CN209973679U - Special manipulator for three-axis vacuum cup taking and placing device - Google Patents

Special manipulator for three-axis vacuum cup taking and placing device Download PDF

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Publication number
CN209973679U
CN209973679U CN201920532517.3U CN201920532517U CN209973679U CN 209973679 U CN209973679 U CN 209973679U CN 201920532517 U CN201920532517 U CN 201920532517U CN 209973679 U CN209973679 U CN 209973679U
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CN
China
Prior art keywords
clamping jaw
moving
down moving
driving mechanism
seat
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Expired - Fee Related
Application number
CN201920532517.3U
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Chinese (zh)
Inventor
徐浩
汪大军
洪志刚
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Hangzhou Pulian Automation Equipment Co Ltd
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Hangzhou Pulian Automation Equipment Co Ltd
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Priority to CN201920532517.3U priority Critical patent/CN209973679U/en
Application granted granted Critical
Publication of CN209973679U publication Critical patent/CN209973679U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a special manipulator for a three-axis vacuum cup taking and placing device, which comprises a clamping jaw structure, an up-and-down moving driving mechanism and a left-and-right moving driving mechanism, wherein the clamping jaw structure comprises a clamping jaw seat, a clamping jaw, a front-and-back moving driving mechanism and a clamping jaw driving mechanism, and the clamping jaw comprises a fixed arm and two movable arms; the front-back movement driving mechanism comprises a front-back movement supporting beam, a front-back movement driving motor, a rack and a gear, and the front-back movement driving motor drives the front-back movement supporting beam and the clamping jaw seat to move front and back through the gear and the rack; the up-down moving driving mechanism comprises an up-down moving support frame, an up-down moving driving motor and an up-down moving lead screw transmission structure; the left-right moving driving mechanism comprises a left-right moving support frame, a left-right moving driving motor and a left-right moving lead screw transmission structure. The utility model discloses a manipulator replaces traditional manual operation to get and puts the thermos cup, and not only production efficiency is high, reduces workman intensity of labour, saves the cost of labor, and the error rate is low moreover, guarantees product quality.

Description

Special manipulator for three-axis vacuum cup taking and placing device
Technical Field
The utility model relates to a spare part of thermos cup production line especially relates to a triaxial thermos cup is got and is put device special mechanical hand.
Background
In the production process of the vacuum cup, the vacuum cup needs to be conveyed from the conveying belt to the cup opening processing equipment for cup opening processing, and then the processed vacuum cup is taken down from the cup opening processing equipment and put back to the conveying belt to be conveyed to the next process; at present, the process is manually completed, the thermos cup is manually taken from a conveyor belt to a cup mouth processing device for cup mouth processing, and then the processed thermos cup is taken back to the conveyor belt to be conveyed to the next process, so that the production efficiency is low, the labor intensity of workers is high, and the labor cost is high; moreover, manual operation is easy to make mistakes, so that the phenomenon of processing leakage or repeated processing occurs, and the quality of products is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve the defect that exists among the above-mentioned prior art and not enough, provide one kind and adopt before, back, left and right, upper and lower all around movement's manipulator to replace traditional manual operation to get and put the thermos cup, not only production efficiency is high, reduces workman intensity of labour, saves the cost of labor, and the error rate is low moreover, stops the on-the-spot emergence of hourglass processing or repeated processing, guarantees product quality's triaxial thermos cup and gets puts device special purpose machinery hand.
The technical scheme of the utility model: a special manipulator for a three-axis vacuum cup taking and placing device, which comprises a clamping jaw structure, an up-and-down moving driving mechanism for driving the clamping jaw structure to move up and down, and a left-and-right moving driving mechanism for driving the clamping jaw structure to move left and right,
the clamping jaw structure comprises a clamping jaw seat, a clamping jaw arranged outside the clamping jaw seat, a front-and-back movement driving mechanism for driving the clamping jaw seat to move front and back, and a clamping jaw driving mechanism for driving the clamping jaw to move, wherein the clamping jaw driving mechanism is arranged inside the clamping jaw seat; the front-back movement driving mechanism comprises a front-back movement supporting beam, a front-back movement driving motor, a rack fixed on the front-back movement supporting beam and a gear installed on the front-back movement driving motor, the gear and the rack are meshed with each other, the clamping jaw seat is fixed at one end of the front-back movement supporting beam, the front-back movement driving motor drives the front-back movement supporting beam and the clamping jaw seat to move back and forth through the gear and the rack, the clamping jaw driving mechanism comprises two driving cylinders and two clamping jaw connecting arms, the cylinder bodies of the driving cylinders are fixed on the clamping jaw seat, one ends of the clamping jaw connecting arms are fixed on piston rods of the driving cylinders, the other ends of the clamping jaw connecting arms are fixed on movable;
the up-down moving driving mechanism comprises an up-down moving support frame, an up-down moving driving motor and an up-down moving lead screw transmission structure, wherein the up-down moving driving motor is arranged on the up-down moving support frame and drives the clamping jaw structure to move up and down through the up-down moving lead screw transmission structure;
the left-right moving driving mechanism comprises a left-right moving support frame, a left-right moving driving motor and a left-right moving lead screw transmission structure, wherein the left-right moving driving motor is arranged on the left-right moving support frame, and drives the up-down moving driving mechanism to move left and right through the left-right moving lead screw transmission structure so as to drive the clamping jaw structure to move left and right.
The utility model discloses a can go on before, after, a left side, a right side, on, all direction movement's manipulator replaces traditional manual operation to get and puts the thermos cup, can be quick accurate with treating on the conveyer belt that processing thermos cup clamp gets to carry out the rim of a cup processing equipment on and process, and can be quick accurate with the thermos cup clamp that finishes of processing get on the conveyer belt carry one process down, not only production efficiency is high, reduce workman intensity of labour, save the cost of labor, and the error rate is low moreover, stop the on-the-spot emergence of hourglass processing or repeated processing, guarantee product quality.
Preferably, the up-down moving screw rod transmission structure comprises an up-down moving transmission screw rod connected to the up-down moving drive motor, an up-down moving transmission screw rod nut installed on the up-down moving transmission screw rod, and an up-down moving transmission screw rod seat matched with the up-down moving transmission screw rod, the up-down moving drive motor is connected with the up-down moving transmission screw rod nut through an up-down moving fixed seat, an up-down moving sliding plate is arranged on the up-down moving fixed seat, an up-down moving sliding rail matched with the up-down moving sliding plate is.
The structure ensures that the driving mechanism for moving up and down drives the clamping jaw structure to move up and down stably and reliably.
Preferably, the left-right movement screw rod transmission structure comprises a left-right movement transmission screw rod connected to a left-right movement driving motor, a left-right movement transmission screw rod nut installed on the left-right movement transmission screw rod, and a left-right movement transmission screw rod seat matched with the left-right movement transmission screw rod, a left-right movement sliding plate is arranged at the bottom of the up-down movement support frame, the left-right movement sliding plate is connected with the left-right movement transmission screw rod nut through a left-right movement fixing seat, a left-right movement sliding rail matched with the left-right movement sliding plate.
The structure ensures that the left-right moving driving mechanism drives the clamping jaw structure to move left and right stably and reliably.
Preferably, the back-and-forth movement driving motor is mounted on the up-and-down movement fixing seat through a motor frame, a back-and-forth movement sliding rail matched with the up-and-down movement sliding plate is arranged on one side of the back-and-forth movement supporting beam, and the up-and-down movement sliding plate is connected with the back-and-forth movement sliding rail through a back-and.
The structure ensures that the forward and backward movement driving mechanism drives the clamping jaw to move forward and backward stably and reliably.
Preferably, the jaw seat is trapezoidal, the width of the front side of the jaw seat is larger than that of the rear side of the jaw seat, the width of the rear side of the jaw seat is matched with that of the front-and-back moving support beam, the rear side of the jaw seat is open, and the front end of the front-and-back moving support beam penetrates through the opening to be inserted into the jaw seat and fixed through a bolt.
The structure ensures the connection firmness of the clamping jaw seat and the back-and-forth moving supporting beam and ensures that the back-and-forth moving supporting beam drives the clamping jaw seat to move back and forth stably and reliably.
Preferably, the clamping jaw seat comprises a bottom plate, a top plate, two straight side plates, two inclined side plates and a front cover plate, the fixed arm is fixed on the front side of the front cover plate, and the cylinder body of the driving cylinder is fixed on the rear side of the front cover plate.
The structure ensures the structural firmness of the clamping jaw seat and the firm and reliable installation of the driving cylinder, thereby ensuring the clamping and loosening of the driving cylinder driving movable arm to be stable and reliable.
Preferably, two digging arms are left digging arm and right digging arm respectively, and two clamping jaw linking arms are left clamping jaw linking arm and right clamping jaw linking arm respectively, and two rectangular shape through-holes are the rectangular shape through-hole in a left side of the left side of cooperation clamping jaw linking arm and the rectangular shape through-hole in the right side of cooperation clamping jaw linking arm respectively, and two drive actuating cylinders drive actuating cylinder and drive the right side of right digging arm action for driving the left side of left digging arm action respectively and drive actuating cylinder, the left side drives actuating cylinder's cylinder body and fixes the right side at the front shroud, the right side drives actuating cylinder's cylinder body and fixes the left.
The structure has compact structure and reasonable layout, and further ensures that the two movable arms are clamped and loosened stably and reliably.
Preferably, the left driving cylinder is located above the right driving cylinder, the left long strip-shaped through hole is located above the left side of the front cover plate, and the right long strip-shaped through hole is located below the right side of the front cover plate.
The structure further enables the structure to be compact and the layout to be reasonable.
The utility model discloses a can go on before, after, a left side, a right side, on, all direction movement's manipulator replaces traditional manual operation to get and puts the thermos cup, can be quick accurate with treating on the conveyer belt that processing thermos cup clamp gets to carry out the rim of a cup processing equipment on and process, and can be quick accurate with the thermos cup clamp that finishes of processing get on the conveyer belt carry one process down, not only production efficiency is high, reduce workman intensity of labour, save the cost of labor, and the error rate is low moreover, stop the on-the-spot emergence of hourglass processing or repeated processing, guarantee product quality.
Drawings
FIG. 1 is a schematic structural view of one of the angles of the present invention;
FIG. 2 is a schematic structural view of another angle of the present invention;
FIG. 3 is a schematic structural view of the middle clamping jaw structure of the present invention after the clamping jaw seat is opened;
FIG. 4 is an enlarged schematic view at I of FIG. 3;
in the figure, 1, a clamping jaw seat, 2, a front and back moving support beam, 3, a front and back moving drive motor, 4, a fixed arm, 5, a left movable arm, 6, a right movable arm, 7, a rack, 8, a gear, 9, an up and down moving sliding plate, 10, an up and down moving fixed seat, 11, a front and back moving sliding block, 12, a front and back moving sliding rail, 13, an up and down moving support frame, 14, an up and down moving drive motor, 15, an up and down moving transmission screw rod, 16, an up and down moving transmission screw rod nut, 17, an up and down moving sliding block, 18, an up and down moving sliding rail, 19, a left and right moving support frame, 20, a left and right moving drive motor, 21, a left drive cylinder, 22, a right drive cylinder, 23, a left clamping jaw connecting arm, 24, a right, 30. the screw driver comprises a left-right moving slide rail, a 31 left-right moving slide plate, a 32 motor frame, a 33 up-down moving transmission screw rod seat and a 34 left-right moving transmission screw rod seat.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, but the present invention is not limited thereto.
As shown in figures 1-4, a special manipulator for a three-axis vacuum cup taking and placing device comprises a clamping jaw structure, an up-and-down moving driving mechanism for driving the clamping jaw structure to move up and down, and a left-and-right moving driving mechanism for driving the clamping jaw structure to move left and right,
the clamping jaw structure comprises a clamping jaw seat 1, a clamping jaw arranged outside the clamping jaw seat 1, a front-and-back movement driving mechanism for driving the clamping jaw seat 1 to move front and back, and a clamping jaw driving mechanism for driving the clamping jaw to move, wherein the clamping jaw driving mechanism is arranged inside the clamping jaw seat 1, the clamping jaw comprises a fixed arm 4 and two movable arms, the fixed arm 4 is fixed in the middle of the front side of the clamping jaw seat 1, and the two movable arms are positioned on two sides of the fixed arm 4; the front-back movement driving mechanism comprises a front-back movement supporting beam 2, a front-back movement driving motor 3, a rack 7 fixed on the front-back movement supporting beam 2 and a gear 8 arranged on the front-back movement driving motor 3, wherein the gear 8 is meshed with the rack 7, a clamping jaw seat 1 is fixed at one end of the front-back movement supporting beam 2, the front-back movement driving motor 3 drives the front-back movement supporting beam 2 and the clamping jaw seat 1 to move back and forth through the gear 8 and the rack 7, the clamping jaw driving mechanism comprises two driving cylinders and two clamping jaw connecting arms, cylinder bodies of the driving cylinders are fixed on the clamping jaw seat 1, one ends of the clamping jaw connecting arms are fixed on piston rods of the driving cylinders, the other ends of the clamping jaw connecting arms are fixed;
the up-down moving driving mechanism comprises an up-down moving support frame 13, an up-down moving driving motor 14 and an up-down moving lead screw transmission structure, wherein the up-down moving driving motor 14 is arranged on the up-down moving support frame 13 and drives the clamping jaw structure to move up and down through the up-down moving lead screw transmission structure;
the left-right moving driving mechanism comprises a left-right moving support frame 19, a left-right moving driving motor 20 arranged on the left-right moving support frame 19 and a left-right moving lead screw transmission structure, and the left-right moving driving motor 20 drives the left-right moving driving mechanism to move left and right through the left-right moving lead screw transmission structure to drive the clamping jaw structure to move left and right.
The up-and-down moving screw rod transmission structure comprises an up-and-down moving transmission screw rod 15 connected to an up-and-down moving driving motor 14, an up-and-down moving transmission screw rod nut 16 installed on the up-and-down moving transmission screw rod 15, and an up-and-down moving transmission screw rod seat 33 matched with the up-and-down moving transmission screw rod 15, wherein the up-and-down moving driving motor 3 is connected with the up-and-down moving transmission screw rod nut 16 through an up-and-down moving fixed seat 10, an up-and-down moving sliding plate 9 is arranged on the up-and.
The left-right moving screw transmission structure comprises a left-right moving transmission screw rod 28 connected to a left-right moving driving motor 20, a left-right moving transmission screw nut installed on the left-right moving transmission screw rod 28 and a left-right moving transmission screw rod seat 34 matched with the left-right moving transmission screw rod 28, a left-right moving sliding plate 31 is arranged at the bottom of the up-down moving support frame 13, the left-right moving sliding plate 31 is connected with the left-right moving transmission screw nut through a left-right moving fixing seat, a left-right moving sliding rail 30 matched with the left-right moving sliding plate 31 is arranged.
The front-back moving driving motor 3 is installed on the up-down moving fixed seat 10 through a motor frame 32, a front-back moving slide rail 12 matched with the up-down moving slide plate 9 is arranged on one side of the front-back moving support beam 2, and the up-down moving slide plate 9 is connected with the front-back moving slide rail 12 through a front-back moving slide block 11.
The clamping jaw seat 1 is trapezoidal, the width of the front side of the clamping jaw seat is larger than that of the rear side of the clamping jaw seat, the width of the rear side of the clamping jaw seat 1 is matched with that of the front-back moving supporting beam 2, the rear side of the clamping jaw seat 1 is open, and the front end of the front-back moving supporting beam 2 penetrates through the opening to be inserted into the clamping jaw seat 1 and fixed through bolts.
The gripper seat 1 comprises a bottom plate, a top plate, two straight side plates, two inclined side plates and a front cover plate 27, the fixed arm 4 is fixed on the front side of the front cover plate 27, and the cylinder body of the driving cylinder is fixed on the rear side of the front cover plate 27.
Two digging arms are left digging arm 5 and right digging arm 6 respectively, two clamping jaw connecting arms are left clamping jaw connecting arm 23 and right clamping jaw connecting arm 24 respectively, two rectangular shape through-holes are the rectangular shape through-hole 25 in a left side of the rectangular shape through-hole 25 of the rectangular shape through-hole 24 in a right side of the rectangular shape through-hole 26 of the rectangular shape through-hole of the right side of the rectangular shape through-hole 24 of cooperation left clamping jaw connecting arm 23 of cooperation respectively, two drive actuating cylinders drive actuating cylinder 21 for the left side that drives left digging arm 5 action and drive actuating cylinder 22 for the right side that drives right digging arm 6 action respectively, the cylinder body that drives actuating cylinder 21 on a left side is fixed on.
The left drive cylinder 21 is located above the right drive cylinder 22, the left elongated through hole 25 is located above the left side of the front cover plate 27, and the right elongated through hole 26 is located below the right side of the front cover plate 27.
The utility model discloses form between well left side digging arm and the fixed arm and get back the position of grabbing, form between right side digging arm and the fixed arm and see off the position of grabbing, when waiting to process the thermos cup and carry the assigned position, see off the position of grabbing and will wait to process the thermos cup and pick the back from the conveyer belt and send to carry out the rim of a cup processing on the rim of a cup processing equipment, processing finishes the back, gets back the position of grabbing and send back the conveyer belt after snatching the thermos cup and carry one process down.
The specific action process is as follows: the up-down moving driving mechanism drives the clamping jaw structure to move down to the designated position of the conveying belt, the gripping position is sent out to grip the vacuum cup to be processed from the conveying belt, the up-down moving driving mechanism drives the clamping jaw structure to move up to the designated position of the cup opening processing equipment, the back-down moving driving mechanism drives the clamping jaw to move forward to the designated position of the cup opening processing equipment to wait until the previous vacuum cup is processed, the back-down moving driving mechanism drives the clamping jaw to move forward to the designated position of the cup opening processing equipment, the position just enables the gripping position to be taken back to grip the processed vacuum cup, at the moment, the up-down moving driving mechanism drives the clamping jaw to move upward continuously, the processed vacuum cup is separated from the processing position of the cup opening processing equipment, then the left-right moving driving mechanism drives the clamping jaw to move to the designated position, and the position enables the position, the up-down moving driving mechanism drives the clamping jaw to move downwards, so that the vacuum cup to be processed falls into a processing position of the cup opening processing equipment, at the moment, a movable arm which sends out the grabbing position is loosened, the back-and-forth moving driving mechanism drives the clamping jaw to move backwards to a specified position of the conveying belt, the up-down moving driving mechanism drives the clamping jaw to move downwards, and the processed vacuum cup is placed on the conveying belt and conveyed to the next process; and then repeating the steps until all the vacuum cups are processed.
The utility model discloses a can go on before, after, a left side, a right side, on, all direction movement's manipulator replaces traditional manual operation to get and puts the thermos cup, can be quick accurate with treating on the conveyer belt that processing thermos cup clamp gets to carry out the rim of a cup processing equipment on and process, and can be quick accurate with the thermos cup clamp that finishes of processing get on the conveyer belt carry one process down, not only production efficiency is high, reduce workman intensity of labour, save the cost of labor, and the error rate is low moreover, stop the on-the-spot emergence of hourglass processing or repeated processing, guarantee product quality.

Claims (8)

1. The utility model provides a triaxial thermos cup is got and is put device special purpose machine hand which characterized in that: which comprises a clamping jaw structure, an up-and-down moving driving mechanism for driving the clamping jaw structure to move up and down, and a left-and-right moving driving mechanism for driving the clamping jaw structure to move left and right,
the clamping jaw structure comprises a clamping jaw seat, a clamping jaw arranged outside the clamping jaw seat, a front-and-back movement driving mechanism for driving the clamping jaw seat to move front and back, and a clamping jaw driving mechanism for driving the clamping jaw to move, wherein the clamping jaw driving mechanism is arranged inside the clamping jaw seat; the front-back movement driving mechanism comprises a front-back movement supporting beam, a front-back movement driving motor, a rack fixed on the front-back movement supporting beam and a gear installed on the front-back movement driving motor, the gear and the rack are meshed with each other, the clamping jaw seat is fixed at one end of the front-back movement supporting beam, the front-back movement driving motor drives the front-back movement supporting beam and the clamping jaw seat to move back and forth through the gear and the rack, the clamping jaw driving mechanism comprises two driving cylinders and two clamping jaw connecting arms, the cylinder bodies of the driving cylinders are fixed on the clamping jaw seat, one ends of the clamping jaw connecting arms are fixed on piston rods of the driving cylinders, the other ends of the clamping jaw connecting arms are fixed on movable;
the up-down moving driving mechanism comprises an up-down moving support frame, an up-down moving driving motor and an up-down moving lead screw transmission structure, wherein the up-down moving driving motor is arranged on the up-down moving support frame and drives the clamping jaw structure to move up and down through the up-down moving lead screw transmission structure;
the left-right moving driving mechanism comprises a left-right moving support frame, a left-right moving driving motor and a left-right moving lead screw transmission structure, wherein the left-right moving driving motor is arranged on the left-right moving support frame, and drives the up-down moving driving mechanism to move left and right through the left-right moving lead screw transmission structure so as to drive the clamping jaw structure to move left and right.
2. The special manipulator for the three-axis vacuum cup taking and placing device according to claim 1, characterized in that: the up-and-down moving screw rod transmission structure comprises an up-and-down moving transmission screw rod connected to an up-and-down moving driving motor, an up-and-down moving transmission screw rod nut installed on the up-and-down moving transmission screw rod, and an up-and-down moving transmission screw rod seat matched with the up-and-down moving transmission screw rod, wherein the up-and-down moving driving motor is connected with the up-and-down moving transmission screw rod nut through an up-and-down moving fixing seat, an up-and-down moving sliding plate is arranged on the up.
3. The special manipulator for the three-axis vacuum cup taking and placing device according to claim 1, characterized in that: the left and right moving screw rod transmission structure comprises a left and right moving transmission screw rod connected to a left and right moving driving motor, a left and right moving transmission screw rod nut installed on the left and right moving transmission screw rod, and a left and right moving transmission screw rod seat matched with the left and right moving transmission screw rod, a left and right moving slide plate is arranged at the bottom of the up and down moving support frame, the left and right moving slide plate is connected with the left and right moving transmission screw rod nut through a left and right moving fixing seat, a left and right moving slide rail matched with the left and right moving slide.
4. The special manipulator for the three-axis vacuum cup taking and placing device according to claim 2, characterized in that: the back-and-forth movement driving motor is installed on the up-and-down movement fixing seat through a motor frame, a back-and-forth movement sliding rail matched with the up-and-down movement sliding plate is arranged on one side of the back-and-forth movement supporting beam, and the up-and-down movement sliding plate is connected with the back-and-forth movement sliding rail through a back-.
5. The special manipulator for the three-axis vacuum cup taking and placing device according to claim 1, characterized in that: the clamping jaw seat is trapezoidal, the width of the front side of the clamping jaw seat is larger than that of the rear side of the clamping jaw seat, the width of the rear side of the clamping jaw seat is matched with that of the front-back moving supporting beam, the rear side of the clamping jaw seat is open, and the front end of the front-back moving supporting beam penetrates through the opening to be inserted into the clamping jaw seat and fixed through bolts.
6. The special manipulator for the three-axis vacuum cup taking and placing device according to claim 1, characterized in that: the clamping jaw seat comprises a bottom plate, a top plate, two straight side plates, two inclined side plates and a front cover plate, the fixed arm is fixed on the front side of the front cover plate, and the cylinder body of the driving cylinder is fixed on the rear side of the front cover plate.
7. The special manipulator for the three-axis vacuum cup taking and placing device according to claim 6, wherein: two digging arms are left digging arm and right digging arm respectively, and two clamping jaw linking arms are left clamping jaw linking arm and right clamping jaw linking arm respectively, and two rectangular shape through-holes are the rectangular shape through-hole in a left side of the left clamping jaw linking arm of cooperation and the rectangular shape through-hole in the right side of the right clamping jaw linking arm of cooperation respectively, and two drive actuating cylinders drive actuating cylinder and drive the right side of right digging arm action for driving a left side of left digging arm action respectively and drive actuating cylinder, the left side of apron before the cylinder body of left side drive actuating cylinder is fixed, the left side of apron before the cylinder body of right side drive actuating cylinder is fixed.
8. The special manipulator for the three-axis vacuum cup taking and placing device according to claim 7, characterized in that: the left side drives the top that the actuating cylinder is located the right side and drives the actuating cylinder, the rectangular shape through-hole in a left side is located the left side top of apron, the rectangular shape through-hole in the right side below that is located the apron.
CN201920532517.3U 2019-04-12 2019-04-12 Special manipulator for three-axis vacuum cup taking and placing device Expired - Fee Related CN209973679U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920532517.3U CN209973679U (en) 2019-04-12 2019-04-12 Special manipulator for three-axis vacuum cup taking and placing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920532517.3U CN209973679U (en) 2019-04-12 2019-04-12 Special manipulator for three-axis vacuum cup taking and placing device

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Publication Number Publication Date
CN209973679U true CN209973679U (en) 2020-01-21

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112140628A (en) * 2020-07-27 2020-12-29 浙江索特重工科技有限公司 Cantilever type retooling arm
CN114834088A (en) * 2022-06-10 2022-08-02 广东泰平实业有限公司 Carton suction and clamping device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112140628A (en) * 2020-07-27 2020-12-29 浙江索特重工科技有限公司 Cantilever type retooling arm
CN114834088A (en) * 2022-06-10 2022-08-02 广东泰平实业有限公司 Carton suction and clamping device

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Granted publication date: 20200121