CN213259523U - Robot gripper for grabbing, carrying and assembling castings of multiple specifications - Google Patents
Robot gripper for grabbing, carrying and assembling castings of multiple specifications Download PDFInfo
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- CN213259523U CN213259523U CN202022152272.7U CN202022152272U CN213259523U CN 213259523 U CN213259523 U CN 213259523U CN 202022152272 U CN202022152272 U CN 202022152272U CN 213259523 U CN213259523 U CN 213259523U
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Abstract
The utility model discloses a robot tongs that is used for many specifications foundry goods to snatch, carry, assemble, pass through the electric permanent magnet that is used for snatching the foundry goods that relocation mechanism is connected, its characterized in that including the tongs backup pad and with the tongs backup pad: the bottom surface of the electric permanent magnet is provided with two downward convex blocks, the bottom surfaces of the convex blocks are adsorption surfaces, an interval is reserved between the two convex blocks, the bottom surface of the electric permanent magnet is connected with a positioning pin, and the positioning pin is in transition fit with a hole in the bottom surface of the electric permanent magnet. Adopt the utility model discloses a robot tongs can be applicable to snatching, transport and the assembly of the foundry goods of multiple specification.
Description
Technical Field
The utility model relates to a manipulator field especially relates to a robot tongs for many specifications foundry goods.
Background
At present, the garbage incinerator is widely applied to the environmental protection industry, and a sliding platform is an important component of the garbage incinerator and mainly comprises a guide steel rail, a frame assembly welding part, a casting and the like; wherein, the foundry goods is assembled on the frame assembly welding spare, and has multiple width specification and different structures. After the sliding platform is assembled, the upper planes of all castings are required to have flatness requirements; meanwhile, the upper plane of the casting and the upper plane of the steel rail are required to have the requirement of height difference. In the actual production process, the frame assembly welding part is formed by welding various channel steels, and mechanical processing treatment is not carried out subsequently; therefore, the contact surface between the frame assembly and the bottom surface of the casting is warped and uneven in the width direction. In order to compensate for the buckling deformation of the frame assembly and welding piece and ensure the flatness requirement of the upper plane of each casting and the height difference requirement of the upper plane of the steel rail, the bottom surface of the casting needs to be polished or spot-welded; when the supporting surface of the frame assembly and welding piece is warped upwards, the bottom surface of the casting needs to be polished; when the supporting surface of the frame assembly welding piece warps downwards, the bottom surface of the casting needs to be subjected to spot welding and then ground flat. And after the bottom surface of the casting is polished, the casting is carried to different positions of a frame assembly and welding part for assembly. At present, due to the lack of corresponding automatic equipment, the carrying and the assembly of the sliding platform casting are all completed by manual operation, and the mode has the defects of high labor intensity of workers, low production efficiency and poor product quality consistency.
Chinese patent CN208577165U discloses a gripper mechanism for different workpieces, and specifically discloses: the special-shaped workpiece comprises a positioning hole penetrating through the surface of the special-shaped workpiece and an error-proof part arranged on the outer side part of the special-shaped workpiece, wherein the gripper mechanism of the special-shaped workpiece comprises a floating plate, a middle plate, a guide shaft connecting the floating plate and the middle plate, an electromagnet, a guide pin used for limiting the position of the special-shaped workpiece, a sensor group, a detection device used for preventing the special-shaped workpiece from being placed wrongly, an air cylinder used for controlling the working state of the floating plate and an electronic control unit used for controlling the working state of the electromagnet and the sensor group.
Although the above patent discloses gripping a special-shaped workpiece by means of electromagnet attraction, the mechanism in the above patent is not applicable to workpieces of various specifications that are not special-shaped.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a robot tongs that is used for many specifications and high-efficient, the high foundry goods of security snatchs, transport, assembly.
In order to achieve the above object, the present invention is realized as follows: the utility model provides a robot tongs that is used for many specifications foundry goods to snatch, carry, assemble, includes the tongs backup pad and passes through the electro-permanent magnet who is used for snatching the foundry goods that floating mechanism is connected with the tongs backup pad, its characterized in that: the bottom surface of the electric permanent magnet is provided with two downward convex blocks, the bottom surfaces of the convex blocks are adsorption surfaces, an interval is reserved between the two convex blocks, the bottom surface of the electric permanent magnet is connected with a positioning pin, and the positioning pin is in transition fit with a hole in the bottom surface of the electric permanent magnet. The robot gripper set by the mode can grip castings of different specifications by arranging the adsorption surfaces at the bottom of the electro-permanent magnet, and the two adsorption surfaces are provided with the concave clearance structure, so that the robot gripper can adapt to the castings with boss design in the middle. During design, the width between the outer side surfaces of the two convex blocks is designed to be smaller than the width of the casting with the minimum width specification according to actual conditions, so that the robot gripper can meet the requirements of gripping, carrying and assembling castings with various specifications. The electric permanent magnet is used as an execution tail end, the distribution of an internal magnetic circuit of the electric permanent magnet is controlled and converted by an electric control system by utilizing different characteristics of different permanent magnet materials, so that a permanent magnet magnetic field is self-balanced in the system and is externally represented as a demagnetizing and non-material-absorbing state; or released to the working magnetic pole surface of the electro-permanent magnet, and is characterized as a magnetizing and material-absorbing state. The electric permanent magnet does not need electric energy in work, and can avoid the workpiece from sliding off after the system is suddenly powered off, so the electric permanent magnet has unparalleled safety. The positioning pin can be used for teaching and positioning the robot gripper.
In order to further realize accurate assembly of the casting to the sliding platform, the gripper supporting plate is connected with the connecting plate through a floating mechanism, and more than two electro-permanent magnets are fixedly connected to the bottom of the connecting plate.
In order to further realize accurate grabbing, a sensor used for sensing the casting is connected to the connecting plate.
In order to further improve the strength, a cylinder sleeve extending downwards is arranged on the gripper supporting plate and is connected with the connecting plate through a floating mechanism.
Preferably, the floating mechanism comprises a linear bearing arranged in a cylinder sleeve, a flange is arranged at the top of the linear bearing, the flange is fixedly connected with the gripper supporting plate, the lower end face of the linear bearing is not more than the lower end face of the cylinder sleeve, the floating mechanism further comprises a screw rod penetrating through an inner hole of the linear bearing, the screw rod upwards extends out of the gripper supporting plate and penetrates through a limiting part to be in threaded connection with a nut, the screw rod downwards extends out of the cylinder sleeve to be connected with a connecting plate, a space is reserved between the cylinder sleeve and the connecting plate, and an elastic part is arranged between the connecting plate and the cylinder sleeve.
Preferably, the elastic part is a compression spring, and the compression spring is sleeved on a screw rod between the connecting plate and the cylinder sleeve.
For further realization with the foundry goods accurate assembly to sliding platform, the screw rod is tertiary shoulder shaft, by lower supreme diameter grow gradually and be divided into lower part optical axis, middle optical axis and upper portion screw rod, middle optical axis with linear bearing's hole clearance fit, the upper portion screw rod stretches out linear bearing just is in the supporting pad is established to intermittent type cover on the upper portion screw rod, the supporting pad with the flange offsets, it establishes to be provided with the cover on the supporting pad dish spring on the upper portion screw rod, the nut with upper portion screw rod spiro union and with the dish spring offsets be provided with the shoulder hole that the upper portion diameter is less than the lower part diameter on the connecting plate, middle optical axis with the upper portion hole transitional fit of the shoulder hole of connecting plate, the lower part optical axis sinks the lower part of the shoulder hole of connecting plate is downthehole.
Furthermore, a cushion block sleeved on the middle optical axis is arranged on the lower end face of the cylinder sleeve of the gripper supporting plate, and the elastic piece is abutted to the cushion block and the connecting plate.
Preferably, 4 cylinder liners are arranged on the gripper supporting plate, 4 stepped holes matched with the cylinder liners are arranged on the connecting plate, corresponding floating mechanisms are respectively arranged between the 4 cylinder liners and the 4 stepped holes, the number of the electro-permanent magnets is 2, each electro-permanent magnet corresponds to the number of the 2 floating mechanisms, and the electro-permanent magnets are connected with the connecting plate through positioning pins.
In order to further improve the strength, reinforcing ribs are arranged on the upper side and the lower side of the gripper supporting plate.
Has the advantages that:
the utility model is used for the robot tongs of many specifications foundry goods snatch, transport, assembly can accurately, snatch reliably, transport the foundry goods of multiple specification to can assemble the foundry goods accuracy or place the assigned position. The labor intensity of workers is reduced to the maximum extent, and the production efficiency and the product quality are improved.
Firstly, two electro-permanent magnets are adopted as execution tail ends, the electro-permanent magnets control and convert the distribution of internal magnetic circuits of the electro-permanent magnets through an electric control system by utilizing different characteristics of different permanent magnet materials, so that a permanent magnet magnetic field is self-balanced in the system and is externally characterized as a demagnetized and non-material-absorbing state; or released to the working magnetic pole surface of the electro-permanent magnet, and is characterized as a magnetizing and material-absorbing state. The electric permanent magnet does not need electric energy in work, and can avoid the workpiece from sliding off after the system is suddenly powered off, so the electric permanent magnet has unparalleled safety. The utility model discloses in locate the lower part with two adsorption planes of electro-permanent magnet, the middle empty space structure that adopts for there is the foundry goods of boss in the middle of the adaptation, width between two adsorption plane outsides is less than the width of minimum width specification foundry goods, consequently the utility model provides a robot tongs can satisfy snatching, transport and the assembly of multiple specification foundry goods.
Moreover, the robot gripper of the utility model adopts the structure of combining the linear bearing and the compression spring, so that the electro-permanent magnet has proper movement in the vertical direction when adsorbing the casting, the adsorption surface of the electro-permanent magnet can be properly pre-pressed on the casting after contacting the surface of the casting, and the pre-pressing is realized by the compression deformation of the compression spring; after the compression spring is compressed and deformed, the adsorption surface of the electro-permanent magnet is reliably contacted with the surface of the casting. At the moment, the sensor sends out a detection signal after detecting the casting, the control system sends out an action instruction to the robot, the robot gripper grabs the casting and carries the casting, accurate grabbing and carrying are achieved, and accidents are avoided.
Additionally, the utility model discloses a robot tongs adopts the supporting pad to carry out vertical direction spacing to electric permanent magnet and relevant part. After the gripper grabs the casting, the electro-permanent magnet and the workpiece slightly move downwards under the action of gravity, the lower end face of the supporting pad is contacted with the upper end face of the linear bearing at the moment, and the contact shows that the electro-permanent magnet and the workpiece have exact positions in the vertical direction, and the casting can be accurately assembled on the sliding platform at the moment.
Drawings
Fig. 1 is an isometric view of a robot gripper of the present invention;
fig. 2 is a front view of the robot gripper of the present invention;
fig. 3 is a left side cross-sectional view of the robot gripper of the present invention;
FIG. 4 is an isometric view of an electro-permanent magnet of the present invention;
FIG. 5 is a front view of the electro-permanent magnet of the present invention;
fig. 6 is a left side view of the electro-permanent magnet according to the present invention.
Description of reference numerals: the gripper comprises a gripper supporting plate 1, a linear bearing 2, a supporting pad 3, a disc spring 4, a connecting screw rod 5, a nut 6, a cushion block 7, a compression spring 8, a first positioning pin 9, a sensor connecting plate 10, a sensor 11, a second positioning pin 12, an electro-permanent magnet 13, a convex block 131, an adsorption surface 132, a connecting plate 14, a reinforcing rib 15 and a cylinder sleeve 16.
Detailed Description
The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings, but the present invention is not limited to these embodiments, and any modifications or replacements within the basic spirit of the embodiments still fall within the scope of the present invention claimed in the claims.
Example 1: as shown in fig. 1-6, the present embodiment provides a robotic gripper for gripping, transporting, and assembling multi-standard castings, which can be used for assembling a sliding platform of a garbage incinerator.
The robot gripper of the embodiment comprises a gripper supporting plate 1 and an electro-permanent magnet 13 connected with the gripper supporting plate 1 through a floating mechanism and used for gripping a casting, wherein the bottom surface of the electro-permanent magnet 13 is an adsorption surface 132.
Specifically, the bottom surface of the electro-permanent magnet 13 is provided with two downward protrusions 131, the bottom surface of each protrusion 131 is an adsorption surface 132, a space is formed between the two protrusions 131, and the bottom surface of the electro-permanent magnet 13 is transitionally connected with a first positioning pin 9. In this embodiment, through set up adsorption plane 132 in electro-permanent magnet 13 bottom, can snatch the foundry goods of different specifications to having the structure of keeping away of fovea upward between two adsorption planes 132, can adapting to the middle foundry goods that has the boss design. During design, the width between the outer side surfaces of the two convex blocks 131 is designed to be smaller than the width of the casting with the minimum width specification according to actual conditions, so that the robot gripper can meet the requirements of gripping, transporting and assembling castings with various specifications. The electro-permanent magnet 13 is used as an execution tail end, the electro-permanent magnet 13 controls and converts the distribution of an internal magnetic circuit by an electric control system by utilizing different characteristics of different permanent magnet materials, so that a permanent magnet magnetic field is self-balanced in the system and is externally characterized as a demagnetizing and non-absorbing state; or released to the working magnetic pole surface of the electro-permanent magnet 13, and is externally characterized as a magnetizing and material-absorbing state. The electro-permanent magnet 13 does not need electric energy in the working process, and the workpiece can be prevented from sliding off after the system is suddenly powered off, so that the electro-permanent magnet 13 has unrivaled safety.
In addition, the bottom surface of the electro-permanent magnet is connected with a first positioning pin, and the first positioning pin 9 is in transition fit with a hole in the bottom surface of the electro-permanent magnet. The first positioning pin can be used for teaching and positioning the robot gripper.
As another implementation manner in this embodiment, the gripper support plate is connected to a vertical plate, and reinforcing ribs 15 are disposed on the upper and lower sides of the gripper support plate, and the reinforcing ribs are triangular reinforcing ribs and are respectively welded to the gripper support plate and the vertical plate.
Adopt the robot tongs of this embodiment, can snatch the foundry goods of different specifications and have boss design.
Example 2: as shown in fig. 1-6, the present embodiment provides a robotic gripper for gripping, transporting, and assembling multi-standard castings, which can be used for assembling a sliding platform of a garbage incinerator.
The robot gripper of the embodiment comprises a gripper supporting plate 1 and an electro-permanent magnet 13 connected with the gripper supporting plate 1 through a floating mechanism and used for gripping a casting, wherein the bottom surface of the electro-permanent magnet 13 is an adsorption surface 132. Specifically, the bottom surface of the electro-permanent magnet 13 is provided with two downward protrusions 131, the bottom surface of the protrusion 131 is an absorption surface 132, and a space is provided between the two protrusions 131. And a first positioning pin 9 is transitionally connected on the bottom surface of the electro-permanent magnet 13. The gripper supporting plate 1 is connected with a connecting plate 14 through a floating mechanism, the bottom of the connecting plate 14 is connected with more than two electro-permanent magnets 13, and the electro-permanent magnets 13 are fixedly connected with the connecting plate through two positioning pins 12. The connecting plate 14 is connected with a sensor 11 for sensing the casting.
In the embodiment, a cylinder sleeve 16 extending downwards is welded at the front bottom of the gripper supporting plate 1, and the cylinder sleeve 16 is connected with the connecting plate 14 through a floating mechanism. Specifically, the floating mechanism comprises a linear bearing 2 arranged in the cylinder sleeve 16, a flange is arranged at the top of the linear bearing 2, the flange can be fixedly connected with the gripper supporting plate 1 through a screw, and the lower end face of the linear bearing 2 is not more than the lower end face of the cylinder sleeve 16. The floating mechanism further comprises a screw rod penetrating through an inner hole of the linear bearing 2, the screw rod extends upwards out of the gripper supporting plate 1 and penetrates through the limiting piece to be in threaded connection with the nut 6, the screw rod extends downwards out of the cylinder sleeve 16 to be connected with the connecting plate 14, a space is reserved between the cylinder sleeve 16 and the connecting plate 14, and an elastic piece is arranged between the connecting plate 14 and the cylinder sleeve 16.
In this embodiment, the elastic member is a compression spring 8, and the compression spring 8 is sleeved on a screw rod between the connecting plate 14 and the cylinder sleeve 16. The screw rod is three-level stepped shaft, and the diameter of the screw rod is increased from bottom to top and is divided into a lower optical axis, a middle optical axis and an upper screw rod. Middle optical axis with linear bearing 2's hole clearance fit, the upper portion screw rod stretches out linear bearing 2 and be in intermittent type cover establishes supporting pad 3 on the screw rod of upper portion, supporting pad 3 with the flange offsets, 3 upper portions of supporting pad are provided with the cover and establish dish spring 4 on the screw rod of upper portion, nut 6 with the screw rod spiro union of upper portion and with dish spring 4 offsets, guarantees to have fine locking effect. A stepped hole with the upper diameter smaller than the lower diameter is formed in the connecting plate 14, the middle optical axis is in transition fit with the upper hole of the stepped hole of the connecting plate 14, and the lower optical axis sinks into the lower hole of the stepped hole of the connecting plate 14. The lower end face of a cylinder sleeve 16 positioned on the gripper supporting plate 1 is provided with a cushion block 7 sleeved on the middle optical axis, a through hole in the cushion block is in clearance fit with the screw rod, and the elastic part abuts against the cushion block 7 and the connecting plate 14. An L-shaped sensor connecting plate 10 is connected to the connecting plate through a screw, and the sensor 11 is installed on the sensor connecting plate.
As another implementation manner in this embodiment, the gripper support plate is connected to a vertical plate, and reinforcing ribs 15 are disposed on the upper and lower sides of the gripper support plate, and the reinforcing ribs are triangular reinforcing ribs and are respectively welded to the gripper support plate and the vertical plate.
As an option in this embodiment, 4 cylinder sleeves 16 are arranged on the gripper supporting plate 1, 4 stepped holes matched with the cylinder sleeves 16 are arranged on the connecting plate 14, corresponding floating mechanisms are respectively arranged between the 4 cylinder sleeves 16 and the 4 stepped holes, the number of the electro-permanent magnets 13 is 2, each electro-permanent magnet 13 corresponds to each floating mechanism, and the electro-permanent magnets 13 are connected with the connecting plate 14 through positioning pins.
The utility model is used for the robot tongs of many specifications foundry goods snatch, transport, assembly can accurately, snatch reliably, transport the foundry goods of multiple specification to can assemble the foundry goods accuracy or place the assigned position.
Firstly, two electro-permanent magnets are adopted as execution tail ends, the electro-permanent magnets control and convert the distribution of internal magnetic circuits of the electro-permanent magnets through an electric control system by utilizing different characteristics of different permanent magnet materials, so that a permanent magnet magnetic field is self-balanced in the system and is externally characterized as a demagnetized and non-material-absorbing state; or released to the working magnetic pole surface of the electro-permanent magnet, and is characterized as a magnetizing and material-absorbing state. The electric permanent magnet does not need electric energy in work, and can avoid the workpiece from sliding off after the system is suddenly powered off, so the electric permanent magnet has unparalleled safety. The utility model discloses in locate the lower part with two adsorption planes of electro-permanent magnet, the middle empty space structure that adopts for there is the foundry goods of boss in the middle of the adaptation, width between two adsorption plane outsides is less than the width of minimum width specification foundry goods, consequently the utility model provides a robot tongs can satisfy snatching, transport and the assembly of multiple specification foundry goods.
Moreover, the robot gripper of the utility model adopts the structure of combining the linear bearing and the compression spring, so that the electro-permanent magnet has proper movement in the vertical direction when adsorbing the casting, the adsorption surface of the electro-permanent magnet can be properly pre-pressed on the casting after contacting the surface of the casting, and the pre-pressing is realized by the compression deformation of the compression spring; after the compression spring is compressed and deformed, the adsorption surface of the electro-permanent magnet is reliably contacted with the surface of the casting. At the moment, the sensor sends out a detection signal after detecting the casting, the control system sends out an action instruction to the robot, the robot gripper grabs the casting and carries the casting, accurate grabbing and carrying are achieved, and accidents are avoided.
Additionally, the utility model discloses a robot tongs adopts the supporting pad to carry out vertical direction spacing to electric permanent magnet and relevant part. After the gripper grabs the casting, the electro-permanent magnet and the workpiece slightly move downwards under the action of gravity, the lower end face of the supporting pad is contacted with the upper end face of the linear bearing at the moment, and the contact shows that the electro-permanent magnet and the workpiece have exact positions in the vertical direction, and the casting can be accurately assembled on the sliding platform at the moment.
Claims (10)
1. The utility model provides a robot tongs that is used for many specifications foundry goods to snatch, carry, assemble, includes the tongs backup pad and passes through the electro-permanent magnet who is used for snatching the foundry goods that floating mechanism is connected with the tongs backup pad, its characterized in that: the bottom surface of the electric permanent magnet is provided with two downward convex blocks, the bottom surfaces of the convex blocks are adsorption surfaces, an interval is reserved between the two convex blocks, the bottom surface of the electric permanent magnet is connected with a positioning pin, and the positioning pin is in transition fit with a hole in the bottom surface of the electric permanent magnet.
2. A robotic gripper for gripping, handling and assembling multi-gauge castings according to claim 1, characterized by: the gripper supporting plate is connected with the connecting plate through a floating mechanism, and more than two electro-permanent magnets are fixedly connected to the bottom of the connecting plate.
3. A robotic gripper for gripping, handling and assembling multi-gauge castings according to claim 2, characterized in that: and a sensor for sensing the casting is connected to the connecting plate.
4. A robotic gripper for gripping, handling and assembling multi-gauge castings according to claims 2 or 3, characterized in that: and a cylinder sleeve extending downwards is arranged on the gripper supporting plate and is connected with the connecting plate through a floating mechanism.
5. A robotic gripper for gripping, handling and assembling multi-gauge castings according to claim 4, characterized in that: the floating mechanism comprises a linear bearing arranged in a cylinder sleeve, a flange is arranged at the top of the linear bearing, the flange is fixedly connected with the gripper supporting plate, the lower end face of the linear bearing is not more than the lower end face of the cylinder sleeve, the floating mechanism further comprises a screw rod penetrating through an inner hole of the linear bearing, the screw rod upwards extends out of the gripper supporting plate and penetrates through a limiting part to be in threaded connection with a nut, the screw rod downwards extends out of the cylinder sleeve to be connected with a connecting plate, a distance is reserved between the cylinder sleeve and the connecting plate, and an elastic part is arranged between the connecting plate and the cylinder sleeve.
6. A robotic gripper for gripping, handling and assembling multi-gauge castings according to claim 5, characterized by: the elastic part is a compression spring, and the compression spring is sleeved on a screw rod between the connecting plate and the cylinder sleeve.
7. A robotic gripper for gripping, handling and assembling multi-gauge castings according to claims 5 or 6, characterized in that: the screw rod is tertiary stepped shaft, by lower supreme diameter grow gradually and be divided into lower part optical axis, middle optical axis and upper portion screw rod, middle optical axis with linear bearing's hole clearance fit, the upper portion screw rod stretches out linear bearing just is in supporting pad and dish spring are established to the cover on the screw rod of upper portion, the nut with the upper portion screw rod spiro union and with dish spring offsets be provided with the shoulder hole that the upper portion diameter is less than the lower part diameter on the connecting plate, middle optical axis with the upper portion hole transition fit of the shoulder hole of connecting plate, the lower part optical axis sinks in the lower part of the shoulder hole of connecting plate is downthehole.
8. A robotic gripper for gripping, handling and assembling multi-gauge castings according to claim 7, wherein: the lower end face of the cylinder sleeve is provided with a cushion block sleeved on the middle optical axis, and two ends of the elastic piece are abutted to the cushion block and the connecting plate.
9. A robotic gripper for gripping, handling and assembling multi-gauge castings according to claim 7, wherein: the gripper is characterized in that 4 cylinder sleeves are arranged on the gripper supporting plate, 4 stepped holes matched with the cylinder sleeves are formed in the connecting plate, corresponding floating mechanisms are arranged between the 4 cylinder sleeves and the 4 stepped holes respectively, the number of the electro-permanent magnets is 2, each electro-permanent magnet corresponds to the number of the floating mechanisms, and the electro-permanent magnets are connected with the connecting plate through positioning pins.
10. A robotic gripper for gripping, handling and assembling multi-gauge castings according to claim 1, characterized by: and reinforcing ribs are arranged on the upper side and the lower side of the hand grip supporting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022152272.7U CN213259523U (en) | 2020-09-27 | 2020-09-27 | Robot gripper for grabbing, carrying and assembling castings of multiple specifications |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022152272.7U CN213259523U (en) | 2020-09-27 | 2020-09-27 | Robot gripper for grabbing, carrying and assembling castings of multiple specifications |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213259523U true CN213259523U (en) | 2021-05-25 |
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ID=75945640
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022152272.7U Active CN213259523U (en) | 2020-09-27 | 2020-09-27 | Robot gripper for grabbing, carrying and assembling castings of multiple specifications |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213259523U (en) |
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2020
- 2020-09-27 CN CN202022152272.7U patent/CN213259523U/en active Active
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