim 1, characterised in that the holding plate (22) is a circular disc.
5. The automatic workpiece taking manipulator as claimed in claim 4, wherein one end of each of the three sliding grooves (221) is intersected at the center of the fixed plate (22), the other end of each of the three sliding grooves extends to the edge of the fixed plate (22), and the included angles of every two sliding grooves (221) are equal.
6. An automated part picking manipulator according to claim 1, characterised in that a hydraulic drive system for driving the hydraulic rod (24) is mounted inside the fixed block (21).
7. The automatic part taking manipulator as claimed in claim 1, wherein the connecting frame (25) is a U-shaped plate, two side plates of the connecting frame (25) are fixedly connected with two sides of the supporting frame (26), respectively, and a middle plate of the connecting frame (25) is fixedly connected with the sliding block (23).
8. An automated part picking robot as claimed in claim 7, characterised in that the support frame (26) comprises a rectangular plate (261) and a connecting plate (262); the two rectangular plates (261) are arranged in parallel; and a plurality of connecting plates (262) are fixed on the edges of the two rectangular plates (261).
9. An automated part picking robot as claimed in claim 8, characterised in that the drive means (28) comprises a motor (281), a drive wheel (282), a drive shaft (283), a drive wheel (284) and a drive belt (285); the motor (281) is fixed between the two side plates of the connecting frame (25), and a power output shaft of the motor (281) penetrates out of the side plates of the connecting frame (25); the driving wheel (282) is fixedly connected with the power output shaft; two ends of the transmission shaft (283) are rotatably connected between the two rectangular plates (261) and are respectively positioned at two ends of the rectangular plates (261); the transmission wheel (284) is fixedly connected with one end of one transmission shaft (283); the transmission belt (285) is sleeved on the driving wheel (282) and the transmission wheel (284).
10. An automated parts handling robot according to claim 1, wherein the outer surfaces of the three conveyor belts (27) are higher than the axial edges of the support frame (26), and the outer surfaces of the conveyor belts (27) face the center of the fixed plate (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920662295.7U CN209954682U (en) | 2019-05-09 | 2019-05-09 | Automatic change and get a manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920662295.7U CN209954682U (en) | 2019-05-09 | 2019-05-09 | Automatic change and get a manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN209954682U true CN209954682U (en) | 2020-01-17 |
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| CN201920662295.7U Active CN209954682U (en) | 2019-05-09 | 2019-05-09 | Automatic change and get a manipulator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110884883A (en) * | 2019-05-09 | 2020-03-17 | 扬州市职业大学(扬州市广播电视大学) | Automatic change and get a manipulator |
| CN112407911A (en) * | 2020-11-13 | 2021-02-26 | 安徽和鼎机电设备有限公司 | Battery pack carrying device |
| CN112975899A (en) * | 2021-02-25 | 2021-06-18 | 中井兴机器人（常州）有限公司 | Single-rail adjustable clamping jaw production line |
-
2019
- 2019-05-09 CN CN201920662295.7U patent/CN209954682U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110884883A (en) * | 2019-05-09 | 2020-03-17 | 扬州市职业大学(扬州市广播电视大学) | Automatic change and get a manipulator |
| CN112407911A (en) * | 2020-11-13 | 2021-02-26 | 安徽和鼎机电设备有限公司 | Battery pack carrying device |
| CN112975899A (en) * | 2021-02-25 | 2021-06-18 | 中井兴机器人（常州）有限公司 | Single-rail adjustable clamping jaw production line |
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Address after: 458 Wenchang West Road, Yangzhou City, Jiangsu Province Patentee after: Yangzhou Vocational University (Yangzhou Open University) Address before: 458 Wenchang West Road, Yangzhou City, Jiangsu Province Patentee before: Yangzhou Vocational University (Yangzhou Radio and TV University) |
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Effective date of registration: 20230904 Address after: No. 13, Factory Building No. 16, Fuqiang North Road, Gaobian Industrial Zone, Shishan Town, Nanhai District, Foshan City, Guangdong Province, 528000 (Residence Application) Patentee after: Foshan Zhudian Technology Co.,Ltd. Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Effective date of registration: 20230904 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: 458 Wenchang West Road, Yangzhou City, Jiangsu Province Patentee before: Yangzhou Vocational University (Yangzhou Open University) |
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