WO2016183877A1 - 一种移载机械手 - Google Patents
一种移载机械手 Download PDFInfo
- Publication number
- WO2016183877A1 WO2016183877A1 PCT/CN2015/080487 CN2015080487W WO2016183877A1 WO 2016183877 A1 WO2016183877 A1 WO 2016183877A1 CN 2015080487 W CN2015080487 W CN 2015080487W WO 2016183877 A1 WO2016183877 A1 WO 2016183877A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- arm
- grip portion
- motor
- transfer robot
- rotation
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Definitions
- the invention relates to a transfer device.
- the transfer efficiency of materials is the focus of whether to improve production efficiency, and the accuracy of the transfer in place may also affect the machining accuracy of the workpiece. Therefore, a robot capable of imitating a human hand moving at a certain angle and space becomes a development direction.
- a transfer robot includes an arm and a grip disposed at a front end of the arm, wherein the arm has a point at which the arm can rotate at least in a plane in which the extending direction thereof is located, and the grip portion can At least one of the arm and the grip can adjust the height perpendicular to the direction of rotation of the arm relative to the forward and backward of the arm.
- the grip is rotatable in a plane parallel to the direction of rotation of the arm.
- the grip is rotatable in a plane perpendicular to the direction of rotation of the arm.
- the transfer robot includes a lifting device, and the arm and the grip portion are disposed on the lifting device to adjust the height as a whole.
- a screw drive device is mounted on the arm, and the screw drive device drives the grip portion to extend forward and backward relative to the arm.
- the front end of the arm is provided with a first motor
- the grip portion is disposed at an output end of the first motor
- the first motor drives the grip portion to rotate in a plane parallel to the direction of rotation of the arm.
- the front end of the arm is provided with a second motor
- the grip portion is disposed at an output end of the second motor
- the second motor drives the grip portion to rotate in a plane perpendicular to the direction of rotation of the arm.
- the grip portion is a needle plate or a vacuum suction cup.
- the transfer robot of the present invention firstly, the arm supporting the grip portion can rotate at least around the fulcrum in a plane in which the extending direction thereof is located, and secondly, the grip portion as the grasping structure can also extend and retreat relative to the arm, and the last arm and At least one of the grips can also adjust the height perpendicular to the direction of rotation of the arm.
- the whole The robot can move in at least three dimensions, so that it has better adaptability to the starting and ending points of the workpieces at different placement positions, and the positioning is more accurate.
- the grip portion is also rotatable in a plane parallel to the direction of rotation of the arm, respectively, or simultaneously, and rotates in a plane perpendicular to the direction of rotation of the arm, more increasing the movable dimension of the grip, even covering Movement in almost all directions may be more adaptable to the target position.
- the arm is arranged on the lifting device such as the screw mechanism or the lifting cylinder, so that the grip portion can be driven to adjust the overall height, the structure is simple, and the adjustment is stable.
- the grip can be a needle plate or a vacuum suction cup, so that the workpiece can be grasped quickly and stably.
- Figure 1 is a schematic view of Embodiment 1 of the present invention.
- Figure 2 is a schematic view of Embodiment 2 of the present invention.
- 62 base, 622, bottom plate, 624, support plate, 626, slide rail, 63, arm, 632, support plate, 634, screw drive, 64, bracket, 642, sliding structure, 644, platform, 65, grip, 66, lifting screw mechanism, 672, mounting frame, 674, first motor, 68, motor, 83, arm, 834, screw drive, 85, grip, 872, mounting bracket, 874, the first motor, 876, the second motor.
- a transfer robot includes an arm 63 and a grip portion 65 disposed at the front end of the arm 63, wherein the arm 63 has a point, and the arm 63 can rotate at least around the fulcrum in a plane in which the extending direction thereof is. While the grip portion 65 can be advanced and retracted relative to the arm 63, it can also be rotated in a plane parallel to the direction of rotation of the arm 63, while the arm 63 and the grip portion 65 can also be adjusted in height in a direction perpendicular to the direction of rotation of the arm 63.
- the transfer robot includes a base 62 having a bottom plate 622 and a relative And two plates 624 are disposed on the bottom plate 622 vertically.
- the arm 63 is disposed on a bracket 64 and is height-movably disposed on the base 62 by a bracket 64. More specifically, the inner sides of the two support plates 624 are respectively provided with slide rails 626 extending perpendicularly to the bottom plate 622.
- the brackets 64 of the arms 63 are respectively provided with sliding structures 642 that cooperate with the slide rails 626, so that the brackets 64 and the arms 63 can be integrally provided.
- the base 62 is further provided with a lifting screw mechanism 66 connected to the bracket 64, so that the driving bracket 64 drives the arm 63 to move along the slide rail 626 to adjust the height.
- the bracket 64 specifically includes a platform 644 disposed parallel to the bottom plate 622 and side plates disposed on both sides of the platform 644.
- the side plate is provided with a sliding structure 642 to cooperate with the sliding rail 626.
- the motor 644 is provided with a motor 68 having a rotational axis direction perpendicular to the platform 644 and an output end coupled to an arm 63 disposed above the platform 644 to enable the arm 63 to rotate in a plane parallel to the platform 644.
- the arm 63 includes an elongated support plate 632 disposed parallel to the plane of the platform 644. The length of the support plate 632 is the direction in which the arms 63 extend. A support rod 634 is disposed on the support plate 632. The output end of the screw drive unit 634 is coupled to the grip portion 65 to drive the grip portion 65 forward and backward relative to the arm 63.
- the grip portion 65 is connected to the output end of the screw driving device 634 through a mounting bracket 672, and the mounting bracket 672 is provided with a first motor 674 of a rotating shaft vertical supporting plate 632, and the grip portion 65 is disposed on the first motor.
- the first motor 674 drives the grip 65 to rotate in a plane parallel to the direction of rotation of the arm 63.
- the grip portion 65 may specifically be a needle plate or a structure for providing a vacuum suction cup on the mounting plate for grasping the workpiece.
- the transfer robot has its bottom plate 622 horizontally disposed, and the state in which the support plate 624 is vertical is taken as an example.
- the arm 63 together with the grip portion 65 can adjust the height in the vertical direction.
- the arm 63 is held together with the grip.
- the holding portion 65 as a whole can be rotated 360° in the horizontal plane.
- the grip portion 65 can be extended and retracted relative to the arm 63, and the fourth grip portion 65 can be rotated 360° in the horizontal plane, so that the transfer robot can achieve the above
- the four-dimensional movement is highly adaptable to the transfer environment and is particularly suitable for the assembly line of the workpiece.
- a transfer robot differs from Embodiment 1 in that the grip portion 85 is also rotatable in a plane perpendicular to the direction of rotation of the arm 83.
- the front end of the arm 83 is provided with a second motor 876, and the second motor 876 is connected to the screw drive.
- the output of the holder 834 and the mounting bracket 872 are such that the mounting bracket 872, the first motor 874, and the grip portion 85 are rotatable in a plane perpendicular to the direction of rotation of the arm 83, driven by the second motor 876. Thereby the movement dimension of the grip 85 is increased.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
一种移载机械手，包括手臂（63）和设置在手臂前端的握持部（65），手臂具有一支点，手臂至少能够在自身延伸方向所在平面内绕支点旋转，且握持部能够相对于手臂前伸和后退，同时手臂和握持部中至少一个能够调节垂直于手臂旋转方向的高度。本移载机械手至少能够在3个维度运动，从而对不同摆放位置的工件移栽起点和终点有较好的适应性，定位更准确。
Description
本发明涉及一种移载装置。
在机械加工领域，物料的移载转移效率是能否提高生产效率的重点，同时移载到位的准确性也可能会影响到工件的加工精度。因此，能够模仿人手在一定角度和空间运动的机械手成为发展的方向。
发明内容
一种移载机械手，包括手臂和设置在手臂前端的握持部，其特征是，所述手臂具有一支点，手臂至少能够在自身延伸方向所在平面内绕所述支点旋转，且握持部能够相对于手臂前伸和后退，同时所述手臂和握持部中至少一个能够调节垂直于手臂旋转方向的高度。
优选的，所述握持部能够在平行于手臂旋转方向的平面内旋转。
优选的，所述握持部能够在垂直于所述手臂旋转方向的平面内旋转。
优选的，所述移载机械手包括一升降装置，所述手臂和握持部设置在所述升降装置上能够整体调节高度。
优选的，所述手臂上安装一丝杆驱动装置，丝杆驱动装置驱动所述握持部相对于手臂前伸和后退。
优选的，所述手臂前端设有第一电机，所述握持部设置在第一电机的输出端，所述第一电机驱动握持部在平行于手臂旋转方向的平面内旋转。
优选的，所述手臂前端设有第二电机，所述握持部设置在第二电机的输出端，所述第二电机驱动握持部在垂直于手臂旋转方向的平面内旋转。
优选的，所述握持部为针板或者负压吸盘。
本发明所达到的有益效果：
1.本发明的移载机械手，首先支撑握持部的手臂至少能够在自身延伸方向所在平面内绕支点旋转，其次作为抓取结构的握持部还能够相对于手臂前伸和后退，最后手臂和握持部中还至少有一个能够调节垂直于手臂旋转方向的高度。即整个
机械手至少能够在3个维度运动，从而对不同摆放位置的工件移栽起点和终点有较好的适应性，定位更准确。
2.进一步的，握持部还分别或者同时能够在平行于手臂旋转方向的平面内旋转，和在垂直于手臂旋转方向的平面内旋转，更多的增加握持部的可运动维度，甚至涵盖几乎各个方向的运动可能，对目标位置的适应性更强。
3.手臂设置在升降装置例如丝杆机构或者升降气缸上，从而能够带动握持部做整体的高度调节，结构简单，调节稳定。
4.通过丝杆驱动装置驱动握持部相对于手臂前伸和后退，通过第一电机和第二电机分别驱动握持部在平行于手臂旋转方向的平面内旋转，和在垂直于手臂旋转方向的平面内旋转，同样以简单的结构分别能够实现相应方向上的稳定调节。
5.握持部可以为针板或者负压吸盘，从而能够快速稳定的抓取工件。
图1是本发明实施例1的示意图；
图2是本发明实施例2的示意图；
其中：62、基座，622、底板，624、支板，626、滑轨，63、手臂，632、支撑板，634、丝杆驱动装置，64、支架，642、滑动结构，644、平台，65、握持部，66、升降丝杆机构，672、安装架，674、第一电机，68、电机，83、手臂，834、丝杆驱动装置，85、握持部，872、安装架，874、第一电机，876、第二电机。
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。
实施例1
如图1所示，一种移载机械手，包括手臂63和设置在手臂63前端的握持部65，其中手臂63具有一支点，且手臂63至少能够在自身延伸方向所在平面内绕支点旋转，而握持部65能够相对于手臂63前伸和后退，还能够在平行于手臂63旋转方向的平面内旋转，同时手臂63和握持部65还能够同步在垂直于手臂63旋转方向调节高度。
具体的，移载机械手，包括一基座62，基座62具有一底板622以及相对
而设、并垂直设于底板622上的两支板624。手臂63设置在一支架64上，并通过支架64高度可移的设置在基座62上。更具体的，两支板624的内侧分别设有垂直于底板622延伸的滑轨626，手臂63的支架64上相应设置与滑轨626配合的滑动结构642，从而令支架64和手臂63整体能够沿滑轨626在垂直于底板622方向移动，并且，基座62上还设置一升降丝杆机构66，其与支架64相连，从而驱动支架64带动手臂63沿滑轨626移动来调节高度。
支架64具体包括一平行于底板622设置的平台644和设置在平台644两侧的侧板，侧板上设置滑动结构642从而与滑轨626配合。平台644上设有一电机68，电机68的转轴方向垂直于平台644，且输出端与设置在平台644上方的手臂63相连，从而能够带动手臂63在平行于平台644的平面内旋转。
手臂63包括一平行于平台644平面设置的长条形支撑板632，支撑板632长度方向即为手臂63延伸方向。支撑板632上设置一一丝杆驱动装置634，丝杆驱动装置634的输出端连接握持部65，从而驱动握持部65相对于手臂63前伸和后退。
具体的，握持部65通过一安装架672与丝杆驱动装置634的输出端相连，且安装架672上设有一转轴垂直支撑板632的第一电机674，握持部65设置在第一电机674的输出端，第一电机674驱动握持部65在平行于手臂63旋转方向的平面内旋转。握持部65具体可以为一针板，也可以为一安装板上设置负压吸盘的结构，用于抓取工件。
以本实施例的移载机械手其底板622水平设置，支板624竖直时的状态为例，第一，手臂63连同握持部65可在竖直方向调节高度，第二，手臂63连同握持部65整体可在水平面内360°旋转，第三，握持部65可相对于手臂63前伸和后退，第四握持部65可在水平面内360°旋转，因此该移载机械手能够实现上述四个维度的运动，对移载环境的适应性强，特别适合于工件的组装流水线。
实施例2
如图2所示，一种移载机械手，与实施例1的区别在于，握持部85还能够在垂直于手臂83旋转方向的平面内旋转。
具体的，手臂83前端设有第二电机876，第二电机876连接丝杆驱动装
置834的输出端和安装架872，因此安装架872、第一电机874连同握持部85都能够在第二电机876的驱动下、在垂直于手臂83旋转方向的平面内旋转。从而增加握持部85的运动维度。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。
Claims (8)
- 一种移载机械手，包括手臂和设置在手臂前端的握持部，其特征是，所述手臂具有一支点，手臂至少能够在自身延伸方向所在平面内绕所述支点旋转，且握持部能够相对于手臂前伸和后退，同时所述手臂和握持部中至少一个能够调节垂直于手臂旋转方向的高度。
- 根据权利要求1所述的一种移载机械手，其特征是，所述握持部能够在平行于手臂旋转方向的平面内旋转。
- 根据权利要求1或2所述的一种移载机械手，其特征是，所述握持部能够在垂直于所述手臂旋转方向的平面内旋转。
- 根据权利要求1所述的一种移载机械手，其特征是，包括一升降装置，所述手臂和握持部设置在所述升降装置上能够整体调节高度。
- 根据权利要求1所述的一种移载机械手，其特征是，所述手臂上安装一丝杆驱动装置，丝杆驱动装置驱动所述握持部相对于手臂前伸和后退。
- 根据权利要求1所述的一种移载机械手，其特征是，所述手臂前端设有第一电机，所述握持部设置在第一电机的输出端，所述第一电机驱动握持部在平行于手臂旋转方向的平面内旋转。
- 根据权利要求1所述的一种移载机械手，其特征是，所述手臂前端设有第二电机，所述握持部设置在第二电机的输出端，所述第二电机驱动握持部在垂直于手臂旋转方向的平面内旋转。
- 根据权利要求1所述的一种移载机械手，其特征是，所述握持部为针板或者负压吸盘。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015102599765 | 2015-05-21 | ||
| CN201510259976.5A CN104816294A (zh) | 2015-05-21 | 2015-05-21 | 一种移载机械手 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2016183877A1 true WO2016183877A1 (zh) | 2016-11-24 |
Family
ID=53726894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2015/080487 WO2016183877A1 (zh) | 2015-05-21 | 2015-06-01 | 一种移载机械手 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104816294A (zh) |
| WO (1) | WO2016183877A1 (zh) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511299A (zh) * | 2017-09-06 | 2017-12-26 | 广东金弘达自动化科技股份有限公司 | 一种应用于线材点胶生产线的点胶装置 |
| CN107879103A (zh) * | 2017-12-20 | 2018-04-06 | 无锡特恒科技有限公司 | 一种搬运装置 |
| CN108323155A (zh) * | 2018-03-12 | 2018-07-24 | 深圳市兴禾自动化有限公司 | 一种电子产品自动化组装机及其组装机械手 |
| CN108555936A (zh) * | 2018-06-14 | 2018-09-21 | 上海众鸿电子科技有限公司 | 一种晶圆搬运机械手臂 |
| CN108582052A (zh) * | 2018-07-13 | 2018-09-28 | 江苏超人智能科技有限公司 | 一种可翻转机械手 |
| CN108910511A (zh) * | 2018-07-04 | 2018-11-30 | 常州星宇车灯股份有限公司 | 一种高效率轻型移载机械手 |
| CN109822114A (zh) * | 2019-04-01 | 2019-05-31 | 青岛勇创信自动化机械有限公司 | 一种自动送料接料装置 |
| CN111545663A (zh) * | 2020-06-03 | 2020-08-18 | 浙江宁波广工宏业自动化科技有限公司 | 一种五金冲压机械手 |
| CN113991165A (zh) * | 2021-10-27 | 2022-01-28 | 博众精工科技股份有限公司 | 软包电芯移载机构 |
| CN117621023A (zh) * | 2024-01-25 | 2024-03-01 | 广东铭钰科技股份有限公司 | 一种机械手的摆动装置 |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105197531B (zh) * | 2015-10-10 | 2018-04-03 | 江苏比微曼智能科技有限公司 | 下料装置 |
| CN105269561A (zh) * | 2015-11-03 | 2016-01-27 | 深圳市福士工业科技有限公司 | 一种水平四关节机械手 |
| CN105251707B (zh) * | 2015-11-26 | 2017-07-28 | 长沙理工大学 | 基于医药大输液可见异物检测系统的次品剔除分拣装置 |
| CN113370201B (zh) * | 2021-08-04 | 2024-01-12 | 深圳市华力宇电子科技有限公司 | 点对点高速机械机构 |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4637776A (en) * | 1985-07-24 | 1987-01-20 | Nitto Seiko Co., Ltd. | Retaining structure for screw fastening unit in an articulated robot |
| JPH0691563A (ja) * | 1991-06-20 | 1994-04-05 | Canon Inc | 直交２軸移動装置 |
| JP4070994B2 (ja) * | 2001-12-20 | 2008-04-02 | 株式会社ダイヘン | ワーク搬送用ロボット及びこのロボットを備えたワーク加工装置 |
| CN201327679Y (zh) * | 2008-12-18 | 2009-10-14 | 河源职业技术学院 | 微型可编程物流教学机器人 |
| CN203696999U (zh) * | 2014-02-26 | 2014-07-09 | 温州职业技术学院 | 流水线取件机械手 |
| CN203712704U (zh) * | 2014-02-24 | 2014-07-16 | 李胜多 | 机械手 |
| CN204712045U (zh) * | 2015-05-21 | 2015-10-21 | 江苏比微曼智能科技有限公司 | 一种移载机械手 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011173208A (ja) * | 2010-02-24 | 2011-09-08 | Denso Wave Inc | ロボット |
| CN102441890A (zh) * | 2011-09-30 | 2012-05-09 | 曹新江 | 单片机抓取机械手 |
| CN103737587B (zh) * | 2014-01-23 | 2016-07-06 | 昆山威创精密机械有限公司 | 智能五轴机械手 |
| KR101490977B1 (ko) * | 2014-02-18 | 2015-02-23 | (주) 러스 | 트랜스퍼용 승강 장치 및 이 승강 장치가 적용된 트랜스퍼 로봇 |
| CN103802095B (zh) * | 2014-02-26 | 2016-03-16 | 温州职业技术学院 | 四自由度伺服机械手 |
| CN204160476U (zh) * | 2014-10-08 | 2015-02-18 | 广东宏兴机械有限公司 | 伺服四轴冲压机械手 |
| CN104476542A (zh) * | 2014-12-16 | 2015-04-01 | 林创辉 | 一种搬运机器人 |
-
2015
- 2015-05-21 CN CN201510259976.5A patent/CN104816294A/zh active Pending
- 2015-06-01 WO PCT/CN2015/080487 patent/WO2016183877A1/zh active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4637776A (en) * | 1985-07-24 | 1987-01-20 | Nitto Seiko Co., Ltd. | Retaining structure for screw fastening unit in an articulated robot |
| JPH0691563A (ja) * | 1991-06-20 | 1994-04-05 | Canon Inc | 直交２軸移動装置 |
| JP4070994B2 (ja) * | 2001-12-20 | 2008-04-02 | 株式会社ダイヘン | ワーク搬送用ロボット及びこのロボットを備えたワーク加工装置 |
| CN201327679Y (zh) * | 2008-12-18 | 2009-10-14 | 河源职业技术学院 | 微型可编程物流教学机器人 |
| CN203712704U (zh) * | 2014-02-24 | 2014-07-16 | 李胜多 | 机械手 |
| CN203696999U (zh) * | 2014-02-26 | 2014-07-09 | 温州职业技术学院 | 流水线取件机械手 |
| CN204712045U (zh) * | 2015-05-21 | 2015-10-21 | 江苏比微曼智能科技有限公司 | 一种移载机械手 |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511299A (zh) * | 2017-09-06 | 2017-12-26 | 广东金弘达自动化科技股份有限公司 | 一种应用于线材点胶生产线的点胶装置 |
| CN107879103A (zh) * | 2017-12-20 | 2018-04-06 | 无锡特恒科技有限公司 | 一种搬运装置 |
| CN108323155B (zh) * | 2018-03-12 | 2024-04-12 | 深圳市兴禾自动化股份有限公司 | 一种电子产品自动化组装机及其组装机械手 |
| CN108323155A (zh) * | 2018-03-12 | 2018-07-24 | 深圳市兴禾自动化有限公司 | 一种电子产品自动化组装机及其组装机械手 |
| CN108555936A (zh) * | 2018-06-14 | 2018-09-21 | 上海众鸿电子科技有限公司 | 一种晶圆搬运机械手臂 |
| CN108910511A (zh) * | 2018-07-04 | 2018-11-30 | 常州星宇车灯股份有限公司 | 一种高效率轻型移载机械手 |
| CN108910511B (zh) * | 2018-07-04 | 2024-05-17 | 常州星宇车灯股份有限公司 | 一种高效率轻型移载机械手 |
| CN108582052A (zh) * | 2018-07-13 | 2018-09-28 | 江苏超人智能科技有限公司 | 一种可翻转机械手 |
| CN109822114A (zh) * | 2019-04-01 | 2019-05-31 | 青岛勇创信自动化机械有限公司 | 一种自动送料接料装置 |
| CN109822114B (zh) * | 2019-04-01 | 2023-10-13 | 青岛勇创信自动化机械有限公司 | 一种自动送料接料装置 |
| CN111545663A (zh) * | 2020-06-03 | 2020-08-18 | 浙江宁波广工宏业自动化科技有限公司 | 一种五金冲压机械手 |
| CN113991165A (zh) * | 2021-10-27 | 2022-01-28 | 博众精工科技股份有限公司 | 软包电芯移载机构 |
| CN113991165B (zh) * | 2021-10-27 | 2024-04-19 | 博众精工科技股份有限公司 | 软包电芯移载机构 |
| CN117621023A (zh) * | 2024-01-25 | 2024-03-01 | 广东铭钰科技股份有限公司 | 一种机械手的摆动装置 |
| CN117621023B (zh) * | 2024-01-25 | 2024-05-14 | 广东铭钰科技股份有限公司 | 一种机械手的摆动装置 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104816294A (zh) | 2015-08-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2016183877A1 (zh) | 一种移载机械手 | |
| JP6458967B2 (ja) | ロール軸アセンブリおよびそれを用いた雲台 | |
| CN104259619B (zh) | 一种便携式切割机械手 | |
| WO2018028108A1 (zh) | 一种自动调节大小的夹持装置 | |
| CN203697028U (zh) | 一种可手动调节指间角度的三爪夹持器 | |
| CN108748082B (zh) | 机器人的底盘移动机构 | |
| TWI491483B (zh) | 機械手及使用該機械手的生產設備 | |
| CN207242960U (zh) | 导光板双工位下料装置 | |
| CN104476047B (zh) | 焊接机器人 | |
| JP2023090980A5 (zh) | ||
| CN217229360U (zh) | 一种方便调节夹持角度的机械手 | |
| CN208051205U (zh) | 一种焊接机器人 | |
| CN105364921A (zh) | 一种机械手 | |
| CN203218245U (zh) | 晶圆自动取放机械手 | |
| CN104772767A (zh) | 一种机器人的连杆式抓手 | |
| ES2376502T3 (es) | Aparato para, simult�?neamente, perforar una pieza a trabajar y moverla entre puestos de trabajo. | |
| CN204712045U (zh) | 一种移载机械手 | |
| JP5109552B2 (ja) | ロボット用ハンドおよびこれを備えた水平多関節ロボット | |
| JP6204795B2 (ja) | ワークの掴み換え装置及び該装置を使用したワークの掴み換え方法 | |
| CN204262622U (zh) | 焊接机器人 | |
| CN105642780B (zh) | 一种用于折弯机器人的工装 | |
| CN204975080U (zh) | 一种胀管机的工件自动下料装置 | |
| KR20110139571A (ko) | 레이저 용접 헤드 이송장치 | |
| JP5196659B2 (ja) | 研削台車 | |
| CN204171506U (zh) | 一种便携式切割机械手 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 15892256 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 15892256 Country of ref document: EP Kind code of ref document: A1 |