CN109079836B - Adjustable pitch mechanism and manipulator - Google Patents
Adjustable pitch mechanism and manipulator Download PDFInfo
- Publication number
- CN109079836B CN109079836B CN201811257617.6A CN201811257617A CN109079836B CN 109079836 B CN109079836 B CN 109079836B CN 201811257617 A CN201811257617 A CN 201811257617A CN 109079836 B CN109079836 B CN 109079836B
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- suction nozzle
- nozzle mounting
- distance
- mounting seats
- adjustable
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- 230000007246 mechanism Effects 0.000 title claims abstract description 47
- 239000000463 material Substances 0.000 abstract description 29
- 238000010586 diagram Methods 0.000 description 14
- 238000009434 installation Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides an adjustable pitch-changing mechanism and a manipulator, and relates to the technical field of automatic devices. The adjustable distance-changing mechanism comprises a frame, a shifting block driving assembly, a mounting seat limiting piece and a plurality of suction nozzle mounting seats; the rack comprises a sliding shaft, and a plurality of suction nozzle mounting seats are sequentially sleeved from a first end to a second end of the sliding shaft; the shifting block comprises a connecting part and an adjusting part, and the connecting part is connected with the output end of the shifting block driving assembly; the adjusting part is used for adjusting the distance between the suction nozzle mounting seats; the mounting seat limiting piece is used for maintaining the distance between two adjacent suction nozzle mounting seats. The manipulator comprises the adjustable distance-changing mechanism. The invention solves the technical problems that the distance is not adjustable and a plurality of materials cannot be picked up simultaneously in the prior art.
Description
Technical Field
The invention relates to the technical field of automatic devices, in particular to a distance-adjustable mechanism and a manipulator.
Background
In the processing process of materials, the materials are required to be picked up and transferred, and the operations are generally carried out through a robot arm, but the existing mechanical arm can only pick up one material at a time, or can pick up a plurality of materials at the same time, but the distance between adjacent materials is not adjustable, so that the material rack cannot adapt to various specifications, and the production efficiency is affected. The manual adjustment is easy to cause scratches on the surfaces of some materials to affect the quality.
Based on the above, the invention provides an adjustable distance-changing mechanism and a manipulator to solve the technical problems.
Disclosure of Invention
The invention aims to provide a distance-adjustable mechanism which solves the technical problem that in the prior art, the distance is not adjustable and a plurality of materials cannot be picked up at the same time.
The invention also aims to provide a manipulator which comprises the adjustable distance-changing mechanism and is used for solving the technical problem that the distance between the existing manipulator is not adjustable and a plurality of materials cannot be picked up simultaneously.
Based on the first object, the present invention provides an adjustable distance mechanism, comprising a frame, a shifting block driving assembly, a mounting seat limiting piece and a plurality of suction nozzle mounting seats;
The rack comprises a sliding shaft, and a plurality of suction nozzle mounting seats are sequentially sleeved from a first end to a second end of the sliding shaft; the shifting block comprises a connecting part and an adjusting part, and the connecting part is connected with the output end of the shifting block driving assembly; the adjusting part is used for adjusting the distance between the suction nozzle mounting seats; the mounting seat limiting piece is used for maintaining the distance between two adjacent suction nozzle mounting seats.
Optionally, in the above adjustable distance-changing mechanism, the adjusting portion includes a plurality of shifting tooth units;
The plurality of poking tooth units are respectively used for adjusting the plurality of suction nozzle mounting seats except for two end parts;
The suction nozzle mounting seat positioned on the first end of the sliding shaft is fixed on the sliding shaft; the suction nozzle mounting seat close to the second end of the sliding shaft is fixed on the corresponding shifting tooth unit.
Optionally, in the above adjustable pitch mechanism, the mount base limiting member is an elastic member, and the elastic member is disposed between each suction nozzle mount base and the next tooth shifting unit.
Optionally, in the above adjustable pitch mechanism, the elastic element is a pre-tightening spring.
Optionally, in the above adjustable distance-changing mechanism, a limiting sleeve is sleeved between two adjacent suction nozzle mounting seats on the sliding shaft;
the limiting sleeve is used for guaranteeing the minimum distance between the two suction nozzle mounting seats.
Optionally, the adjustable distance mechanism, the frame further comprises a mounting plate vertically placed; two sides of the mounting plate are respectively provided with a fixed mounting seat; the two ends of the sliding shaft are respectively fixed on the two fixed mounting seats.
Optionally, in the above adjustable distance-changing mechanism, a buffer spring is disposed between the nozzle mount and the fixed mount near the second end of the sliding shaft.
Optionally, in the above adjustable distance-changing mechanism, the shifting block driving assembly includes an air cylinder, a sliding rail and a sliding block disposed on the sliding rail;
the shifting block is fixed on the sliding block; the air cylinder is used for driving the sliding block to move on the sliding rail, so that the shifting block is driven to move.
Optionally, in the above adjustable distance-changing mechanism, a cylinder body of the cylinder is fixedly connected with the shifting block; and a piston rod of the air cylinder is in floating connection with a connecting shaft fixed on the frame.
Based on the second object, the present invention provides a manipulator comprising the adjustable pitch mechanism.
The adjustable distance-changing mechanism comprises a frame, a shifting block driving assembly, a mounting seat limiting piece and a plurality of suction nozzle mounting seats; the rack comprises a sliding shaft, and a plurality of suction nozzle mounting seats are sequentially sleeved from a first end to a second end of the sliding shaft; the shifting block comprises a connecting part and an adjusting part, and the connecting part is connected with the output end of the shifting block driving assembly; the adjusting part is used for adjusting the distance between the suction nozzle mounting seats; the mounting seat limiting piece is used for maintaining the distance between two adjacent suction nozzle mounting seats. According to the adjustable distance-changing mechanism provided by the invention, the plurality of suction nozzle installation sleeves are arranged on the sliding shaft on the rack, and the shifting block is driven by the shifting block driving assembly to adjust the distance between the plurality of suction nozzle installation sleeves. Because the suction nozzle mounting sleeve can be used for mounting suction nozzles, a plurality of materials can be simultaneously grabbed after the suction nozzles are mounted on the suction nozzle mounting sleeves; in addition, the interval between the suction nozzle installation sleeves is adjustable, so that the suction nozzle installation sleeve can be suitable for material trays with different intervals.
The manipulator provided by the invention comprises the adjustable distance mechanism, so that the manipulator has all the advantages of the adjustable distance mechanism.
Based on the above, compared with the prior art, the invention has the advantages of high material grabbing efficiency and wide application range, and the distance between the materials is adjustable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an overall structure of a first view angle of a distance-adjustable mechanism according to an embodiment of the present invention;
Fig. 2 is a schematic diagram of an overall structure of a second view angle of the adjustable pitch mechanism according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of a first view of a dial block in a variable-pitch mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a second view of a dial block in a variable-pitch mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a structure of an adjustable distance mechanism according to an embodiment of the present invention with a dial block removed;
FIG. 6 is a schematic diagram of a first view angle of a distance-adjustable mechanism according to an embodiment of the present invention when a distance between two adjacent nozzle mounting seats is minimized after a shifting block is removed;
Fig. 7 is a schematic structural diagram of a second view angle when a distance between two adjacent nozzle mounting seats is minimum after a shifting block is removed by the adjustable distance mechanism according to an embodiment of the present invention.
Icon: 1-a mounting plate; 2-fixing the mounting base; 3-sliding shafts; 4-a tooth shifting unit; 5-a spring limiting hole; 6-grooves; 7-mounting holes; 8-a suction nozzle mounting seat; 9-pre-tightening the spring; 10-limiting sleeve; 11-a buffer spring; 12-cylinder; 13-sliding rails; 14-a slider; 15-connecting shaft.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Fig. 1 is a schematic diagram of an overall structure of a first view angle of a distance-adjustable mechanism according to an embodiment of the present invention; fig. 2 is a schematic diagram of an overall structure of a second view angle of the adjustable pitch mechanism according to the embodiment of the present invention; FIG. 3 is a schematic diagram of a first view of a dial block in a variable-pitch mechanism according to an embodiment of the present invention; FIG. 4 is a schematic diagram of a second view of a dial block in a variable-pitch mechanism according to an embodiment of the present invention; FIG. 5 is a schematic diagram of a structure of an adjustable distance mechanism according to an embodiment of the present invention with a dial block removed; FIG. 6 is a schematic diagram of a first view angle of a distance-adjustable mechanism according to an embodiment of the present invention when a distance between two adjacent nozzle mounting seats is minimized after a shifting block is removed; fig. 7 is a schematic structural diagram of a second view angle when a distance between two adjacent nozzle mounting seats is minimum after a shifting block is removed by the adjustable distance mechanism according to an embodiment of the present invention.
As shown in fig. 1 and 2, in the present embodiment, there is provided an adjustable distance mechanism including a frame, a dial drive assembly, a mount limiter, and a plurality of nozzle mounts 8;
The rack comprises a sliding shaft 3, and a plurality of suction nozzle mounting seats 8 are sleeved and arranged from a first end to a second end of the sliding shaft 3 in sequence; the shifting block comprises a connecting part and an adjusting part, and the connecting part is connected with the output end of the shifting block driving assembly; the adjusting part is used for adjusting the distance between the suction nozzle mounting seats 8; the mounting seat limiting piece is used for maintaining the distance between two adjacent suction nozzle mounting seats 8.
According to the adjustable distance-changing mechanism provided by the invention, a plurality of suction nozzle installation sleeves are arranged on the sliding shaft 3 on the rack, and the distance between the plurality of suction nozzle installation sleeves is adjusted by driving the shifting block through the shifting block driving assembly. Because the suction nozzle can be installed to suction nozzle installation cover, all install the suction nozzle after, can snatch a plurality of materials simultaneously. Different trays have different spacing and therefore the spacing between the materials placed thereon is also different. The interval between the suction nozzle mounting sleeves is adjustable, so that the suction nozzle mounting sleeve is applicable to material trays with different intervals, and the mechanical arm is prevented from being frequently replaced according to different material trays. The adjustment is carried out without a manual mode, so that the quality is prevented from being affected by scratch effect generated on the surfaces of some materials.
Based on the above, compared with the prior art, the invention has the advantages of high material grabbing efficiency and wide application range, and the distance between the materials is adjustable.
As shown in fig. 3 to 4, in an alternative of the present embodiment, the adjusting portion includes a plurality of setting tooth units 4;
the plurality of poking tooth units 4 are respectively used for adjusting the plurality of suction nozzle mounting seats 8 except for two end parts;
The suction nozzle mounting seat 8 positioned on the first end of the sliding shaft 3 is fixed on the sliding shaft 3; the suction nozzle mounting seat 8 near the second end of the sliding shaft 3 is fixed on the corresponding tooth shifting unit 4.
Specifically, the shifting block is used for adjusting the spacing between the plurality of suction nozzle mounting seats 8 under the drive of the shifting block driving assembly. The shifting block comprises a connecting part and an adjusting part, wherein a plurality of mounting holes 7 are formed in the connecting part, and the mounting holes 7 are used for being connected with the output end of the shifting block driving assembly; the adjusting portion includes a plurality of setting tooth units 4, and the setting tooth units 4 can push and adjust a plurality of nozzle mounts 8 except for being located at both end portions. The plurality of suction nozzle mounting seats 8 are sequentially sleeved from the first end to the second end of the sliding shaft 3, the first suction nozzle mounting seat 8 is fixed on the sliding shaft 3 through bolts, and the last suction nozzle mounting seat 8 is fixedly connected with a shifting tooth unit 4 on a shifting block, which is close to the second end of the sliding shaft 3; the plurality of nozzle mounting seats 8 between the first nozzle mounting seat 8 and the last nozzle mounting seat 8 are respectively adjusted by one shifting tooth unit 4, namely, the number of the shifting tooth units 4 is the same as the number of the nozzle mounting seats 8 between the first nozzle mounting seat 8 and the last nozzle mounting seat 8 except the last shifting tooth unit 4.
In the above technical solution, further, the mounting seat limiting member is an elastic member, and the elastic member is disposed between each suction nozzle mounting seat 8 and the next tooth shifting unit 4.
In the above technical solution, further, the elastic member is a pre-tightening spring 9.
In this embodiment, the mount pad locating part is the elastic component, sets up between every suction nozzle mount pad 8 and next group tooth unit 4 to be located the upper portion of sliding shaft 3, after group tooth unit 4 adjusts suction nozzle mount pad 8, the elasticity that this elastic component provided can carry out spacingly to suction nozzle mount pad 8, makes suction nozzle mount pad 8 do not take place to remove. The elastic member of this embodiment is preferably a pre-tightening spring 9, and the tooth shifting unit 4 is provided with a spring limiting hole 5 for limiting the pre-tightening spring 9, and the pre-tightening spring 9 is inserted into the spring limiting hole 5.
It should be emphasized that the mounting limiting member is only an elastic member, and the mounting limiting member may also be a telescopic member, such as a cylinder 12, and limiting the nozzle mounting seat 8 by telescopic propping of the cylinder 12.
In an alternative scheme of the embodiment, a limiting sleeve 10 is sleeved between two adjacent suction nozzle mounting seats 8 on the sliding shaft 3;
The limiting sleeve 10 is used for ensuring the minimum distance between the two suction nozzle mounting seats 8.
In the above technical solution, further, a buffer spring 11 is disposed between the nozzle mount 8 and the fixed mount 2 near the second end of the sliding shaft 3.
Specifically, as shown in fig. 5 to 7, the limit sleeve 10 can slide left and right on the sliding shaft 3, and one limit sleeve 10 is disposed on each of the two adjacent nozzle mounting seats 8. When the shifting block is driven to move leftwards by the shifting block driving assembly, the shifting tooth unit 4 on the shifting block pushes the suction nozzle mounting seat 8 and the limiting sleeve 10 on the sliding shaft 3 to slide leftwards along the sliding rail 13 until the limiting sleeve 10 abuts against the left adjacent air nozzle mounting seat, at the moment, the distance between the two adjacent suction nozzle mounting seats 8 is minimum, the suction nozzle mounted on the suction nozzle mounting seat 8 is utilized to pick up materials, after the materials are picked up, the shifting block driving assembly drives the shifting block to move rightwards, the shifting tooth unit 4 on the shifting block pushes the suction nozzle mounting seat 8 and the limiting sleeve 10 on the sliding shaft 3 to slide rightwards along the sliding rail 13 until the shifting block driving assembly stops driving after reaching the maximum position, and the buffer mechanism on the right fixed mounting seat 2 (the fixed mounting seat 2 on the second end close to the sliding shaft 3) is used for buffering the movement of the shifting block, meanwhile, the positions of the adjacent air nozzle mounting seats are kept fixed due to the pre-tightening effect of the buffer springs 11, and then the materials are put into corresponding material discs.
In order to prevent interference between the shifting tooth unit 4 and the limiting sleeve 10, the present embodiment designs a groove 6 matching with the sleeve contour at the bottom of the shifting tooth unit 4.
In an alternative of this embodiment, the frame further comprises a vertically placed mounting plate 1; the two sides of the mounting plate 1 are respectively provided with a fixed mounting seat 2; both ends of the sliding shaft 3 are respectively fixed on the two fixed mounting seats 2.
In the above technical solution, further, the dial driving assembly includes an air cylinder 12, a sliding rail 13, and a sliding block 14 disposed on the sliding rail 13;
The shifting block is fixed on the sliding block 14; the air cylinder 12 is used for driving the sliding block 14 to move on the sliding rail 13, so as to drive the shifting block to move.
In the above technical solution, further, a cylinder body of the cylinder 12 is fixedly connected with the dial block; the piston rod of the cylinder 12 is in floating connection with a connecting shaft 15 fixed on the frame.
Specifically, the block driving assembly in this embodiment includes an air cylinder 12, a slide rail 13 and a slide block 14; the sliding rail 13 is fixed on the frame, the sliding block 14 is matched with the sliding rail 13, the cylinder body of the air cylinder 12 is fixed on the shifting block, and the piston rod of the air cylinder 12 is in floating connection with the connecting shaft 15 fixed on the mounting plate 1.
It should be emphasized that the above structure of fixing the cylinder body of the cylinder 12 to the dial block and fixing the piston rod of the cylinder 12 to the frame is only a preferred embodiment of the present embodiment, but not limited to the above structure, the cylinder body of the cylinder 12 may be fixed to the frame, and the piston rod of the cylinder 12 is connected to the dial block; when the cylinder 12 works, the piston rod stretches and contracts to drive the shifting block connected with the piston rod to move.
Example two
This embodiment provides a manipulator, the manipulator has included the adjustable displacement mechanism of embodiment one, and this manipulator simple structure is reliable, and the location is accurate, can snatch a plurality of materials simultaneously, can also be suitable for the material dish of different intervals, avoids according to the frequent change arm of different material dishes, improves processing production efficiency. The adjustment is not needed by manual operation, so that the quality is prevented from being affected by scratch effect on the surfaces of some materials.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (6)
1. The adjustable distance-changing mechanism is characterized by comprising a frame, a shifting block driving assembly, a mounting seat limiting piece and a plurality of suction nozzle mounting seats;
The rack comprises a sliding shaft, and a plurality of suction nozzle mounting seats are sequentially sleeved from a first end to a second end of the sliding shaft; the shifting block comprises a connecting part and an adjusting part, and the connecting part is connected with the output end of the shifting block driving assembly; the adjusting part is used for adjusting the distance between the suction nozzle mounting seats; the mounting seat limiting piece is used for maintaining the distance between two adjacent suction nozzle mounting seats;
The adjusting part comprises a plurality of shifting tooth units; the plurality of poking tooth units are respectively used for adjusting the plurality of suction nozzle mounting seats except for two end parts; the suction nozzle mounting seat positioned on the first end of the sliding shaft is fixed on the sliding shaft; the suction nozzle mounting seat close to the second end of the sliding shaft is fixed on the corresponding shifting tooth unit;
The mounting seat limiting parts are telescopic parts, and the telescopic parts are arranged between each suction nozzle mounting seat and the next tooth shifting unit;
A limiting sleeve is sleeved between two adjacent suction nozzle mounting seats on the sliding shaft; the limiting sleeve is used for guaranteeing the minimum distance between the two suction nozzle mounting seats.
2. The adjustable pitch mechanism of claim 1, wherein the frame further comprises a vertically disposed mounting plate; two sides of the mounting plate are respectively provided with a fixed mounting seat; the two ends of the sliding shaft are respectively fixed on the two fixed mounting seats.
3. The adjustable pitch mechanism of claim 2, wherein a buffer spring is disposed between the nozzle mount and the fixed mount on a second end proximate the sliding axle.
4. The adjustable distance mechanism of claim 1, wherein the dial drive assembly comprises a cylinder, a slide rail, and a slider disposed on the slide rail;
the shifting block is fixed on the sliding block; the air cylinder is used for driving the sliding block to move on the sliding rail, so that the shifting block is driven to move.
5. The adjustable pitch mechanism of claim 4, wherein a cylinder body of the cylinder is fixedly connected with the dial block; and a piston rod of the air cylinder is in floating connection with a connecting shaft fixed on the frame.
6. A manipulator comprising an adjustable pitch mechanism according to any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811257617.6A CN109079836B (en) | 2018-10-26 | 2018-10-26 | Adjustable pitch mechanism and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811257617.6A CN109079836B (en) | 2018-10-26 | 2018-10-26 | Adjustable pitch mechanism and manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109079836A CN109079836A (en) | 2018-12-25 |
| CN109079836B true CN109079836B (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811257617.6A Active CN109079836B (en) | 2018-10-26 | 2018-10-26 | Adjustable pitch mechanism and manipulator |
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| CN (1) | CN109079836B (en) |
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| CN109746935A (en) * | 2019-04-01 | 2019-05-14 | 重庆赛科机电技术服务有限公司 | A kind of taking mechanical hand |
| CN110653846B (en) * | 2019-11-13 | 2023-11-03 | 辽宁工业大学 | Super capacitor opening and closing suction device with variable spacing |
| CN111168341A (en) * | 2020-01-02 | 2020-05-19 | 国网青海省电力公司电力科学研究院 | Multi-station variable-pitch manipulator device |
| CN111924521B (en) * | 2020-07-23 | 2022-04-26 | 杭州长川科技股份有限公司 | Pick-and-place mechanism and sorting device with same |
| CN113666116B (en) * | 2021-09-17 | 2023-03-21 | 环鸿电子（昆山）有限公司 | Suction nozzle device with adjustable space, suction nozzle mechanism and suction nozzle position adjusting method |
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| CN114538046B (en) * | 2022-02-10 | 2024-05-28 | 创维集团智能装备有限公司 | Distance-adjusting transfer equipment |
| CN115231300A (en) * | 2022-08-24 | 2022-10-25 | 深圳市深科达半导体科技有限公司 | Multi-station pitch-changing mechanism |
| CN116079149A (en) * | 2022-09-07 | 2023-05-09 | 北京京磁电工科技有限公司 | Inner circle chamfering machine and chamfering system |
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| Publication number | Publication date |
|---|---|
| CN109079836A (en) | 2018-12-25 |
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