CN111086019B - Control method of pneumatic-electromagnetic hybrid control manipulator for grabbing cylindrical workpiece - Google Patents
Control method of pneumatic-electromagnetic hybrid control manipulator for grabbing cylindrical workpiece Download PDFInfo
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- CN111086019B CN111086019B CN201911243251.1A CN201911243251A CN111086019B CN 111086019 B CN111086019 B CN 111086019B CN 201911243251 A CN201911243251 A CN 201911243251A CN 111086019 B CN111086019 B CN 111086019B
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention discloses a control method of a pneumatic-electromagnetic hybrid control manipulator for grabbing a cylindrical workpiece, and belongs to the field of manipulators. A pneumatic-electromagnetic hybrid control manipulator for grabbing cylindrical workpieces is characterized in that a guide rail is arranged at the bottom of a pneumatic chute base, two pneumatic sliding blocks are arranged on the guide rail, pneumatic-electromagnetic connecting plates are respectively arranged on the pneumatic sliding blocks, and electromagnets are arranged at the bottoms of the pneumatic-electromagnetic connecting plates; the end surface of the pneumatic chute base is provided with an air port for connecting an air charging and discharging device, and an electromagnetic valve for controlling the on-off state of the air port is arranged on an air path of the air port; the guide rail provides a movement stroke for the pneumatic slider; the bottom of the electromagnet is provided with an arc arch, the axis of the arc arch is parallel to the motion stroke of the pneumatic sliding block, the central angle of the arc arch is 60 degrees, and the radius of the arc arch is equal to the radius of the maximum workpiece to be grabbed. The manipulator can singly adsorb workpieces with radius ranges of (R/2, R).
Description
Technical Field
The invention belongs to the field of manipulators, and particularly relates to a control method of a pneumatic-electromagnetic hybrid control manipulator for grabbing a cylindrical workpiece.
Background
The large bolt fastener is widely applied to wind power, nuclear power, petrochemical industry and equipment and is used for fastening and connecting all connecting pieces. Although the fastener represents only a small portion of the overall product structure, it is referred to as "industrial rice" and plays a significant role throughout the manufacturing industry. The variety of fasteners is great, and the quality requirement of non-standard fasteners is high. From the process point of view, the manufacturing process of the bolt fastener mainly comprises five steps of wire drawing, cold drawing forming, thread twisting, heat treatment and surface treatment.
At present, the pretreatment, the carrying and the feeding and discharging of original parts among all steps in the production process of enterprises are basically completed manually, so that the requirements of the enterprises on bolt feeding and discharging robots are increasing for ensuring the production quality and reducing the production cost, and particularly in the heat treatment stage with high requirements on the stability of the whole body temperature. The manual feeding heat treatment efficiency is low, the night operation waiting time is long, the working strength is high, and the production efficiency is low.
The radius of a large non-standard bolt workpiece is within the range of (R/2, R), how to accurately and uninterruptedly grab a target bolt in a disordered bolt pile, and only one bolt is grabbed at each time, and the existing robot hand has no visual perception capability and cannot meet the requirements.
Disclosure of Invention
The invention aims to overcome the defect that the existing manipulator cannot accurately grab a target workpiece and only one workpiece is grabbed, and provides a control method of a pneumatic-electromagnetic hybrid control manipulator for grabbing cylindrical workpieces.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a pneumatic-electromagnetic hybrid control manipulator for grabbing cylindrical workpieces comprises a pneumatic chute base, wherein a guide rail is arranged at the bottom of the pneumatic chute base, two pneumatic sliding blocks are arranged on the guide rail, pneumatic-electromagnetic connecting plates are respectively arranged at the bottoms of the pneumatic sliding blocks, and electromagnets are arranged at the bottoms of the pneumatic-electromagnetic connecting plates;
the end surface of the pneumatic chute base is provided with an air port for connecting an air charging device and an air discharging device, and the air port is provided with an electromagnetic valve;
the guide rail provides a movement stroke for the pneumatic slider;
the bottom of the electromagnet is provided with an arc arch, the axis of the arc arch is parallel to the motion stroke of the pneumatic sliding block, the central angle of the arc arch is 60 degrees, and the radius of the arc arch is equal to the radius of a workpiece to be grabbed with the largest radius.
Further, the electromagnet is of a power-off holding type.
Furthermore, a lead is arranged on the electromagnet;
when the lead is electrified, the electromagnetic force of the electromagnet disappears;
when the lead is powered off, the electromagnetic force of the electromagnet is maximum.
Furthermore, the tail end of the arc arch of the electromagnet is provided with a chamfer.
Furthermore, a counter bore is arranged on the pneumatic-electromagnetic connecting plate, and a corresponding threaded hole is arranged on the pneumatic sliding block and is connected with the pneumatic-electromagnetic connecting plate through a screw.
Furthermore, a full threaded hole is formed in the pneumatic-electromagnetic connecting plate, a threaded hole is formed in the electromagnet, and the pneumatic-electromagnetic connecting plate and the electromagnet are connected through screws.
The control method of the manipulator of the invention comprises the following operations:
when cylindrical workpieces with different lengths are grabbed, the electromagnetic valves corresponding to the air charging and discharging devices are switched on and off according to the sizes of the workpieces, the air ports are charged and discharged along with the air charging and discharging devices, the pneumatic sliding blocks are back to back on the guide rail or move in the opposite direction, the electromagnets move along with the air charging and discharging devices, and the distance between the two electromagnets is adjusted, so that the pneumatic clamping device is suitable for grabbing the cylindrical workpieces with different lengths;
when the manipulator reaches a preset position, the electromagnet generates electromagnetic force to adsorb a workpiece to be grabbed;
when the manipulator reaches the carrying destination, the electromagnetic force of the electromagnet disappears, and the manipulator unloads the grabbed workpiece to finish carrying.
Furthermore, the electromagnetic force of the electromagnet is controlled by switching on and off the lead, specifically:
the lead is electrified, and the electromagnetic force of the electromagnet disappears;
the lead is powered off, and the electromagnet generates electromagnetic force.
Compared with the prior art, the invention has the following beneficial effects:
according to the pneumatic-electromagnetic hybrid control manipulator for grabbing the cylindrical workpiece, the electromagnet is in a 60-degree central angle arc shape, the radius is the radius R of the largest sucked workpiece, the workpiece with the radius larger than R/2 can be singly adsorbed, and the radius range of the adsorbed workpiece is expanded; the electromagnet has a contact type adsorption characteristic, namely, the electromagnetic force is rapidly reduced along with the increase of the gap, the radian central angle of the electromagnet is 60 degrees, the radius of the electromagnet is the maximum radius R of the adsorbed workpiece, the minimum radius capable of adsorbing the workpiece is larger than R/2, the electromagnet can only contact one workpiece, and other workpieces do not have enough electromagnetic force to be adsorbed, so that the single appointed workpiece can be grabbed; the pneumatic sliding guide rail is matched with the double-arc electromagnet in structure, the stroke between the sliding blocks is changed by utilizing air pressure control, and the distance of the electromagnet is further changed, so that the pneumatic sliding guide rail is suitable for the suction operation of a longer workpiece; the two arc electromagnets with 60-degree central angles are arranged side by side, so that the loading capacity of the manipulator is improved, the structure is safer and more reliable than a single electromagnet in adsorption, and the structure has good rigidity and no vibration when adsorbing a workpiece; the invention can be applied to the grabbing work of all the industrial automatic robot grippers for cylindrical workpieces which can be absorbed by electromagnetism, and has the advantages of low price, simple structure and easy maintenance.
Furthermore, the electromagnet is of a power-off keeping type, namely the electromagnet keeps the maximum suction force in a power-off state, the electromagnetic force disappears after the electromagnet is powered on, enough safety must be ensured in the carrying operation process, and the power-off keeping type can prevent the workpiece to be carried from falling off due to sudden power-off of the manipulator in the working process, so that the workpiece is damaged or other devices are smashed.
Furthermore, the tail end of the arc arch of the electromagnet is provided with a chamfer, and when the manipulator approaches the robot, the tail end stress concentration of the electromagnet and the damage to the surface of the workpiece caused by the contact of the tip end with the workpiece are prevented.
The control method of the pneumatic-electromagnetic hybrid control manipulator for grabbing the cylindrical workpiece is more convenient and adaptive, not only enlarges the diameter range for grabbing the cylindrical workpiece, but also meets the requirement for grabbing workpieces in different length ranges, can adapt to workpieces of different sizes, and avoids frequent disassembly and assembly of the manipulator for grabbing workpieces of different sizes; the manipulator can be connected to an I/O port of the robot control box, plc control is adopted, signal output of I/O can be controlled through robot programming, and then cyclic operation of the manipulator is controlled, so that the automation degree is high during operation, and the operation is simple; the operation is safe and stable, and the power-off maintaining type electromagnet is adopted, so that any loss of a production line caused by falling of power-off workpieces is avoided in the operation process. The electromagnetic force tightly adsorbs the workpiece in the conveying process, and no vibration or sliding is generated.
Drawings
FIG. 1 is a block diagram of a hybrid pneumatic-electromagnetic manipulator of the present invention for grasping a cylindrical workpiece;
FIG. 2 is a schematic structural diagram of the pneumatic-electromagnetic connecting plate, wherein 2(a) is a front view of the pneumatic-electromagnetic connecting plate, 2(B) is a sectional view of the pneumatic-electromagnetic connecting plate from A-A, and 2(c) is a sectional view of the pneumatic-electromagnetic connecting plate from B-B to B-B;
FIG. 3 is a three-dimensional view of an electromagnet, wherein FIG. 3(a) is a front view of the electromagnet, FIG. 3(b) is a side view of the electromagnet, and FIG. 3(c) is a top view of the electromagnet;
FIG. 4 is a schematic diagram of the manipulator of the present invention gripping bolts with different diameters, wherein the gripped bolt phi in FIG. 4(a) is 36mm, and the gripped bolt phi in FIG. 4(b) is 60 mm;
FIG. 5 is a schematic structural diagram of a robot grasping a 36 mm-phi bolt according to the present invention, wherein the length of the grasped bolt in FIG. 5(a) is 160mm, and the length of the grasped bolt in FIG. 5(b) is 300 mm;
fig. 6 is an assembly view of the present invention and a robot.
Wherein: 1-a pneumatic chute base; 2-a guide rail; 3-a pneumatic slide block; 4-pneumatic-electromagnetic connection board; 5-an electromagnet; 6-a manipulator; 7-bolts with a diameter of 60 mm; 8-bolt with diameter of 36 mm; 9-bolts with diameter of 36mm and length of 300 mm; 10-bolts with diameter of 36mm and length of 160 mm; 11-gas port; 12-a lead; 13-a conveyor belt; 14-six axis industrial robot; 15-flange and manipulator connection; 16-connecting screws.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The pneumatic-electromagnetic hybrid control manipulator for grabbing cylindrical workpieces is mainly used for large cylindrical workpieces which can be adsorbed by electromagnetism, the diameter and the length of the workpieces to be transported are different according to actual requirements, the electromagnets are adopted to meet the requirement of sufficient adsorption strength, the size range of the adsorbed workpieces is expanded to be (R/2, R), wherein R is the arc radius of the electromagnets, the span between the two electromagnets which are installed side by side is pneumatically controlled, when the length of the workpieces is large, the pneumatic control is started, the span of the manipulator is increased, and the function of stably adsorbing the long workpieces is met.
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1, fig. 1 is a structural diagram of a pneumatic-electromagnetic hybrid control manipulator for grabbing a cylindrical workpiece according to the present invention, and the pneumatic-electromagnetic hybrid control manipulator for grabbing a cylindrical workpiece according to the present invention includes a pneumatic chute base 1, a guide rail 2, pneumatic sliders 3, a pneumatic-electromagnetic connecting plate 4, an electromagnet 5, an air port 11 and a lead 12, wherein the bottom of the chute base 1 is provided with the guide rail 2, two pneumatic sliders 3 are mounted on the guide rail 2, the bottoms of the pneumatic sliders 3 are respectively provided with the pneumatic-electromagnetic connecting plate 4, the bottoms of the pneumatic-electromagnetic connecting plates 4 are respectively provided with one electromagnet 5, and the electromagnets 5 are respectively provided with an electrified wire; the air port 11 is arranged on the end face of the pneumatic chute base 1 and is used for being connected with an air charging and discharging device on the mechanical arm, the air charging and discharging device can be a compressed air pump or an air pump connected with compressed air, an electromagnetic valve is arranged on the air port 11, and the opening and closing of the mechanical arm are controlled through the opening and closing of the electromagnetic valve.
As shown in fig. 2, 2(a) is a front view of the pneumatic-electromagnetic connecting plate, 2(B) is a sectional view of the pneumatic-electromagnetic connecting plate from a direction of a-a, and 2(c) is a sectional view of the pneumatic-electromagnetic connecting plate from a direction of B-B, the pneumatic-electromagnetic connecting plate 4 of the present invention is provided with a counter bore, the pneumatic slider 3 is provided with a corresponding threaded hole, and the pneumatic-electromagnetic connecting plate 4 is mounted on the pneumatic slider 3 by using M4 socket head cap screws; four M4 full-thread through holes are drilled on the pneumatic-electromagnetic connecting plate 4 and are used for connecting the electromagnet 5.
As shown in fig. 3, fig. 3(a) is a front view of the electromagnet, fig. 3(b) is a side view of the electromagnet, fig. 3(c) is a top view of the electromagnet, the bottom of the electromagnet 5 is provided with an arc arch, the central angle of the arc arch is 60 °, and the radius of the arc is equal to the radius R of the maximum adsorption workpiece; the minimum radius R of the workpiece adsorbed by the electromagnet 5 is greater than R/2; the electromagnet has a contact type adsorption characteristic, namely, the electromagnetic force is rapidly reduced along with the increase of the gap, and the arrangement of the structure ensures that the electromagnet can only contact one workpiece and other workpieces have insufficient electromagnetic force absorption, thereby realizing the grabbing of a single appointed workpiece;
the arc bottom end of the electromagnet 5 adopts an R4 rounded corner to avoid stress concentration, namely, the tip is prevented from damaging the surface of a workpiece;
the top of the electromagnet 5 is provided with an M4 threaded hole which is matched and connected with the pneumatic-electromagnetic connecting plate 4; the electromagnet is of a power-off holding type, namely the electromagnet keeps the maximum electromagnetic attraction when being powered off, and the electromagnetic force disappears when being powered on, so that the safety of conveying cylindrical workpieces is ensured;
the upper lead wire 12 of the electromagnet is an electrified wire, and when the electromagnet is electrified, the electromagnetic force disappears to carry out unloading operation.
As shown in fig. 4, fig. 4 is a schematic diagram of the manipulator of the present invention gripping bolts with different diameters, where the diameter Φ of the bolt 8 gripped in fig. 4(a) is 36mm, and the diameter Φ of the bolt 9 gripped in fig. 4(b) is 60 mm; according to the electromagnet 5, the radius of the arc is R, the radius of the workpiece which can be adsorbed by the electromagnet is R, and the relation that R is more than or equal to R and is greater than R/2 is satisfied;
the electromagnet 5 can contact only one workpiece during adsorption. When the manipulator reaches the upper part of a single workpiece and adsorbs the workpiece, the electromagnet can only accommodate one workpiece to enter the working space of the electromagnet; because the electromagnetic force of the electromagnet rapidly descends along with the increase of the distance, other workpieces to be sucked which are in line contact with the sucked workpieces cannot be conveyed because the electromagnetic force is too small.
As shown in fig. 5, fig. 5 is a schematic structural diagram of the robot grasping a bolt with a phi of 36mm, wherein the length of the bolt 10 grasped in fig. 5(a) is 160mm, and the length of the bolt 9 grasped in fig. 5(b) is 300 mm; the invention adopts a pneumatic sliding guide rail mode, and the air port 11 is hermetically connected with the pneumatic chute base 1. Bolt fasteners needing to be carried on site are different in length, and in order to carry safety and reliability, a pneumatic sliding guide rail and electromagnet symmetrical installation mode are adopted. The air charging and discharging device can be a compressed air pump or an air pump connected with compressed air, the air port 11 is connected with an air pipe of external equipment, an electromagnetic valve and a pneumatic device such as an air pump in the sequence of air port-air pipe-electromagnetic valve-air pipe-pneumatic device, the electrified wire of the electromagnetic valve is connected to the I/O output port of the PLC of the robot control box, 24V voltage is output or disconnected through the I/O port controlled by the PLC, the opening and closing action of the electromagnetic valve is controlled, and the opening and closing control of the manipulator is realized by controlling the ventilation and discharging of the air pipe by the opening and closing of the electromagnetic valve; the opening stroke and the closing stroke of the sliding block are realized through the opening and the closing of the electromagnetic valve. For example, when the workpiece to be conveyed is a short bolt, the air port 11 is deflated and the pneumatic slider stroke is reset to 0, as shown in fig. 5(b), and when the workpiece to be conveyed is a long bolt, the air port 11 is inflated and the pneumatic slider moves to the maximum span under the action of air pressure, as shown in fig. 5 (a).
Referring to fig. 6 and fig. 1, fig. 6 is an assembly view of the present invention and a robot, and fig. 1 is a design of a manipulator base with mounting threads; the end of the six-axis industrial robot 14 is provided with a flange connecting piece 15 which is fixedly connected with the manipulator 6 of the invention through a fastening screw.
The invention discloses a control method of a pneumatic-electromagnetic hybrid control manipulator for grabbing a cylindrical workpiece, which comprises the following steps:
the six-axis industrial robot 14 acquires position coordinates and size of a cylindrical workpiece (such as a large non-standard bolt) and size of the workpiece, judgment is carried out, if the size of the workpiece is short, the air port 11 is deflated, and the pneumatic sliding block 3 moves to the minimum span; if the size and the length of the workpiece are larger, the air port 11 starts to be inflated, and the pneumatic slide block 3 moves to the maximum span under the action of air pressure.
When the manipulator moves to a specified position, the electromagnet lead 12 is powered off, and the electromagnet acquires electromagnetic force;
when the robot carries the cylindrical workpiece to a set conveyor belt position, the electromagnet lead 12 is electrified, the electromagnet loses the electromagnetic force, the unloading instruction is executed, and the workpiece carrying work is finished.
The electromagnetic force of the electromagnet adopted by the device is customized to be 30kg, theoretically, the device can carry 60kg of heavy objects, and the weight of the carried heavy objects can be changed according to the change of the bearing materials of the designed component. The device is mainly designed for a robot manipulator for large bolts with the mass of 5-15kg and is used for carrying out automatic handling operation on the bolts subjected to visual positioning.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (2)
1. A control method of a pneumatic-electromagnetic hybrid control manipulator for grabbing cylindrical workpieces is characterized by comprising a pneumatic chute base (1), wherein a guide rail (2) is arranged at the bottom of the pneumatic chute base (1), two pneumatic sliding blocks (3) are arranged on the guide rail (2), pneumatic-electromagnetic connecting plates (4) are respectively arranged at the bottoms of the pneumatic sliding blocks (3), and electromagnets (5) are respectively arranged at the bottoms of the pneumatic-electromagnetic connecting plates (4);
the end face of the pneumatic chute base (1) is provided with an air port (11) used for connecting an air charging and discharging device, and the air port (11) is provided with an electromagnetic valve;
the guide rail (2) provides a movement stroke for the pneumatic sliding block (3);
the bottom of each electromagnet (5) is provided with an arc arch, the axis of each arc arch is parallel to the motion stroke of the pneumatic sliding block (3), the central angle of each arc arch is 60 degrees, and the radius of each arc arch is equal to the radius of a workpiece to be grabbed with the largest radius;
the method comprises the following operations:
when cylindrical workpieces with different lengths are grabbed, the electromagnetic valves corresponding to the air charging and discharging devices are switched on and off according to the sizes of the workpieces, the air ports (11) are charged and discharged with the workpieces, the pneumatic sliding blocks (3) move back to back or in the opposite direction on the guide rail (2), the electromagnets (5) move with the workpieces, and the distance between the two electromagnets (5) is adjusted, so that the pneumatic clamping device is suitable for grabbing the cylindrical workpieces with different lengths;
when the manipulator reaches a preset position, the electromagnet (5) generates electromagnetic force to adsorb a workpiece to be grabbed;
when the manipulator reaches the conveying destination, the electromagnetic force of the electromagnet (5) disappears, and the manipulator unloads the grabbed workpiece to finish conveying.
2. The control method according to claim 1, characterized in that the electromagnetic force of the electromagnet (5) is controlled by switching on and off the lead (12), in particular:
the lead (12) is electrified, and the electromagnetic force of the electromagnet (5) disappears;
the lead (12) is powered off, and the electromagnet (5) generates electromagnetic force.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911243251.1A CN111086019B (en) | 2019-12-06 | 2019-12-06 | Control method of pneumatic-electromagnetic hybrid control manipulator for grabbing cylindrical workpiece |
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| CN201911243251.1A CN111086019B (en) | 2019-12-06 | 2019-12-06 | Control method of pneumatic-electromagnetic hybrid control manipulator for grabbing cylindrical workpiece |
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| CN111086019B true CN111086019B (en) | 2021-09-07 |
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| CN115465662B (en) * | 2022-09-20 | 2023-11-03 | 中建安装集团有限公司 | Fastener material integrated picking and placing operation terminal for subway track panel assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| AT411037B (en) * | 2001-07-05 | 2003-09-25 | Ebawe Anlagentechnik Gmbh | MAGNET SET ROBOT |
| SE527496C2 (en) * | 2004-06-22 | 2006-03-21 | Delaval Holding Ab | Grabbing device, robotic arm and milking robot |
| CN201229260Y (en) * | 2008-07-10 | 2009-04-29 | 成都瑞拓科技实业有限责任公司 | Light cylinder flexible gripping device |
| CN103538074A (en) * | 2013-10-22 | 2014-01-29 | 昆山中士设备工业有限公司 | Mechanical arm capable of preventing screw rolling during conveying |
| CN104476553A (en) * | 2014-11-13 | 2015-04-01 | 常州先进制造技术研究所 | Sucker type stacking manipulator capable of remaining gap |
| CN206702730U (en) * | 2017-03-28 | 2017-12-05 | 马鞍山华东回转支承有限公司 | A kind of pivoting support machining manipulator |
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