CN113510735A - Industrial robot's formula tongs of drawing - Google Patents
Industrial robot's formula tongs of drawing Download PDFInfo
- Publication number
- CN113510735A CN113510735A CN202110861461.8A CN202110861461A CN113510735A CN 113510735 A CN113510735 A CN 113510735A CN 202110861461 A CN202110861461 A CN 202110861461A CN 113510735 A CN113510735 A CN 113510735A
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- CN
- China
- Prior art keywords
- gripper
- assembly
- cleaning
- driving
- suction
- 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.)
- Withdrawn
Links
- 238000004140 cleaning Methods 0.000 claims abstract description 82
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000000926 separation method Methods 0.000 claims description 2
- 239000000428 dust Substances 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 4
- 239000012535 impurity Substances 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention is suitable for the technical field of industrial robot intelligent application, and provides a suction type gripper of an industrial robot, which comprises the following components: the gripper comprises a gripper main body and a mounting piece which is positioned on the gripper main body and is used for connecting a mechanical arm; the gripper module is connected with the gripper main body; the gripper module comprises a gripper shell, a suction mechanism and a cleaning mechanism, the suction mechanism and the cleaning mechanism are arranged on the gripper shell, the cleaning mechanism comprises a cleaning assembly, a first driving assembly, a positioning assembly and a locking assembly, and the positioning assembly is connected with the cleaning assembly through a linkage piece. The invention has innovative structure, realizes the cleaning treatment of the surface of the workpiece to be carried by arranging the cleaning mechanism, and improves the working efficiency.
Description
Technical Field
The invention relates to the technical field of industrial robot intelligent application, in particular to a suction type gripper of an industrial robot.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. In order to ensure the stability of the gripper during suction, when impurities such as dust exist on the surface of a workpiece, the suction operation can be performed after the impurities are cleaned.
Most simple structure of current industrial robot's suction type tongs can't clear up the dust when carrying out the work piece operation of absorbing, and the device need stop work when clearing up the dust, leads to transport speed slow, seriously influences work efficiency. Therefore, in view of the above situation, it is urgently needed to provide a suction type gripper for an industrial robot to overcome the defects in the current practical application.
Disclosure of Invention
The embodiment of the invention aims to provide a suction type gripper of an industrial robot, aiming at solving the following problems: most of the existing suction type grippers of the industrial robot are simple in structure, the dust cannot be cleaned when the workpiece is sucked and operated, the device needs to stop working when the dust is cleaned, the carrying speed is low, the working efficiency is seriously affected, and therefore the suction type grippers are difficult to be widely applied.
The embodiment of the invention is realized in such a way that the suction type gripper of the industrial robot comprises:
the gripper comprises a gripper main body and a mounting piece which is positioned on the gripper main body and is used for connecting a mechanical arm;
the gripper module is connected with the gripper main body; wherein the gripper module comprises a gripper shell, a suction mechanism and a cleaning mechanism, the suction mechanism and the cleaning mechanism are arranged on the gripper shell, the cleaning mechanism comprises a cleaning assembly, a first driving assembly, a positioning assembly and a locking assembly, the positioning assembly comprises at least one group of first supporting members, the first supporting members are arranged on the gripper shell, both ends of each first supporting member are respectively provided with a limiting member and a positioning member, each first supporting member is sleeved with an elastic member, the locking assembly is connected with the first driving assembly, the first supporting members and the cleaning assembly are connected through a linkage member, the cleaning assembly is movably arranged in the positioning member, the positioning member presses the workpiece and simultaneously the cleaning assembly cleans the surface of the workpiece, and the positioning member drives the first supporting members to slide in the gripper shell in a manner of pressing the workpiece after cleaning is completed, the first driving assembly enables the cleaning assembly to be separated from the positioning piece and meanwhile the locking assembly to fix the position of the first supporting piece in a mode of driving the cleaning assembly and the locking assembly to move, and the suction mechanism adsorbs a workpiece in a mode of pressing the gripper shell.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the embodiment of the invention is provided with a positioning component, a cleaning component and a locking component, the arrangement of a positioning piece in the positioning component realizes the pressing and fixing treatment of the workpiece, the cleaning component in the positioning part can realize the dust cleaning treatment on the surface of the workpiece, the first supporting part can move in the gripper shell by pressing the positioning part after the cleaning is finished, and the cleaning component and the locking component can be driven to move by the first driving component, thereby realize clearance subassembly and setting element separation, can realize the fixed processing to first support piece position through the locking subassembly, conveniently carry out work piece absorption operation, realized realizing the dust clearance under the circumstances of not shutting down, avoided current device can't clear up the dust when carrying out the work piece operation of absorbing, the device need stop work when clearing up the dust, leads to the handling speed slow, seriously influences work efficiency's problem.
Drawings
Fig. 1 is a schematic front view of an embodiment of the present invention.
Fig. 2 is a partial sectional structural schematic view of the gripper module according to an embodiment of the present invention.
Fig. 3 is a schematic perspective view of a positioning element according to an embodiment of the present invention.
Fig. 4 is a schematic perspective view of a locking assembly according to an embodiment of the present invention.
Fig. 5 is an enlarged schematic view of a portion a in fig. 2.
Fig. 6 is an enlarged schematic view of a portion B in fig. 2.
In the drawings: 1-gripper body, 2-mounting, 3-adjusting, 4-gripper module, 5-driven bevel gear, 6-driving bevel gear, 7-first drive unit, 8-gripper housing, 9-sliding element, 10-first driven element, 11-transmission element, 12-guide, 13-first rotating element, 14-second driven element, 15-second drive unit, 16-driving element, 17-connecting element, 18-elastic element, 19-first supporting element, 20-suction element, 21-positioning element, 22-cleaning element, 23-rotating element, 24-third drive unit, 25-second supporting element, 26-second rotating element, 27-linkage element, 28-limiting element, 29-groove one, 30-groove two, 31-locking piece, 32-locking groove, 33-infrared emission module, 34-linkage groove, 35-infrared reception module, 36-suction mechanism, 37-cleaning component, 38-positioning component, 39-first driving component and 40-second driving component.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
Referring to fig. 1 to 4, a suction gripper for an industrial robot according to an embodiment of the present invention includes:
the gripper comprises a gripper body 1 and a mounting part 2 which is positioned on the gripper body 1 and is used for connecting a mechanical arm;
the hand grip module 4 is connected with the hand grip main body 1; wherein the gripper module 4 comprises a gripper shell 8, a suction mechanism 36 and a cleaning mechanism, the suction mechanism 36 and the cleaning mechanism are both arranged on the gripper shell 8, the cleaning mechanism comprises a cleaning assembly 37, a first driving assembly 39, a positioning assembly 38 and a locking assembly, the positioning assembly 38 comprises at least one group of first supporting members 19 arranged on the gripper shell 8, both ends of the first supporting members 19 are respectively provided with a limiting member 28 and a positioning member 21, the first supporting members 19 are sleeved with an elastic member 18, the locking assembly comprises at least one group of locking members 31, the locking members 31 are provided with locking grooves 32, the locking members 31 and the first driving assembly 39 are connected through a connecting member 17, the first supporting members 19 and the cleaning assembly 37 are connected through a connecting member 27, and the cleaning assembly 37 is movably arranged in the positioning member 21, the positioning element 21 is used for pressing the workpiece, the cleaning assembly 37 is used for cleaning the surface of the workpiece, the positioning element 21 drives the first supporting piece 19 to slide in the gripper shell 8 in a mode of pressing the workpiece after cleaning is finished, the first driving assembly 39 is used for driving the cleaning assembly 37 and the locking piece 31 to move simultaneously, the cleaning assembly 37 and the positioning element 21 are separated, meanwhile, the locking piece 31 is used for fixing the position of the first supporting piece 19, and the suction mechanism 36 is used for sucking the workpiece in a mode of pressing the gripper shell 8.
In the embodiment of the invention, the connection between the gripper and the mechanical arm of the industrial robot can be realized through the mounting part 2, the synchronous motion of the positioning component 38 and the cleaning component 37 in the vertical direction can be realized through the linkage part 27, when in use, the positioning part 21 is firstly pressed to the surface of a workpiece to be carried through the mechanical arm, the elastic fixing of the positioning part 21 to the workpiece can be realized through the elastic supporting function of the elastic part 18, the workpiece damage caused by the overlarge pressing force of the positioning part 21 is prevented, the cleaning processing to the surface of the workpiece in the effective working range of the suction mechanism 36 can be realized through the cleaning component 37 positioned in the positioning part 21, after the cleaning component 37 finishes working, the mechanical arm drives the gripper shell 8 to continuously press downwards, the cleaning component 37 is driven by the first driven part 10 to be separated from the positioning component 38, and the locking component realizes the fixing processing to the first supporting part 19, the suction mechanism 36 is convenient to perform suction work, the stability of the gripper when sucking a workpiece is improved, the first support piece 19 is fixedly connected with the linkage piece 27, the first support piece 19 is slidably connected with the gripper shell 8, the first support piece 19 is a support rod, the limiting piece 28 can be a limiting piece, the positioning piece 21 is a positioning disc, the positioning piece 21 is further provided with a first groove 29 and a second groove 30 which are convenient for cleaning assembly work, the elastic piece 18 can be a spring, and the first support piece 19 can be provided with a baffle plate for supporting the elastic piece 18; compared with the prior art, the cleaning device is provided with the positioning component 38, the cleaning component 37 and the locking component, the positioning component 21 in the positioning component 38 is arranged to press and fix a workpiece, the cleaning component 37 in the positioning component 21 can be used for cleaning dust on the surface of the workpiece, the first supporting component 19 can be moved in the gripper shell 8 by pressing the positioning component 21 after cleaning is finished, the cleaning component 37 and the locking component 31 can be driven to move by the first driving component 39, so that the cleaning component 37 is separated from the positioning component 21, the position of the first supporting component 19 can be fixed by the locking component, workpiece adsorption operation is facilitated, dust cleaning is realized without shutdown, the problem that the conventional device cannot clean dust while performing workpiece suction operation is avoided, and the device needs to stop working when cleaning dust is avoided, the conveying speed is slow, and the working efficiency is seriously influenced.
In one embodiment of the present invention, referring to fig. 1 and 2, the suction mechanism 36 includes:
a guide tube 12, wherein the guide tube 12 is arranged in the hand grip shell 8; and
a suction element 20 located on the conduit 12.
In this embodiment, the suction member 20 may be a suction cup, the guide tube 12 is fixedly connected to the gripper housing 8, and a hose connected to an external air pump or other machine may be disposed at the end of the guide tube 12; when the suction device works, the suction element 20 is contacted with the surface of the workpiece to realize the adsorption effect on the workpiece.
In one embodiment of the present invention, referring to fig. 1 and 2, the cleaning assembly 37 includes:
a second rotating member 26 connected to the gripper housing 8;
a second supporting member 25, the second supporting member 25 being disposed on the second rotating member 26;
the rotating part 23 is positioned on the second supporting part 25, and the second supporting part 25 is further provided with a third driving unit 24 for driving the rotating part 23 to rotate; and
a cleaning member 22 connected to the rotating member 23.
In this embodiment, the second rotating member 26 is rotatably connected to the gripper housing 8, the second rotating member 26 is relatively slidable with respect to the gripper housing 8, the second rotating member 26 is rotatably connected to the linking member 27, the linking member 27 is relatively fixedly connected to the second rotating member 26 in the vertical direction, the second rotating member 26 may be a rotating rod, the second supporting member 25 may be a supporting plate, the second supporting member 25 is fixedly connected to the second rotating member 26, and the rotating member 23 may be a rotating disk; when the cleaning machine works, the third driving unit 24 can drive the rotating part 23 to rotate, so that the cleaning of the surface of the workpiece can be realized through the cleaning part 22; the cleaning member 22 may be flexible cleaning cotton, and the third driving unit 24 may be a servo motor or a stepping motor.
In one embodiment of the present invention, referring to fig. 1, fig. 2 and fig. 6, the first driving assembly 39 includes:
the first driven part 10 is positioned in the gripper shell 8 and is used for driving the cleaning assembly 37 to move;
the second driving unit 15 is positioned in the gripper shell 8, and a driving part 16 is further arranged on the second driving unit 15;
the first rotating part 13 is connected with the suction mechanism 36, and the first rotating part 13 is also provided with a second driven part 14 connected with a driving part 16; and
a transmission member 11 for connection between the first driven member 10 and the second driven member 14.
In this embodiment, the first driven member 10 is rotatably connected to the gripper housing 8, a groove for connecting the second rotating member 26 is further formed in the first driven member 10, the second rotating member 26 is slidably connected to the first driven member 10, the second rotating member 26 can rotate along with the first driven member 10, a linkage groove 34 is formed in the second rotating member 26 for realizing linkage between the second rotating member 26 and the first driven member 10, the first rotating member 13 is connected to the connecting member 17, the first rotating member 13 is a sleeve, and the first rotating member 13 is sleeved on the guide tube 12; when the cleaning device works, the first driven part 10 is driven to rotate by the second driving unit 15, the second rotating part 26 can be driven to rotate by the first driven part 10, so that the second supporting part 25 can be driven to rotate by the second rotating part 26, the cleaning component 37 can be moved out of the first groove 29 and the second groove 30 of the positioning part 21, and the suction mechanism 36 can conveniently adsorb workpieces; the first driven member 10, the transmission member 11, the driving member 16 and the second driven member 14 may all adopt gears, specific specifications and types of the first driven member 10, the transmission member 11, the driving member 16 and the second driven member 14 may be set according to a transmission ratio requirement, and the second driving unit 15 may adopt a servo motor.
In one embodiment of the present invention, referring to fig. 2 and 4, the locking assembly includes:
at least one set of locking members 31 for locking the position of the positioning assembly 38;
a locking groove 32, wherein the locking groove 32 is arranged on the locking piece 31; and
a connecting member 17 for connecting the locking member 31 to the first driving assembly 39.
In this embodiment, two sets of locking members 31 may be disposed on the connecting member 17, the locking members 31 may be locking plates, the thickness of the initial contact end of the locking member 31 and the first supporting member 19 is smaller than that of the final contact end, the connecting member 17 may be a connecting sleeve, and the connecting member 17 is fixedly connected to the rotating member 13; after the cleaning assembly 37 finishes working, the mechanical arm drives the gripper housing 8 to continue to press down, the first driving assembly 39 works, the cleaning assembly 37 is driven to be separated from the positioning assembly 38 by the first driven member 10, the locking member 31 starts to contact with the first supporting member 19, the first supporting member 19 is located in the locking groove 32 at the moment, the locking member 31 continues to rotate, the first supporting member 19 is driven to continue to move upwards until the bottom of the positioning member 21 is higher than the suction member 20, and the suction member 20 is convenient to perform suction work.
In an embodiment of the present invention, please refer to fig. 2 and 5, further including an infrared emitting module 33 located on the positioning assembly 38, and an infrared receiving module 35 used for cooperating with the infrared emitting module 33 is further disposed on the grip housing 8, and the cooperation of the infrared emitting module 33 and the infrared receiving module 35 is used for implementing control processing on the working state of the first driving assembly 39; in this embodiment, the infrared transmitting module 33 and the infrared receiving module 35 may adopt the existing public technology; when the infrared emitting module 33 and the infrared receiving module 35 are in signal connection, the first driving assembly 39 can work, and when the infrared emitting module 33 and the infrared receiving module 35 are in signal disconnection, the first driving assembly 39 can stop working.
In an embodiment of the present invention, please refer to fig. 1, the present invention further includes an adjusting member 3 located in the gripper main body 1, the adjusting member 3 is connected to the gripper housing 8 through a sliding member 9, a second driving assembly 40 for driving the adjusting member 3 to operate is further disposed in the gripper main body 1, and the second driving assembly 40 drives the adjusting member 3 to operate to adjust the operating position of the gripper module 4; in this embodiment, the second driving assembly 40 includes a first driving unit 7, a driving bevel gear 6 and a driven bevel gear 5, the driving bevel gear 6 is connected with an output shaft of the first driving unit 7, the driven bevel gear 5 is connected with the adjusting member 3, the driven bevel gear 5 is engaged with the driving bevel gear 6, the adjusting member 3 can be a threaded rod, the sliding member 9 can be a sliding block, and the sliding member 9 is in threaded connection with the adjusting member 3; during operation, the second driving assembly 40 drives the adjusting piece 3 to work, so that the working position of the gripper module 4 can be adjusted, and workpieces of different types and sizes can be adsorbed conveniently.
In summary, the working principle of the invention is as follows: the connection between the gripper and the mechanical arm of the industrial robot can be realized through the mounting part 2, the synchronous movement of the positioning component 38 and the cleaning component 37 in the vertical direction can be realized through the linkage part 27, the gripper module 4 is firstly pressed to the surface of a workpiece to be carried through the mechanical arm during the work, the position fixing treatment of the workpiece can be realized through the positioning component 38, the cleaning treatment of the surface of the workpiece in the effective working range of the suction mechanism 36 can be realized through the cleaning component 37 positioned in the positioning component 38, the suction work of the suction mechanism 36 is facilitated, the position fixing action of the positioning component 38 on the workpiece is facilitated, the suction treatment of the cleaned fixed point by the suction mechanism 36 is facilitated while the work of the cleaning component 37 is facilitated, the relative sliding between the workpiece and the suction mechanism 36 is avoided, after the work of the cleaning component 37 is finished, the mechanical arm drives the gripper shell 8 to continuously press down, when the signals of the infrared emitting module 33 and the infrared receiving module 35 are switched on, the first driving assembly 39 works, at this time, the first driven member 10 drives the cleaning assembly 37 to be separated from the positioning assembly 38, the locking member 31 will start to contact with the first supporting member 19, at this time, the first supporting member 19 is located in the locking groove 32, the locking member 31 continues to rotate, and drives the first supporting member 19 to continuously move upwards until the bottom of the positioning member 21 is higher than the absorbing member 20, so that the absorbing member 20 can conveniently perform the absorbing work, and the signals of the infrared emitting module 33 and the infrared receiving module 35 are switched off due to the upward movement of the limiting member 28, and the first driving assembly 39 stops working.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. An industrial robot's suction type tongs, its characterized in that, industrial robot's suction type tongs includes:
the gripper comprises a gripper main body and a mounting piece which is positioned on the gripper main body and is used for connecting a mechanical arm;
the gripper module is connected with the gripper main body; the gripper module comprises a gripper shell, an absorbing mechanism and a cleaning mechanism, the absorbing mechanism and the cleaning mechanism are arranged on the gripper shell, the cleaning mechanism comprises a cleaning assembly, a first driving assembly, a positioning assembly and a locking assembly, the positioning assembly comprises at least one group of first supporting members, a limiting part and a positioning part are arranged at two ends of each first supporting member respectively, an elastic part is sleeved on each first supporting member, the locking assembly is connected with the first driving assembly, the first supporting members and the cleaning assembly are connected through a linkage part, the cleaning assembly is movably arranged in the positioning part, the positioning part is used for cleaning the surface of a workpiece while pressing the workpiece, the first supporting members are driven to slide in the gripper shell in a mode of pressing the workpiece after cleaning is completed, and the first driving assembly is used for realizing separation of the cleaning assembly and the positioning part while driving the cleaning assembly to move through a mode of driving the cleaning assembly and the locking assembly simultaneously And fixing the position of the first supporting piece, and adsorbing the workpiece by the suction mechanism in a mode of pressing the gripper shell.
2. Suction gripper according to an industrial robot according to claim 1, characterized in that the suction mechanism comprises:
a guide tube disposed within the grip housing; and
a suction member located on the conduit.
3. Suction gripper according to an industrial robot according to claim 1, characterized in that the cleaning assembly comprises:
the second rotating piece is connected with the gripper shell;
the second supporting piece is arranged on the second rotating piece;
the rotating piece is positioned on the second supporting piece, and a third driving unit for driving the rotating piece to rotate is further arranged on the second supporting piece; and
a cleaning member connected with the rotating member.
4. Suction gripper according to an industrial robot as claimed in claim 1, characterized in that the first drive assembly comprises:
the first driven part is positioned in the gripper shell and used for driving the cleaning assembly to move;
the second driving unit is positioned in the gripper shell and is also provided with a driving piece;
the first rotating part is connected with the suction mechanism, and a second driven part connected with the driving part is further arranged on the first rotating part; and
a transmission member for connection between the first driven member and the second driven member.
5. Suction gripper according to an industrial robot according to claim 1, characterized in that the locking assembly comprises:
at least one group of locking pieces for realizing locking processing of the positioning assembly;
the locking groove is formed in the locking piece; and
and the connecting piece is used for connecting the locking piece and the first driving assembly.
6. The suction type gripper of the industrial robot according to claim 1, further comprising an infrared emitting module located on the positioning assembly, and an infrared receiving module used for being matched with the infrared emitting module is further arranged on the gripper housing, and the matching use of the infrared emitting module and the infrared receiving module is used for realizing the control processing of the working state of the first driving assembly.
7. The suction type gripper of an industrial robot according to claim 1, further comprising an adjusting member located in the gripper body, wherein the adjusting member is connected with the gripper shell through a sliding member, a second driving assembly for driving the adjusting member to work is further arranged in the gripper body, and the second driving assembly drives the adjusting member to work to adjust the working position of the gripper module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110861461.8A CN113510735A (en) | 2021-07-29 | 2021-07-29 | Industrial robot's formula tongs of drawing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110861461.8A CN113510735A (en) | 2021-07-29 | 2021-07-29 | Industrial robot's formula tongs of drawing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113510735A true CN113510735A (en) | 2021-10-19 |
Family
ID=78068849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110861461.8A Withdrawn CN113510735A (en) | 2021-07-29 | 2021-07-29 | Industrial robot's formula tongs of drawing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113510735A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116277075A (en) * | 2023-05-18 | 2023-06-23 | 深圳市韦宏达科技有限公司 | Automatic feeding mechanical arm |
-
2021
- 2021-07-29 CN CN202110861461.8A patent/CN113510735A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116277075A (en) * | 2023-05-18 | 2023-06-23 | 深圳市韦宏达科技有限公司 | Automatic feeding mechanical arm |
| CN116277075B (en) * | 2023-05-18 | 2023-08-08 | 深圳市韦宏达科技有限公司 | Automatic feeding mechanical arm |
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Application publication date: 20211019 |