CN108456769B - Sampling method of automatic sampling manipulator for bearing ring parts - Google Patents
Sampling method of automatic sampling manipulator for bearing ring parts Download PDFInfo
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- CN108456769B CN108456769B CN201810173394.9A CN201810173394A CN108456769B CN 108456769 B CN108456769 B CN 108456769B CN 201810173394 A CN201810173394 A CN 201810173394A CN 108456769 B CN108456769 B CN 108456769B
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- manipulator
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- bearing ring
- clamping jaws
- pair
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/40—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for rings; for bearing races
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/26—Methods of annealing
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Crystallography & Structural Chemistry (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Human Computer Interaction (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses an automatic sampling manipulator and a sampling method for a bearing ring part, which relate to the technical field of advanced manufacturing and automation, and comprise a control unit, a rack, a moving beam arranged below the rack, a manipulator arranged below the moving beam, a suction device arranged at the end part of the manipulator and a pair of clamping jaws, wherein the moving beam is arranged below the rack; the movable beam is connected with the rack through a first guide rail, the manipulator is connected with the movable beam through a second guide rail, and the manipulator is connected with the second guide rail through a lifting device. The product in the annealing frame is automatically sampled, the control of the sampling position is more accurate, the sampling process is reliable, the automation degree is high, manual intervention is not needed, and misoperation is avoided; the design of suction means and clamping jaw is especially to annular race ring design, absorbs the race ring earlier, and the clamping jaw passes the race ring afterwards, snatchs reliably, and the error rate is minimum.
Description
Technical Field
the invention relates to the technical field of advanced manufacturing and automation, in particular to a sampling method of an automatic sampling manipulator for bearing ring parts.
Background
the spheroidizing annealing is mainly suitable for eutectoid steel and hypereutectoid steel, such as carbon tool steel, alloy tool steel, bearing steel and the like. These steels are rolled, forged and then air-cooled, and the resulting structures are lamellar pearlite and network cementite, which are hard and brittle, not only difficult to machine, but also prone to deformation and cracking during subsequent quenching. The spheroidizing annealing process obtains spherical pearlite structure with dispersed cementite grains distributed on the ferrite matrix, and compared with flaky pearlite, the spheroidizing annealing process has low hardness, easy cutting, no growth of austenite grains during quenching and heating and less deformation and cracking tendency of the workpiece during cooling. In the production of the bearing seat, after the bearing seat is forged, a high-quality bearing seat product is obtained by commonly using spheroidizing annealing treatment, the quality of the bearing seat product is directly influenced by the spheroidizing annealing treatment, and the spheroidizing annealing treatment condition of the bearing seat product needs to be sampled and continuously monitored in real time in the production process.
after spheroidizing annealing, a sample at a specific position is grabbed in an annealing frame filled with a bearing ring, the grabbing is carried out manually at present, the control on the grabbing position is unstable, and the misoperation of forgetting to take and missing to take is easy to occur.
Disclosure of Invention
The purpose of the invention is as follows: the invention discloses a sampling method of an automatic sampling manipulator for a bearing ring part, which is used for automatically sampling a product in an annealing frame, more accurately controlling a sampling position, ensuring reliable sampling process and high automation degree, avoiding manual intervention and avoiding misoperation; the design of suction means and clamping jaw is especially to annular race ring design, absorbs the race ring earlier, and the clamping jaw passes the race ring afterwards, snatchs reliably, and the error rate is minimum.
the technical scheme is as follows: in order to achieve the above purpose, the invention discloses a sampling method of an automatic sampling manipulator for bearing ring parts, which comprises a control unit, a rack, a moving beam arranged below the rack, a manipulator arranged below the moving beam, a suction device arranged at the end part of the manipulator and a pair of clamping jaws, wherein the control unit is connected with the rack; the movable beam is connected with the rack through a first guide rail, the manipulator is connected with the movable beam through a second guide rail, and the manipulator is connected with the second guide rail through a lifting device.
furthermore, according to the sampling method of the automatic sampling manipulator for the bearing ring part, the moving beam is connected with the longitudinal moving driving device, the manipulator is connected with the transverse moving driving device, the lifting device is connected with the lifting driving device, and the longitudinal moving driving device, the transverse moving driving device and the lifting driving device are all connected with the control unit.
Further, according to the sampling method of the automatic sampling manipulator for the bearing ring part, the suction device comprises a telescopic arm and an electromagnetic chuck device, the telescopic arm is connected with a telescopic driving device, and a pressure sensing device is arranged on the surface of the electromagnetic chuck device; the pressure sensing device, the electromagnetic chuck device and the telescopic driving device are all connected with the control unit.
Further, in the sampling method of the automatic sampling manipulator for the bearing ring part, the suction device is arranged between the pair of clamping jaws.
Furthermore, according to the sampling method of the automatic sampling manipulator for the bearing ring part, the pair of clamping jaws is connected with the clamping jaw rotation driving device, and the clamping jaw rotation driving device is connected with the control unit.
further, according to the sampling method of the automatic sampling manipulator for the bearing ring part, rubber protective sleeves are arranged at the end part of the manipulator and the outer sides of the pair of clamping jaws.
Further, the sampling method of the automatic sampling manipulator for the bearing ring part comprises the following steps: inputting a sampling mode to the control unit; the control unit sequentially sends out instructions through operation, and the bearing ring parts at the specified positions are taken out one by one; the act of removing the single race part comprises: the manipulator translates to the appointed plane position, and the pair of clamping jaws are in a folding state at the moment; the manipulator descends to a specified depth, and in the descending process of the manipulator, the manipulator continuously moves horizontally within a set amplitude to pull away the bearing ring parts which block advancing; after the mechanical arm moves to the designated sampling position, the pair of clamping jaws are opened to a set angle; the manipulator moves horizontally and moves up and down alternately within a set range, so that the suction device between the pair of clamping jaws sucks the bearing ring part; the clamping jaws are folded and penetrate through the through holes of the bearing rings, and the bearing rings are strung on the closed clamping jaws; and lifting the manipulator, and taking out the bearing ring sample.
further, in the above sampling method for the automatic sampling manipulator for the bearing ring part, the concrete actions of the suction device for sucking the bearing ring part include: when the manipulator moves horizontally and moves up and down alternately within a set range, the electromagnetic chuck device of the suction device is started, and the telescopic arm drives the electromagnetic chuck device to descend to a working position and move up and down at a set frequency; after the electromagnetic chuck device sucks a bearing ring part, a pressure sensing device on the surface of the electromagnetic chuck device transmits a monitoring result to the control unit; the control unit sends out an instruction, the mechanical arm stops moving, and the pair of clamping jaws are closed; when the pair of clamping jaws are closed and penetrate through the through hole of the bearing ring, if a bearing ring part has an ascending trend under the action of the pair of clamping jaws, and when a pressure value detected by a pressure sensing device on the surface of the electromagnetic chuck device exceeds a set value, the telescopic arm drives the electromagnetic chuck device and the bearing ring to ascend and finely adjust; when the pair of clamping jaws are completely closed, the control unit sends out an instruction to stop the electromagnetic chuck device, and the telescopic arm drives the electromagnetic chuck device to ascend to the initial position.
further, the sampling method of the automatic sampling manipulator for the bearing ring part comprises the following steps: the sampling during normal production adopts normal sampling: the mechanical arm moves to the center of the annealing frame for sampling; sampling at 9 points when a new sample or annealing is abnormal: the mechanical arm moves to the center of the annealing frame to sample 1 piece; the manipulator moves to the position of one corner of the annealing frame, samples 1 piece on the upper surface, and then extends into the lower surface to sample 1 piece; the manipulator moves to other triangles of the annealing frame in sequence to finish sampling; when the outer diameter of the bearing ring is less than 30mm, 6-point sampling is adopted: moving the mechanical arm to the central line position of the annealing frame, and sequentially sampling 1 piece at the upper, middle and lower positions of the central line; the manipulator moves to the position of one corner of the annealing frame, and samples 1 piece respectively at the upper position, the middle position and the lower position of the vertical edge line of the corner in sequence.
The technical scheme shows that the invention has the following beneficial effects:
(1) According to the sampling method of the automatic sampling manipulator for the bearing ring part, disclosed by the invention, the product in the annealing frame is automatically sampled, the control on the sampling position is more accurate, the sampling process is reliable, the automation degree is high, manual intervention is not needed, and misoperation is avoided; the design of suction means and clamping jaw is especially to annular race ring design, absorbs the race ring earlier, and the clamping jaw passes the race ring afterwards, snatchs reliably, and the error rate is minimum.
(2) the sampling method of the automatic sampling manipulator for the bearing ring part, disclosed by the invention, has the advantages of high automation degree, time and labor saving and labor cost saving.
(3) According to the sampling method of the automatic sampling manipulator for the bearing ring parts, the bearing ring parts are sucked by the electromagnetic chuck device through the suction device, the telescopic arm drives the electromagnetic chuck device to lift, so that the bearing ring is easier to grab, and an automatic retreat function is realized when interference occurs.
(4) The invention relates to a sampling method of an automatic sampling manipulator for bearing ring parts, which is characterized in that a rubber protective sleeve is designed to prevent the parts from being damaged when the parts extend into an annealing frame and are grabbed.
(5) The sampling method of the automatic sampling manipulator for the bearing ring parts is fully automatically controlled, reasonable and reliable, and plays a role in pulling the bearing ring parts to descend smoothly through the repeated movement of the manipulator in the horizontal direction when the bearing ring parts are stretched into the annealing frame because the bearing ring parts are filled in the annealing frame; when snatching the race ring, because the shape characteristics of race ring, the outer wall or the lateral wall of race ring are attracted, and the clamping jaw just in time passes the through-hole of race ring, snatchs the reliability height.
(6) according to the sampling method of the automatic sampling manipulator for the bearing ring parts, disclosed by the invention, the concrete method that the suction device sucks the bearing ring parts can suck the bearing ring well through up-and-down adjustment and left-and-right adjustment, and after the clamping jaw grabs the bearing ring, the bearing ring is automatically interfered in an induction mode and automatically retreated.
(7) The sampling method of the automatic sampling manipulator for the bearing ring part can automatically control and implement different sampling methods, and set sampling can be completed according to different requirements.
Drawings
FIG. 1 is a schematic structural diagram of an automatic sampling manipulator for bearing ring parts according to the present invention;
fig. 2 and 3 are schematic diagrams of the bearing ring sucked by the suction device of the automatic sampling mechanical arm for the bearing ring part, which is disclosed by the invention;
FIG. 4 is a schematic view of a normal sampling position of an automatic sampling robot for a bearing ring part according to the present invention;
FIG. 5 is a schematic view of a 9-point sampling position of an automatic sampling robot for bearing ring parts according to the present invention;
FIG. 6 is a schematic view of a 6-point sampling position of an automatic sampling robot for bearing ring parts according to the present invention;
In the figure: the device comprises a frame, a moving beam, a manipulator, a suction device, a telescopic arm, an electromagnetic chuck device, a telescopic driving device, a clamping jaw, a first guide rail, a second guide rail and a lifting device, wherein the frame is 1, the moving beam is 2, the manipulator is 3, the suction device is 4, the telescopic arm is 41, the electromagnetic chuck device is 42, the telescopic driving device is 43, the clamping jaw is 5, the first guide rail is.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
Examples
The automatic sampling manipulator for the bearing ring parts comprises a control unit, a rack 1, a moving beam 2 arranged below the rack 1, a manipulator 3 arranged below the moving beam 2, a suction device 4 arranged at the end part of the manipulator 3 and a pair of clamping jaws 5, wherein the manipulator 3 is arranged below the moving beam 2; the movable beam 2 is connected with the rack 1 through a first guide rail 6, the manipulator 3 is connected with the movable beam 2 through a second guide rail 7, and the manipulator 3 is connected with the second guide rail 7 through a lifting device 8.
In this embodiment, the movable beam 2 is connected with a longitudinal movement driving device, the manipulator 3 is connected with a transverse movement driving device, the lifting device 8 is connected with a lifting driving device, and the longitudinal movement driving device, the transverse movement driving device and the lifting driving device are all connected with a control unit.
in this embodiment, the suction device 4 includes a telescopic arm 41 and an electromagnetic chuck device 42, the telescopic arm 41 is connected with a telescopic driving device, and a pressure sensing device is arranged on the surface of the electromagnetic chuck device 42; the pressure sensing device, the electromagnetic chuck device 42 and the telescopic driving device are all connected with the control unit. The suction device 4 is arranged between a pair of clamping jaws 5.
in this embodiment, the pair of clamping jaws 5 is connected with a clamping jaw rotation driving device, and the clamping jaw rotation driving device is connected with the control unit. The end part of the manipulator 3 and the outer sides of the pair of clamping jaws 5 are provided with rubber protective sleeves. The ends of the pair of clamping jaws 5 are crossed when the clamping jaws are closed to form a closed ring, and the lower ends of the pair of clamping jaws 5 are pointed when the clamping jaws are closed, so that the clamping jaws can more easily extend into an annealing frame filled with bearing ring parts.
In this embodiment, a sampling method of an automatic sampling manipulator for a bearing ring part, which samples from an annealing frame filled with the bearing ring part, includes the following steps:
S1, inputting a sampling mode to the control unit;
S2, the control unit sends out instructions in sequence through operation, and the bearing ring parts at the specified positions are taken out one by one;
S3, the operation of removing the single bearing ring component includes:
s301, the manipulator 3 translates to a designated plane position, and the pair of clamping jaws 5 are in a closed state;
S302, the manipulator 3 descends to a specified depth, and in the descending process of the manipulator 3, the manipulator 3 continuously moves horizontally within a set amplitude to pull away the bearing ring part which hinders advancing;
S303, after the mechanical arm 3 moves to the sampling designated position, the pair of clamping jaws 5 is opened to a set angle;
s304, the manipulator 3 moves horizontally and moves up and down alternately within a set range, so that the suction device 4 between the pair of clamping jaws 5 sucks the bearing ring part;
S305, folding the pair of clamping jaws 5, penetrating through the through holes of the bearing rings, and stringing the bearing rings on the closed pair of clamping jaws 5;
And S306, lifting the manipulator 3, and taking out the bearing ring sample.
in this embodiment, the concrete actions of the suction device 4 for sucking the bearing ring part include:
When the manipulator 3 moves horizontally and moves up and down alternately within a set range, the electromagnetic chuck device 42 of the suction device 4 is started, and the telescopic arm 41 drives the electromagnetic chuck device 42 to descend to a working position and move up and down at a set frequency;
After the electromagnetic chuck device 42 sucks the bearing ring part, a pressure sensing device on the surface of the electromagnetic chuck device 42 transmits a monitoring result to the control unit; due to the annular structure of the bearing ring part, the bearing ring is in the state shown in fig. 2 or 3 when being finally sucked;
The control unit sends out an instruction, the mechanical arm 3 stops moving, and the pair of clamping jaws 5 are closed;
When the pair of clamping jaws 5 are folded and penetrate through the through hole of the bearing ring, if a bearing ring part has an ascending trend under the action of the pair of clamping jaws 5, and a pressure value detected by a pressure sensing device on the surface of the electromagnetic chuck device 42 exceeds a set value, the telescopic arm 41 drives the electromagnetic chuck device 42 and the bearing ring to ascend and finely adjust;
when the pair of clamping jaws 5 are completely closed, the control unit sends out an instruction to stop the operation of the electromagnetic chuck device 42, and the telescopic arm 41 drives the electromagnetic chuck device 42 to ascend to the initial position.
The sampling method in this embodiment includes:
the sampling during normal production adopts normal sampling: the manipulator 3 moves to the center of the annealing frame for sampling; the sampling position is shown in fig. 4;
Sampling at 9 points when a new sample or annealing is abnormal: the mechanical arm 3 moves to the center position of the annealing frame to sample 1 piece; the manipulator 3 moves to a position of one corner of the annealing frame, samples 1 piece on the upper surface, and then extends into the lower surface to sample 1 piece; the mechanical arm 3 sequentially moves to other triangles of the annealing frame to finish sampling; the sampling position is shown in fig. 5;
when the outer diameter of the bearing ring is less than 30mm, 6-point sampling is adopted: the manipulator 3 moves to the position of the center line of the annealing frame, and samples 1 piece respectively at the upper, middle and lower positions of the center line in sequence; the manipulator 3 moves to the position of one corner of the annealing frame, and samples 1 piece respectively at the upper, middle and lower positions of the vertical edge line of the corner in sequence; the sampling position is shown in fig. 6.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.
Claims (7)
1. a sampling method of an automatic sampling manipulator for bearing ring parts comprises a control unit, a rack (1), a moving beam (2) arranged below the rack (1), a manipulator (3) arranged below the moving beam (2), a suction device (4) arranged at the end part of the manipulator (3) and a pair of clamping jaws (5); the moving beam (2) is connected with the rack (1) through a first guide rail (6), the manipulator (3) is connected with the moving beam (2) through a second guide rail (7), and the manipulator (3) is connected with the second guide rail (7) through a lifting device (8);
The suction device (4) comprises a telescopic arm (41) and an electromagnetic chuck device (42), the telescopic arm (41) is connected with a telescopic driving device, and a pressure sensing device is arranged on the surface of the electromagnetic chuck device (42); the pressure sensing device, the electromagnetic chuck device (42) and the telescopic driving device are all connected with the control unit;
The method is characterized in that: the concrete action that suction means (4) absorb race part includes:
when the manipulator (3) moves horizontally and moves up and down alternately within a set range, the electromagnetic chuck device (42) of the suction device (4) is started, and the telescopic arm (41) drives the electromagnetic chuck device (42) to descend to a working position and move up and down at a set frequency;
After the electromagnetic chuck device (42) sucks a bearing ring part, a pressure sensing device on the surface of the electromagnetic chuck device (42) transmits a monitoring result to the control unit;
The control unit sends out an instruction, the mechanical arm (3) stops moving, and the pair of clamping jaws (5) are closed;
When the pair of clamping jaws (5) are folded and penetrate through the through hole of the bearing ring, if a bearing ring part has an ascending trend under the action of the pair of clamping jaws (5), and a pressure value detected by a pressure sensing device on the surface of the electromagnetic chuck device (42) exceeds a set value, the telescopic arm (41) drives the electromagnetic chuck device (42) and the bearing ring to ascend and finely adjust;
When the pair of clamping jaws (5) are completely closed, the control unit sends out an instruction to stop the electromagnetic chuck device (42), and the telescopic arm (41) drives the electromagnetic chuck device (42) to ascend to the initial position.
2. a sampling method of an automatic sampling robot for bearing ring parts according to claim 1, characterized in that: the moving beam (2) is connected with a longitudinal moving driving device, the manipulator (3) is connected with a transverse moving driving device, the lifting device (8) is connected with a lifting driving device, and the longitudinal moving driving device, the transverse moving driving device and the lifting driving device are all connected with a control unit.
3. A sampling method of an automatic sampling robot for bearing ring parts according to claim 1, characterized in that: the suction device (4) is arranged between the pair of clamping jaws (5).
4. a sampling method of an automatic sampling robot for bearing ring parts according to claim 1, characterized in that: the pair of clamping jaws (5) are connected with a clamping jaw rotation driving device, and the clamping jaw rotation driving device is connected with the control unit.
5. A sampling method of an automatic sampling robot for bearing ring parts according to claim 1, characterized in that: the outer sides of the end part of the manipulator (3) and the pair of clamping jaws (5) are provided with rubber protective sleeves.
6. a sampling method of an automatic sampling robot for bearing ring parts according to any one of claims 1 to 5, characterized in that: the method comprises the following steps:
Inputting a sampling mode to the control unit;
the control unit sequentially sends out instructions through operation, and the bearing ring parts at the specified positions are taken out one by one;
the act of removing the single race part comprises:
the manipulator (3) translates to a designated plane position, and at the moment, the pair of clamping jaws (5) are in a closed state;
The manipulator (3) descends to a specified depth, and in the descending process of the manipulator (3), the manipulator (3) continuously moves horizontally within a set amplitude to pull away the bearing ring parts which hinder advancing;
After the mechanical arm (3) moves to the designated position of sampling, the pair of clamping jaws (5) is opened to a set angle;
The manipulator (3) moves horizontally and moves up and down alternately within a set range, so that the suction device (4) between the pair of clamping jaws (5) sucks the bearing ring part;
the clamping jaws (5) are folded, pass through the through holes of the bearing rings, and the bearing rings are strung on the closed clamping jaws (5);
The manipulator (3) ascends to take out the bearing ring sample.
7. a sampling method of an automatic sampling manipulator for bearing ring parts according to claim 6, characterized in that: the sampling mode comprises the following steps:
the sampling during normal production adopts normal sampling: the mechanical arm (3) moves to the center position of the annealing frame for sampling;
Sampling at 9 points when a new sample or annealing is abnormal: the mechanical arm (3) moves to the center position of the annealing frame to sample 1 piece; the manipulator (3) moves to the position of one corner of the annealing frame, samples 1 piece on the upper surface, and then extends into the lower surface to sample 1 piece; the mechanical arm (3) sequentially moves to other triangles of the annealing frame to finish sampling;
when the outer diameter of the bearing ring is less than 30mm, 6-point sampling is adopted: the mechanical arm (3) moves to the position of the central line of the annealing frame, and samples 1 piece respectively at the upper, middle and lower positions of the central line in sequence; the manipulator (3) moves to the position of one corner of the annealing frame, and samples 1 piece respectively at the upper position, the middle position and the lower position of the vertical edge line of the corner in sequence.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173394.9A CN108456769B (en) | 2018-03-02 | 2018-03-02 | Sampling method of automatic sampling manipulator for bearing ring parts |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173394.9A CN108456769B (en) | 2018-03-02 | 2018-03-02 | Sampling method of automatic sampling manipulator for bearing ring parts |
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| CN108456769B true CN108456769B (en) | 2019-12-10 |
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| CN110000754B (en) * | 2019-03-22 | 2021-11-23 | 广东科技学院 | Manipulator control device |
| CN112605578A (en) * | 2020-12-23 | 2021-04-06 | 浩科机器人（苏州）有限公司 | Welding manipulator for grabbing bar and working method thereof |
| CN113400331A (en) * | 2021-05-17 | 2021-09-17 | 山东伟豪思智能仓储装备有限公司 | Automatic snatch mechanism |
| CN117443786B (en) * | 2023-12-22 | 2024-03-12 | 杭州芯云半导体技术有限公司 | Semiconductor device sorting method and system based on burn-in test |
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| CN203471784U (en) * | 2013-08-15 | 2014-03-12 | 浙江安统汽车部件有限公司 | Plate grabbing mechanical arm |
| CN203680309U (en) * | 2014-01-16 | 2014-07-02 | 重庆交通大学 | Electromagnetic adsorption mechanical clamp assembly with finger imitation function |
| CN206406072U (en) * | 2016-11-28 | 2017-08-15 | 常州机电职业技术学院 | Material feeding and taking manipulator |
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