CN107499575A - A kind of connector product clamping device of flexible atraumatic - Google Patents
A kind of connector product clamping device of flexible atraumatic Download PDFInfo
- Publication number
- CN107499575A CN107499575A CN201710647286.6A CN201710647286A CN107499575A CN 107499575 A CN107499575 A CN 107499575A CN 201710647286 A CN201710647286 A CN 201710647286A CN 107499575 A CN107499575 A CN 107499575A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- sliding shoe
- glide direction
- connector product
- clamping device
- 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.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/40—Safety features of loads, equipment or persons
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of connector product clamping device of flexible atraumatic, is related to connector product clamping field of mechanisms, including joint setting up and down and clamping jaw unit；The joint include be fixedly connected with clamping jaw unit lower fixed block, be slidably arranged in the first sliding shoe of lower fixed block, be slidably arranged in the second sliding shoe of the first sliding shoe；The glide direction of first sliding shoe intersects with the glide direction of the second sliding shoe.The present invention on joint by setting glide direction intersecting the first sliding shoe and the second sliding shoe, the clamping jaw center of clamping jaw unit is set to determine the adaptive position for adjusting clamping jaw unit of connector product center according to airborne seat is detected, so as to realize the effect for not detecting airborne seat and not damaging connector product.
Description
Technical field
The present invention relates to connector product to clamp field of mechanisms, is a kind of connector production of flexible atraumatic specifically
Product clamping device.
Background technology
Connector is also connector, and the country is also referred to as joint and socket, generally refers to electrical connector.Connecting two has
The device of source device, transmit electric current or signal.Connector be electronic engineering technical staff often in contact with a kind of part.Its work
With very simple：It is blocked in circuit between place or isolated obstructed circuit, the bridge of communication is erected, so that electric current stream
It is logical, make the function that circuit realiration is predetermined.Connector form and structure are Protean, and it is mainly by four big basic structure groups
Part forms, and is respectively：Terminal, plastic shell, insulator, annex.
, it is necessary to which connector product is passed through into clamping jaw list from the load seat of detection machine in the automatic packaging process of connector product
Member gripping, then by motion such as mechanical arm, X-Y-Z slide units by transferred product into packaging pallet.Such as Fig. 1 institutes
Show, due to the error of motion in itself such as trueness error, alignment error, debugging error cause the clamping of clamping jaw unit after
Grip position and connector product space is inconsistent, cause motion when taking out connector product, connector product plastic cement
Serious interference occurs between shell and the load seat of detection machine, causes the load seat of detection machine to damage connector product.
The content of the invention
It is an object of the invention to provide a kind of connector product clamping device of flexible atraumatic, for solving existing skill
Error in art due to motion in itself, the gripping position after the clamping of clamping jaw unit is caused to differ with connector product space
Cause, cause detection machine load seat damage connector product the problem of.The present invention on joint by setting what glide direction intersected
First sliding shoe and the second sliding shoe, the clamping jaw center of clamping jaw unit is set to be determined according to airborne seat is detected in connector product
The position of the adaptive adjustment clamping jaw unit of the heart, so as to realize the effect for not detecting airborne seat and not damaging connector product.
The present invention is achieved through the following technical solutions：
A kind of connector product clamping device of flexible atraumatic, including joint setting up and down and clamping jaw unit；It is described
Joint include be fixedly connected with clamping jaw unit lower fixed block, be slidably arranged in lower fixed block top the first sliding shoe, slide
It is arranged on the second sliding shoe on the first sliding shoe top；The glide direction of first sliding shoe and the glide direction phase of the second sliding shoe
Hand over.The joint is used to clamping jaw unit being fixedly attached to motion such as mechanical arm, thus the second sliding shoe with
Motion is fixedly connected；The lower fixed block being fixedly connected with clamping jaw unit can be along two sides relative to the second sliding shoe
To movement, first direction is glide direction of first sliding shoe relative to the second sliding shoe, and second direction is lower fixed block
Relative to the glide direction of the first sliding shoe, the intersecting angle for referring to two glide directions in first direction and second direction is not
It is 0 degree or 180 degree.The clamping jaw unit has a variety of prior arts in the art, left for example with integrated clamping jaw cylinder
Clamping jaw and right clamping jaw are separately mounted on two clamping jaws of clamping jaw cylinder, or use straight line cylinder or oil cylinder, by left folder
Pawl is arranged on the cylinder body of cylinder or oil cylinder, right clamping jaw is installed clamping jaw unit is formed on the piston rod of cylinder or oil cylinder,
Herein it should be noted that those skilled in the art can also use other prior arts to realize the clamping jaw list described in the present embodiment
Member, should not either oil cylinder or clamping jaw cylinder be interpreted as limitation of the invention by cylinder.
Preferably, the clamping jaw unit include be fixedly connected with lower fixed block frame, be oppositely arranged and slidably set
The drive mechanism of left clamping jaw and right clamping jaw, the left clamping jaw of driving and the opening and closing of right clamping jaw in frame.Described be oppositely arranged refers to a left side
Direction of motion when clamping jaw while right clamping jaw with moving is parallel and opposite；The slip setting refers to left clamping jaw and right clamping jaw
All it can be slided along Same Part, such as left clamping jaw is separately fixed on two different sliding blocks from right clamping jaw, then same
Slided on root line slideway or the left clamping jaw sliding guide piece such as line slideway relatively different from right clamping jaw is slided relatively
It is dynamic；Because left clamping jaw and right clamping jaw are to slide to set, therefore left and right clamping jaw does linear motion contact-connection assembly for electric product, phase
Clamped for rotation, translation clamping is more steady, and impact is smaller；The drive mechanism for driving left clamping jaw and right clamping jaw to be opened and closed is to drive
The drive mechanism of left clamping jaw and right clamping jaw linear relative movement is moved, drive mechanism can use rack-and-pinion well known in the art
Mechanism, i.e., using gear as actuator, the rack for being fixedly connected and being engaged with gear is divided on left clamping jaw and right clamping jaw；It can also adopt
With sliding block clamping jaw cylinder simple in construction, left clamping jaw and right clamping jaw are respectively fixedly connected with two sliding blocks in sliding block clamping jaw cylinder
On clamping jaw, source of the gas is accessed, the opening and closing of left clamping jaw and right clamping jaw is realized by the break-make of source of the gas.Due to the tool of internal gear rackwork
Body structure, sliding block clamping jaw cylinder and to control the control devices of these mechanisms be prior art in the art, therefore herein
It is not described in detail.Certain those skilled in the art can also use other prior arts in the art to realize left clamping jaw and right folder
The opening and closing of pawl, will not enumerate herein.
Preferably, the glide direction of first sliding shoe and the glide direction of the second sliding shoe are perpendicular.According to right angle
Coordinate system principle, any point in plane can represent with the point to the vertical range of the reference axis of rectangular coordinate system two, therefore
The glide direction of first sliding shoe and the glide direction of the second sliding shoe are perpendicular, make two glide direction form right angle coordinates
System, thus theoretically, in the domain of walker of the first sliding shoe and the second sliding shoe, gripping position and company after clamping jaw clamping
Connecing position of the device product on airborne seat is detected can overlap；So as to further avoid detecting airborne seat damage connector product.
Preferably, both ends of the lower fixed block along the first sliding shoe glide direction are provided with caging bolt.Clamping jaw list
The amount of floating of member is too small, and clamping jaw unit can be prevented to cause connector product still to have slight from complete matching connector product
Damage, the amount of floating of clamping jaw unit is excessive, can be because the distance opened of clamping jaw unit is inadequate, in clamping jaw unit to connector product
Directly wounded in moving process connector product, therefore caging bolt is set, it is convenient that clamping jaw list is adjusted according to site specific
The suitable amount of floating of member.
Preferably, both ends of first sliding shoe along the second sliding shoe glide direction are provided with caging bolt.Clamping jaw
The amount of floating of unit is too small, and clamping jaw unit can be prevented to cause connector product still to have slightly from complete matching connector product
Damage, the amount of floating of clamping jaw unit is excessive, can because clamping jaw unit open distance it is inadequate, clamping jaw unit to connector produce
Directly wounded in product moving process connector product, therefore caging bolt is set, it is convenient that clamping jaw is adjusted according to site specific
The suitable amount of floating of unit.
Preferably, both ends of the lower fixed block along the first sliding shoe glide direction are provided with buffer.When clamping jaw list
Member has gripped connector product, motion by clamping jaw with connector product to packaging pallet move when, due to inertia etc.
Reason, clamping jaw unit is moved back and forth shock in the first sliding shoe glide direction and produce vibration, so that connector product grips
Loosen, or even drop；Buffer is set, clamping jaw unit can be effectively reduced and move back and forth shock in the first sliding shoe glide direction
Vibration is produced, prevents connector product from shaking off.The buffer is prior art in this area, such as known oleo cushion
Device, or spring, the structure of buffer belong to prior art, are not described in detail herein in the art.
Preferably, both ends of first sliding shoe along the second sliding shoe glide direction are provided with buffer.
When clamping jaw unit has gripped connector product, motion is transported by clamping jaw with connector product to packaging pallet
When dynamic, due to reasons such as inertia, clamping jaw unit is moved back and forth shock in the second sliding shoe glide direction and produce vibration, so that
The gripping of connector product loosens, or even drops；Buffer is set, clamping jaw unit can be effectively reduced in the second sliding shoe slip side
Vibration is produced to moving back and forth to hit, prevents connector product from shaking off.The buffer is prior art in this area, such as public
The oil buffer known, or spring, the structure of buffer belong to prior art in the art, do not do chat in detail herein
State.
Preferably, the drive mechanism includes being rotatably arranged in frame multiple gears, engage and slide with gear and set
Put the rack in frame and the power set of drive gear rotating；The glide direction of rack and left clamping jaw or right clamping jaw
Glide direction is perpendicular, and one end of rack towards left clamping jaw or right clamping jaw has the conical surface；Left clamping jaw and the relative one side of right clamping jaw
The inclined-plane corresponding with the rack conical surface is equipped with, spring anchor block, left clamping jaw are provided with the right side of left clamping jaw left side and right clamping jaw
Spring is provided between spring anchor block, spring is provided between right clamping jaw and spring anchor block.It is described corresponding with the rack conical surface
Inclined-plane refer to that the right-hand member of left clamping jaw sets inclined-plane, the left end of right clamping jaw sets inclined-plane, and to close latter two oblique for left and right clamping jaw
The conical surface maximum open that face is formed is more than the conical surface tip portion of rack.Inclined-plane or right folder of the gradient of the rack conical surface with left clamping jaw
The gradient on the inclined-plane of pawl be able to can also both be differed with identical, and mutually gradient differs small, the rack resistance of motion of abrasion to gradient on year-on-year basis
Greatly.The present embodiment realizes the opening action of left clamping jaw and right clamping jaw by pinion and rack, by spring realize left clamping jaw and
The closed action of right clamping jaw, i.e. pinching action, because spring is good, there is the work of the driving force of buffer gear cold rack offer
With, therefore connector product will not be crushed.The power set can use the existing skills such as rotary cylinder, motor, rotary oil cylinder
Art realizes, due to rotary cylinder, motor, rotary oil cylinder etc. structure and to control the control devices of these power set be existing
There is technology, therefore be not described in detail herein.
The present invention compared with prior art, has advantages below and beneficial effect：
(1) present invention makes clamping jaw by setting glide direction intersecting the first sliding shoe and the second sliding shoe on joint
The clamping jaw center of unit can determine the adaptive position for adjusting clamping jaw unit of connector product center according to airborne seat is detected,
So as to realize the effect for not detecting airborne seat and not damaging connector product；
(2) present invention realizes that the first sliding shoe or the second sliding shoe floating stroke can be adjusted freely by setting caging bolt
The effect of section；
(3) present invention realizes the effect for reducing and being impacted when the first sliding shoe or the second sliding shoe floating by setting buffer
Fruit；
(4) present invention realizes that a power set control the effect of multiple clamping jaws by setting pinion and rack；
(5) present invention realizes that spring force clamps product by setting spring on the left side of left clamping jaw and the right side of right clamping jaw,
Prevent that power set driving force is excessive, cause clamping force excessive, damage the effect of connector product.
Brief description of the drawings
Fig. 1 is that prior art clamping jaw grips product schematic diagram；
Fig. 2 is front view of the present invention；
Fig. 3 is A-A sectional views；
Fig. 4 is joint top view；
Fig. 5 is schematic enlarged-scale view at B；
Wherein 1- joints；2- clamping jaw units；3- connector products；4- detects airborne seat；Fixed block under 11-；12- second is slided
Motion block；The sliding shoes of 13- first；14- buffers；15- caging bolts；21- power set；22- gears；The left clamping jaws of 23-；24- is right
Clamping jaw；26- racks；27- springs；28- spring anchor blocks；29- frames.
Embodiment
The present invention is described in further detail with reference to the preferred embodiments of the present invention, but the embodiment party of the present invention
Formula not limited to this.
Embodiment 1：
With reference to shown in accompanying drawing 1-4, a kind of connector product clamping device of flexible atraumatic, including joint setting up and down
1 and clamping jaw unit 2, lower fixed block 11 that the joint 1 includes being fixedly connected with clamping jaw unit 2, it is slidably arranged in lower fixed block
First sliding shoe 13 on 11 tops, the second sliding shoe 12 for being slidably arranged in the top of the first sliding shoe 13；First sliding shoe 13
Glide direction intersects with the glide direction of the second sliding shoe 12.In the present embodiment, motion uses mechanical arm, i.e., second slides
Motion block 12 is connected with mechanical arm.
Operation principle：
During using the present apparatus, mechanical arm drives clamping jaw unit 2 to be moved on the airborne seat 4 of detection by joint 1 first
The top of connector product 3, opens clamping jaw unit 2, clamping jaw unit 2 is moved to connector product 3 under the drive of mechanical arm
Put, close clamping jaw unit 2, in connector product 3 under the reaction force of clamping jaw unit 2, driving the first sliding shoe 13 and second
Sliding shoe 12 is moved to relevant position, the gripping center of clamping jaw unit 2 is overlapped with the product center of connector product；Then machine
Tool arm drives clamping jaw unit 2, and connector product 3 is taken out in motion straight up, is moved to packaging pallet, is moved to packaging pallet
Afterwards, clamping jaw unit 2 is opened, puts down connector product 3.Above-mentioned action is repeated, until detecting all connectors production on airborne seat 4
Product 3 are moved in packaging pallet.
Embodiment 2：
Preferably to implement the present invention, on the basis of embodiment 1, with reference to accompanying drawing 2-4, further, the clamping jaw list
Member 2 includes the frame 29 being fixedly connected with lower fixed block 11, the left clamping jaw 23 for being oppositely arranged and being slidably arranged in frame 29
The drive mechanism being opened and closed with right clamping jaw 24, the left clamping jaw 23 of driving and right clamping jaw 24.
Embodiment 3：
Preferably to implement the present invention, further avoid detecting airborne seat damage connector product, in embodiment 1 or 2
On the basis of, with reference to accompanying drawing 2-4, further, the glide direction of first sliding shoe 13 and the slip of the second sliding shoe 12
Direction is perpendicular.
Embodiment 4：
Preferably to implement the present invention, make the first sliding shoe or the second sliding shoe floating stroke freely adjustable, implementing
On the basis of example 1 or 2, with reference to accompanying drawing 2-4, further, the lower fixed block 11 is along the two of the glide direction of the first sliding shoe 13
End is provided with caging bolt 15.
Embodiment 5：
Preferably to implement the present invention, make the first sliding shoe or the second sliding shoe floating stroke freely adjustable, implementing
On the basis of example 1 or 2, with reference to accompanying drawing 2-4, further, first sliding shoe 13 is along the glide direction of the second sliding shoe 12
Both ends are provided with caging bolt 15.
Embodiment 6：
Preferably to implement the present invention, impacted when reducing the first sliding shoe or the second sliding shoe floating, in embodiment 1 or 2
On the basis of, with reference to accompanying drawing 2-4, further, both ends of the lower fixed block 11 along the glide direction of the first sliding shoe 13 are all provided with
It is equipped with buffer 14.
Embodiment 7：
Preferably to implement the present invention, impacted when reducing the first sliding shoe or the second sliding shoe floating, in embodiment 1 or 2
On the basis of, with reference to accompanying drawing 2-4, further, both ends of first sliding shoe 13 along the glide direction of the second sliding shoe 12 are equal
It is provided with buffer 14.
Embodiment 8：
Preferably to implement the present invention, realize that a power set control multiple clamping jaws, on the basis of embodiment 2, knot
Accompanying drawing 2-5 is closed, further, multiple gears 22 that the drive mechanism includes being rotatably arranged in frame 29, is nibbled with gear 22
Close and be slidably arranged in the rack 26 in frame 29 and the power set 21 of the rotating of drive gear 22；The slip side of rack 26
To perpendicular with the glide direction of left clamping jaw 23 or right clamping jaw 24, one end of rack 26 towards left clamping jaw 23 or right clamping jaw 24 has
The conical surface；The relative one side of left clamping jaw 23 and right clamping jaw 24 is equipped with the inclined-plane corresponding with the conical surface of rack 26, the left left side of clamping jaw 23
Spring anchor block 28 is provided with the right right side of clamping jaw 24, spring 27, right folder are provided between left clamping jaw 23 and spring anchor block 28
Spring 27 is provided between pawl 24 and spring anchor block 28.In the present embodiment, power set 21 are realized using rotary cylinder, rotary pneumatic
The rotating of cylinder realizes that solenoid directional control valve is connected with source of the gas by solenoid directional control valve, and the source of the gas is prior art, herein not
It is described in detail.
Operation principle：
When unclamping connector product 3, rotary cylinder drive gear 22 rotates forward, and gear 22 moves downward with carry-over bar 26, tooth
The left clamping jaw 23 of conic section driving of the lower end of bar 26 is moved to the left, and is driven right clamping jaw 24 to move right, is realized clamping jaw opening action, is unclamped
Connector product 3；During clamping connector product 3, rotary cylinder drive gear 22 is inverted, and gear 22 is transported upwards with carry-over bar 26
Dynamic, the conical surface of the lower end of rack 26 leaves the inclined-plane of left clamping jaw 23 and right clamping jaw 24, and left clamping jaw 23 and right clamping jaw 24 are in spring 27
The lower move toward one another of effect, realizes clamping jaw closed action, clamping connector product 3.
It is described above, be only presently preferred embodiments of the present invention, any formal limitation not done to the present invention, it is every according to
Any simply modification, the equivalent variations made according to the technical spirit of the present invention to above example, each fall within the protection of the present invention
Within the scope of.
Claims (8)
1. a kind of connector product clamping device of flexible atraumatic, including joint setting up and down (1) and clamping jaw unit (2)；
Characterized in that, the joint (1) include be fixedly connected with clamping jaw unit (2) lower fixed block (11), be slidably arranged in it is lower solid
Determine first sliding shoe (13) on block (11) top, be slidably arranged in the second sliding shoe (12) on the first sliding shoe (13) top；The
The glide direction of one sliding shoe (13) intersects with the glide direction of the second sliding shoe (12).
A kind of 2. connector product clamping device of flexible atraumatic according to claim 1, it is characterised in that the folder
Pawl unit (2) include be fixedly connected with lower fixed block (11) frame (29), be oppositely arranged and be slidably arranged on frame (29)
On left clamping jaw (23) and right clamping jaw (24), the drive mechanism that drives left clamping jaw (23) and right clamping jaw (24) to be opened and closed.
A kind of 3. connector product clamping device of flexible atraumatic according to claim 1 or 2, it is characterised in that institute
Glide direction and the glide direction of the second sliding shoe (12) for stating the first sliding shoe (13) are perpendicular.
A kind of 4. connector product clamping device of flexible atraumatic according to claim 1 or 2, it is characterised in that institute
State both ends of the lower fixed block (11) along the first sliding shoe (13) glide direction and be provided with caging bolt (15).
A kind of 5. connector product clamping device of flexible atraumatic according to claim 1 or 2, it is characterised in that institute
State both ends of the first sliding shoe (13) along the second sliding shoe (12) glide direction and be provided with caging bolt (15).
A kind of 6. connector product clamping device of flexible atraumatic according to claim 1 or 2, it is characterised in that institute
State both ends of the lower fixed block (11) along the first sliding shoe (13) glide direction and be provided with buffer (14).
A kind of 7. connector product clamping device of flexible atraumatic according to claim 1 or 2, it is characterised in that institute
State both ends of the first sliding shoe (13) along the second sliding shoe (12) glide direction and be provided with buffer (14).
A kind of 8. connector product clamping device of flexible atraumatic according to claim 2, it is characterised in that the drive
Motivation structure include be rotatably arranged in frame (29) multiple gears (22), engaged with gear (22) and be slidably arranged in frame
(29) power set (21) of rack (26) and drive gear (22) rotating on；The glide direction of rack (26) and left folder
The glide direction of pawl (23) or right clamping jaw (24) is perpendicular, and rack (26) has towards one end of left clamping jaw (23) or right clamping jaw (24)
There is the conical surface；Left clamping jaw (23) and the relative one side of right clamping jaw (24) are equipped with the inclined-plane corresponding with rack (26) conical surface, Zuo Jia
Be provided with spring anchor block (28) on the left of pawl (23) and on the right side of right clamping jaw (24), left clamping jaw (23) and spring anchor block (28) it
Between be provided with spring (27), spring (27) is provided between right clamping jaw (24) and spring anchor block (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710647286.6A CN107499575A (en) | 2017-08-01 | 2017-08-01 | A kind of connector product clamping device of flexible atraumatic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710647286.6A CN107499575A (en) | 2017-08-01 | 2017-08-01 | A kind of connector product clamping device of flexible atraumatic |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107499575A true CN107499575A (en) | 2017-12-22 |
Family
ID=60690219
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710647286.6A Withdrawn CN107499575A (en) | 2017-08-01 | 2017-08-01 | A kind of connector product clamping device of flexible atraumatic |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107499575A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110449525A (en) * | 2019-07-31 | 2019-11-15 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of feeding mechanical hand of Quadratic Finite Element manipulator |
| CN110523872A (en) * | 2019-07-31 | 2019-12-03 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of Quadratic Finite Element manipulator |
| CN110921301A (en) * | 2019-12-03 | 2020-03-27 | 江苏天艾美自动化科技有限公司 | Automatic robot capable of carrying objects |
| CN110949746A (en) * | 2019-12-12 | 2020-04-03 | 中国科学院沈阳自动化研究所 | Floating self-feedback automatic boxing and clamping device for bearing rollers |
| CN112478274A (en) * | 2020-10-28 | 2021-03-12 | 温州界峰电子商务有限公司 | Suspension type plate packing manipulator |
-
2017
- 2017-08-01 CN CN201710647286.6A patent/CN107499575A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110449525A (en) * | 2019-07-31 | 2019-11-15 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of feeding mechanical hand of Quadratic Finite Element manipulator |
| CN110523872A (en) * | 2019-07-31 | 2019-12-03 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | A kind of Quadratic Finite Element manipulator |
| CN110921301A (en) * | 2019-12-03 | 2020-03-27 | 江苏天艾美自动化科技有限公司 | Automatic robot capable of carrying objects |
| CN110949746A (en) * | 2019-12-12 | 2020-04-03 | 中国科学院沈阳自动化研究所 | Floating self-feedback automatic boxing and clamping device for bearing rollers |
| CN110949746B (en) * | 2019-12-12 | 2021-08-17 | 中国科学院沈阳自动化研究所 | Floating self-feedback automatic boxing and clamping device for bearing rollers |
| CN112478274A (en) * | 2020-10-28 | 2021-03-12 | 温州界峰电子商务有限公司 | Suspension type plate packing manipulator |
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Application publication date: 20171222 |
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