CN204093879U - The automatic pre-bending device of roof bow - Google Patents
The automatic pre-bending device of roof bow Download PDFInfo
- Publication number
- CN204093879U CN204093879U CN201420579011.5U CN201420579011U CN204093879U CN 204093879 U CN204093879 U CN 204093879U CN 201420579011 U CN201420579011 U CN 201420579011U CN 204093879 U CN204093879 U CN 204093879U
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- roof bow
- bending
- framework
- crawl
- pressure piece
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Abstract
The utility model discloses the automatic pre-bending device of a kind of roof bow, comprise framework, be fixed on the robot terminal pad on described framework and be juxtaposed on many groups of crawl pre-bending mechanisms on described framework, often group crawl pre-bending mechanism comprises: grasping mechanism, comprise and capture force piece, crawl fixture and holder, capture force piece and drive holder to match to clamp roof bow with crawl fixture; Supporting mechanism, comprises support member; Pre-bending mechanism, the pressure piece comprising pre-bending force piece and driven by pre-bending force piece, when grasping mechanism clamps described roof bow, pressure piece matches with support member: by roof bow described in supports support, and pressure piece presses to described roof bow and makes it bend.The movement of said frame, by robot controlling, to capture and pre-bending work is completed by force piece, whole-process automaticly to complete, solves the problem needing artificial pre-splicing roof bow in prior art thus.
Description
Technical field
The utility model relates to automobile making machinery, is specifically related to the automatic pre-bending device of a kind of roof bow.
Background technology
High beat manufacturing technology is the development trend of auto manufacturing, and it had both met the scale and benefit of automobile production requirement, in turn ensure that the demand of product diversification.For promote productive temp, prior art arranges pre-splicing station before total spelling station of body production-line, this station mainly complete the parts such as side wall assembly, floor assembly and roof bow upper, location and pre-splicing work.
Prior art when roof bow is pre-splicing, operator first manual complete roof bow upper and location, then operate the pre-bending work that specific purpose tool completes roof bow.
The deficiencies in the prior art part is, roof bow upper, location and pre-bending operation mainly rely on manual operation, therefore there is the series of problems such as manually-operated poor efficiency, low uniformity.
Utility model content
The purpose of this utility model is to provide the automatic pre-bending device of a kind of roof bow, to solve in prior art the problem needing artificial pre-splicing roof bow.
To achieve these goals, the utility model provides following technical scheme:
The automatic pre-bending device of a kind of roof bow, comprise framework, be fixed on the robot terminal pad on described framework and be juxtaposed on many groups of crawl pre-bending mechanisms on described framework, described crawl pre-bending mechanism comprises:
Grasping mechanism, comprise and capture force piece, crawl fixture and holder, described crawl force piece is fixed on described framework by described crawl fixture, and described crawl force piece drives described holder to match with described crawl fixture, to clamp roof bow;
Supporting mechanism, is fixed on described framework, comprises the support member supporting described roof bow;
Pre-bending mechanism, comprise pre-bending fixture, pre-bending force piece and the pressure piece driven by described pre-bending force piece, described pre-bending force piece is fixed on described framework by described pre-bending fixture, when described grasping mechanism is in clamp position, described pressure piece presses to described roof bow and makes it bend.
The automatic pre-bending device of above-mentioned roof bow, also comprises the framework positioning mechanism be fixed on described framework, and described framework positioning mechanism is for locating the placement location of described framework.
The automatic pre-bending device of above-mentioned roof bow, described crawl pre-bending mechanism also comprises the roof bow detent mechanism be fixed on described framework, and described roof bow detent mechanism matches with the location division on described roof bow.
The automatic pre-bending device of above-mentioned roof bow, described roof bow detent mechanism comprises fixed block and keeper, described fixed block is provided with an adjusting portion, and described keeper is provided with multiple auxiliary section, and described adjusting portion is connected with arbitrary described auxiliary section.
The automatic pre-bending device of above-mentioned roof bow, described crawl pre-bending mechanism also comprises the roof bow the position detecting mechanism whether described roof bow of detection is positioned at precalculated position.
The automatic pre-bending device of above-mentioned roof bow, described crawl fixture and described holder surround cyclic structure, and the inner chamber of described cyclic structure forms the grasping part of described roof bow.
The automatic pre-bending device of above-mentioned roof bow, the part that described support member contacts with roof bow is inclined-plane, and the angle of inclination on described inclined-plane is identical with the design angle of bend of described roof bow.
The automatic pre-bending device of above-mentioned roof bow, described supporting mechanism also comprises the supporting motive force part for driving described support member.
The automatic pre-bending device of above-mentioned roof bow, described pressure piece comprises pressure piece body and is rotationally connected with the roller on pressure piece body, and described pressure piece presses to described roof bow by described roller.
The automatic pre-bending device of above-mentioned roof bow, described pre-bending mechanism also comprises locating part, and described locating part is fixed in the movement travel of described pressure piece, and when described roof bow bends to design angle, described locating part abuts with described pressure piece.In technique scheme, the automatic pre-bending device of the roof bow that the utility model provides, framework connects robot by robot terminal pad, by the motion track of the whole framework of robot controlling, during work, captured by the grasping mechanism on framework and clamp roof bow, after this, supporting mechanism has matched the pre-bending work of roof bow with pre-bending mechanism, support roof bow by supporting mechanism, applies pressure bend to force it by pre-bending mechanism to roof bow.The movement of said frame, by robot controlling, to capture and pre-bending work is completed by force piece, whole-process automaticly to complete, solves the problem needing artificial pre-splicing roof bow in prior art thus.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the utility model, for those of ordinary skill in the art, other accompanying drawing can also be obtained according to these accompanying drawings.
The structural representation of the automatic pre-bending device of roof bow that Fig. 1 provides for the utility model embodiment;
The side view of the automatic pre-bending device of roof bow that Fig. 2 provides for the utility model embodiment;
Fig. 3 is the structural representation of the grasping mechanism described in the utility model embodiment;
Fig. 4 is the structural representation of the pre-bending mechanism described in the utility model embodiment;
Fig. 5 is the side view of the pre-bending mechanism described in the utility model embodiment;
Fig. 6 is the structural representation of the supporting mechanism described in the utility model embodiment;
The structural representation that Fig. 7 is the pre-bending mechanism described in the utility model embodiment and supporting mechanism;
Fig. 8 is the structural representation of the roof bow detent mechanism described in the utility model embodiment;
The using state figure of the automatic pre-bending device of roof bow that Fig. 9 provides for the utility model embodiment.
Description of reference numerals:
1, framework; 2, robot terminal pad; 3, grasping mechanism;
31, force piece is captured; 32, fixture is captured; 33, holder;
4, supporting mechanism; 41, support member; 42, supporting motive force part;
43, fixture is supported; 5, pre-bending mechanism; 51, pre-bending force piece;
52, pressure piece; 521, pressure piece body; 522, roller;
53, locating part; 54, pre-bending fixture; 55, rotating connector;
6, framework positioning mechanism; 7, roof bow detent mechanism; 71, fixed block;
72, keeper; 73, the first transfer block; 74, the second transfer block;
75, adjustment sheet; 8, roof bow position detecting mechanism; 9, roof bow.
Detailed description of the invention
In order to make those skilled in the art understand the technical solution of the utility model better, below in conjunction with accompanying drawing, the utility model is further detailed.
As shown in figs 1-9, the automatic pre-bending device of a kind of roof bow that the utility model embodiment provides, comprise framework 1, be fixed on the robot terminal pad 2 on framework 1 and be juxtaposed on many groups of crawl pre-bending mechanisms on framework 1, often group crawl pre-bending mechanism comprises:
Grasping mechanism 3, is fixed on framework 1, comprises and captures force piece 31, crawl fixture 32 and holder 33, captures force piece 31 and drives holder 33 to match to clamp roof bow 9 with holder 33 to make capturing fixture 32;
Supporting mechanism 4, is fixed on framework 1, comprises support member 41;
Pre-bending mechanism 5, be fixed on framework 1, the pressure piece 52 comprising pre-bending fixture 54, pre-bending force piece 51 and driven by pre-bending force piece 51, when grasping mechanism 3 clamps roof bow 9, pressure piece 52 matches with support member 41: support roof bow 9 by support member 41, and pressure piece 52 presses to roof bow 9 and makes it bend.
Concrete, framework 1 is the basis of whole device, for each subassembly of device provides mounting points, preferably, framework 1 comprises a girder, stationary machines people terminal pad 2 on girder, robot terminal pad 2 is for connecting robot, robot passes through the movement locus of girder control framework 1 and even the automatic pre-bending device of whole roof bow, girder connects multiple strutbeam, strutbeam is for installing crawl pre-bending mechanism, often group captures pre-bending mechanism for capturing and pre-bending roof bow 9, the quantity capturing pre-bending mechanism needs to determine according to the quantity of automobile roof beam 9 and actual processing, can be one group, two groups or more, H-shaped framework 1 as shown in Figure 1, a strutbeam is respectively installed at the two ends of a girder, on two strutbeams, each installation one group captures pre-bending mechanism.Beyond the concrete structure girder as shown in Figure 1 of framework 1, a girder construction, other for robot terminal pad 2 and the structure that pre-bending mechanism provides mounting points can be captured.
Capture pre-bending mechanism and comprise grasping mechanism 3, supporting mechanism 4 and pre-bending mechanism 5.As shown in Figure 3, grasping mechanism 3 comprises crawl force piece 31, captures fixture 32 and holder 33, wherein, capturing fixture 32 is installed on framework 1, capturing force piece 31 is fixed on crawl fixture 32, holder 33 is driven by crawl force piece 31, and holder 33 matches to capture roof bow 9 with crawl fixture 32.Capturing force piece 31 can be various power source, as cylinder, capture that fixture 32 and holder 33 can be tubing, sheet material or other can clamp the structure of roof bow 9 one on the other.Before crawl, crawl fixture 32 and holder 33 are in away from state, after robot drives grasping mechanism 3 to move to crawl position by framework 1, capture force piece 31 and drive holder 33 to rotate, make holder 33 and capture fixture 32 to close up to be clamped by roof bow 9.
Preferably, crawl fixture 32 and holder 33 surround cyclic structure, and the inner chamber of cyclic structure forms the grasping part of roof bow 9.As the holder 33 in Fig. 3 is positioned at the below that captures fixture 32 and for U-shaped structure, be inverted U-shaped after the two parts capturing fixture 32 are connected by framework 1, holder 33 and to capture after fixture 32 closes up be " mouth " shape structure.The advantage of cyclic structure is to limit moving radially of roof bow 9.
Obviously, holder 33 can be positioned at and capture the below of fixture 32, also can be positioned at the top capturing fixture 32, and two kinds of modes are closed up all can clamp roof bow 9 afterwards.
In the present embodiment, if the contact area capturing fixture 32 and holder 33 and roof bow 9 is less, two or more grasping mechanisms 3 is preferably set to clamp the axially different position of roof bow 9 uniformly; If the holding area capturing fixture 32 and holder 33 is enough large, a grasping mechanism 3 only can be set to capture the middle part of roof bow 9.
As illustrated in figures 4-5, the pressure piece 52 that pre-bending mechanism 5 comprises pre-bending fixture 54, pre-bending force piece 51 and driven by pre-bending force piece 51, the effect of pre-bending mechanism 5 is, applies pressure bend to force it by pressure piece 52 to roof bow 9.In the present embodiment, preferably, pre-bending force piece 51 is arranged on pre-bending fixture 54, pre-bending fixture 54 is fixedly connected with framework 1, side and the pre-bending fixture 54 of pressure piece 52 are rotationally connected, concrete, pressure piece 52 can be directly rotationally connected by rotating shaft and pre-bending fixture 54, also passes through the indirect and pre-bending fixture 54 of a rotating connector 55 (as being rotationally connected plate in Fig. 4) and is rotationally connected.The benefit be rotationally connected is, the track of exerting pressure of pressure piece 52 is a camber line, and in course of exerting pressure, relative sliding occurs for pressure piece 52 and roof bow 9, and exert pressure relative to fixed point straight line, efficiency is higher.Preferred, the roller 522 that pressure piece 52 comprises pressure piece body 521 and is rotationally connected with pressure piece body 521, roller 522 is for pressing to roof bow 9, and roller 522 with roof bow 9, relative rolling occurs when exerting pressure, to reduce the probability that pressure piece 52 scratches roof bow 9.
In the present embodiment, further, pre-bending mechanism 5 also comprises locating part 53, and locating part 53 is arranged in the movement travel of pressure piece 52, and when roof bow 9 bends to design angle, locating part 53 abuts with pressure piece 52.Locating part 53 is when roof bow 9 is bent to design angle in advance, pressure piece 52 is stoped to be exerted pressure to roof bow 9 further by force, column piece as shown in Figure 5, a part for column piece is fixed on pre-bending fixture 54, another part of column piece is fixed on pressure piece 52, when roof bow 9 is bent to design angle, two parts of column piece abut against, and pressure piece 52 cannot move further.Obviously, fixed position and the concrete structure of locating part 53 are all not particularly limited, and only need to ensure that it can block pressure piece 52, with the pressure preventing pressure piece 52 pairs of roof bows 9 to be applied above design angle.
As shown in fig. 6-7, supporting mechanism 4 comprises a support member 41, and the effect of support member 41 is to support roof bow 9 from below, so that pressure piece 52 pairs of supporting traverses of pre-bending mechanism 5 are exerted pressure.As preferably, the part (i.e. supporting surface) that support member 41 contacts with roof bow 9 is inclined-plane, and the angle of inclination on inclined-plane is identical with the design angle of bend of roof bow 9.The advantage on inclined-plane is, ensures that the angle of bend of roof bow 9 can be out of shape according to design angle when pressure piece 52 is exerted pressure, and can not cause distortion excessively when pressure piece 52 is excessively exerted pressure, inclined-plane prevents pressure piece 52 from excessively exerting pressure together with above-mentioned locating part 53.
Further, supporting mechanism 4 also comprises supporting motive force part 42 and supports fixture 43, and supporting motive force part 42 and support member 41 are fixed on and support on fixture 43, and supporting motive force part 42 is for driving support member 41.When the advantage of movable support member 41 is that grasping mechanism 3 captures, support member 41 can first be removed, and prevents support member 41 from interfering with roof bow 9 in crawl process.
Obviously, above-mentioned crawl force piece 31, pre-bending force piece 51 and supporting motive force part 42 all can be various power source, as cylinder.
In the present embodiment, further, capture pre-bending mechanism and also comprise the roof bow detent mechanism 7 be fixed on framework 1, roof bow detent mechanism 7 is for matching with the location division on roof bow 9.Roof bow detent mechanism 7 is for locating roof bow 9 accurately when grasping mechanism 3 captures roof bow 9, and preferably, the location division on roof bow 9 is multiple through hole, and roof bow detent mechanism 7 is the alignment pin coordinated with through hole.Obvious, roof bow detent mechanism 7 and location division also can see other detent mechanisms of the prior art.
Preferred, roof bow detent mechanism 7 comprises fixed block 71 and keeper 72, fixed block 71 is provided with an adjusting portion, and keeper 72 is provided with auxiliary section, described auxiliary section is connected with adjusting portion, has at least two different fixed positions to make keeper 72 at fixed block 71.As shown in Figure 8, keeper 72 is alignment pin, fixed block 71 is L shape holder, L shape holder is fixed on framework 1, adjusting portion and auxiliary section comprise the first transfer block 73, second transfer block 74 and adjustment sheet 75, first transfer block 73 and the second transfer block 74 are laterally arranged in juxtaposition, and the first transfer block 73 is positioned at the longitudinally rear side of L shape holder, alignment pin is fixed in the second transfer block 74 by a nut vertical, the first transfer block 73 and be provided with multiple adjustment sheet 75 between L shape holder and the second transfer block 74.In the present embodiment, alignment pin can be regulated relative to the fore-and-aft distance of L shape holder (same relative to framework 1) by regulating the quantity of the adjustment sheet 75 between the first transfer block 73 with L shape holder, by the lateral separation regulating the quantity of the adjustment sheet 75 between the first transfer block 73 with the second transfer block 74 can regulate alignment pin relative L shape holder, the nut of rotational positioning pin and adjustable alignment pin are relative to the vertical distance of L shape holder, so, just achieve alignment pin to regulate relative to the optional position in the certain limit of framework 1.Obviously, above-mentioned adjusting portion and auxiliary section may be selected to be the position only regulated in a direction (as vertical direction).Its concrete structure also can see relevant position adjustment structure in prior art, as threaded adjusting, tooth-shape structure regulate etc.
In the present embodiment, further, capture pre-bending mechanism and also comprise the roof bow position detecting mechanism 8 be fixed on framework 1, whether roof bow position detecting mechanism 8 is positioned at precalculated position for detecting roof bow 9.Whether roof bow position detecting mechanism 8 puts in place to prevent grasping mechanism 3 from using leisure moments for detecting roof bow 9, and its concrete structure can see location of workpiece checkout gear relevant in prior art, as the sensor etc. of infra-red ray detection device, correlation type.
To sum up, in the present embodiment, often group crawl pre-bending mechanism should comprise grasping mechanism 3, supporting mechanism 4, pre-bending mechanism 5, also can comprise roof bow detent mechanism 7, roof bow position detecting mechanism 8, during grasping manipulation, robot drives crawl pre-bending mechanism to run to crawl position by framework 1, when roof bow 9 is in place, grasping mechanism 3 captures roof bow 9, and meanwhile, roof bow detent mechanism 7 is connected with the location division on roof bow 9, after crawl, whether roof bow position detecting mechanism 8 detects roof bow 9 and captures and put in place, subsequently, robot drives framework 1 that roof bow 9 is placed into rigging position, now, support member 41 supports on the lower surface of roof bow 9, pressure piece 52 moves down and applies pressure to roof bow 9 and bends to force it, after roof bow 9 bends to predetermined angular, grasping mechanism 3, associated components supporting mechanism 4 and pre-bending mechanism 5 limiting roof bow 9 is all withdrawn, then robot drives the automatic pre-bending device of whole roof bow to withdraw, enter the crawl pre-bending operation of next root roof bow 9.
In the present embodiment, obviously, whether the roof bow 9 that roof bow position detecting mechanism 8 also can be configured to detect multiple position puts in place, as whether whether pre-crawl position have roof bow 9, capture back header crossbeam 9 and to put in place and whether rigging position is in place etc.
It should be noted that, in the present embodiment, when roof bow 9 has many, namely when crawl pre-bending mechanism is organized more, size and the prebuckling angle of each roof bow 9 (as pretectum crossbeam 9 and back header crossbeam 9) may be different, and therefore, the concrete structure of many group crawl pre-bending mechanisms can be different, operationally, crawl stroke and the pre-bending stroke of respectively organizing crawl pre-bending mechanism also can be different.
In the present embodiment, further, also comprise the framework positioning mechanism 6 be fixed on framework 1, framework positioning mechanism 6 is for positioning framework 1.The effect of framework positioning mechanism 6 is, is positioned accurately by framework 1 on framework placement mechanism (as pallet) so that robot automatically, connecting frame 1 accurately.On concrete structure, can be one or more alignment pin, alignment pin corresponds to the through hole on pallet, or framework positioning mechanism 6 is multiple through hole, corresponding to the multiple alignment pins on pallet.
Obviously, roof bow detent mechanism 7 in the present embodiment and framework positioning mechanism 6 can be above-mentioned alignment pins, locating hole and have the various kinds of sensors (as infrared sensor) of positioning function, and roof bow detent mechanism 7 and framework positioning mechanism 6 can also see other located in connection devices of the prior art.
Mode above only by illustrating describes some one exemplary embodiment of the present utility model, undoubtedly, for those of ordinary skill in the art, when not departing from spirit and scope of the present utility model, can revise described embodiment by various different mode.Therefore, above-mentioned accompanying drawing is illustrative with being described in essence, should not be construed as the restriction to the utility model claims.
Claims (10)
1. the automatic pre-bending device of roof bow, is characterized in that, comprise framework, be fixed on the robot terminal pad on described framework and be juxtaposed on many groups of crawl pre-bending mechanisms on described framework, described crawl pre-bending mechanism comprises:
Grasping mechanism, comprise and capture force piece, crawl fixture and holder, described crawl force piece is fixed on described framework by described crawl fixture, and described crawl force piece drives described holder to match with described crawl fixture, to clamp roof bow;
Supporting mechanism, is fixed on described framework, comprises the support member supporting described roof bow;
Pre-bending mechanism, comprise pre-bending fixture, pre-bending force piece and the pressure piece driven by described pre-bending force piece, described pre-bending force piece is fixed on described framework by described pre-bending fixture, when described grasping mechanism is in clamp position, described pressure piece presses to described roof bow and makes it bend.
2. the automatic pre-bending device of roof bow according to claim 1, is characterized in that, also comprises the framework positioning mechanism be fixed on described framework, and described framework positioning mechanism is for locating the placement location of described framework.
3. the automatic pre-bending device of roof bow according to claim 1, it is characterized in that, described crawl pre-bending mechanism also comprises the roof bow detent mechanism be fixed on described framework, and described roof bow detent mechanism matches with the location division on described roof bow.
4. the automatic pre-bending device of roof bow according to claim 3, it is characterized in that, described roof bow detent mechanism comprises fixed block and keeper, described fixed block is provided with an adjusting portion, described keeper is provided with multiple auxiliary section, and described adjusting portion is connected with arbitrary described auxiliary section.
5. the automatic pre-bending device of roof bow according to claim 1, is characterized in that, described crawl pre-bending mechanism also comprises the roof bow the position detecting mechanism whether described roof bow of detection is positioned at precalculated position.
6. the automatic pre-bending device of roof bow according to claim 1, is characterized in that, described crawl fixture and described holder surround cyclic structure, and the inner chamber of described cyclic structure forms the grasping part of described roof bow.
7. the automatic pre-bending device of roof bow according to claim 1, is characterized in that, the part that described support member contacts with roof bow is inclined-plane, and the angle of inclination on described inclined-plane is identical with the design angle of bend of described roof bow.
8. the automatic pre-bending device of roof bow according to claim 1, is characterized in that, described supporting mechanism also comprises the supporting motive force part for driving described support member.
9. the automatic pre-bending device of roof bow according to claim 1, is characterized in that, described pressure piece comprises pressure piece body and is rotationally connected with the roller on pressure piece body, and described pressure piece presses to described roof bow by described roller.
10. the automatic pre-bending device of roof bow according to claim 1, it is characterized in that, described pre-bending mechanism also comprises locating part, and described locating part is fixed in the movement travel of described pressure piece, when described roof bow bends to design angle, described locating part abuts with described pressure piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420579011.5U CN204093879U (en) | 2014-10-08 | 2014-10-08 | The automatic pre-bending device of roof bow |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420579011.5U CN204093879U (en) | 2014-10-08 | 2014-10-08 | The automatic pre-bending device of roof bow |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204093879U true CN204093879U (en) | 2015-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420579011.5U Withdrawn - After Issue CN204093879U (en) | 2014-10-08 | 2014-10-08 | The automatic pre-bending device of roof bow |
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| Country | Link |
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| CN (1) | CN204093879U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104289565A (en) * | 2014-10-08 | 2015-01-21 | 安徽江淮汽车股份有限公司 | Automatic roof cross beam pre-bending device |
| CN105034013A (en) * | 2015-08-29 | 2015-11-11 | 湖北恒力达焊接装备有限公司 | Grasping-tool positioning device for vehicle body top cover assembly |
| CN112371800A (en) * | 2020-11-30 | 2021-02-19 | 华人运通(江苏)技术有限公司 | Stacking part grabbing system and grabbing method |
-
2014
- 2014-10-08 CN CN201420579011.5U patent/CN204093879U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104289565A (en) * | 2014-10-08 | 2015-01-21 | 安徽江淮汽车股份有限公司 | Automatic roof cross beam pre-bending device |
| CN104289565B (en) * | 2014-10-08 | 2016-03-16 | 安徽江淮汽车股份有限公司 | The automatic pre-bending device of roof bow |
| CN105034013A (en) * | 2015-08-29 | 2015-11-11 | 湖北恒力达焊接装备有限公司 | Grasping-tool positioning device for vehicle body top cover assembly |
| CN112371800A (en) * | 2020-11-30 | 2021-02-19 | 华人运通(江苏)技术有限公司 | Stacking part grabbing system and grabbing method |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20150114 Effective date of abandoning: 20160316 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |