CN214520246U - Grabbing gripper for air conditioner heat exchanger - Google Patents
Grabbing gripper for air conditioner heat exchanger Download PDFInfo
- Publication number
- CN214520246U CN214520246U CN202120292717.3U CN202120292717U CN214520246U CN 214520246 U CN214520246 U CN 214520246U CN 202120292717 U CN202120292717 U CN 202120292717U CN 214520246 U CN214520246 U CN 214520246U
- Authority
- CN
- China
- Prior art keywords
- fixed
- clamping jaw
- jaw unit
- heat exchanger
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000007667 floating Methods 0.000 claims abstract description 18
- 230000002146 bilateral effect Effects 0.000 claims abstract description 9
- 238000003825 pressing Methods 0.000 claims abstract description 4
- 210000000707 wrist Anatomy 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 87
- 238000009434 installation Methods 0.000 claims description 13
- 238000004378 air conditioning Methods 0.000 claims description 10
- 230000000007 visual effect Effects 0.000 abstract description 11
- 238000006073 displacement reaction Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 8
- 239000000047 product Substances 0.000 description 6
- 238000005286 illumination Methods 0.000 description 5
- 239000007795 chemical reaction product Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an air conditioner heat exchanger snatchs tongs, it includes mechanical frame, fixed clamping jaw and visual detection system, and mechanical frame upper portion is connected with the terminal wrist of robot, and visual detection system fixes at the mechanical frame side for acquire product positional information, two at least fixed clamping jaws fix in the mechanical frame bottom, fixed clamping jaw includes left clamping jaw unit and the right clamping jaw unit that bilateral symmetry set up, and in heat exchanger arranged the centre gripping passageway between left clamping jaw unit and the right clamping jaw unit, realized pressing from both sides along with left clamping jaw unit and right clamping jaw unit relative motion and get, a plurality of fixed clamping jaw style of calligraphy settings realize the centre gripping of a plurality of points of heat exchanger on the rectilinear direction. The grabbing of various heat exchangers with the sizes and the models which are not very different is realized through the fixed clamping jaw, the models and the types of the heat exchangers can be grabbed through the floating clamping jaw, and the automatic carrying of the air conditioner heat exchanger is realized.
Description
Technical Field
The utility model belongs to the technical field of the air conditioner is made, concretely relates to air conditioner heat exchanger snatchs tongs.
Background
The shapes of the air-conditioning heat exchangers generally have great difference with different end products, the shapes of the air-conditioning heat exchangers have C shapes, L shapes, G shapes and the like according to different functions of the end products, the air-conditioning heat exchangers with different shapes have larger size difference, and the air-conditioning heat exchangers with the same shape also have larger size difference. In the production process of air conditioner products, the mixed production of the air conditioner heat exchangers is a common phenomenon, the air conditioner heat exchangers are generally carried and assembled by manpower in the traditional production process, and the problems of low production efficiency, high working strength of workers, high site potential safety hazard, large quantity of manpower and the like exist in the mode because a single heat exchanger is generally heavier.
With the rapid development and maturity of robots and related technologies, the end load of an industrial robot can reach hundreds of kilograms at present, and by matching with an industrial robot rapid exchange device, one industrial robot can adapt to different types of air-conditioning heat exchanger products by replacing different types of grippers, so that the carrying and assembly of the products can be completed by replacing manpower with robot automation equipment, for example, patent CN2017113424439 discloses a graduated disc type heat exchanger equipment, an upper layer heat exchanger plate and a lower layer heat exchanger plate are placed on a tool of a first station, then the graduated disc drives the tool of the first station to rotate to a second station, a first cylinder of an alignment device pushes a positioning plate, the positioning plate pushes one end of the upper layer heat exchanger plate and one end of the lower layer heat exchanger plate to be aligned, and a stop block on the tool can limit the distance of the lower layer heat exchanger plate to be pushed, ensuring that the upper and lower heat exchanger plates are aligned. Then lock the screw device and carry out the automatic tightening action to upper heat exchanger plate and lower floor's heat exchanger plate, after the locking is accomplished, the graduated disk drives the frock of second station and rotates to the third station, and ejection of compact manipulator snatchs the heat exchanger that assembles and removes, and ejection of compact manipulator can follow linear guide and move, and the empty frock that the graduated disk drove the third station rotates to the fourth station, continues to carry out next endless assembly.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an air conditioner heat exchanger snatchs tongs, realizes the automated production of air conditioner.
In order to realize the above-mentioned purpose, the utility model relates to an air conditioner heat exchanger snatchs tongs, including mechanical frame, fixed clamping jaw and visual detection system, mechanical frame upper portion is connected with the terminal wrist of robot, and visual detection system fixes at the mechanical frame side for acquire product position information, two at least fixed clamping jaws fix in the mechanical frame bottom, fixed clamping jaw includes left clamping jaw unit and the right clamping jaw unit that bilateral symmetry set up, and in heat exchanger arranged the centre gripping passageway between left clamping jaw unit and the right clamping jaw unit, realized pressing from both sides along with left clamping jaw unit and right clamping jaw unit move in opposite directions and get, a plurality of fixed clamping jaw style of calligraphy settings realize the centre gripping of a plurality of positions of heat exchanger on the rectilinear direction.
The utility model relates to a left clamping jaw unit and right clamping jaw unit structure of fixed clamping jaw the same and bilateral symmetry set up, all include fixed establishment, electric actuator, guiding mechanism, splint, blotter and pressure detection sensor, electric actuator fixes and is connected with splint through electric putter on fixed establishment, it is reciprocating motion to drive splint relatively fixed establishment, fixing guiding mechanism in splint one side near fixed establishment, bearing sliding connection on guiding mechanism and the fixed establishment, an auxiliary guide when being used for electric actuator to drive splint reciprocating motion, fixing the blotter in splint one side near fixed establishment, fixing pressure detection sensor in splint one side of keeping away from fixed establishment, left clamping jaw unit and right clamping jaw unit of fixed clamping jaw all fix on mechanical frame through fixed establishment.
Specifically, air conditioner heat exchanger snatchs tongs, still include unsteady tongs, displacement mechanism, unsteady clamping jaw includes left clamping jaw unit, right clamping jaw unit and installation supporting mechanism, the left clamping jaw unit and the right clamping jaw unit concrete structure of unsteady clamping jaw are the same with the left clamping jaw unit and the right clamping jaw unit of fixed clamping jaw, the centre gripping passageway that forms between the left clamping jaw unit of unsteady clamping jaw and the right clamping jaw unit is parallel with the centre gripping passageway that forms between the left clamping jaw unit of fixed clamping jaw and the right clamping jaw unit, displacement mechanism fixes on mechanical frame, displacement mechanism and unsteady tongs are connected and are driven unsteady tongs reciprocating motion in the passageway direction of snatching that the formation of unsteady tongs.
Specifically, the left clamping jaw unit and the right clamping jaw unit bilateral symmetry of clamping jaw float set up, all include fixed establishment, electric actuator, guiding mechanism, splint, blotter and pressure detection sensor, electric actuator fixes to be connected with splint through electric putter on fixed establishment, it is reciprocating motion to drive the relative fixed establishment of splint, fix guiding mechanism in splint one side near fixed establishment, bearing sliding connection on guiding mechanism and the fixed establishment, an auxiliary guide when electric actuator drives splint reciprocating motion, fix the blotter in splint one side near fixed establishment, fix pressure detection sensor in splint one side of keeping away from fixed establishment, the fixed establishment of left clamping jaw unit and right clamping jaw unit that the clamping jaw that floats corresponds all fixes on installation supporting mechanism.
Specifically, displacement mechanism includes first supporting seat, the cylinder, connect, the guiding axle, sliding bearing seat, second supporting seat and third supporting seat, the cylinder afterbody is fixed on first supporting seat, the push rod tip on the cylinder is installed the joint and is connected with installation supporting mechanism through connecting, two at least parallel arrangement's sliding bearing seat is fixed on installation supporting mechanism upper portion, and displacement mechanism's sliding bearing seat and the splint parallel arrangement of unsteady tongs, guiding axle and sliding bearing seat sliding connection, the second supporting seat is fixed to guiding axle one end, the third supporting seat is fixed on installation supporting mechanism upper portion, first supporting seat, second supporting seat and third supporting seat are all fixed on mechanical frame.
The utility model relates to a visual detection unit includes mounting bracket, installed part, vision camera and lighting apparatus, and the mounting bracket is connected in mechanical frame one side, and vision camera and lighting apparatus pass through the installed part to be fixed at the mounting bracket end, and the vision camera gathers heat exchanger's positional information in real time, and lighting apparatus provides the illumination for the vision camera according to actual need.
Compared with the prior art, the beneficial effects of the utility model are that:
realize size and the model and differ a little multiple heat exchanger's snatching through fixed clamping jaw, further increase the model and the kind that can snatch heat exchanger through the clamping jaw that floats, realize air conditioner heat exchanger's automatic transport, be favorable to improving the production efficiency of production line, reduce workman intensity of labour, greatly reduce the safety risk, can help the enterprise to reduce artifical the use, better cost reduction improves.
Drawings
Fig. 1 is a three-dimensional structure diagram of the grabbing gripper of the air conditioner heat exchanger according to the present invention.
Fig. 2 is a perspective view of the fixing jaw according to the present invention.
Fig. 3 is a three-dimensional structure diagram of the fixing clamping jaw part structure related to the utility model.
Fig. 4 is a perspective view of the floating clamping jaw according to the present invention.
Fig. 5 is an enlarged view of a portion a of fig. 1.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.
Example (b):
the air conditioner heat exchanger that this embodiment relates to snatchs tongs, including mechanical frame 1, fixed clamping jaw 2 and visual detection system 5, 1 upper portion of mechanical frame is connected with the terminal wrist of robot, and visual detection system 5 fixes at 1 side of mechanical frame for obtain product position information, two at least fixed clamping jaw 2 fix in 1 bottom of mechanical frame, fixed clamping jaw 2 includes left clamping jaw unit and the right clamping jaw unit that bilateral symmetry set up, and in heat exchanger arranged the centre gripping passageway between left clamping jaw unit and the right clamping jaw unit, realized pressing from both sides along with left clamping jaw unit and right clamping jaw unit move in opposite directions and get, the 2 style of calligraphy settings of a plurality of fixed clamping jaws, the centre gripping of a plurality of points of heat exchanger in the realization straight line direction.
The left jaw unit 201 and the right jaw unit 202 of the fixed jaw 2 related to this embodiment have the same structure and are arranged in bilateral symmetry, and each of the left jaw unit 201 and the right jaw unit includes a fixing mechanism 207, an electric actuator 208, a guide mechanism 203, a clamping plate 204, a cushion 205 and a pressure detection sensor 206, the electric actuator 208 is fixed on the fixing mechanism 207 and connected with the clamping plate 204 through an electric push rod, and drives the clamping plate 204 to reciprocate relative to the fixing mechanism 207, the guide mechanism 203 is fixed on one side of the clamping plate 204 close to the fixing mechanism 207, the guide mechanism 203 is connected with a bearing 209 on the fixing mechanism 207 in a sliding manner, and is used for auxiliary guiding when the electric actuator 208 drives the clamping plate 204 to reciprocate, specifically, the guide mechanism 203 is a guide rod, the cushion 205 is fixed on one side of the clamping plate 204 close to the fixing mechanism 207, the pressure detection sensor 206 is fixed on one side of the clamping plate 204 far away from the fixing mechanism 207, and the left jaw unit and the right jaw unit of the fixed jaw 2 are both fixed on the mechanical frame 1 through the fixing mechanism 207. The heat exchanger is placed in a channel between the clamping plates 204 corresponding to the left clamping jaw unit and the right clamping jaw unit, the clamping plates 204 move oppositely under the driving of the corresponding electric actuating mechanisms 208, the pressure detection sensors 206 detect the pressure applied to the clamping plates 204 in real time, and when the pressure detection sensors 206 reach set values, the electric actuating mechanisms 208 stop to finish clamping.
2 style of calligraphy settings of a plurality of fixed clamping jaws can realize the centre gripping of a plurality of loci of heat exchanger in the linear direction, and above-mentioned air conditioner heat exchanger snatchs tongs is applicable to and snatchs L shape and C shape heat exchanger. However, when the G-shaped heat exchanger is grabbed, grabbing is unstable and easy to drop, and due to different specifications, the sizes of the G-shaped heat exchangers are different, so that a movable hand grab is added on the basis of the grabbing hand grab of the air-conditioning heat exchanger, and a grabbing channel of the movable hand grab is parallel to a grabbing channel of the fixed hand grab. Specifically, the air conditioner heat exchanger grabs tongs, still include unsteady tongs 3, displacement mechanism 4, unsteady clamping jaw 3 includes left clamping jaw unit 301, right clamping jaw unit 302 and installation supporting mechanism 303, the left clamping jaw unit and the right clamping jaw unit concrete structure of unsteady clamping jaw 3 are the same with left clamping jaw unit and right clamping jaw unit of fixed clamping jaw 2, the centre gripping passageway that forms between left clamping jaw unit and the right clamping jaw unit of unsteady clamping jaw 3 is parallel with the centre gripping passageway that forms between left clamping jaw unit and the right clamping jaw unit of fixed clamping jaw 2, displacement mechanism 4 is fixed on mechanical frame 1, displacement mechanism 4 is connected with unsteady tongs 5 and is driven unsteady tongs 5 reciprocating motion in the passageway direction of grabbing that unsteady tongs 5 formed, and then has realized the snatching of different specification G shape heat exchangers.
Specifically, the left jaw unit 301 and the right jaw unit 302 of the floating jaw 3 are arranged in bilateral symmetry, and both include a fixing mechanism 207, an electric actuator 208, a guide mechanism 203, a clamping plate 204, a cushion pad 205 and a pressure detection sensor 206, the electric actuator 208 is fixed on the fixing mechanism 207 and connected with the clamping plate 204 through an electric push rod, so as to drive the clamping plate 204 to reciprocate relative to the fixing mechanism 207, the guide mechanism 203 is fixed on the side of the clamping plate 204 close to the fixing mechanism 207, the guide mechanism 203 is connected with a bearing 209 on the fixing mechanism 207 in a sliding way, is used for auxiliary guiding when the electric actuating mechanism drives the splint to reciprocate, in particular, the guiding mechanism 203 is a guiding rod, a cushion pad 205 is fixed to the side of the clamp plate 204 close to the fixing mechanism 207, a pressure detection sensor 206 is fixed to the side of the clamp plate 204 remote from the fixing mechanism 207, and the fixing mechanisms 207 of the left jaw unit and the right jaw unit corresponding to the floating jaw 3 are fixed to the mounting support mechanism 303.
Specifically, the variable pitch mechanism 4 includes a first support seat 401, an air cylinder 402, a joint 403, a guide shaft 404, a sliding bearing seat 405, a second support seat 406 and a third support seat 407, the tail of the air cylinder 402 is fixed on the first support seat 401, the end of a push rod on the air cylinder 402 is provided with the joint 403 and is connected with the installation support mechanism 303 through the joint 403, at least two sliding bearing seats 405 arranged in parallel are fixed on the upper portion of the installation support mechanism 303, the sliding bearing seat 405 of the variable pitch mechanism 4 is arranged in parallel with the clamping plate 204 of the floating gripper 3, the guide shaft 404 is connected with the sliding bearing seats 405 in a sliding manner, one end of the guide shaft 404 is fixed with the second support seat 406, the third support seat 407 is fixed on the upper portion of the installation support mechanism 303, and the first support seat 401, the second support seat 406 and the third support seat 407 are all fixed on the mechanical frame 1. When an order of changing production is received and an L-shaped or C-shaped heat exchanger needs to be changed into a G-shaped heat exchanger, the air cylinder 402 acts according to the size of the G-shaped heat exchanger to drive the push rod to extend out or retract, then the floating clamping jaw 3 is driven to reach a proper position along the guide shaft 404, and the floating gripper 5 is driven to reciprocate in the direction of a gripping channel formed by the floating gripper 5 so as to adapt to gripping of the G-shaped heat-exchange product after the change.
The visual inspection unit 5 according to the embodiment includes a mounting frame 501, a mounting member 502, a visual camera 503 and an illumination device 504, wherein the mounting frame 501 is connected to one side of the machine frame 1, the visual camera 503 and the illumination device 504 are fixed at the tail end of the mounting frame 501 through the mounting member 502, the visual camera 503 collects position information of the heat exchanger in real time, and the illumination device 504 provides illumination for the visual camera 503 according to actual needs.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides an air conditioner heat exchanger snatchs tongs, its characterized in that, includes mechanical frame, fixed clamping jaw and vision detection system, and mechanical frame upper portion is connected with the terminal wrist of robot, and vision detection system fixes at mechanical frame side for obtain product position information, and two at least fixed clamping jaws are fixed in mechanical frame bottom, fixed clamping jaw includes left clamping jaw unit and the right clamping jaw unit that bilateral symmetry set up, and in heat exchanger arranged the centre gripping passageway between left clamping jaw unit and the right clamping jaw unit, realized pressing from both sides along with left clamping jaw unit and right clamping jaw unit in opposite directions and get, a plurality of fixed clamping jaw style of calligraphy set up, realize the centre gripping of a plurality of positions of heat exchanger on the straight line direction.
2. An air conditioning heat exchanger grasping hand according to claim 1, wherein the left jaw unit and the right jaw unit of the fixing jaw have the same structure and are symmetrically disposed in left and right directions, and each comprise a fixing mechanism, an electric actuator, a guide mechanism, a clamping plate, a cushion pad and a pressure detecting sensor, the electric actuator is fixed on the fixing mechanism and connected with the clamping plate through an electric push rod to drive the clamping plate to reciprocate relative to the fixing mechanism, a guide mechanism is fixed at one side of the clamping plate close to the fixing mechanism, the guide mechanism is connected with a bearing on the fixing mechanism in a sliding way and is used for auxiliary guide when the electric actuating mechanism drives the clamping plate to reciprocate, the cushion pad is fixed on one side of the clamping plate close to the fixing mechanism, the pressure detection sensor is fixed on one side of the clamping plate far away from the fixing mechanism, and the left clamping jaw unit and the right clamping jaw unit of the fixed clamping jaw are fixed on the mechanical frame through the fixing mechanism.
3. An air conditioning heat exchanger grasping hand according to claim 2, further comprising a floating hand, and a distance varying mechanism, wherein the floating jaw comprises a left jaw unit, a right jaw unit, and a mounting support mechanism, the left jaw unit and the right jaw unit of the floating jaw have the same specific structure as the left jaw unit and the right jaw unit of the fixed jaw, a clamping passage formed between the left jaw unit and the right jaw unit of the floating jaw is parallel to a clamping passage formed between the left jaw unit and the right jaw unit of the fixed jaw, the distance varying mechanism is fixed on the mechanical frame, and the distance varying mechanism is connected with the floating hand to drive the floating hand to reciprocate in the direction of the grasping passage formed by the floating hand.
4. The air conditioner heat exchanger grasping hand according to claim 3, wherein the left jaw unit and the right jaw unit of the floating jaw are arranged in bilateral symmetry and each include a fixing mechanism, an electric actuator, a guide mechanism, a clamping plate, a cushion pad and a pressure detecting sensor, the electric actuator is fixed on the fixing mechanism and connected with the clamping plate through an electric push rod to drive the clamping plate to reciprocate relative to the fixing mechanism, a guide mechanism is fixed at one side of the clamping plate close to the fixing mechanism, the guide mechanism is connected with a bearing on the fixing mechanism in a sliding way and is used for auxiliary guide when the electric actuating mechanism drives the clamping plate to reciprocate, the cushion pad is fixed on one side of the clamping plate close to the fixing mechanism, the pressure detection sensor is fixed on one side of the clamping plate far away from the fixing mechanism, and the fixing mechanisms of the left clamping jaw unit and the right clamping jaw unit corresponding to the floating clamping jaw are fixed on the installation supporting mechanism.
5. An air conditioning heat exchanger grasping hand according to claim 4, wherein the pitch varying mechanism includes a first support base, an air cylinder, a joint, a guide shaft, a sliding bearing base, a second support base and a third support base, an end portion of the air cylinder is fixed on the first support base, a push rod on the air cylinder is provided with a joint at an end portion thereof and is connected with the installation support mechanism through the joint, at least two sliding bearing bases arranged in parallel are fixed on an upper portion of the installation support mechanism, and the sliding bearing base of the pitch varying mechanism is arranged in parallel with a clamping plate of the floating hand grip, the guide shaft is slidably connected with the sliding bearing base, the second support base is fixed at one end of the guide shaft, the third support base is fixed on an upper portion of the installation support mechanism, and the first support base, the second support base and the third support base are all fixed on the mechanical frame.
6. An air conditioning heat exchanger grasping hand according to claim 5, wherein the vision detecting unit includes a mounting bracket connected to one side of the mechanical frame, a mounting member, a vision camera and a lighting device, the vision camera and the lighting device are fixed to the end of the mounting bracket through the mounting member, the vision camera collects the position information of the heat exchanger in real time, and the lighting device provides lighting for the vision camera according to actual needs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120292717.3U CN214520246U (en) | 2021-02-02 | 2021-02-02 | Grabbing gripper for air conditioner heat exchanger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120292717.3U CN214520246U (en) | 2021-02-02 | 2021-02-02 | Grabbing gripper for air conditioner heat exchanger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214520246U true CN214520246U (en) | 2021-10-29 |
Family
ID=78233094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120292717.3U Active CN214520246U (en) | 2021-02-02 | 2021-02-02 | Grabbing gripper for air conditioner heat exchanger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214520246U (en) |
-
2021
- 2021-02-02 CN CN202120292717.3U patent/CN214520246U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111660315A (en) | Novel manipulator | |
| CN112171221A (en) | Automatic production line for oil cylinder | |
| CN214520246U (en) | Grabbing gripper for air conditioner heat exchanger | |
| CN112792835A (en) | Grabbing gripper for air conditioner heat exchanger | |
| CN217942663U (en) | Tool robot gripper device | |
| CN208802546U (en) | Clamp for stacking automatic charging device | |
| CN108163524B (en) | Carding and arranging machine for hoses | |
| CN218038329U (en) | Multi-process training platform for industrial robot | |
| CN216780997U (en) | Be applied to automation line of upper and lower punch machine tooling | |
| CN217122322U (en) | Lateral plate assembling system of air conditioner outdoor unit | |
| CN206084554U (en) | Take -out device | |
| CN210365934U (en) | Material grabbing device | |
| CN210589283U (en) | Truss type metal sample sorting manipulator | |
| CN111891747A (en) | Automatic transfer jig and workpiece automatic transfer method | |
| CN111807037A (en) | Manipulator material taking structure of automatic transplanter | |
| CN212664757U (en) | Clamping device for clamping horizontal bending stirrup | |
| CN111017544A (en) | Double-end grabbing device | |
| CN220055458U (en) | Carrying module | |
| CN220431512U (en) | Rotatable gas claw | |
| CN221295302U (en) | Snatch mechanism and automatic positive pole hang equipment from top to bottom | |
| CN212449640U (en) | Automatic transfer clamp | |
| CN110271858A (en) | A kind of heat exchanger working gas reclaimer | |
| CN213765912U (en) | High-speed carrying single-arm manipulator | |
| CN212020821U (en) | Empty dish real dish double-purpose manipulator | |
| CN219448478U (en) | Cross-flow fan blade transfer manipulator with automatic weighing function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 266000 15th floor, 22nd century building, 39 Longcheng Road, Shibei District, Qingdao City, Shandong Province Patentee after: Yingtelifu (Qingdao) Marine Equipment Technology Co.,Ltd. Country or region after: China Address before: 266000 15th floor, 22nd century building, 39 Longcheng Road, Shibei District, Qingdao City, Shandong Province Patentee before: QINGDAO TAIZHONG ENERGY TECHNOLOGY Co.,Ltd. Country or region before: China |