CN103801976A - Automatic carrying clamp hand assembly - Google Patents
Automatic carrying clamp hand assembly Download PDFInfo
- Publication number
- CN103801976A CN103801976A CN201410047577.8A CN201410047577A CN103801976A CN 103801976 A CN103801976 A CN 103801976A CN 201410047577 A CN201410047577 A CN 201410047577A CN 103801976 A CN103801976 A CN 103801976A
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- China
- Prior art keywords
- jaw
- gripper shoe
- pair
- tong
- tong assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/048—Multiple gripper units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/046—Handling workpieces or tools
Abstract
The invention relates to an automatic carrying clamp hand assembly which comprises a rotating driver and a pair of clamping jaws symmetrically mounted on the rotating driver. The automatic carrying clamp hand assembly is characterized in that the automatic carrying clamp hand assembly further comprises a supporting frame capable of being mounted on a carrying arm, the supporting frame comprises a supporting plate extending obliquely, the rotating driver is mounted on the supporting plate, the central axes of the pair of clamping jaws are located on an identical rotating locus, the pair of clamping jaws are mounted on the rotating driver respectively, and the central axes of the clamping jaws have an identical horizontal working position or have an identical vertical working position. Therefore, the two clamping jaws have substitutability on the horizontal working position or the vertical working position, and the two clamping jaws can correspond to the clamping central axis of a clamp of a machining center at the horizontal working position or the vertical working position. Due to the fact that the automatic carrying clamp hand assembly has the mentioned characteristics and advantages, the automatic carrying clamp hand assembly can be applied to clamp hand assembly products carrying materials automatically.
Description
Technical field
The present invention relates to participate in the manipulator of product production system, the particularly tong assembly structure of manipulator, described tong assembly can provide axis location comparison workpiece accurately for machining center.
Background technology
The automation of production process is that particularly machine components manufacture field is very popular is also very important problem for current industry-by-industry.In the processing of machine components, traditional processing mode is to utilize the machine tooling of processing staff's direct control, and this cooked mode is very simple but need to expend a large amount of manpowers, and the mode of production of for this reason transforming this backwardness is very necessary.
In the arm-and-hand system being used in conjunction with lathe, an important structural design that structure link is tong system.With regard to the clamping jaw structure in tong system, there are at present a lot of standardized pneumatic or electronic jaw products; But how thereby standardized jaw product is arranged in tong system and is brought into play reasonable technique effect, be but the problem that those skilled in the art are inquiring into always.The jaw of conventional art is generally arranged on a vertical direction or horizontally disposed location-plate, and the arm of manipulator directly drives jaw to approach material gripping material.The tong system effectiveness of this structure is very low, generally can only in one moves back and forth stroke, capture a material, can not meet need of production at a high speed.The Chinese patent that for example application number is 201220746679.5, has disclosed a kind of servo manipulator for Digit Control Machine Tool, and it comprises: the support that is across numerical controlled machine-tool both sides; The crossbeam that is fixed in support top, crossbeam is provided with cross slide way; Can be at the back and forth transverse of operation of cross slide way; The arm moving both vertically that is arranged at transverse one side, the lower end of arm is provided with the tong for clamping/unclamp workpiece; Described transverse is connected with servomotor one, and it is provided with the drag chain one for transmitting control; Described arm is connected with servomotor two, and it is provided with the drag chain two for transmitting control, and described servomotor one and/or servomotor two are connected with electric controller.It enhances productivity, reduces low cost of manufacture effectively, and has compact conformation, firm, the feature that floor space is little.This technical scheme is more typical automation accessory production system, but its must be after discharging completes and the material processing is delivered to rewinding storehouse the former stock of gripping again, then deliver to afterwards the Working position of lathe, wasted and so forth the too many time.
The existing problem of Chinese patent for above-mentioned 201220746679.5, application number is 201220392659.2 Chinese patent literature, disclose a kind of lathe manipulator, on lathe bed, be fixed with mounting platform, knife rest module is housed on mounting platform, the first main spindle box and the second main spindle box, be placed with feeding bin at lathe feed side, be sidelong and be equipped with blanking bin at lathe material-discharging, above described lathe, set up crossbeam, this crossbeam left and right distributes, leading flank cunning at crossbeam is equipped with slide plate, slide plate can left and right slippage, at the sliding mechanical arm that is equipped with above of slide plate, the slippage up and down of this mechanical arm, there are the first mechanical gripper and the second mechanical gripper in the lower end of mechanical arm.Obviously, the technology of this structure, can utilize described the first mechanical gripper or described the second mechanical gripper workpiece that thereby grabbing workpiece has been processed in Working position direct replacement respectively and workpiece to be processed, improve operating efficiency, but described in it, the first mechanical gripper or described the second mechanical gripper are fixedly installed on the lower end of described mechanical arm, must allow described mechanical arm in moving up and down, make described the first mechanical gripper or described the second mechanical gripper in getting, the knock off position of part, thereby this movement not only time-consuming nor can allow more exactly workpiece and process equipment rotation centerline coincide.
For above-mentioned 201220392659.2 the existing problem of Chinese patent literary composition, application number is the Chinese patent literature of 201220732157.X, disclose a kind of materials device that captures, provide a kind of non-centrosymmetry formula to capture material head, it comprises rotary cylinder and is located at the feeding finger cylinder on rotary cylinder, on described feeding finger cylinder, be provided with feeding finger cylinder, feeding finger cylinder and feeding finger cylinder are cross-distribution, and the feeding jaw that feeding is pointed on feeding jaw and the feeding finger cylinder on cylinder points to outside rotary cylinder simultaneously.Although this structure has solved while picking and placeing workpiece and the identical problem of the clamping axis of the fixture of machining center, but because it is dissymmetrical structure, and described in it, feeding finger cylinder is arranged on described feeding finger cylinder, not only gas circuit control structure complexity, need to use the non-standard cylinder of unique construction, and the described feeding finger weight of cylinder and the weight of clamping workpiece thereof are concentrated on described feeding finger cylinder, be very easy to damage the link position of described feeding finger cylinder and itself and described rotary cylinder, and described feeding finger cylinder is superimposed upon on described feeding finger cylinder, both assembly radius of gyration of combination are very large, and then cause stroke and the space of circling round of its needs also large when advance and retreat in, suitable actuation time is also long.
Summary of the invention
For the deficiencies in the prior art, more step up the automatic transporting tong assembly of preesed and accurate positioning little actuation time thereby the present invention is intended to design a kind of radius of gyration, described tong assembly comprises that rotating driver, symmetry are arranged on a pair of jaw on described rotating driver; It is characterized in that, also comprise the bracing frame that can be installed on carrying arm, support frame as described above comprises the gripper shoe that tilts to extend, described rotating driver is arranged in described gripper shoe, the axis of a pair of described jaw itself is positioned on same rotational trajectory, and a pair of described jaw is arranged on respectively on described rotating driver, the axis of each described jaw itself has identical horizontal service position or has identical vertical operation position.
Wherein, described carrying arm, is the member that can move back and forth and can drive described tong assembly at least to move up and down in the time moving back and forth.It is generally slidably connected on the horizontal slide rail of manipulator.Described like this carrying arm coordinates with described horizontal slide rail, can adjust the groundwork position of described tong assembly.
Wherein, support frame as described above is a member linking together with described carrying arm, and it is mainly used in locating described rotating driver.Support frame as described above can be to be directly fixedly connected with described carrying arm, can be also removably to link together, and can also be that the device by adjusting displacement connects indirectly.
Wherein, support frame as described above comprises the gripper shoe that tilts to extend, and refers at described manipulator and installs behind location, take described carrying arm as benchmark, described gripper shoe tilts and extends downward or upward, can give otherwise designed according to work characteristics and positioning requirements as for the angle tilting.
Wherein, the axis of described jaw itself, refers to the clamping axis of the jig arm of described jaw own; And the axis of a pair of described jaw itself is positioned on same rotational trajectory, refer in the time that described rotating driver drives a pair of described jaw rotation roughly the same being positioned in other words on same single-revolution working face of rotational trajectory of the axis of each described jaw itself; Secondly a pair of described jaw symmetry is arranged on described rotating driver, refer to the rotation centerline symmetric configuration of a pair of described jaw with described rotating driver, because described rotating driver is arranged in described gripper shoe, a pair of described jaw is also take described gripper shoe as symmetrical for this reason again.
Wherein, the axis of each described jaw itself has identical horizontal service position or has identical vertical operation position, refer to that each described jaw may be arrived multiple positions by described rotating driver driven rotary, but at least each described jaw has identical and parallel with horizontal plane horizontal service position or has identical and vertical with horizontal plane vertical operation position; Such two described jaws are in horizontal service position or have substituting in vertical operation position.
Wherein, described jaw is the member with Standalone Drives and jig arm, can self contained function holding workpiece; A pair of described jaw is arranged on respectively on described rotating driver, refers to that two described jaws are arranged on respectively on described rotating driver, and the independence that is separated from each other between each described jaw, does not connect mutually.
According to technique scheme, with the contrast of the prior art Chinese patent literature that particularly application number is 201220732157.X, its useful technique effect is:
1. because described rotating driver is arranged on support frame as described above, described rotating driver can be used support frame as described above and located for this reason, and can alleviate the structural strength of described rotating driver itself; Secondly described rotating driver also can be determined its rotation central axis line exactly by means of support frame as described above.
2. because a pair of described jaw is arranged on respectively on described rotating driver, not only make the overall radius of gyration of a pair of jaw of described tong assembly greatly reduce, and the drive part of a pair of described jaw itself can use normal component on the market for this reason; Secondly between a pair of described jaw, do not connect mutually each other, thereby in greatly reducing overall radius of gyration, but can but can improve the scope of activities of single described jaw and then save the actuating length time, also can reduce the possibility of phase mutual interference, also can not form each other and connect infringement; Can also utilize in addition one of them jaw discharging of a pair of described jaw, described rotating driver rotarilys actuate another clamping immediately the jaw material loading of workpiece to be processed, rotation is shorter switching time, and actuating length is also less, thereby has greatly improved operating efficiency.
3. because described gripper shoe includes the gripper shoe being obliquely installed, can determine exactly by means of described gripper shoe the direction of the rotation central axis line of described rotating driver for this reason, be as the criterion and determine that the described jaw in position is positioned at horizontal line direction or vertical direction provides basic condition, and easily design, process the position location of described jaw; Secondly also can allow described jaw in the position of more reasonably circling round, allow support frame as described above reasonably dodge the particularly fixture of described machining center of described machining center with described jaw etc.
4. because the axis of a pair of described jaw itself is positioned on same rotational trajectory, and the axis of each described jaw itself has identical horizontal service position or has identical vertical operation position, such two described jaws can horizontal service position or have in vertical operation position substituting, thereby can allow two described jaws corresponding with the clamping axis of the fixture of the machining center in horizontal or vertical direction.
Further technical scheme can also be, has the support works face that is 45 ° with horizontal direction below described gripper shoe, described in any one, between the axis of jaw itself and described support works face, is 45 ° of distributions.
So in fact,, the angle between the axis of a pair of described jaw itself is just 90 °, and the drift angle that is also the rotational trajectory of the axis of a pair of described jaw itself is 90 °; Again because a pair of described jaw is arranged symmetrically with, described in any one, jaw all has two operating positions of horizontal and vertical simultaneously for this reason.
Secondly, because described support works face is positioned at below described gripper shoe, described support works face can become the positioning reference plane of described rotating driver, described jaw for this reason, thereby is convenient to design, manufacture and locate these auxiliary equipments.Thereby certainly while location, perhaps existing angular error to cause the actual angle angle between described support works face and horizontal plane in processing, the installation of described support works face is not exclusively 45 °, but the solution of these errors belongs to another technical problem, can only say that the angle that we must make between described support works face and horizontal plane is as possible 45 ° for this reason.Can allow like this axis of described jaw itself can be exactly the clamping axis of fixture of the corresponding machining center in horizontal or vertical direction.For example, in the time that the axis of described machining center is horizontal direction, can utilize described jaw material loading or feeding in horizontal direction; If the axis of described jaw is parallel and not coincidence with the axis of described machining center, what now need adjustment is upper-lower position or the position, left and right of described carrying arm, and the adjustment of this kind of position is not inquired in this programme.
Further technical scheme can also be, described rotating driver comprises the rotary connector of power part and rotation that described power part drives, and a pair of described jaw is arranged on respectively in described rotary connector.If wherein described jaw is gripper cylinder, between described rotary connector and described jaw, be also provided with the connecting line of driving gas; If described jaw is electronic chuck, between described rotary connector and described jaw, be also provided with the connecting line of the signal of telecommunication.The power part of described like this rotating driver is connected in described gripper shoe, and described rotary connector is just connected on the output shaft of described power part rotatably.
Further technical scheme can also be, has a pair of tong locating surface in described rotary connector, on a described tong locating surface, a described jaw is installed.So not only can locate described jaw by means of described tong locating surface, and make accurate positioning.
Further technical scheme can also be, a pair of described tong locating surface left and right distributes and is symmetrically set.Can make so described tong locating surface processing itself simple, there is interchangeability.
Further technical scheme can also be, described power part and described rotary connector split the both sides up and down in described gripper shoe, and wherein said rotary connector is positioned at a side of described support works face.Can locate so described rotating driver reliablely, and allow the center of gravity of described rotating driver drop in described gripper shoe as far as possible.Wherein, described power part and described rotary connector split the both sides up and down in described gripper shoe, and the part wall body that is not equal to described power part or described rotary connector is not arranged in the transitional pore that described gripper shoe arranges completely.
Further technical scheme can also be, described power part is to drive cylinder or drive motors.
Further technical scheme can also be that described jaw is gripper cylinder or the electronic chuck of air cylinder driven.
Further technical scheme can also be, support frame as described above also comprises connection plate body, and described gripper shoe is connected to described connection plate body, and described connecting plate body can be installed on described carrying arm.Can locate exactly by means of described connection plate body like this angle of the support works face of described gripper shoe, and being connected between convenient described gripper shoe and described carrying arm.
Further technical scheme can also be to couple together by dovetail groove between described connection plate body and described gripper shoe.Between described like this connection plate body and described gripper shoe, not only location is reliable, and can finely tune the relative position between described connection plate body and described gripper shoe, and then after described tong assembly is installed on machining center, can again finely tune the workplace distance between described jaw and the fixture of machining center of described tong assembly.
Further technical scheme can also be to couple together by dovetail groove between described carrying arm and described gripper shoe.
Because the present invention has These characteristics and advantage, can be applied in the tong assembly product of automatic transporting material for this reason.
Accompanying drawing explanation
Fig. 1 is the assembly structure schematic side view of application tong assembly of the present invention;
Fig. 2 is the assembling perspective view of application tong assembly of the present invention;
Fig. 3 is the perspective view of the support frame as described above of application tong assembly of the present invention.
The specific embodiment
The structure of the tong assembly below in conjunction with accompanying drawing to application technical solution of the present invention is further described.
As shown in Figure 1, Figure 2 and Figure 3, a kind of automatic transporting tong assembly that can be used in conjunction with machining center, comprises can being installed to the bracing frame 2 of carrying on arm 1, being arranged on the rotating driver on support frame as described above 2.Described machining center be can processing equipment part equipment as lathe, and described automatic transporting tong assembly is mainly described machining center and workpiece to be processed is provided and takes the workpiece having machined away.Described machining center all have one can holding workpiece fixture, described fixture itself also just has clamping axis for this reason.
Wherein said carrying arm 1 is can move back and forth and can in the time moving back and forth, drive described tong assembly at least upper and lower, the member moving left and right.It is generally slidably connected on the horizontal slide rail (not shown in FIG.) of manipulator.Described like this carrying arm 1 coordinates with described horizontal slide rail, can adjust the upper and lower of described tong assembly, position, left and right.
Wherein, support frame as described above 2 is members that link together with described carrying arm 1, and it is mainly used in locating described rotating driver.Support frame as described above 2 comprises the gripper shoe 22 that connects plate body 21, downward-sloping setting, below described gripper shoe 22, be provided with support works face B, described connection plate body 21 arranges and is connected to the lower end of described carrying arm 1 in horizontal direction, between the support works face B of described connection plate body 21 and described gripper shoe 22, there are 45 ° of angles, between the support works face B of described gripper shoe 22 and horizontal plane, also there are 45 ° of angles thereby allow.
Certainly, between the support works face B of described connection plate body 21 and described gripper shoe 22, also can be set to other angle angle, so just need to adjust adaptedly the angle of inclination of the described tong locating surface (A1, A2) that the first jaw 41, the second jaw 42 are installed.
Between described connection plate body 21 and described carrying arm 1, be directly fixedly connected with, but couple together by dovetail groove 23 between described connection plate body 21 and described gripper shoe 22.Between described like this connection plate body 21 and described gripper shoe 22, not only location is reliable, and can finely tune the relative position of described connection plate body 21 and described gripper shoe 22, and then after described tong assembly is installed on machining center, can further finely tune operating position between the described jaw (41,42) of described tong assembly and the fixture of machining center.If described connection plate body 21 is not set, or being direct-connected structure between described connection plate body 21 and described gripper shoe 22, can also be between described carrying arm 1 and support frame as described above 2 or described gripper shoe 22, directly to couple together by dovetail groove.
Described rotating driver comprises that power part 31 and described power part 31 drive the rotary connector 32 of rotation, and described rotary connector 32 at least can be rotated within the scope of 180 °; In described rotary connector 32, there is a pair of tong locating surface (A1, A2), described tong locating surface (A1, A2) distributes with the symmetrical also left and right of rotation central axis line of described rotary connector 32, and be 45 ° of distributions with described support works face B respectively, described first jaw 41 of the upper installation of described tong locating surface A1, described second jaw 42 of the upper installation of described tong locating surface A2, so not only can locate a pair of described jaw (41,42) by means of described tong locating surface (A1, A2), and make their axis accurate positioning.A pair of described jaw (41,42) is the gripper cylinder of air cylinder driven, is also provided with the connecting line of driving gas between described rotary connector 32 and a pair of described jaw (41,42); Certain described jaw (41,42) also can adopt power-actuated electronic chuck.
Secondly, due to described tong locating surface (A1, A2) symmetrical distribution and be 45 ° of distributions with described support works face B respectively, can make jaw (41 described in any one for this reason, 42) between the axis of itself and described support works face B, be also 45 ° of distributions, a pair of described jaw (41, 42) be symmetrically distributed on described support works face B, a pair of described jaw (41, 42) angle of the axis of itself is also 90 ° of distributions, and a pair of described jaw (41, 42) be positioned at same rotational trajectory and be positioned in other words same single-revolution working face, and then make described jaw (41, 42) axis itself at least have its in the horizontal direction with two operating positions of vertical direction.Certainly, as another embodiment, if the angle between described support works face B and horizontal plane is not for example 60 °, 30 ° of 45 ° but other angles etc., correspondingly, must change the angle of inclination of described tong locating surface (A1, A2) so that allow make described jaw (41,42) itself axis at least in the horizontal direction or in vertical direction, there is an operating position.
The middle position of described gripper shoe 22 is provided with transitional pore 24, described power part 31 splits the both sides up and down in described gripper shoe 22 with described rotary connector 32, wherein said rotary connector 32 is arranged in a side of described support works face B and the part wall body of described rotary connector 32 is trapped in described transitional pore 24, so not only can locate described rotating driver reliablely, and allow the center of gravity of described rotating driver drop in described gripper shoe 22 as far as possible.Secondly, also can make described gripper shoe 22 very tightly short with the combination of described rotating driver, greatly dwindle the jig arm of described jaw (41,42) to the moment length between described gripper shoe 22.
According to technique scheme, the clamping axis of supposing the fixture of machining center is horizontal direction, when described tong assembly action, first rotated to horizontal service position (now described the second jaw 42 is in vertical operation position) by described the first jaw 41, for this reason described the first jaw 41 just can be from the fixture of machining center workpiece that accurately crawl has machined, described tong assembly retreats and takes out this workpiece having machined under described carrying arm 1 drives immediately, described rotating driver rotation immediately again, drive described the first jaw 41 and described the second jaw 42 reversing of position, described the first jaw 41 clamps the workpiece machining and leaves described fixture and arrive vertical operation position, and described the second jaw 42 becomes horizontal service position, the workpiece to be processed that it has been grasped is in advance delivered on the clamping axis of the fixture in machining center, described tong assembly advances under described carrying arm 1 drives immediately again, the second jaw 42 described in relief that puts in place discharges the fixture of workpiece to be processed to machining center, following afterwards more described tong assembly retreats again, and move to rewinding bin location with described carrying arm 1.So not only greatly shorten the time of the feed of the fixture to machining center, improve production efficiency, wherein, the more important thing is, the axis of described jaw (41,42) can at least remain on horizontal direction and vertical direction, thereby can provide location workpiece very accurately for the fixture of machining center.Be the eccentric excessive problem of problem parallel and that do not overlap or concentricity as for described the first jaw 41 and the clamping axis of described second axis of jaw 42 and the fixture of described machining center, need to adjust the position of described carrying arm 1 or the reference for installation of whole manipulator solves.
Claims (10)
1. automatic transporting tong assembly, described tong assembly comprises that rotating driver, symmetry are arranged on a pair of jaw on described rotating driver; It is characterized in that, also comprise the bracing frame that can be installed on carrying arm, support frame as described above comprises the gripper shoe that tilts to extend, described rotating driver is arranged in described gripper shoe, the axis of a pair of described jaw itself is positioned on same rotational trajectory, and a pair of described jaw is arranged on respectively on described rotating driver, the axis of each described jaw itself has identical horizontal service position or has identical vertical operation position.
2. automatic transporting tong assembly according to claim 1, is characterized in that, has the support works face that is 45 ° with horizontal direction below described gripper shoe, described in any one, between the axis of jaw itself and described support works face, is 45 ° of distributions.
3. automatic transporting tong assembly according to claim 1, is characterized in that, described rotating driver comprises the rotary connector of power part and rotation that described power part drives, and a pair of described jaw is arranged on respectively in described rotary connector.
4. automatic transporting tong assembly according to claim 3, is characterized in that, described power part and described rotary connector split the both sides up and down in described gripper shoe, and wherein said rotary connector is positioned at a side of described support works face.
5. automatic transporting tong assembly according to claim 3, is characterized in that, has a pair of tong locating surface in described rotary connector, on a described tong locating surface, a described jaw is installed.
6. automatic transporting tong assembly according to claim 5, is characterized in that, a pair of described tong locating surface left and right distributes and is symmetrically set.
7. according to the arbitrary described automatic transporting tong assembly of claim 1 to 6, it is characterized in that, described jaw is the gripper cylinder of electronic chuck or air cylinder driven.
8. according to the arbitrary described automatic transporting tong assembly of claim 1 to 6, it is characterized in that, support frame as described above also comprises connection plate body, and described gripper shoe is connected to described connection plate body, and described connecting plate body can be installed on described carrying arm.
9. automatic transporting tong assembly according to claim 8, is characterized in that, between described connection plate body and described gripper shoe, couples together by dovetail groove.
10. according to the arbitrary described automatic transporting tong assembly of claim 1 to 6, it is characterized in that, between described carrying arm and described gripper shoe, couple together by dovetail groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410047577.8A CN103801976A (en) | 2014-02-11 | 2014-02-11 | Automatic carrying clamp hand assembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410047577.8A CN103801976A (en) | 2014-02-11 | 2014-02-11 | Automatic carrying clamp hand assembly |
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| CN103801976A true CN103801976A (en) | 2014-05-21 |
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| CN201410047577.8A Pending CN103801976A (en) | 2014-02-11 | 2014-02-11 | Automatic carrying clamp hand assembly |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227030A (en) * | 2014-09-01 | 2014-12-24 | 宁波宫铁精机有限公司 | Rotary pneumatic gripper device |
| CN108890399A (en) * | 2018-08-31 | 2018-11-27 | 宁波宫铁智能科技有限公司 | A kind of double main shaft row knife machines |
| CN109079206A (en) * | 2018-10-30 | 2018-12-25 | 昆山新冠莹机电设备有限公司 | A kind of five axis equipment of new CNC processing |
| CN109436793A (en) * | 2018-11-26 | 2019-03-08 | 广州市轻工高级技工学校 | A kind of material carrying truss |
| CN109702226A (en) * | 2017-10-25 | 2019-05-03 | 深圳市炫硕智造技术有限公司 | Paw device |
| CN109702227A (en) * | 2017-10-25 | 2019-05-03 | 深圳市炫硕智造技术有限公司 | Paw device |
| CN112299008A (en) * | 2020-11-18 | 2021-02-02 | 山东厚德测控技术股份有限公司 | Full-automatic meter checking system and method |
| CN112497191A (en) * | 2020-11-25 | 2021-03-16 | 常熟智造激光装备研究院有限公司 | Multifunctional industrial robot manipulator |
| TWI807511B (en) * | 2021-12-02 | 2023-07-01 | 振鴻機械有限公司 | Feeding device for processing machine and control method thereof |
| CN116408675A (en) * | 2023-04-19 | 2023-07-11 | 无锡发那特机械科技有限公司 | Clamping structure and clamping method convenient to adjust for machining nozzle ring |
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