CN112643703A - Pick up assembly jig and robot that has it - Google Patents
Pick up assembly jig and robot that has it Download PDFInfo
- Publication number
- CN112643703A CN112643703A CN202011364964.6A CN202011364964A CN112643703A CN 112643703 A CN112643703 A CN 112643703A CN 202011364964 A CN202011364964 A CN 202011364964A CN 112643703 A CN112643703 A CN 112643703A
- Authority
- CN
- China
- Prior art keywords
- assembly
- appliance box
- box cover
- clamp
- jig
- 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.)
- Pending
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
- B25J15/06—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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/009—Gripping heads and other end effectors with pins for accurately positioning the object on the gripping head
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a picking and assembling clamp and a robot with the same, wherein the picking and assembling clamp is used for being connected with a robot body and comprises a clamp assembly, and the clamp assembly comprises: a clamp main board; the suction disc assembly is arranged on the clamp main board and is used for being adsorbed on the corresponding surface of an electrical appliance box cover of the air conditioner outdoor unit, so that the robot body can move the electrical appliance box cover conveniently; the positioning assembly is arranged on the clamp main board and comprises a plurality of positioning pins, the positioning pins are arranged in one-to-one correspondence with the positioning holes of the electric appliance box cover, and the positioning pins are inserted into the corresponding positioning holes in one-to-one correspondence. The picking and assembling clamp solves the problem that a clamp used for grabbing an electric appliance box cover of an air conditioner outdoor unit in the prior art cannot accurately position an electric appliance box.
Description
Technical Field
The invention relates to the technical field of clamps, in particular to a picking assembly clamp and a robot with the picking assembly clamp.
Background
In an air conditioner production line, in order to improve working efficiency, a picking and assembling clamp is mostly adopted to install an electrical appliance box cover of an air conditioner external unit, however, in the specific implementation process, the existing clamp has the problem that the installed electrical appliance box cannot be accurately positioned, and each clamp is only suitable for electrical appliance box covers of one specification.
Disclosure of Invention
The invention mainly aims to provide a picking and assembling clamp and a robot with the picking and assembling clamp, so as to solve the problem that a clamp for grabbing an electric appliance box cover of an air conditioner outdoor unit in the prior art cannot accurately position the electric appliance box.
In order to achieve the above object, according to one aspect of the present invention, there is provided a pick-up assembly jig for coupling with a robot body, the pick-up assembly jig including a jig assembly including: a clamp main board; the suction disc assembly is arranged on the clamp main board and is used for being adsorbed on the corresponding surface of an electrical appliance box cover of the air conditioner outdoor unit, so that the robot body can move the electrical appliance box cover conveniently; the positioning assembly is arranged on the clamp main board and comprises a plurality of positioning pins, the positioning pins are arranged in one-to-one correspondence with the positioning holes of the electric appliance box cover, and the positioning pins are inserted into the corresponding positioning holes in one-to-one correspondence.
Further, the number of the positioning pins is two, the first positioning pin is fixedly arranged on the clamp main board, and the second positioning pin is movably arranged on the clamp main board so as to adjust the positions of the two positioning pins relative to the positioning holes by adjusting the relative position between the two positioning pins.
Further, the positioning assembly further comprises an adjusting member for adjusting the position of the second positioning pin, the adjusting member comprising: the first adjusting plate is movably arranged on the clamp main plate; and the second adjusting plate is movably arranged on the first adjusting plate so as to adjust the relative positions of the two positioning pins.
Further, the chuck assembly includes: the sucker head is used for being adsorbed on the surface of the electric appliance box cover; the sucker head is sleeved at one end of the supporting rod, and the other end of the supporting rod is connected with the clamp main board; elastic buffer, elastic buffer overlaps and establishes on branch, and be located elastic buffer and with the anchor clamps mainboard between, elastic buffer's at least part along branch retractable setting.
Furthermore, the picking and assembling clamp further comprises a push rod assembly, one end of the push rod assembly is connected with the clamp main board, and the other end of the push rod assembly is used for being in contact with the surface of the electric appliance box cover so as to support the electric appliance box cover.
Further, the ejector rod assembly comprises an ejector head and a connecting rod, the ejector head is connected with the clamp main board through the connecting rod, and the ejector head is used for being in contact with the surface of the electric appliance box cover.
Further, the pick-up assembly jig further includes: the photoelectric sensor is arranged towards the electrical appliance box cover, a photoelectric emitting part of the photoelectric sensor is used for detecting the distance between the picking assembly fixture and the electrical appliance box cover or detecting whether the electrical appliance box cover exists or not, and the action of the picking assembly fixture is controlled through a detection result.
Further, the pick-up assembly jig further includes: the vacuum pressure switch is arranged on the sucker component and used for detecting the vacuum pressure of the sucker component; and after the vacuum pressure measured by the vacuum pressure switch reaches the preset pressure, the vacuum pressure switch is switched on to control the robot body to drive the picking and assembling clamp to move so as to move the electric appliance box cover to the preset position.
Further, the picking and assembling clamp further comprises a mounting plate, the mounting plate is used for being connected with the robot body, and the clamp assembly is detachably connected with the mounting plate; the anchor clamps subassembly is a plurality of, and a plurality of anchor clamps subassemblies set up on the mounting panel at interval, and each anchor clamps subassembly's specification is different to make and pick up assembly jig and be applicable to the different electrical apparatus lid of assembly.
According to another aspect of the present invention, there is provided a robot comprising a robot body and a jig mounted on the robot body, the jig being the above-mentioned pick-up and assembly jig.
By applying the technical scheme, the picking and assembling clamp disclosed by the invention fully utilizes the characteristics of the electric appliance box cover, the electric appliance box cover is adsorbed by the sucker assemblies in a plurality of vacuum states, and a plurality of positioning pins are inserted into a plurality of positioning hole holes of the electric appliance box cover, so that the electric appliance box cover is prevented from being influenced by rotation in the process of moving the electric appliance box cover, the effect of accurately picking the electric appliance box cover is achieved, the picking and assembling clamp has the characteristics of simplicity in operation, rapidness and accuracy in positioning, accuracy in picking and high compatibility, and the problem that the electric appliance box cannot be accurately positioned by the clamp for grabbing the electric appliance box cover of the outdoor unit of the air conditioner in the prior art is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 shows a schematic structural view of an embodiment of an assembly fixture according to the present invention;
FIG. 2 is a schematic view of a clamp assembly of the assembly clamp of FIG. 1; and
fig. 3 is a schematic structural diagram of an electrical box cover to which the assembly fixture shown in fig. 1 is applied.
Wherein the figures include the following reference numerals:
10. a clamp assembly; 1. a clamp main board; 2. a sucker component; 21. a suction cup head; 22. a strut; 23. an elastic buffer member; 3. a positioning assembly; 31. positioning pins; 32. an adjustment member; 321. a first adjusting plate; 322. a second adjusting plate; 4. a push rod assembly; 41. ejecting the head; 42. a connecting rod; 5. a photosensor; 20. mounting a plate; 30. a connecting flange; 100. a clamp; 200. an electric appliance box cover; 201. and (7) positioning the holes.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 3, the present invention provides a pick-up assembly jig for coupling with a robot body, the pick-up assembly jig including a jig assembly 10, the jig assembly 10 including: a clamp main board 1; the suction disc assembly 2 is arranged on the clamp main board 1, and the suction disc assembly 2 is adsorbed on the corresponding surface of the electric appliance box cover 200 of the air conditioner outdoor unit so as to facilitate the robot body to move the electric appliance box cover 200; the positioning assembly 3 is arranged on the fixture main board 1, the positioning assembly 3 comprises a plurality of positioning pins 31, the plurality of positioning pins 31 are arranged in one-to-one correspondence with the plurality of positioning holes 201 of the electrical appliance box cover 200, and each positioning pin 31 is used for being inserted into the corresponding positioning hole 201 in one-to-one correspondence.
The picking and assembling clamp disclosed by the invention fully utilizes the self characteristics of the electrical appliance box cover 200, adsorbs the electrical appliance box cover 200 through the sucker assemblies 2 in a plurality of vacuum states, and adopts a plurality of positioning pins 31 to be inserted into a plurality of positioning holes 201 of the electrical appliance box cover 200, so that the electrical appliance box cover 200 cannot be assembled due to rotation in the process of moving the electrical appliance box cover 200, the effect of accurately picking up the electrical appliance box cover 200 is achieved, the picking and assembling clamp has the characteristics of simplicity in operation, rapidness and accuracy in positioning, accuracy in picking and high compatibility, and the problem that the electrical appliance box cannot be accurately positioned by a clamp for grabbing the electrical appliance box cover of an outdoor unit of an air conditioner in the prior art is solved.
As shown in fig. 2, there are two positioning pins 31, a first positioning pin 31 is fixedly disposed on the jig main plate 1, and a second positioning pin 31 is movably disposed on the jig main plate 1, so that the positions of the two positioning pins 31 with respect to the positioning holes 201 are adjusted by adjusting the relative positions between the two positioning pins 31.
As shown in fig. 3, two positioning holes 201 are formed in the electrical box cover 200, and the two positioning pins 31 are respectively disposed corresponding to the two positioning holes 201, so that the relative position between the pick-up jig and the electrical box cover 200 is more accurate by adjusting the relative position between the two positioning pins 31 to match the relative position between the two positioning holes 201.
Specifically, the positioning assembly 3 further includes an adjusting member 32 for adjusting the position of the second positioning pin 31, and the adjusting member 32 includes: a first adjusting plate 321, the first adjusting plate 321 being movably disposed on the jig main plate 1; a second adjusting plate 322, a second positioning pin 31 is provided on the second adjusting plate 322, and the second adjusting plate 322 is movably provided on the first adjusting plate 321 to adjust the relative position of the two positioning pins 31.
Be provided with the first slot hole that extends along first preset direction on the anchor clamps mainboard 1, be provided with the first connecting hole corresponding with first slot hole on the first regulating plate 321, first fastener wears to establish in proper order on first connecting hole and the first slot hole to be connected first regulating plate 321 and anchor clamps mainboard 1, adjust the relative position of first regulating plate 321 and anchor clamps mainboard 1 through adjusting the position of first connecting hole for first slot hole, thereby adjust the relative position of two locating pins 31 in first preset direction.
The first adjusting plate 321 is provided with a second long hole extending along a second preset direction, the second adjusting plate 322 is provided with a second connecting hole corresponding to the second long hole, the second fastener is sequentially arranged on the second connecting hole and the second long hole in a penetrating manner to connect the first adjusting plate 321 with the second adjusting plate 322, the relative position of the first adjusting plate 321 and the second adjusting plate 322 is adjusted by adjusting the position of the second connecting hole relative to the second long hole, and therefore the relative position of the two positioning pins 31 in the second preset direction is adjusted.
The first preset direction and the second preset direction are perpendicular to each other and are parallel to the surface of the fixture main board 1, and the relative positions of the two positioning pins 31 are adjusted by combining the first adjusting plate 321 and the second adjusting plate 322.
The positioning assembly 3 further comprises a third connecting plate, and the first positioning pin 31 is mounted on the fixture main board 1 through the third connecting plate.
As shown in fig. 2, the chuck assembly 2 includes: the sucking disc head part 21 is used for being adsorbed on the surface of the electric appliance box cover 200; the sucking disc head 21 is sleeved on one end of the supporting rod 22, and the other end of the supporting rod 22 is connected with the clamp main board 1; the elastic buffer member 23 is sleeved on the supporting rod 22 and located between the elastic buffer member 23 and the clamp main board 1, and at least part of the elastic buffer member 23 is telescopically arranged along the supporting rod 22.
Specifically, elastic buffer 23 is a spring, which is sleeved on support rod 22, and one end of the spring abuts against elastic buffer 23 to play a role in buffering when electrical box cover 200 is picked up, so as to reduce the impact of electrical box cover 200 on sucker assembly 2.
The pick-up assembly fixture comprises three sucker components 2, the three sucker components 2 are distributed on a fixture main board 1, and the three sucker components 2 are arranged corresponding to the corresponding surfaces of an electrical appliance box cover 200 so as to adsorb the electrical appliance box cover 200 at three positions, thereby ensuring the position stability of the electrical appliance box cover 200.
Preferably, the pick-up assembly jig further comprises a jack assembly 4, one end of the jack assembly 4 is connected with the jig main board 1, and the other end of the jack assembly 4 is used for contacting with the surface of the appliance box cover 200 to support the appliance box cover 200.
The picking and assembling clamp comprises three ejector rod assemblies 4, the three ejector rod assemblies 4 are distributed on a clamp main board 1, and the three ejector rod assemblies 4 are arranged corresponding to the corresponding surfaces of an electric appliance box cover 200 so as to support the electric appliance box cover 200 at three positions, so that the support stability is ensured.
Specifically, the jack assembly 4 includes a jack 41 and a connecting rod 42, the jack 41 is connected to the clamp main board 1 through the connecting rod 42, and the jack 41 is used for contacting with the surface of the electrical box cover 200.
The ejector rod component 4 has no effect in the process of picking up the electric appliance box cover 200, and the electric appliance box cover 200 is accurately picked up through the positioning pin 31 and the sucker component 2. In the subsequent assembling process of the electrical appliance box cover 200, because the sucker component 2 has an elastic buffering structure, pressure cannot be provided for the process of installing the electrical appliance box cover 200 on the electrical appliance box, but the electrical appliance box cover 200 can be installed on the electrical appliance box only by applying pressure, and at the moment, the pressure is transmitted to the electrical appliance box cover 200 needing to be assembled through the ejector rod component 4 through the movement of the robot body, so that the electrical appliance box cover 200 and the electrical appliance box are assembled together.
Specifically, the pickup assembling jig further includes: and the photoelectric sensor 5 is arranged, and a photoelectric emitting part of the photoelectric sensor 5 faces the electrical appliance box cover 200 to detect the distance between the picking and assembling clamp and the electrical appliance box cover 200 or detect whether the electrical appliance box cover 200 exists or not, so that the action of the picking and assembling clamp is controlled according to the detection result.
As shown in fig. 1, the photosensor 5 is mounted on the jig main board 1 via a sensor mount.
When the robot moves to the upper part of the electrical appliance box cover 200 and moves to a certain distance from the electrical appliance box cover 200, the sensor detects the existence of the electrical appliance box cover 200, the sucker component 2 is ventilated and continues to move downwards to a preset position, so that the positioning pin 31 is inserted into the positioning hole 201 of the electrical appliance box cover 200, and the top 41 of the ejector rod component 4 abuts against the surface of a workpiece.
Specifically, the pickup assembling jig further includes: the vacuum pressure switch is arranged on the sucker component 2 and used for detecting the vacuum pressure of the sucker component 2; after the vacuum pressure measured by the vacuum pressure switch reaches a predetermined pressure, the vacuum pressure switch is turned on to control the robot body to drive the picking and assembling fixture to move so as to move the electrical appliance box cover 200 to a predetermined position.
When the positioning pin 31 is inserted into the positioning hole 201 of the appliance box cover 200 itself and the top 41 of the ejector rod assembly 4 abuts against the surface of the workpiece, the vacuum pressure (i.e. vacuum degree) of the suction cup assembly 2 is detected by a vacuum pressure switch (not shown in the figure), and after confirming that the detected vacuum pressure reaches a predetermined value, the robot body moves to move the appliance box cover 200 to a next predetermined position.
As shown in fig. 1, the pick-up assembly jig further includes a mounting plate 20, the mounting plate 20 being adapted to be coupled to the robot body, the jig assembly 10 being detachably coupled to the mounting plate 20; the plurality of clamp assemblies 10 are arranged on the mounting plate 20 at intervals, and the specifications of the clamp assemblies 10 are different, so that the picking and assembling clamp is suitable for assembling different electrical appliance box covers 200.
Specifically, the specification difference of each clamp assembly 10 means that the relative distance between the positioning pins 31 of each clamp assembly 10 is different, and/or the number or relative position between each suction cup assembly 2 is different, and/or the number or relative position between each ejector pin assembly 4 is different.
By arranging the plurality of clamp assemblies 10 with different specifications on the picking and assembling clamp, the electric appliance box covers 200 with different specifications can be picked and assembled, and the compatibility of the picking and assembling clamp is improved.
The invention also provides a robot, which comprises a robot body and a clamp 100 arranged on the robot body, wherein the clamp 100 is the picking and assembling clamp.
Specifically, the pick-up assembly jig includes a connection flange 30, and the mounting plate 20 is connected to the robot body through the connection flange 30.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the picking and assembling clamp disclosed by the invention fully utilizes the self characteristics of the electrical appliance box cover 200, adsorbs the electrical appliance box cover 200 through the sucker assemblies 2 in a plurality of vacuum states, and adopts a plurality of positioning pins 31 to be inserted into a plurality of positioning holes 201 of the electrical appliance box cover 200, so that the electrical appliance box cover 200 cannot be assembled due to rotation in the process of moving the electrical appliance box cover 200, the effect of accurately picking up the electrical appliance box cover 200 is achieved, the picking and assembling clamp has the characteristics of simplicity in operation, rapidness and accuracy in positioning, accuracy in picking and high compatibility, and the problem that the electrical appliance box cannot be accurately positioned by a clamp for grabbing the electrical appliance box cover of an outdoor unit of an air conditioner in the prior art is solved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A pick-up assembly jig for connection with a robot body, characterized in that the pick-up assembly jig comprises a jig assembly (10), the jig assembly (10) comprising:
a clamp main plate (1);
the suction disc assembly (2) is arranged on the clamp main board (1), and the suction disc assembly (2) is used for being adsorbed on the corresponding surface of an electric appliance box cover (200) of an air conditioner outdoor unit, so that the robot body can move the electric appliance box cover (200);
the fixture comprises a positioning assembly (3), wherein the positioning assembly (3) is arranged on the fixture main board (1), the positioning assembly (3) comprises a plurality of positioning pins (31), the plurality of positioning pins (31) are arranged in a one-to-one correspondence with the plurality of positioning holes (201) of the electric appliance box cover (200), and the positioning pins (31) are used for being correspondingly inserted into the corresponding positioning holes (201) in a one-to-one correspondence manner.
2. A pick-up assembly jig according to claim 1, characterized in that the positioning pins (31) are two, a first one of the positioning pins (31) is fixedly provided on the jig main plate (1), and a second one of the positioning pins (31) is movably provided on the jig main plate (1) to adjust the positions of the two positioning pins (31) with respect to the positioning holes (201) by adjusting the relative positions between the two positioning pins (31).
3. A pick-up assembly fixture according to claim 2, characterized in that the positioning assembly (3) further comprises an adjustment member (32) for adjusting the position of the second one of the positioning pins (31), the adjustment member (32) comprising:
a first adjusting plate (321), the first adjusting plate (321) being movably disposed on the jig main plate (1);
a second adjusting plate (322), a second one of the positioning pins (31) is disposed on the second adjusting plate (322), and the second adjusting plate (322) is movably disposed on the first adjusting plate (321) to adjust the relative position of the two positioning pins (31).
4. The pick-up assembly fixture according to claim 1, wherein the suction cup assembly (2) comprises:
the sucker head (21) is used for being adsorbed on the surface of the electric appliance box cover (200);
the sucker head (21) is sleeved on one end of the supporting rod (22), and the other end of the supporting rod (22) is connected with the clamp main board (1);
elastic buffer member (23), elastic buffer member (23) cover is established on branch (22), and be located elastic buffer member (23) and with between anchor clamps mainboard (1), at least part of elastic buffer member (23) is followed branch (22) telescopically sets up.
5. The pick-up assembly jig of claim 1, further comprising a post assembly (4), one end of the post assembly (4) being connected with the jig main plate (1), the other end of the post assembly (4) being for contacting with a surface of the appliance box cover (200) to support the appliance box cover (200).
6. A pick-up assembly jig according to claim 5, characterized in that the jack assembly (4) comprises a jack (41) and a connecting rod (42), the jack (41) being connected with the jig main plate (1) through the connecting rod (42), the jack (41) being for contact with a surface of the appliance box cover (200).
7. The pickup assembly jig of claim 1, further comprising:
the photoelectric sensor (5), the photoelectric emission part of photoelectric sensor (5) sets up towards electrical apparatus lid (200), in order to detect pick up the assembly fixture with distance between electrical apparatus lid (200) or detect whether electrical apparatus lid (200) exist, in order to control through the testing result pick up the action of assembly fixture.
8. The pickup assembly jig of claim 1, further comprising:
the vacuum pressure switch is arranged on the sucker assembly (2) and used for detecting the vacuum pressure of the sucker assembly (2); and after the vacuum pressure measured by the vacuum pressure switch reaches a preset pressure, the vacuum pressure switch is switched on to control the robot body to drive the picking and assembling clamp to move so as to move the electric appliance box cover (200) to a preset position.
9. The pick-up assembly jig of claim 1,
the picking assembly clamp further comprises a mounting plate (20), the mounting plate (20) is used for being connected with the robot body, and the clamp assembly (10) is detachably connected with the mounting plate (20);
the fixture assembly (10) is multiple, the fixture assembly (10) is arranged on the mounting plate (20) at intervals, and specifications of the fixture assembly (10) are different, so that the picking and assembling fixture is suitable for assembling different electrical appliance box covers (200).
10. A robot comprising a robot body and a gripper (100) mounted on the robot body, characterized in that the gripper (100) is a pick-and-place gripper according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011364964.6A CN112643703A (en) | 2020-11-27 | 2020-11-27 | Pick up assembly jig and robot that has it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011364964.6A CN112643703A (en) | 2020-11-27 | 2020-11-27 | Pick up assembly jig and robot that has it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112643703A true CN112643703A (en) | 2021-04-13 |
Family
ID=75349526
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011364964.6A Pending CN112643703A (en) | 2020-11-27 | 2020-11-27 | Pick up assembly jig and robot that has it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112643703A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2504234Y (en) * | 2001-10-10 | 2002-08-07 | 黄平尧 | Sucking disc of improved circuit board |
| CN103128186A (en) * | 2011-12-01 | 2013-06-05 | 现代自动车株式会社 | Panel hanger apparatus for roller hemming |
| CN104057463A (en) * | 2014-06-23 | 2014-09-24 | 苏州博众精工科技有限公司 | PCB (Printed Circuit Board) clamping jaw |
| CN204525503U (en) * | 2015-04-22 | 2015-08-05 | 法雷奥市光（中国）车灯有限公司 | Conveying robot fixture |
| US20160075035A1 (en) * | 2014-09-15 | 2016-03-17 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd | Loading device having suction assemblies with adjustable interspaces thereamong |
| CN106064362A (en) * | 2016-06-20 | 2016-11-02 | 美的集团武汉制冷设备有限公司 | Front faceplate of air-conditioner fixture and front faceplate of air-conditioner Intelligent Installation device |
| CN206277411U (en) * | 2016-12-16 | 2017-06-27 | 北京京东尚科信息技术有限公司 | Terminal-collecting machine and robot transportation system |
| CN110103000A (en) * | 2019-06-10 | 2019-08-09 | 珠海格力智能装备有限公司 | Assemble device |
| CN210551314U (en) * | 2019-06-22 | 2020-05-19 | 北京嘉诚兴业工贸股份有限公司 | Sucker type manipulator |
| CN111761602A (en) * | 2019-09-20 | 2020-10-13 | 京东方光科技有限公司 | End effector, light bar assembling device and assembling method |
-
2020
- 2020-11-27 CN CN202011364964.6A patent/CN112643703A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2504234Y (en) * | 2001-10-10 | 2002-08-07 | 黄平尧 | Sucking disc of improved circuit board |
| CN103128186A (en) * | 2011-12-01 | 2013-06-05 | 现代自动车株式会社 | Panel hanger apparatus for roller hemming |
| CN104057463A (en) * | 2014-06-23 | 2014-09-24 | 苏州博众精工科技有限公司 | PCB (Printed Circuit Board) clamping jaw |
| US20160075035A1 (en) * | 2014-09-15 | 2016-03-17 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd | Loading device having suction assemblies with adjustable interspaces thereamong |
| CN204525503U (en) * | 2015-04-22 | 2015-08-05 | 法雷奥市光（中国）车灯有限公司 | Conveying robot fixture |
| CN106064362A (en) * | 2016-06-20 | 2016-11-02 | 美的集团武汉制冷设备有限公司 | Front faceplate of air-conditioner fixture and front faceplate of air-conditioner Intelligent Installation device |
| CN206277411U (en) * | 2016-12-16 | 2017-06-27 | 北京京东尚科信息技术有限公司 | Terminal-collecting machine and robot transportation system |
| CN110103000A (en) * | 2019-06-10 | 2019-08-09 | 珠海格力智能装备有限公司 | Assemble device |
| CN210551314U (en) * | 2019-06-22 | 2020-05-19 | 北京嘉诚兴业工贸股份有限公司 | Sucker type manipulator |
| CN111761602A (en) * | 2019-09-20 | 2020-10-13 | 京东方光科技有限公司 | End effector, light bar assembling device and assembling method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106217032A (en) | Camshaft assembly tooling | |
| CN111054874B (en) | Keyboard riveting device | |
| WO2024093201A1 (en) | Series plugging and unplugging automatic test device and working method therefor | |
| CN112551166A (en) | double-Z-axis TP screen assembling system | |
| CN210255327U (en) | Net piece adsorption equipment | |
| CN112643703A (en) | Pick up assembly jig and robot that has it | |
| KR100912726B1 (en) | Load cell type pickup head | |
| CN213796546U (en) | Vertical packing gripper for solar panel | |
| CN111515601A (en) | Flexible printed circuit board welding tool and welding method | |
| CN207774312U (en) | A kind of full-automatic inverting feeder equipment | |
| CN217024413U (en) | Anti-warping auxiliary adsorption device | |
| CN213752642U (en) | Automatic chip mounter | |
| CN111014559B (en) | Upper cover clamp of battery module | |
| CN111090152B (en) | Lens clamping and coupling positioning device for multi-channel COB (chip on Board) packaging | |
| JP6514871B2 (en) | Part holding head of surface mounter, positioning method of sensor in this part holding head, and sensor positioning jig | |
| CN217434210U (en) | Guide pin assembling mechanism | |
| CN220945155U (en) | Double-workpiece assembling equipment | |
| CN209125855U (en) | A kind of robotic gripping device and robot | |
| CN210418237U (en) | Lightweight carousel structure | |
| CN218068313U (en) | Product installation and detection mechanism | |
| JPH0334958Y2 (en) | ||
| CN210296523U (en) | Pole piece deviation correcting device | |
| CN219729633U (en) | Flexible feeding intelligent sorting device | |
| CN213368485U (en) | Adsorption equipment and row's piece machine of fingerprint module | |
| CN220886130U (en) | Panel and isolation paper separating and transferring device |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210413 |