CN213140517U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN213140517U CN213140517U CN202021485404.1U CN202021485404U CN213140517U CN 213140517 U CN213140517 U CN 213140517U CN 202021485404 U CN202021485404 U CN 202021485404U CN 213140517 U CN213140517 U CN 213140517U
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Abstract
The utility model discloses a manipulator, which comprises a transplanting device and a clamping device, wherein the clamping device is movably connected with the transplanting device; the clamping device comprises a clamping jaw mechanism, the clamping jaw mechanism comprises a first fixing frame, two ends of the first fixing frame are vertically provided with a second fixing frame, the first end of the guide pillar is fixedly connected to the top end of the second fixing frame, and the guide pillar is sleeved with a spring; the guide post extends into the guide hole at the top end of the clamping jaw. Due to misoperation, when the clamping jaw collides with other equipment or workpieces, the clamping jaw is extruded to move upwards along the first guide rail, the distance between the top surface of the clamping jaw and the top end of the second fixing frame is reduced, at the moment, the spring is compressed, and the guide pillar gradually penetrates into the guide hole; and when the clamping jaw is not stressed, the spring can rebound to push the clamping jaw to reset. The elastic deformation of the spring on the guide pillar is utilized to play a role of elastic buffering for the clamping jaw, so that the clamping jaw generates elastic displacement and can automatically reset when not stressed, and the use safety and the position precision of the clamping jaw are ensured.
Description
Technical Field
The utility model relates to an automated production field especially relates to a manipulator.
Background
The power battery is a battery for providing a power source for equipment such as a pure electric vehicle, an electric plug hybrid electric vehicle and an electric bicycle.
Electric core is the important component part of battery, uses the manipulator to snatch naked electric core and carry next process in the lithium electricity trade, often can influence work efficiency because debugging and unexpected trouble and the emergence accident of hitting in the manipulator use to can collide the precision that can influence the manipulator clamping jaw, cause the part to damage.
In view of the above, it is an urgent technical problem to be solved by those skilled in the art to provide a safe and reliable manipulator carrying device with an anti-collision function.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a manipulator, solve above technical problem.
To achieve the purpose, the utility model adopts the following technical proposal:
the manipulator is characterized by comprising a transplanting device and a clamping device, wherein the clamping device is movably connected with the transplanting device;
the clamping device comprises a clamping jaw mechanism, the clamping jaw mechanism comprises a first fixing frame, a second fixing frame, a guide pillar and a clamping jaw, the second fixing frame is vertically arranged at two ends of the first fixing frame, the first end of the guide pillar is fixedly connected to the top end of the second fixing frame, and a spring is sleeved on the guide pillar;
the clamping jaw is connected to the second fixing frame in a sliding mode, a guide hole is formed in the top end of the clamping jaw, and the guide pillar is connected to the guide hole in a sliding mode;
when the clamping device collides with the machine, the clamping jaw moves upwards along the guide post, and the spring is compressed.
Optionally, the transplanting device comprises a support, a transverse moving mechanism and a lifting mechanism, the transverse moving mechanism is fixedly installed at the top end of the support, the lifting mechanism is connected to the side edge of the transverse moving mechanism in a sliding mode, the clamping device is movably connected to the bottom of the lifting mechanism, the transverse moving mechanism is used for driving the clamping device to do linear motion along the X-axis direction, and the lifting mechanism is used for driving the clamping device to do linear motion along the Z-axis direction.
Optionally, the traversing mechanism includes a traversing module, a first drag chain and a first motor, the support includes a horizontally arranged supporting beam, the traversing module is fixedly mounted on a first side of the supporting beam, a top surface of the supporting beam is provided with a first drag chain groove, the first drag chain is movably mounted in the first drag chain groove, and the first motor is mounted at one end of the supporting beam; an X-axis linear guide rail is arranged on the transverse moving module along the length direction, the lifting mechanism is connected to the X-axis linear guide rail in a sliding mode, the top end of the lifting mechanism is connected with the first end of the first drag chain, and the first motor can drive the lifting mechanism to do linear motion in the X-axis direction relative to the X-axis linear guide rail.
Optionally, the lifting mechanism includes a lifting module, a lifting slider, a second tow chain and a second motor, the lifting module is vertically arranged along the Z-axis direction, the lifting module is provided with a Z-axis linear guide rail along the length direction, and the lifting slider is slidably connected to the Z-axis linear guide rail; the side wall of the lifting module is provided with a second drag chain groove, the second drag chain is movably installed in the second drag chain groove, the lifting slide block is connected with the first end of the second drag chain, and the second motor can drive the clamping device to do linear motion in the Z-axis direction relative to the Z-axis linear guide rail.
Optionally, the lifting device further comprises a rotating mechanism, the rotating mechanism comprises a third motor, a fixed plate and a hollow rotating platform, the top surface of the fixed plate is fixedly connected to the bottom of the lifting slider, the bottom surface of the fixed plate is fixedly connected to the top surface of the hollow rotating platform, the bottom surface of the hollow rotating platform is connected to the clamping device, the third motor is arranged on the side of the hollow rotating platform, and the third motor can drive the hollow rotating platform to rotate.
Optionally, the clamping device further comprises a clamping jaw adjusting mechanism, the clamping jaw adjusting mechanism comprises a fourth motor, the number of the clamping devices is two, a power output shaft of the fourth motor rotates and is connected with a synchronous belt, two sides of a second end of the synchronous belt are respectively connected with a first ball screw and a second ball screw, the first ball screw and the second ball screw are arranged coaxially and are opposite in rotation direction, a moving plate is arranged on the first ball screw and the ball screws, and one clamping jaw mechanism is fixedly connected with the moving plate.
Optionally, the clamping device further comprises a pressing mechanism, the pressing mechanism comprises a pressing cylinder and a pressing plate, one end of the pressing cylinder is fixedly connected to the bottom surface of the clamping jaw adjusting mechanism, the telescopic rod of the pressing cylinder faces away from one side of the clamping jaw adjusting mechanism, one end of the telescopic rod is fixedly connected with the pressing plate, and the pressing cylinder pushes the pressing plate to move linearly along the Z-axis direction.
Optionally, a photoelectric sensor is arranged at the top end of the first fixing frame, an induction sheet is arranged on the side portion of the clamping jaw, and the induction sheet is arranged at a position right opposite to the photoelectric sensor.
Compared with the prior art, the utility model discloses following beneficial effect has: when the clamping device is driven by the transplanting device to descend to take materials, due to misoperation, the clamping device descends too much, when the clamping device collides with a machine, the clamping jaw is squeezed to move upwards along the guide column, the distance between the top surface of the clamping jaw and the top end of the second fixing frame is reduced, the spring is compressed at the moment, and the guide column gradually penetrates into the guide hole; and when the clamping jaw is not stressed, the spring can rebound to push the clamping jaw to reset. The elastic deformation of the spring on the guide pillar is utilized to play a role of elastic buffering for the clamping jaw, so that the clamping jaw generates elastic displacement and can automatically reset when not stressed, and the use safety and the position precision of the clamping jaw are ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed 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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.
The structure, ratio, size and the like shown in the drawings of the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention does not have the substantial significance in the technology, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy which can be produced by the present invention and the achievable purpose.
FIG. 1 is a schematic view of a robot;
FIG. 2 is a schematic front view of the robot;
FIG. 3 is a schematic structural view of a gripping device and a rotating mechanism of a robot arm;
FIG. 4 is a schematic view of the gripping device of the robot;
fig. 5 is a schematic structural view of a gripper mechanism of the robot.
Illustration of the drawings: the transplanting device comprises a transplanting device 1, a clamping device 2, a rotating mechanism 3, a support 11, a transverse moving mechanism 12, a lifting mechanism 13, a clamping jaw mechanism 21, a clamping jaw adjusting mechanism 22, a pressing mechanism 23, a third motor 31, a fixing plate 32, a hollow rotating platform 33, a supporting cross beam 111, a transverse moving module 121, a first drag chain 122, a first motor 123, a lifting module 131, a lifting slider 132, a second drag chain 133, a second motor 134, a first fixing frame 211, a second fixing frame 212, a guide pillar 213, a clamping jaw 214, a spring 215, a photoelectric sensor 216, a sensing piece 217, a fourth motor 221, a synchronous belt 222, a first ball screw 223, second ball screws 224 and 225, a pressing cylinder 231 and a pressing plate moving plate 232.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention, and obviously, the embodiments described below are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. It should be noted that when one component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
The embodiment of the utility model provides a manipulator, which comprises a transplanting device 1 and a clamping device 2, wherein the clamping device 2 is movably connected with the transplanting device 1; transplanting device 1 includes support 11, sideslip mechanism 12 and elevating system 13, and sideslip mechanism 12 fixed mounting is in the top of support 11, and elevating system 13 sliding connection is in the lateral part of sideslip mechanism 12, and elevating system 13's bottom is rotated and is connected with and presss from both sides and get device 2.
Specifically, the gripping device 2 comprises a clamping jaw mechanism 21 and a clamping jaw adjusting mechanism 22, and two ends of the clamping jaw adjusting mechanism 22 are respectively provided with one clamping jaw mechanism 21; the clamping jaw mechanism 21 comprises a first fixing frame 211, a second fixing frame 212, a guide post 213 and a clamping jaw 214, wherein the second fixing frame 212 is vertically arranged at two ends of the first fixing frame 211, the first end of the guide post 213 is fixedly connected to the top end of the second fixing frame 212, and a spring 215 is sleeved on the guide post 213; the second fixing frame 212 is provided with a first guide rail along the length direction, the clamping jaw 214 is slidably connected to the first guide rail, the top surface of the clamping jaw 214 is provided with a guide hole, the second end of the guide post 213 extends into the guide hole, and the guide post 213 is slidably connected to the guide hole. When the gripping device 2 crashes, the jaw 214 moves up the guide column 213 and the spring 215 is compressed.
When the clamping device 2 descends under the driving of the transplanting device 1 to take materials, due to misoperation, the clamping device 2 descends too much, when the clamping device 2 collides with a machine, the clamping jaw 214 is squeezed to move upwards along the first guide rail, meanwhile, the guide hole is driven to move upwards, the distance between the top surface of the clamping jaw 214 and the top end of the second fixing frame 212 is reduced, at the moment, the spring 215 is compressed, and the guide pillar 213 gradually penetrates into the guide hole; and spring 215 springs back to urge jaw 214 to return when jaw 214 is not under load. The elastic deformation of the spring 215 on the guide post 213 is utilized to elastically buffer the clamping jaw 214, so that the clamping jaw 214 is elastically displaced and can automatically reset when not stressed, thereby ensuring the use safety and the position precision of the clamping jaw 214.
Specifically, the traverse mechanism 12 includes a traverse module 121, a first drag chain 122 and a first motor 123, the support 11 includes a horizontally disposed support beam 111, the traverse module 121 is fixedly mounted on a first side of the support beam 111, a first drag chain slot is disposed on a top surface of the support beam 111, the first drag chain 122 is movably mounted in the first drag chain slot, and the first motor 123 is mounted at one end of the support beam 111; an X-axis linear guide rail is arranged on the traverse module 121 along the length direction, the lifting mechanism 13 is connected to the X-axis linear guide rail in a sliding manner, the top end of the lifting mechanism 13 is connected with the first end of the first drag chain 122, and the first motor 123 can drive the traverse module 121 to drive the first end of the first drag chain 122 to move linearly along the X-axis direction, so as to drive the lifting mechanism 13 to move linearly in the X-axis direction relative to the X-axis linear guide rail.
Specifically, the lifting mechanism 13 includes a lifting module 131, a lifting slider 132, a second drag chain 133 and a second motor 134, the lifting module 131 is vertically arranged along the Z-axis direction, the lifting module 131 is provided with a Z-axis linear guide rail along the length direction, and the lifting slider 132 is slidably connected to the Z-axis linear guide rail; the side wall of the lifting module 131 is provided with a second drag chain groove, the second drag chain 133 is movably mounted in the second drag chain groove, the lifting slider 132 is connected with the first end of the second drag chain 133, and the second motor 134 can drive the lifting module 131 to drive the first end of the second drag chain 133 to move linearly along the Z-axis direction, so as to drive the clamping device 2 to move linearly along the Z-axis direction relative to the Z-axis linear guide rail.
In this embodiment, further include rotary mechanism 3, rotary mechanism 3 sets up in the bottom of lifting slide 132, rotary mechanism 3 includes third motor 31, fixed plate 32 and hollow rotary platform 33, and hollow rotary platform 33 is connected with pressing from both sides the rotation of getting device 2, and hollow rotary platform 33 passes through fixed plate 32 fixed connection in the bottom of lifting slide 132, and third motor 31 sets up in the side of hollow rotary platform 33, and third motor 31 can drive hollow rotary platform 33 rotatory, and then drives to press from both sides and get device 2 and rotate.
In this embodiment, the number of the gripper mechanisms 21 is two, the gripper adjusting mechanism 22 includes a fourth motor 221, a power output shaft of the fourth motor 221 is rotatably connected with a synchronous belt 222, two sides of a second end of the synchronous belt 222 are respectively connected with a first ball screw 223 and a second ball screw 224, the first ball screw 223 and the second ball screw 224 are coaxially arranged and have opposite rotation directions, a moving plate 225 is disposed on each of the first ball screw 223 and the second ball screw 224, and each of the moving plates 225 is fixedly connected with one of the gripper mechanisms 21.
When the distance between the two clamping jaw mechanisms 21 needs to be adjusted, the fourth motor 221 is started to drive the synchronous belt 222 to rotate, the synchronous belt 222 drives the first ball screw 223 and the second ball screw 224 to rotate in opposite directions, the first ball screw 223 and the second ball drive the two moving plates 225 to move in a linear mode of being close to or away from each other, and then the two clamping jaw mechanisms 21 are driven to move in a linear mode of being close to or away from each other, and the distance between the two clamping jaw mechanisms 21 is adjusted. Wherein, controlling the rotation direction of the fourth motor 221 controls whether the two gripper mechanisms 21 approach or separate.
In this embodiment, the clamping device 2 further includes a pressing mechanism 23, the pressing mechanism 23 includes a pressing cylinder 231 and a pressing plate 232, one end of the pressing cylinder 231 is fixedly connected to the bottom surface of the clamping jaw adjusting mechanism 22, the telescopic rod of the pressing cylinder 231 faces the side away from the clamping jaw adjusting mechanism 22, one end of the telescopic rod is fixedly connected to the pressing plate 232, and the pressing cylinder 231 pushes the pressing plate 232 to move linearly along the Z-axis direction.
Specifically, a photoelectric sensor 216 is disposed at the top end of the first fixing frame 211, a sensing piece 217 is disposed at the side portion of the clamping jaw 214, and the position of the sensing piece 217 is opposite to the photoelectric sensor 216. Due to misoperation, when the clamping device 2 collides with a machine, the clamping jaw 214 is extruded to move upwards along the first guide rail, the induction sheet 217 is driven to move upwards until the induction sheet 217 moves to a detection position of the photoelectric sensor, the photoelectric sensor detects a signal and uploads the detected signal data to the control system, the control system judges that the clamping device 2 collides with a station according to an input signal of the photoelectric sensor, the control system sends an instruction to the first motor 123, the second motor 134, the third motor 31 and the fourth motor 221, the first motor 123, the second motor 134, the third motor 31 and the fourth motor 221 receive the instruction to stop working, the manipulator stops working and enters a shutdown state, and part damage caused by continuous descending of the clamping device 2 is avoided.
When the clamping device works, a naked battery cell is placed into a first preset station at the upstream, the transverse moving mechanism 12 operates to drive the clamping device 2 to move to the position right above the naked battery cell at the first preset station along the X-axis direction, the clamping jaw adjusting mechanism 22 operates to enable the two clamping jaw mechanisms 21 to move away from each other to a first preset open state, and the lifting mechanism 13 operates to drive the clamping device 2 to move along the Z-axis direction and then fall to the first station; the clamping jaw adjusting mechanism 22 operates to enable the two clamping jaw mechanisms 21 to move close to each other to a preset second clamping state, the two clamping jaw mechanisms 21 grab the bare cell on the first station, and the compression cylinder pushes the compression plate 232 to descend along the Z-axis direction so as to compress the bare cell on the clamping jaw 214; the lifting mechanism 13 operates to drive the clamping device 2 to move along the Z-axis direction and ascend to a safe position, and the transverse moving mechanism 12 operates to drive the clamping device 2 to move along the X-axis direction to a position right above a preset second station; when the bare cell needs to rotate for a preset first angle relative to a preset second station, the rotating mechanism 3 operates to drive the clamping jaw mechanism 21 to rotate so as to rotate the bare cell for the preset first angle; the lifting mechanism 13 operates to drive the clamping device 2 to descend to a preset second station along the Z-axis direction, the clamping jaw adjusting mechanism 22 operates to enable the two clamping jaw mechanisms 21 to move away from each other to a preset first open state, and meanwhile, the pressing cylinder 231 drives the pressing plate 232 to ascend along the Z-axis direction to loosen the battery core to the preset second station; the rotating mechanism 3, the lifting mechanism 13 and the transverse moving mechanism 12 are reset to complete a working cycle.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (8)
1. The manipulator is characterized by comprising a transplanting device (1) and a clamping device (2), wherein the clamping device (2) is movably connected with the transplanting device (1);
the clamping device (2) comprises a clamping jaw mechanism (21), the clamping jaw mechanism (21) comprises a first fixing frame (211), a second fixing frame (212), a guide post (213) and a clamping jaw (214), the second fixing frame (212) is vertically arranged at two ends of the first fixing frame (211), the first end of the guide post (213) is fixedly connected to the top end of the second fixing frame (212), and a spring (215) is sleeved on the guide post (213);
the clamping jaw (214) is connected to the second fixing frame (212) in a sliding mode, a guide hole is formed in the top end of the clamping jaw (214), and the guide post (213) is connected to the guide hole in a sliding mode;
when the clamping device (2) collides, the clamping jaw (214) moves upwards along the guide post (213), and the spring (215) is compressed.
2. The manipulator according to claim 1, wherein the transplanting device (1) comprises a support (11), a traversing mechanism (12) and a lifting mechanism (13), the traversing mechanism (12) is fixedly installed at the top end of the support (11), the lifting mechanism (13) is slidably connected to the side edge of the traversing mechanism (12), the clamping device (2) is movably connected to the bottom of the lifting mechanism (13), the traversing mechanism (12) is used for driving the clamping device (2) to make linear motion along the X-axis direction, and the lifting mechanism (13) is used for driving the clamping device (2) to make linear motion along the Z-axis direction.
3. The manipulator according to claim 2, wherein the traversing mechanism (12) comprises a traversing module (121), a first drag chain (122) and a first motor (123), the support (11) comprises a horizontally arranged support beam (111), the traversing module (121) is fixedly arranged at a first side of the support beam (111), a first drag chain groove is arranged at the top surface of the support beam (111), the first drag chain (122) is movably arranged in the first drag chain groove, and the first motor (123) is arranged at one end of the support beam (111); an X-axis linear guide rail is arranged on the transverse moving module (121) along the length direction, the lifting mechanism (13) is connected to the X-axis linear guide rail in a sliding mode, the top end of the lifting mechanism (13) is connected with the first end of the first drag chain (122), and the first motor (123) can drive the lifting mechanism (13) to do linear motion in the X-axis direction relative to the X-axis linear guide rail.
4. The manipulator according to claim 2, wherein the lifting mechanism (13) comprises a lifting module (131), a lifting slider (132), a second drag chain (133) and a second motor (134), the lifting module (131) is vertically arranged along the Z-axis direction, the lifting module (131) is provided with a Z-axis linear guide rail along the length direction, and the lifting slider (132) is slidably connected to the Z-axis linear guide rail; the side wall of the lifting module (131) is provided with a second drag chain groove, the second drag chain (133) is movably mounted in the second drag chain groove, the lifting slide block (132) is connected with the first end of the second drag chain (133), and the second motor (134) can drive the clamping device (2) to do linear motion in the Z-axis direction relative to the Z-axis linear guide rail.
5. The manipulator according to claim 4, further comprising a rotating mechanism (3), wherein the rotating mechanism (3) comprises a third motor (31), a fixed plate (32) and a hollow rotating platform (33), the top surface of the fixed plate (32) is fixedly connected to the bottom of the lifting slider (132), the bottom surface of the fixed plate (32) is fixedly connected to the top surface of the hollow rotating platform (33), the bottom surface of the hollow rotating platform (33) is connected to the gripping device (2), the third motor (31) is arranged at the side of the hollow rotating platform (33), and the third motor (31) can drive the hollow rotating platform (33) to rotate.
6. The manipulator according to claim 1, wherein the number of the gripper mechanisms (21) is two, the gripping device (2) further comprises a gripper adjusting mechanism (22), the gripper adjusting mechanism (22) comprises a fourth motor (221), a power output shaft of the fourth motor (221) is rotatably connected with a synchronous belt (222), two sides of a second end of the synchronous belt (222) are respectively connected with a first ball screw (223) and a second ball screw (224), the first ball screw (223) and the second ball screw (224) are coaxially arranged and have opposite rotation directions, a moving plate (225) is arranged on each of the first ball screw (223) and the second ball screw, and one gripper mechanism (21) is fixedly connected with each of the moving plates (225).
7. The manipulator according to claim 6, wherein the gripping device (2) further comprises a pressing mechanism (23), the pressing mechanism (23) comprises a pressing cylinder (231) and a pressing plate (232), one end of the pressing cylinder (231) is fixedly connected to the bottom surface of the clamping jaw adjusting mechanism (22), an expansion rod of the pressing cylinder (231) faces to the side away from the clamping jaw adjusting mechanism (22), one end of the expansion rod is fixedly connected with the pressing plate (232), and the pressing cylinder (231) pushes the pressing plate (232) to move linearly along the Z-axis direction.
8. The manipulator according to claim 1, wherein a photoelectric sensor (216) is disposed at a top end of the first fixing frame (211), a sensing piece (217) is disposed at a side portion of the clamping jaw (214), and the sensing piece (217) is disposed at a position facing the photoelectric sensor (216).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021485404.1U CN213140517U (en) | 2020-07-24 | 2020-07-24 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021485404.1U CN213140517U (en) | 2020-07-24 | 2020-07-24 | Mechanical arm |
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| Publication Number | Publication Date |
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| CN213140517U true CN213140517U (en) | 2021-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021485404.1U Active CN213140517U (en) | 2020-07-24 | 2020-07-24 | Mechanical arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113352308A (en) * | 2021-06-30 | 2021-09-07 | 杭州智微信息科技有限公司 | Mechanical arm for shooting bone marrow smear and working method thereof |
| CN113955441A (en) * | 2021-11-10 | 2022-01-21 | 珠海许继电气有限公司 | Over-travel spring assembling device and assembling method |
| CN114300731A (en) * | 2021-12-31 | 2022-04-08 | 无锡骄成智能科技有限公司 | Battery cell tab pressing plate grabbing mechanism, grabbing method and cell assembly production line |
| CN114888616A (en) * | 2022-04-02 | 2022-08-12 | 科益展智能装备有限公司 | Material claw, material conveying mechanism and automatic feeding and discharging machine |
| CN115318546A (en) * | 2022-07-29 | 2022-11-11 | 河南爱彼爱和新材料有限公司 | Bilateral coating unit of stoving and rubber coating in area |
-
2020
- 2020-07-24 CN CN202021485404.1U patent/CN213140517U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113352308A (en) * | 2021-06-30 | 2021-09-07 | 杭州智微信息科技有限公司 | Mechanical arm for shooting bone marrow smear and working method thereof |
| CN113955441A (en) * | 2021-11-10 | 2022-01-21 | 珠海许继电气有限公司 | Over-travel spring assembling device and assembling method |
| CN114300731A (en) * | 2021-12-31 | 2022-04-08 | 无锡骄成智能科技有限公司 | Battery cell tab pressing plate grabbing mechanism, grabbing method and cell assembly production line |
| CN114300731B (en) * | 2021-12-31 | 2024-04-05 | 无锡骄成智能科技有限公司 | Battery cell tab pressing plate grabbing mechanism, grabbing method and battery cell assembly production line |
| CN114888616A (en) * | 2022-04-02 | 2022-08-12 | 科益展智能装备有限公司 | Material claw, material conveying mechanism and automatic feeding and discharging machine |
| CN115318546A (en) * | 2022-07-29 | 2022-11-11 | 河南爱彼爱和新材料有限公司 | Bilateral coating unit of stoving and rubber coating in area |
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