CN102275159A - Mechanical hand device and robot with multiple joints - Google Patents
Mechanical hand device and robot with multiple joints Download PDFInfo
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- CN102275159A CN102275159A CN2011101579499A CN201110157949A CN102275159A CN 102275159 A CN102275159 A CN 102275159A CN 2011101579499 A CN2011101579499 A CN 2011101579499A CN 201110157949 A CN201110157949 A CN 201110157949A CN 102275159 A CN102275159 A CN 102275159A
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Abstract
The invention provides a mechanical hand device which can change the cylinder liner space simply without any equipment setting alternation or adjustment. The mechanical hand device is provided with multiple fixture units at a certain interval and in parallel on a mechanical hand body. The fixture units can receive cylinder liners and keeps the cylinder liners to be cylindrical. A slide mechanism and a positioning mechanism used to limit the fixture units at certain positions are arranged on the mechanical hand body. The slide mechanism is arranged to be able to allow the fixture unit to move straightly along a parallel direction. The positioning mechanism is formed through a ball screw. The ball screw is arranged in the parallel direction and provided with two mutually reversed threaded parts. The center in the parallel direction is a border of the two threaded parts. The fixture units connect with a pair of nuts threaded with the threaded parts respectively. Through the rotation of the ball screw, the fixture units and the screw parts move straightly and reversely at the same time. Thus, the cylinder liner space can be changed.
Description
Technical field
The present invention relates in the die casting cylinder block cylinder sleeve (liner) inlay employed robot device in the shaping and the articulated robot that uses this robot device.
Background technology
In the past, under the situation that the casting forming by aluminium etc. forms the cylinder block of engine, adopt with what the state that is inserted with a plurality of sleeves cylindraceous (cylinder sleeve) outside on being arranged at columned a plurality of cylinder cores of variable mould formed inlayed manufacturing process more, inlay in the manufacturing process at this, cylinder sleeve in the extrapolation operation of each cylinder core, use is set side by side with the robot device (patent documentation 1) of fixture unit, and described fixture unit is to keep cylinder sleeve with the corresponding spacing of each cylinder.This robot device is installed on the arm of articulated robot, carries out the extrapolation to each cylinder core of cylinder sleeve.
On the other hand, in the robot device of the conveying that is used in cylinder block, as with the different corresponding method of the cylinder centre line spacing of each car type, known possess the manipulator top that can enlarge a pair of maintaining part of dwindling and make a side who possesses cylinder on direction of principal axis and contact the interval method of adjustment (patent documentation 2) of adjusting cylinder centre line spacing with cylinder liner blank (dummy bore) by the manipulator top in robot.
Patent documentation 1: specially permit communique No. 3405435
Patent documentation 2: the spy opens the 2002-283263 communique
Yet, in such work machine human robot device, in manufacturing step, changing under the situation of spacing (spacing of cylinder sleeve) of fixture unit the adjustment after need carrying out the setting change operation of equipment and setting the change conversion, spended time and labour accordingly with the cylinder core.Since the interval method of adjustment of patent documentation 2 just be used for cylinder block carrying and have an a pair of maintaining part, so can not tackle the interval adjustment of the fixture unit more than 3, so and, in the spacing change of fixture unit, can not adopt this method owing to need cylinder liner blank also to need more space and cost.
Summary of the invention
Therefore, the invention provides the setting change operation that does not need to carry out equipment and set the change conversion after adjustment etc. just can change the robot device and the articulated robot of the spacing of cylinder sleeve simply.
In order to reach above-mentioned purpose, the invention that technical scheme 1 is put down in writing is a kind of robot device, on the manipulator main body, be set side by side with the robot device of the fixture unit of a plurality of cylinder sleeves that can insert and keep tubular with predetermined spacing, wherein: described manipulator main body is provided with slide mechanism and described fixture unit is positioned the detent mechanism of preposition, and described slide mechanism is provided with to such an extent that can make described fixture unit carry out straight line on the direction and move described being set up in parallel respectively;
Form described detent mechanism by ball screw, described ball screw is configured in described being set up in parallel on the direction, having with the described center that is set up in parallel on the direction is reverse threaded portion mutually, boundary, and described fixture unit links with a pair of nut portions that is screwed together in described threaded portion respectively;
By the rotation of described ball screw, make described fixture unit carry out straight line round about simultaneously and move, thereby can change described spacing with described nut portions.
The invention that technical scheme 2 is put down in writing, except the invention that technical scheme 1 is put down in writing, in the robot device that is set side by side with 4 the above fixture units, the described ball screw configured in parallel that distance between a plurality of described a pair of nut portions is different also links respectively in described a pair of nut portions described fixture unit is arranged, and is being provided with the speed change transfer unit that can change the described spacing between the fixture unit that is linked to the described ball screw that rotation drives simultaneously between the described ball screw.
The invention that technical scheme 3 is put down in writing except the invention that technical scheme 1 is put down in writing, is made as described speed change transfer unit: so that gear ratio becomes the belt wheel that the mode of predetermined gear ratio is arranged at described ball screw respectively; And tensioning is arranged on the band between the described belt wheel.
The invention that technical scheme 4 is put down in writing is a kind of articulated robot, wherein, any described robot device in the technical scheme 1 to 3 is installed on the top of arm.
The invention that technical scheme 5 is put down in writing, except the invention that technical scheme 4 is put down in writing, be provided with motor in described arm side, between the ball screw of the output shaft of described motor and described robot device, be respectively arranged with under the installment state of described arm, interlinking of described robot device and make described output shaft and ball screw incorporate linking part on direction of rotation.
According to the invention that technical scheme 1 is put down in writing, do not need to carry out the setting change operation of equipment and the adjustment after the setting change conversion etc., can change the spacing of cylinder sleeve simply.Thus, the step manufacturing step short time stops to get final product, and it is restored immediately.In addition, simple structure is so can correctly carry out the spacing adjustment.
According to technical scheme 2 and 3 inventions of being put down in writing, simple structure so components number is few, is installed easily and can be made by qurer, helps cost cutting.
The invention of being put down in writing according to technical scheme 4, do not need to carry out the setting change operation and the adjustment of equipment, even so under the situation that has changed spacing, adjustment after also not needing to carry out the setting change operation of equipment and setting the change conversion, so the step manufacturing step short time stops to get final product, it is restored immediately.In addition, simple structure, so can correctly carry out the spacing adjustment, it is also easy to install.In addition, do not need to set the change operation,, can make by qurer, help cost cutting so components number is less.
Invention according to technical scheme 5 is put down in writing is installed on the arm side with motor, so even under the situation that robot device has been separated from arm, the wiring of motor also is in the state of connection all the time, so drawing back of not needing to connect up when mounting or dismounting.
Description of drawings
Fig. 1 is the integrally-built key diagram of expression robot device.
Fig. 2 is the slide mechanism of expression robot device and the key diagram of detent mechanism.
Fig. 3 is the integrally-built key diagram of expression fixture unit.
Fig. 4 is the key diagram of expression fixture unit.
Fig. 5 is that expression is with the key diagram of cylinder sleeve to the step of cylinder core insertion.
Symbol description
1... robot device, 2... manipulator main body, 3... arm, 4... articulated robot, 5... cylinder sleeve, 10... slide mechanism, 11... track, 12... slide block, 15... detent mechanism, 16... threaded portion, 17... ball screw, 18... nut portions, 23... motor, 24,25... linking part, 26... belt wheel, 27... band, 28... belt wheel, 30... fish plate, 31... fixture unit, 32... substrate, 33... sliding stand, 34... sliding panel, clamping section 35... (clamp), 35a... circular protrusions, the 36... axis of guide, 37... cylinder, the 38... base portion, the 39... cylinder sleeve is inlayed manipulator, 40... push rod, 41... align member, 54... flexible clutch
The specific embodiment
Below, based on accompanying drawing embodiments of the present invention are described.
At first begin most, robot device 1 of the present invention as shown in Figure 1, in the side of manipulator main body 2, to the left and right direction (Fig. 1 from the bottom right to the upper left side to) be set side by side with a plurality of (the being 4) fixture unit 31 that can insert the cylinder sleeve 5 that keeps tubular respectively here linearity.In addition, be provided with in the side of manipulator main body 2: be provided with can make each fixture unit 31 to the left and right direction carry out the slide mechanism 10 that straight line moves; With the detent mechanism 15 that fixture unit 31 is positioned preposition.This robot device 1 is installed on the top of the arm 3 of articulated robot 4 via mutual installation portion 20,21.Detent mechanism 15 and slide mechanism 10, be in order can be spacing different corresponding of cylinder sleeve 5, and the spacing that the cylinder sleeve of fixture unit 31 is inlayed between the manipulator 39 change to the mechanism of position arbitrarily in the scope of 80～100mm with the cylinder of each car type.
Wherein, slide mechanism 10 comprises as shown in Figure 2: in the pair of tracks 11 of the configuration abreast up and down of the side of manipulator main body 2 and can be along 4 slide blocks 12, the 12...... of each track 11 move left and right.Between this track 11,11 up and down, (in Fig. 2, the symbol of paired slide block 12 mark A, B, C, D is distinguished at paired up and down slide block 12,12.Below, for other component part also at the symbol of when difference mark A, B.......) between set up fish plate 30A～D respectively, dispose fixture unit 31A～D at each fish plate 30A～D.
Secondly, detent mechanism 15 possesses between track 11,11 side and the supported abreast a pair of ball screw 17,17 of track 11 in manipulator main body 2.The center that each ball screw 17 has with its left and right directions is reverse threaded portion 16A, the 16B mutually of boundary, makes a pair of nut portions 18,18 be screwed together in this threaded portion 16A, 16B respectively.Side by side and respectively be linked to inboard fish plate 30B, 30C with slide block 12B, the 12C of central side at nut portions 18B, the 18C of the ball screw 17B of this upside on above-below direction, nut portions 18A, the 18D of the ball screw 17A of downside is linked to fish plate 30A, the 30D in the outside side by side and respectively with slide block 12A, the 12D in the outside on above-below direction.
At this, web 22 on the top that is arranged at arm 3 is provided with motor 23, the output shaft of this motor 23 is relative with the ball screw 17A of downside under the installment state of robot device 1, be provided with the linking part 24,25 that under the installment state of robot device 1, interlinks at the output shaft of motor 23 and the end of ball screw 17A, thereby the rotation of output shaft can be delivered to ball screw 17A.
On the other hand, in ball screw 17A, 17B and ends web 22 opposite sides have been wholely set belt wheel 26,28 respectively, and tensioning is provided with and is with 27 between two belt wheels 26,28.This belt wheel 26,28 is set so that gear ratio is 1: 3 a mode at this.This belt wheel 26, be with 27 to be speed change transfer unit of the present invention with belt wheel 28.
And fixture unit 31 possesses as shown in Figure 3: the base portion 38 of above-below direction that is installed on the front of fish plate 30; The substrate 32 of the above-below direction that disposes abreast in the place ahead of base portion 38; The a pair of sliding stand 33,33 that is provided with symmetrically up and down in the front of substrate 32; Be arranged in the front of each sliding stand 33 can be by the not shown cylinder sliding panel 34 that slides of direction up and down.
In addition, the outstanding cylinder sleeve that inserts and position to the cylinder core that is provided with is inlayed manipulator 39 in the central authorities of the above-below direction of base portion 38, and substrate 32 can move forwards, backwards by being arranged on the cylinder 37 between itself and the manipulator main body 2.In addition, be provided with in the top and the bottom, back of substrate 32 its axis of guide 36,36 to the base portion guiding.
Wherein, cylinder sleeve inlays that manipulator 39 can be accompanied by retreating of substrate 32 and the central authorities that connect substrate 32 are relatively forwards outstanding.Forwards outstandingly in the mutual end of relative up and down sliding panel 34,34 in each fixture unit 31 be provided with a pair of clamping section 35,35, the top protuberance of this a pair of clamping section 35,35 and cylinder sleeve 5 periphery butts and clamping cylinder sleeve 5.This clamping section 35 is that cross section is foursquare projection, the outstanding diameter circular protrusions 35a littler than shape of cross section that be provided with in its front.
In addition, cylinder sleeve inlay manipulator 39 as the special permission No. 3405435 put down in writing, in the longitudinal direction with predetermined a plurality of push rod 40,40...... that give prominence to setting from axial line towards peripheral direction that are interval with, by air supply this push rod 40,40...... are given prominence to, from inboard extruding and maintenance sleeve (cylinder sleeve).Then, section is inserted into the position chimeric with the inside of cylinder core for the top of " コ " shape, makes the axial line of cylinder core consistent with the axial line of cylinder sleeve from the state that keeping cylinder sleeve.
Then, the change about spacing describes.
At first, for the robot device 1 that is arranged on the manipulator mounting table, the arm of articulated robot 43 actions and making between the installation portion 20,21 link.Link simultaneously with this, linking part 24,25 is chimeric each other and with the output shaft and ball screw 17A binding of motor 23.In addition, under the stationary state of robot device 1, the piston of not shown cylinder that is arranged at manipulator main body 2 is outstanding, and it is chimeric and slip that lock each fixture unit 31 is the rotation of ball screw 17A, B to be arranged at the stop pin of piston tip and back that cylinder sleeve is inlayed manipulator 39.After the binding of the output shaft of motor 23 and ball screw 17A, piston retreats and removes the locking of being undertaken by stop pin.
Be equipped with on the arm 3 under the state of robot device 1 like this, driving by motor 23, thus from the linking part 24 of the output shaft that is installed on motor 23 to linking part 25 transferring power chimeric with this linking part 24.Then, carry out off-centre adjustment, and revolving force is transmitted to ball screw 17A by the flexible clutch 54 that is installed on linking part 25.
By the rotation of ball screw 17A, make belt wheel 26 rotate, belt wheel 28 makes ball screw 17B rotation also with its rotation thus.
At this moment, because ball screw 17A rotation, make a pair of nut portions 18A, the 18D of threaded portion 16A, the 16B be screwed together in ball screw 17A carry out straight line round about and move, move so the fixture unit 31A, the 31D that install via fish plate 30A, 30D also carry out straight line round about.On the other hand, because ball screw 17B rotation, make a pair of nut portions 18B, the 18C of threaded portion 16A, the 16B be screwed together in ball screw 17B also carry out straight line round about and move, move so the fixture unit 31B, the 31C that install via fish plate 30B, 30C also carry out straight line round about.
But by the gear ratio between the belt wheel 26,28, the rotary speed of ball screw 17A, B was set to 1: 3, so with respect to the fixture unit 31B of inboard, the displacement of 31C, will slide simultaneously 3 times distance of fixture unit 31A, the 31D in the outside.Thus, each fixture unit 31 can carry out straight line round about with the spacing of equalization and moves.
Then, describe about clamping cylinder sleeve 5, the step of carrying out extrapolation to the cylinder core.
At first begin most, the articulated robot 4 that robot device 1 has been installed on arm 3 makes arm 3 move to cylinder sleeve 5,5...... position arranged side by side.Then, shown in Fig. 5 (a), cylinder 37 is shunk and will inlay manipulator 39 from fixture unit 31 outstanding cylinder sleeves and be inserted into and make the position of the circumference of cylinder sleeve 5 and align member 41,41...... butt.At this moment, air supply makes push rod 40, outstanding cylinder sleeve 5 inner peripheral surfaces that push of 40...... in the manipulator 39 by inlaying to cylinder sleeve.
Then, shown in Fig. 5 (b), the sliding panel of installing up and down on substrate 32 34,34 advances towards cylinder sleeve 5 simultaneously.So, the circular protrusions 35a that is installed in the clamping section 35,35 on each sliding panel 34 by with the outer peripheral edges butt of cylinder sleeve 5 from the periphery of clamping cylinder sleeve 5 up and down.
Like this, in fixture unit 31, sliding panel 34,34 slides towards cylinder sleeve 5 simultaneously, even so under the situation that changes to the different cylinder sleeve of external diameter, do not change the clip position of predefined cylinder sleeve, adjust the difference of external diameter by slippage, so so long as be in the scope of this slip just can clamping.
Next, make robot device 1 move to the cylinder core the position and after cylinder sleeve 5 being positioned at the place ahead of cylinder core, carry out exhaust if cylinder sleeve is inlayed the air of manipulator 39 inside, then cylinder sleeve 5 inner peripheral surfaces are from the extruding liberation down of push rod 40,40.......Then, shown in Fig. 5 (c), if make cylinder 37 elongation under the state by clamping section 35,35 clamping cylinder sleeves 5, it is motionless and substrate 32 advances that then cylinder sleeve is inlayed manipulator 39, and clamping section 35,35 cylinder sleeves that kept 5 are advanced.Thus, cylinder sleeve 5 is inserted in the cylinder core outward.At this moment, in the end of cylinder sleeve 5, the circular protrusions 35a of clamping section 35 contacts with its outer peripheral face, and clamping section 35 is not outstanding to center axis, so does not interfere with the cylinder core clamping section 35.
After such cylinder sleeve 5 was by extrapolation, the sliding panel 34,34 of An Zhuaning was to former point backing up and down, and from the state of clamping cylinder sleeve 5 after liberation, arm 3 moves to new cylinder sleeve 5,5...... position arranged side by side from the insertion position of cylinder core.
Then, cylinder 37 shortens to the state shown in Fig. 5 (d), and cylinder sleeve is inlayed manipulator 39 and compared forwards outstanding with substrate 32.Then, outstanding by push rod 40,40...... after cylinder sleeve being inlayed manipulator 39 and being inserted into the position that makes new cylinder sleeve 5 peripheries and align member 41,41...... butt under the state shown in Fig. 5 (a), push new cylinder sleeve 5 inner peripheral surfaces.
As mentioned above, robot device 1 of the present invention, it is the robot device 2 that on manipulator main body 2, is set side by side with the fixture unit 31 of a plurality of cylinder sleeves 5 that can insert and keep tubular with predetermined spacing, it is characterized in that: be provided with slide mechanism 10 and fixture unit 31 be positioned the detent mechanism 15 of preposition in manipulator main body 2, described slide mechanism is provided with to such an extent that can make fixture unit 31 carry out straight line respectively and move to being set up in parallel direction, form this detent mechanism 15 by ball screw 17, described ball screw 17 is configured in and is set up in parallel on the direction, the center that has to be set up in parallel on the direction is reverse threaded portion 16 mutually, boundary, 16, fixture unit 31 links with a pair of nut portions 18 that is screwed together in this threaded portion 16 respectively, rotation by ball screw 17, make fixture unit 31 carry out straight line round about simultaneously and move, thereby can change spacing with nut portions 18.
Its result does not need to carry out the setting change operation of equipment and the adjustment after the setting change conversion etc., can change the spacing of cylinder sleeve simply.Thus, the manufacturing step short time stops to get final product, and it is restored immediately.In addition, simple structure is so can correctly carry out the spacing adjustment.
And, in the robot device 1 that is set side by side with 4 above fixture units 31, it is characterized in that: a plurality of a pair of nut portions 18, ball screw 17 configured in parallel that distance between 18 is different, fixture unit 31 is linked to a pair of nut portions 18 respectively, 18, at the speed change transfer unit that is provided with the described spacing between the fixture unit that can change a described ball screw that is linked to the rotation driving simultaneously between the ball screw, this speed change transfer unit comprises: be arranged at ball screw 17A respectively so that gear ratio becomes the mode of predetermined gear ratio, belt wheel 26 and the belt wheel 28 of 17B; And tensioning is arranged at and is with 27 between the belt wheel 26,28.
Its result, simple structure so components number is few, is installed easily and can be made by qurer, helps cost cutting.
In addition, a kind of articulated robot 4 is characterized in that, on the top of arm 3 robot device 1 is installed.
Its result, do not need to carry out the setting change operation and the adjustment of equipment, so even under the situation that has changed spacing, the adjustment after also not needing to carry out the setting change operation of equipment and setting the change conversion, so the manufacturing step short time stops to get final product, it is restored immediately.In addition, simple structure, so can correctly carry out the spacing adjustment, it is also easy to install.In addition, do not need to set the change operation,, can make by qurer, help cost cutting so components number is few.
In addition, it is characterized in that, be provided with motor 50 in arm 3 sides, be respectively arranged with linking part 52 between the ball screw 17 of the output shaft 51 of this motor 50 and robot device 1, this linking part 52 makes output shaft 50 and ball screw 17 integrated on direction of rotation interlinking under the installment state of arm 3 of robot device 1.
Its result is installed on arm 3 sides with motor 50, so even under the situation that robot device 1 has been separated from arm 3, the wiring of motor 50 also is in the state of connection all the time, so do not need to connect up to draw back when mounting or dismounting.
In addition, the structure of robot device 1 of the present invention and articulated robot 4 is not limited to above-mentioned embodiment fully, if in the setting change operation that does not also need to carry out equipment under the situation that has changed spacing and the adjustment after setting the change conversion just in short-term the chien shih manufacturing step stop the structure that to finish and restore, just can in the scope that does not break away from aim of the present invention, suitably change as required.
For example, for fixture unit 31, except sliding stand 33, if the top protuberance of clamping section 35,35 that is installed on sliding panel 34 from being connected to cylinder sleeve 5 peripheries up and down simultaneously in the structure of the periphery of predefined position clamping cylinder sleeve 5, then can use motor etc., can suitably change.
In addition, the clamping of cylinder sleeve 5 is not to come its periphery of clamping by the circular protrusions of clamping section 35,35, if prevent clamping section 35 after cylinder sleeve 5 internal diameters bloat and cylinder sleeve are being inlayed manipulator 39 and pulled out from cylinder sleeve 5 also in the structure of the periphery of predefined position clamping cylinder sleeve 5, then can suitably change.
And then, be illustrated by the robot device that possesses 4 fixture units in said embodiment, but can suitably increase and decrease according to the form (number of cylinder) of cylinder block.In the case, if with the increase and decrease after fixture unit change gear ratio accordingly.Certainly be not limited to belt wheel and band as the speed change transfer unit, also can adopt gear and/or roller.
Claims (5)
1. robot device is the robot device that is set side by side with the fixture unit of a plurality of cylinder sleeves that can insert and keep tubular on the manipulator main body with predetermined spacing, it is characterized in that:
Described manipulator main body is provided with slide mechanism and described fixture unit is positioned the detent mechanism of preposition, and described slide mechanism is provided with to such an extent that can make described fixture unit carry out straight line respectively and move to the described direction that is set up in parallel;
Form described detent mechanism by ball screw, described ball screw is configured in described being set up in parallel on the direction, having with the described center that is set up in parallel on the direction is reverse threaded portion mutually, boundary, and described fixture unit links with a pair of nut portions that is screwed together in described threaded portion respectively;
By the rotation of described ball screw, make described fixture unit carry out straight line round about simultaneously and move, thereby can change described spacing with described nut portions.
2. robot device as claimed in claim 1 is characterized in that:
Be set side by side with 4 the above fixture units, the described ball screw configured in parallel that distance between a plurality of described a pair of nut portions is different, described fixture unit is linked to described a pair of nut portions respectively, be provided with the speed change transfer unit between described ball screw, this speed change transfer unit can change the described spacing that is linked between the fixture unit that rotates a described ball screw that drives simultaneously.
3. robot device as claimed in claim 2 is characterized in that, described speed change transfer unit is: so that gear ratio becomes the belt wheel that the mode of predetermined gear ratio is arranged at described ball screw respectively; And tensioning is arranged at the band between the described belt wheel.
4. an articulated robot is characterized in that, any described robot device in the claim 1 to 3 is installed on the top of arm.
5. articulated robot as claimed in claim 4, it is characterized in that, be provided with motor in described arm side, between the ball screw of the output shaft of described motor and described robot device, be respectively arranged with under the installment state of described arm, interlinking of described robot device and make described output shaft and ball screw incorporate linking part on direction of rotation.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010135254A JP2012000687A (en) | 2010-06-14 | 2010-06-14 | Hand device, and articulated robot |
| JP135254/2010 | 2010-06-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102275159A true CN102275159A (en) | 2011-12-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101579499A Pending CN102275159A (en) | 2010-06-14 | 2011-06-13 | Mechanical hand device and robot with multiple joints |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2012000687A (en) |
| CN (1) | CN102275159A (en) |
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| CN107471234A (en) * | 2017-09-29 | 2017-12-15 | 安徽理工大学 | Foundry robot refers to asynchronous handgrip with omnidirectional more |
| CN108907134A (en) * | 2018-07-27 | 2018-11-30 | 上海普莱克斯自动设备制造有限公司 | A kind of mosaic work handgrip |
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| JP2012096343A (en) * | 2010-11-05 | 2012-05-24 | Honda Motor Co Ltd | Conveying hand |
| JP5554685B2 (en) * | 2010-11-05 | 2014-07-23 | 本田技研工業株式会社 | Conveying apparatus and conveying method |
| KR101652982B1 (en) * | 2014-11-12 | 2016-09-01 | 김재선 | Complex gripper devices for cast engine |
| CN105033220B (en) * | 2015-06-03 | 2017-09-29 | 合肥泰禾光电科技股份有限公司 | A kind of loading and unloading integral type die casting fixture |
| CN107030685A (en) * | 2017-01-18 | 2017-08-11 | 柳州科瑞科技有限公司 | A kind of mechanical arm of compound transmission |
| CN107443407B (en) * | 2017-09-29 | 2018-05-25 | 安徽理工大学 | Foundry robot's reversible refers to asynchronous handgrip more |
| CN112976026B (en) * | 2021-02-25 | 2022-05-06 | 中井兴机器人（常州）有限公司 | Flexible clamping jaw |
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| JP2006198717A (en) * | 2005-01-20 | 2006-08-03 | Honda Motor Co Ltd | Bearing mounting device |
| CN101163574A (en) * | 2005-03-18 | 2008-04-16 | 株式会社Lg生活健康 | Robot hand for loading stocks |
| CN1923472A (en) * | 2006-09-08 | 2007-03-07 | 清华大学 | Robot hand for carrying and piling bag package |
| CN101179923A (en) * | 2006-10-24 | 2008-05-14 | 三星Techwin株式会社 | Substrate transfer apparatus and method of driving the same |
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| CN104552323A (en) * | 2014-12-30 | 2015-04-29 | 大连佳林设备制造有限公司 | Automatic gripper of box filling machine for special-shaped plastic bottles |
| CN104552323B (en) * | 2014-12-30 | 2017-01-11 | 大连佳林设备制造有限公司 | Automatic gripper of box filling machine for special-shaped plastic bottles |
| CN107471234A (en) * | 2017-09-29 | 2017-12-15 | 安徽理工大学 | Foundry robot refers to asynchronous handgrip with omnidirectional more |
| CN108907134A (en) * | 2018-07-27 | 2018-11-30 | 上海普莱克斯自动设备制造有限公司 | A kind of mosaic work handgrip |
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