CN110757490B - A stable, safe type manipulator for tire transport - Google Patents
A stable, safe type manipulator for tire transport Download PDFInfo
- Publication number
- CN110757490B CN110757490B CN201911222707.6A CN201911222707A CN110757490B CN 110757490 B CN110757490 B CN 110757490B CN 201911222707 A CN201911222707 A CN 201911222707A CN 110757490 B CN110757490 B CN 110757490B
- Authority
- CN
- China
- Prior art keywords
- rod
- tire
- manipulator
- mechanical arm
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a stable and safe manipulator for tire carrying, which comprises: the mechanical arm is arranged on the stand column, and the mechanical arm is arranged on the mechanical arm; the manipulator is provided with a suspension bracket and a grabbing hand, the suspension bracket is mounted on a mounting shaft of the mechanical arm, a group of grabbing hands are oppositely arranged on the suspension bracket, the grabbing hands are arranged in a symmetrical and staggered mode, and the mounting shaft and the mechanical arm are arranged in a rotating mode. According to the stable and safe manipulator for carrying the tire, the tire is carried through the manipulator, the problem that the workload of the current manual carrying is large is well solved, meanwhile, the manipulator is symmetrically arranged, a plurality of tires can be carried simultaneously, the balance of the whole manipulator can be kept, the manipulator is prevented from toppling to one side, and the stability and the safety of the carrying are greatly improved.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a stable and safe manipulator for tire carrying.
Background
With the rapid development of social economy, the living standard and the living quality of people are continuously improved, the rhythm of people is continuously accelerated no matter in production or life, all walks of life realize automation and intellectualization, and the growth of manipulators and robots is promoted.
The tire is large in size and heavy, the traditional manual carrying brings much inconvenience to workers, a large amount of manpower and material resources need to be consumed, the carrying efficiency of the tire is seriously influenced, meanwhile, the tire is abraded in the carrying process, and therefore the existing tire carrying problem is still to be solved.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects, the invention aims to provide the stable and safe manipulator for tire carrying, which is simple in structure, reasonable in design and convenient to install, the size of the manipulator can be adjusted according to the actual size of a tire, so that the manipulator can meet the requirements of different models and sizes, the cost input of enterprise equipment is reduced, and the carrying efficiency is greatly improved.
The technical scheme is as follows: in order to achieve the above object, the present invention provides a stable, safe manipulator for tire handling, comprising: the mechanical arm is arranged on the stand column, and the mechanical arm is arranged on the mechanical arm; the manipulator is provided with a suspension bracket and a grabbing hand, the suspension bracket is mounted on a mounting shaft of the mechanical arm, a group of grabbing hands are oppositely arranged on the suspension bracket, the grabbing hands are arranged in a symmetrical and staggered mode, and the mounting shaft and the mechanical arm are arranged in a rotating mode.
According to the stable and safe manipulator for carrying the tire, the tire is carried through the manipulator, the problem that the workload of the current manual carrying is large is well solved, meanwhile, the manipulator is symmetrically arranged, a plurality of tires can be carried simultaneously, the balance of the whole manipulator can be kept, the manipulator is prevented from toppling to one side, and the stability and the safety of the carrying are greatly improved.
The grabbing hand is provided with the mounting seat, the supporting rod and the grabbing rod, the supporting rod is arranged in the middle of the mounting seat, the grabbing rod is arranged on the periphery of the mounting seat, and the opening and closing angles of the grabbing rod can be adjusted. The opening and closing angle of the gripper rod is adjustable, the application range of the gripper rod is greatly improved, the gripper rod can meet the carrying requirements of tires with different sizes, the equipment cost expenditure of enterprises is reduced, and therefore the gripper rod can better meet the production requirements.
The suspension bracket is provided with a detection device for detecting the size of the tire, and the detection device is connected with the control device. Detection device's setting, it is convenient for it adjusts the size of manipulator according to actual needs, lets it realize the intellectuality of whole manipulator.
A group of sliding rails is arranged inside the mounting seat, the gripper rod is connected with the sliding rails through sliding blocks, and the sliding blocks are connected with a movement driving mechanism.
The suspension bracket is Y-shaped, mounting grooves for mounting seats are respectively formed in two branches of the suspension bracket, the mounting seats are connected with the mounting grooves through sliding blocks, and the sliding blocks are connected with the sliding block driving mechanism.
The support rod adopts a telescopic rod piece, one end of the support rod is provided with a baffle plate for preventing a tire from sliding off, the baffle plate adopts a telescopic baffle plate, and the baffle plate is connected with the support rod in a sliding manner. So that it can be adjusted according to the size of the actual tyre.
The gripper rod is internally provided with an opening and closing control rod and a gripping rod, the opening and closing control rod is triangular, the tail part of the opening and closing control rod is connected with the mounting seat through a sliding block, the sliding block is connected with a sliding block driving mechanism, the gripping rod is arranged at one end, far away from the mounting seat, of the opening and closing control rod, the gripping rod adopts a telescopic rod piece, the end part of the gripping rod is provided with a limiting block for limiting and preventing falling, and the limiting block and the gripping rod are movably connected.
The control device is provided with a mechanical arm control module, a mechanical hand control module, a detection control module, a driving control module and a controller module, wherein the mechanical arm control module is connected with a mechanical arm, the mechanical hand control module is connected with a mechanical arm, the detection control module is connected with the detection device, a plurality of groups of sliding block driving control units are arranged in the driving control module, the sliding block driving control units are connected with corresponding sliding blocks, and the mechanical arm control module, the mechanical hand control module, the detection control module and the driving control module are all connected with the controller module.
The technical scheme shows that the invention has the following beneficial effects:
1. according to the stable and safe manipulator for carrying the tire, the tire is carried through the manipulator, the problem that the workload of the current manual carrying is large is well solved, meanwhile, the manipulator is symmetrically arranged, a plurality of tires can be carried simultaneously, the balance of the whole manipulator can be kept, the manipulator is prevented from toppling to one side, and the stability and the safety of the carrying are greatly improved.
2. The grabbing hand is provided with the mounting seat, the supporting rod and the grabbing rod, the supporting rod is arranged in the middle of the mounting seat, the grabbing rod is arranged on the periphery of the mounting seat, and the opening and closing angles of the grabbing rod can be adjusted. The opening and closing angle of the gripper rod is adjustable, the application range of the gripper rod is greatly improved, the gripper rod can meet the carrying requirements of tires with different sizes, the equipment cost expenditure of enterprises is reduced, and therefore the gripper rod can better meet the production requirements.
3. The suspension bracket is provided with a detection device for detecting the size of the tire, and the detection device is connected with the control device. Detection device's setting, it is convenient for it adjusts the size of manipulator according to actual needs, lets it realize the intellectuality of whole manipulator.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a partial schematic view of a grasping hand according to the present invention.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
Example 1
A stable, safe manipulator for tire handling as shown in the drawings, comprising: the mechanical arm comprises a base 1, an upright post 2, a mechanical arm 3 and a group of mechanical arms 4, wherein the upright post 2 is arranged on the base 1, the mechanical arm 3 is arranged on the upright post 2, and the mechanical arms 4 are arranged on the mechanical arms 3; the manipulator 4 is provided with a suspension bracket 41 and a grabbing hand 42, the suspension bracket 41 is installed on an installation shaft 5 of the mechanical arm 3, the suspension bracket 41 is relatively provided with a group of grabbing hands 42, the grabbing hands 42 are arranged symmetrically and in a staggered mode, and the installation shaft 5 and the mechanical arm 3 are arranged in a rotating mode.
Furthermore, a mounting seat 421, a supporting rod 422 and a gripper rod 423 are arranged in the gripper 42, the supporting rod 422 is arranged in the middle of the mounting seat 421, the gripper rod 423 is arranged around the mounting seat 421, and the opening and closing angle of the gripper rod 423 is adjustable.
Further, a detection device 43 for detecting the size of the tire is arranged on the suspension bracket 41, and the detection device 43 is connected with the control device.
Example 2
A stable, safe manipulator for tire handling as shown in the drawings, comprising: the mechanical arm comprises a base 1, an upright post 2, a mechanical arm 3 and a group of mechanical arms 4, wherein the upright post 2 is arranged on the base 1, the mechanical arm 3 is arranged on the upright post 2, and the mechanical arms 4 are arranged on the mechanical arms 3; the manipulator 4 is provided with a suspension bracket 41 and a grabbing hand 42, the suspension bracket 41 is installed on an installation shaft 5 of the mechanical arm 3, the suspension bracket 41 is relatively provided with a group of grabbing hands 42, the grabbing hands 42 are arranged symmetrically and in a staggered mode, and the installation shaft 5 and the mechanical arm 3 are arranged in a rotating mode.
Furthermore, a mounting seat 421, a supporting rod 422 and a gripper rod 423 are arranged in the gripper 42, the supporting rod 422 is arranged in the middle of the mounting seat 421, the gripper rod 423 is arranged around the mounting seat 421, and the opening and closing angle of the gripper rod 423 is adjustable.
Further, a detection device 43 for detecting the size of the tire is arranged on the suspension bracket 41, and the detection device 43 is connected with the control device.
Further, a set of slide rails is arranged inside the mounting seat 421, the gripper rod 423 is connected with the slide rails through a slide block, and the slide block is connected with a mobile driving mechanism.
Further, the suspension bracket 41 is Y-shaped, two branches of the suspension bracket are respectively provided with an installation groove for installing the installation seat 421, the installation seat 421 is connected with the installation groove through a sliding block, and the sliding block is connected with the sliding block driving mechanism.
Further, the support rod 422 is a telescopic rod, one end of the telescopic rod is provided with a baffle 4221 for preventing the tire from sliding off, the baffle 4221 is a telescopic baffle, and the baffle 4221 is connected with the support rod 422 in a sliding manner.
Further, the gripper rod 423 is internally provided with an opening and closing control rod 4231 and a gripping rod 4232, the opening and closing control rod 4231 is triangular, the tail of the opening and closing control rod 4231 is connected with the mounting seat 421 through a sliding block, the sliding block is connected with a sliding block driving mechanism, the gripping rod 4232 is installed at one end, far away from the mounting seat 421, of the opening and closing control rod 4231, the gripping rod 4232 is a telescopic rod piece, the end portion of the gripping rod 4232 is provided with a limiting block 4233 for limiting and preventing falling, and the limiting block 4233 and the gripping rod 4232 are movably connected.
Further, be equipped with arm control module, manipulator control module, detection control module, drive control module and controller module among the controlling means, arm control module is connected with arm 3, manipulator control module is connected with manipulator 4, detection control module is connected with detection device 43, be equipped with multiunit slider drive control unit in the drive control module, slider drive control unit is connected with the slider that corresponds, arm control module, manipulator control module, detection control module, drive control module all are connected with the controller module.
Example 3
A stable, safe manipulator for tire handling as shown in the drawings, comprising: the mechanical arm comprises a base 1, an upright post 2, a mechanical arm 3 and a group of mechanical arms 4, wherein the upright post 2 is arranged on the base 1, the mechanical arm 3 is arranged on the upright post 2, and the mechanical arms 4 are arranged on the mechanical arms 3; the manipulator 4 is provided with a suspension bracket 41 and a grabbing hand 42, the suspension bracket 41 is installed on an installation shaft 5 of the mechanical arm 3, the suspension bracket 41 is relatively provided with a group of grabbing hands 42, the grabbing hands 42 are arranged symmetrically and in a staggered mode, and the installation shaft 5 and the mechanical arm 3 are arranged in a rotating mode.
Furthermore, a mounting seat 421, a supporting rod 422 and a gripper rod 423 are arranged in the gripper 42, the supporting rod 422 is arranged in the middle of the mounting seat 421, the gripper rod 423 is arranged around the mounting seat 421, and the opening and closing angle of the gripper rod 423 is adjustable.
Further, a detection device 43 for detecting the size of the tire is arranged on the suspension bracket 41, and the detection device 43 is connected with the control device.
Further, a set of slide rails is arranged inside the mounting seat 421, the gripper rod 423 is connected with the slide rails through a slide block, and the slide block is connected with a mobile driving mechanism.
Further, the suspension bracket 41 is Y-shaped, two branches of the suspension bracket are respectively provided with an installation groove for installing the installation seat 421, the installation seat 421 is connected with the installation groove through a sliding block, and the sliding block is connected with the sliding block driving mechanism.
Further, the support rod 422 is a telescopic rod, one end of the telescopic rod is provided with a baffle 4221 for preventing the tire from sliding off, the baffle 4221 is a telescopic baffle, and the baffle 4221 is connected with the support rod 422 in a sliding manner.
Further, the gripper rod 423 is internally provided with an opening and closing control rod 4231 and a gripping rod 4232, the opening and closing control rod 4231 is triangular, the tail of the opening and closing control rod 4231 is connected with the mounting seat 421 through a sliding block, the sliding block is connected with a sliding block driving mechanism, the gripping rod 4232 is installed at one end, far away from the mounting seat 421, of the opening and closing control rod 4231, the gripping rod 4232 is a telescopic rod piece, the end portion of the gripping rod 4232 is provided with a limiting block 4233 for limiting and preventing falling, and the limiting block 4233 and the gripping rod 4232 are movably connected.
Further, be equipped with arm control module, manipulator control module, detection control module, drive control module and controller module among the controlling means, arm control module is connected with arm 3, manipulator control module is connected with manipulator 4, detection control module is connected with detection device 43, be equipped with multiunit slider drive control unit in the drive control module, slider drive control unit is connected with the slider that corresponds, arm control module, manipulator control module, detection control module, drive control module all are connected with the controller module.
The working method of the stable and safe manipulator for tire transportation in the embodiment includes the following specific working methods: 1): firstly, the size of the tire is detected through the detection device 43, then the detected information is transmitted to the controller module, the detected data is analyzed through the data analysis processing unit in the controller module to obtain the specific position of the tire, and the position information is transmitted to the controller;
2): the controller adjusts the gripper rod 423 to an appropriate opening and closing angle according to the result after receiving the data, that is: the controller commands the drive control module to command the movement driving mechanism to drive the sliding block to move, and the gripper rod 423 is driven to move in the moving process of the sliding block and is adjusted to a proper position;
3): then the manipulator 4 grabs the tire, namely the support rod 422 is inserted into the middle of the tire, and the gripper rod 423 is clamped on the outer side of the tire;
4): after the tire is placed on the manipulator 4, the tire is limited, namely, the position of a baffle 4221 on the support rod 422 and the position of a limiting block 4233 on the grabbing rod 4232 are adjusted according to the actual width of the tire, and after the position of the baffle 4221 and the position of the limiting block 4233 are adjusted to proper positions;
5): after the tire on one side is positioned, rotating the suspension bracket 41, and repeating the steps 1 to 4 by the other manipulator 4 to continuously grab;
6): after the other manipulator 4 is in position, the size of the tire is detected through the detection device 43, then the detected information is transmitted to the controller module, the detected data is analyzed through the data analysis processing unit in the controller module to obtain the specific position of the tire, and the position information is transmitted to the controller;
7): the controller adjusts the gripper rod 423 to an appropriate opening and closing angle according to the result after receiving the data, that is: the controller commands the drive control module to command the movement driving mechanism to drive the sliding block to move, and the gripper rod 423 is driven to move in the moving process of the sliding block and is adjusted to a proper position;
8): then the manipulator 4 grabs the tire, namely the support rod 422 is inserted into the middle of the tire, and the gripper rod 423 is clamped on the outer side of the tire;
9): after the tire is placed on the manipulator 4, the tire is limited, namely, the position of a baffle 4221 on the support rod 422 and the position of a limiting block 4233 on the grabbing rod 4232 are adjusted according to the actual width of the tire, and after the position of the baffle 4221 and the position of the limiting block 4233 are adjusted to proper positions;
10): and finally, carrying the tire to a proper position.
Further, in the working process of the manipulator, tires can be respectively placed on two sides, so that the manipulator 4 can work simultaneously.
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 (1)
1. The utility model provides a stable, safe type manipulator for tire transport which characterized in that: the method comprises the following steps: the mechanical arm mechanism comprises a base (1), an upright post (2), a mechanical arm (3) and a group of mechanical arms (4), wherein the upright post (2) is arranged on the base (1), the mechanical arm (3) is arranged on the upright post (2), and the mechanical arms (4) are arranged on the mechanical arm (3); the manipulator (4) is internally provided with a suspension bracket (41) and grabbing hands (42), the suspension bracket (41) is installed on an installation shaft (5) of the manipulator (3), the suspension bracket (41) is relatively provided with a group of grabbing hands (42), the grabbing hands (42) are symmetrically and dislocated, and the installation shaft (5) and the manipulator (3) are rotationally arranged; the grabbing hand (42) is internally provided with a mounting seat (421), a supporting rod (422) and a grabbing rod (423), the supporting rod (422) is arranged in the middle of the mounting seat (421), the grabbing rod (423) is arranged on the periphery of the mounting seat (421), and the opening and closing angle of the grabbing rod (423) can be adjusted; the suspension bracket (41) is provided with a detection device (43) for detecting the size of the tire, and the detection device (43) is connected with the control device; a group of sliding rails is arranged inside the mounting seat (421), the gripper rod (423) is connected with the sliding rails through a sliding block, and the sliding block is connected with a mobile driving mechanism; the suspension bracket (41) is Y-shaped, mounting grooves for mounting the mounting seat (421) are respectively formed in two branches of the suspension bracket, the mounting seat (421) is connected with the mounting grooves through a sliding block, and the sliding block is connected with a sliding block driving mechanism; the support rod (422) is a telescopic rod, one end of the support rod is provided with a baffle (4221) for preventing a tire from sliding off, the baffle (4221) is a telescopic baffle, and the baffle (4221) is connected with the support rod (422) in a sliding manner; the gripper rod (423) is internally provided with an opening and closing control rod (4231) and a gripping rod (4232), the opening and closing control rod (4231) is triangular, the tail of the opening and closing control rod is connected with the mounting seat (421) through a sliding block, the sliding block is connected with a sliding block driving mechanism, the gripping rod (4232) is installed at one end, away from the mounting seat (421), of the opening and closing control rod (4231), the gripping rod (4232) adopts a telescopic rod piece, the end part of the gripping rod is provided with a limiting block (4233) for limiting and preventing falling, and the limiting block (4233) is movably connected with the gripping rod (4232);
the control device is provided with a mechanical arm control module, a detection control module, a drive control module and a controller module, the mechanical arm control module is connected with a mechanical arm (3), the mechanical arm control module is connected with a mechanical arm (4), the detection control module is connected with a detection device (43), a plurality of groups of slide block drive control units are arranged in the drive control module, the slide block drive control units are connected with corresponding slide blocks, and the mechanical arm control module, the detection control module and the drive control module are all connected with the controller module;
the working method of the stable and safe manipulator for tire transportation comprises the following specific working methods:
1): firstly, the size of the tire is detected through a detection device (43), then the detected information is transmitted to a controller module, the detected data is analyzed through a data analysis processing unit in the controller module to obtain the specific position of the tire, and the position information is transmitted to a controller;
2): the controller adjusts the gripper rod (423) to a proper opening and closing angle according to the result after receiving the data, namely: the controller commands the drive control module to command the movement driving mechanism to drive the sliding block to move, and the gripper rod (423) is driven to move in the moving process of the sliding block and is adjusted to a proper position;
3): then the manipulator (4) grabs the tire, namely the support rod (422) is inserted into the middle of the tire, and the gripper rod (423) is clamped on the outer side of the tire;
4): after the tire is placed on the manipulator (4), the tire is limited, namely the position of a baffle plate (4221) on the supporting rod (422) and the position of a limiting block (4233) on the grabbing rod (4234) are adjusted according to the actual width of the tire, and after the position of the baffle plate and the position of the limiting block are adjusted to proper positions;
5): after the tire on one side is positioned, rotating the suspension frame (41) and enabling the other manipulator (4) to repeat the steps 1 to 4 to continuously grab;
6): after the other manipulator (4) is in place, the size of the tire is detected through the detection device 43, then the detected information is transmitted to the controller module, the detected data is analyzed through the data analysis processing unit in the controller module to obtain the specific position of the glass, and the position information is transmitted to the controller;
7): the controller adjusts the gripper rod (423) to a proper opening and closing angle according to the result after receiving the data, namely: the controller commands the drive control module to command the movement driving mechanism to drive the sliding block to move, and the gripper rod (423) is driven to move in the moving process of the sliding block and is adjusted to a proper position;
8): then the manipulator (4) grabs the tire, namely the support rod (422) is inserted into the middle of the tire, and the gripper rod (423) is clamped on the outer side of the tire;
9): after the tire is placed on the manipulator (4), the tire is limited, namely the position of a baffle plate (4221) on the supporting rod (422) and the position of a limiting block (4233) on the grabbing rod (4234) are adjusted according to the actual width of the tire, and after the position of the baffle plate and the position of the limiting block are adjusted to proper positions;
10): finally, the tire is conveyed to a proper position;
in the working process of the manipulator, tires can be respectively placed on two sides, so that the manipulator (4) can work simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911222707.6A CN110757490B (en) | 2019-12-03 | 2019-12-03 | A stable, safe type manipulator for tire transport |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911222707.6A CN110757490B (en) | 2019-12-03 | 2019-12-03 | A stable, safe type manipulator for tire transport |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110757490A CN110757490A (en) | 2020-02-07 |
| CN110757490B true CN110757490B (en) | 2022-02-01 |
Family
ID=69340864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911222707.6A Active CN110757490B (en) | 2019-12-03 | 2019-12-03 | A stable, safe type manipulator for tire transport |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110757490B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5505138B2 (en) * | 2010-07-05 | 2014-05-28 | 株式会社安川電機 | Robot apparatus and gripping method using robot apparatus |
| CN203063008U (en) * | 2013-01-24 | 2013-07-17 | 福建华橡自控技术股份有限公司 | Tire shaper vulcanizer mechanical gripper |
| CN107150351A (en) * | 2017-07-07 | 2017-09-12 | 苏州市合叶精密机械有限公司 | A kind of magnetic-type gripper |
| CN208117839U (en) * | 2018-04-08 | 2018-11-20 | 广东拓疆智能科技有限公司 | A kind of manipulator of carrier vehicle tire |
| CN108466278A (en) * | 2018-05-31 | 2018-08-31 | 梁凯 | Both hands manipulator for different workpieces crawl |
| CN109940591A (en) * | 2019-04-29 | 2019-06-28 | 中信戴卡股份有限公司 | A kind of wheel hub conveying robot |
-
2019
- 2019-12-03 CN CN201911222707.6A patent/CN110757490B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110757490A (en) | 2020-02-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102180355A (en) | Electric energy meter carrying manipulator suitable for meter box | |
| CN202054443U (en) | Electric energy meter carrying manipulator applicable to meter box | |
| CN110921302B (en) | Working method of manipulator for carrying tires | |
| CN211756356U (en) | Aluminum profile electrostatic spraying production line | |
| CN110539317B (en) | Intelligent distribution plate truss manipulator end effector for high-speed rail train wheel set | |
| CN110757490B (en) | A stable, safe type manipulator for tire transport | |
| CN108098752B (en) | Automatic dismounting device of polycrystalline silicon rod | |
| CN108745771A (en) | It is a kind of to draw paint machine and its control method automatically | |
| CN110962154A (en) | Multi-degree-of-freedom-adjustment pipeline carrying and clamping device and method | |
| CN111717658A (en) | Automatic change goods transport manipulator for processing | |
| CN204747818U (en) | Passenger car axle housing welds with reinforcing ring automatic feeding device with reinforcing ring | |
| CN110935895A (en) | Automatic feeding and discharging unit of lathe | |
| CN211204917U (en) | Aluminum ingot feeder | |
| CN205685114U (en) | A kind of multi-station manipulator conveyer device | |
| CN210533725U (en) | Dynamic balance detection device for heavy truck wheels | |
| CN211003495U (en) | Four-joint industrial transfer robot | |
| CN114034500A (en) | Special type work robot climbing test's device | |
| CN112586801A (en) | Cigarette snatchs manipulator under vision guide | |
| CN111747106A (en) | Automatic change goods transport manipulator for processing | |
| CN217497550U (en) | Transfer device of body of tower among air separation fractionating tower equipment | |
| CN219135701U (en) | Automatic pneumatic tongs of loading | |
| CN114986469B (en) | Radiation-proof operation robot | |
| CN215968854U (en) | Clamping device of robot | |
| CN219927740U (en) | Transfer device for processing rim of flat handcart | |
| CN114030819B (en) | Paint transfer device applied to old building renovation overhead work |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |