CN105538298A - 喷油嘴阀体的高效搬运机械手系统 - Google Patents
喷油嘴阀体的高效搬运机械手系统 Download PDFInfo
- Publication number
- CN105538298A CN105538298A CN201610123878.3A CN201610123878A CN105538298A CN 105538298 A CN105538298 A CN 105538298A CN 201610123878 A CN201610123878 A CN 201610123878A CN 105538298 A CN105538298 A CN 105538298A
- Authority
- CN
- China
- Prior art keywords
- finger
- valve body
- slide plate
- fixed
- main
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/50—Other automobile vehicle parts, i.e. manufactured in assembly lines
Abstract
Description
Claims (7)
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710272072.5A CN107053150B (zh) | 2016-03-04 | 2016-03-04 | 用于阀体装配的高速搬运机械手 |
CN201710272071.0A CN106891329B (zh) | 2016-03-04 | 2016-03-04 | 用于搬运阀体的高精密机械手 |
CN201711495225.9A CN108202320B (zh) | 2016-03-04 | 2016-03-04 | 柔性全自动化搬运机械手 |
CN201710272325.9A CN107053237B (zh) | 2016-03-04 | 2016-03-04 | 多手指并联型高效作业机械手 |
CN201711495203.2A CN108202319B (zh) | 2016-03-04 | 2016-03-04 | 搬运机械手的快速操作方法 |
CN201710272025.0A CN106863343B (zh) | 2016-03-04 | 2016-03-04 | 柔性夹持型机械手本体机构 |
CN201610123878.3A CN105538298B (zh) | 2016-03-04 | 2016-03-04 | 喷油嘴阀体的高效搬运机械手系统 |
CN201711495252.6A CN108214470B (zh) | 2016-03-04 | 2016-03-04 | 自适应快速抓取机械手 |
CN201710272340.3A CN107088890B (zh) | 2016-03-04 | 2016-03-04 | 柔性自适应可容差式新型机械手机构 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610123878.3A CN105538298B (zh) | 2016-03-04 | 2016-03-04 | 喷油嘴阀体的高效搬运机械手系统 |
Related Child Applications (8)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711495203.2A Division CN108202319B (zh) | 2016-03-04 | 2016-03-04 | 搬运机械手的快速操作方法 |
CN201710272072.5A Division CN107053150B (zh) | 2016-03-04 | 2016-03-04 | 用于阀体装配的高速搬运机械手 |
CN201711495225.9A Division CN108202320B (zh) | 2016-03-04 | 2016-03-04 | 柔性全自动化搬运机械手 |
CN201710272340.3A Division CN107088890B (zh) | 2016-03-04 | 2016-03-04 | 柔性自适应可容差式新型机械手机构 |
CN201710272071.0A Division CN106891329B (zh) | 2016-03-04 | 2016-03-04 | 用于搬运阀体的高精密机械手 |
CN201711495252.6A Division CN108214470B (zh) | 2016-03-04 | 2016-03-04 | 自适应快速抓取机械手 |
CN201710272025.0A Division CN106863343B (zh) | 2016-03-04 | 2016-03-04 | 柔性夹持型机械手本体机构 |
CN201710272325.9A Division CN107053237B (zh) | 2016-03-04 | 2016-03-04 | 多手指并联型高效作业机械手 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105538298A true CN105538298A (zh) | 2016-05-04 |
CN105538298B CN105538298B (zh) | 2018-02-09 |
Family
ID=55818091
Family Applications (9)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710272071.0A Expired - Fee Related CN106891329B (zh) | 2016-03-04 | 2016-03-04 | 用于搬运阀体的高精密机械手 |
CN201711495252.6A Active CN108214470B (zh) | 2016-03-04 | 2016-03-04 | 自适应快速抓取机械手 |
CN201711495225.9A Active CN108202320B (zh) | 2016-03-04 | 2016-03-04 | 柔性全自动化搬运机械手 |
CN201610123878.3A Expired - Fee Related CN105538298B (zh) | 2016-03-04 | 2016-03-04 | 喷油嘴阀体的高效搬运机械手系统 |
CN201711495203.2A Active CN108202319B (zh) | 2016-03-04 | 2016-03-04 | 搬运机械手的快速操作方法 |
CN201710272072.5A Expired - Fee Related CN107053150B (zh) | 2016-03-04 | 2016-03-04 | 用于阀体装配的高速搬运机械手 |
CN201710272025.0A Expired - Fee Related CN106863343B (zh) | 2016-03-04 | 2016-03-04 | 柔性夹持型机械手本体机构 |
CN201710272340.3A Active CN107088890B (zh) | 2016-03-04 | 2016-03-04 | 柔性自适应可容差式新型机械手机构 |
CN201710272325.9A Active CN107053237B (zh) | 2016-03-04 | 2016-03-04 | 多手指并联型高效作业机械手 |
Family Applications Before (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710272071.0A Expired - Fee Related CN106891329B (zh) | 2016-03-04 | 2016-03-04 | 用于搬运阀体的高精密机械手 |
CN201711495252.6A Active CN108214470B (zh) | 2016-03-04 | 2016-03-04 | 自适应快速抓取机械手 |
CN201711495225.9A Active CN108202320B (zh) | 2016-03-04 | 2016-03-04 | 柔性全自动化搬运机械手 |
Family Applications After (5)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711495203.2A Active CN108202319B (zh) | 2016-03-04 | 2016-03-04 | 搬运机械手的快速操作方法 |
CN201710272072.5A Expired - Fee Related CN107053150B (zh) | 2016-03-04 | 2016-03-04 | 用于阀体装配的高速搬运机械手 |
CN201710272025.0A Expired - Fee Related CN106863343B (zh) | 2016-03-04 | 2016-03-04 | 柔性夹持型机械手本体机构 |
CN201710272340.3A Active CN107088890B (zh) | 2016-03-04 | 2016-03-04 | 柔性自适应可容差式新型机械手机构 |
CN201710272325.9A Active CN107053237B (zh) | 2016-03-04 | 2016-03-04 | 多手指并联型高效作业机械手 |
Country Status (1)
Country | Link |
---|---|
CN (9) | CN106891329B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111907757A (zh) * | 2020-09-03 | 2020-11-10 | 青岛朗锐智能科技有限公司 | 餐具抓取机械手以及自动装箱机 |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106891329B (zh) * | 2016-03-04 | 2019-01-18 | 温州市科泓机器人科技有限公司 | 用于搬运阀体的高精密机械手 |
CN108098814B (zh) * | 2018-01-19 | 2024-03-19 | 苏州工业职业技术学院 | 一种柔性夹持系统 |
CN108637163A (zh) * | 2018-06-15 | 2018-10-12 | 浙江鹤群智能装备股份有限公司 | 一种锯链的全自动装配设备及全自动装配方法 |
CN111673784B (zh) * | 2020-06-23 | 2022-09-23 | 郑州大学 | 自定位抓取手及抓取装置 |
CN113910273A (zh) * | 2021-10-25 | 2022-01-11 | 苏州灵猴机器人有限公司 | 一种机器人末端防护结构及机器人 |
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JPH04348887A (ja) * | 1991-05-23 | 1992-12-03 | B L Oototetsuku Kk | 棒状部材を被取付部材の挿通穴に挿入する装置及びその方法 |
JPH05382U (ja) * | 1991-06-24 | 1993-01-08 | 富士通テン株式会社 | 作動部材へのツールの着脱構造 |
JPH05382A (ja) * | 1991-06-25 | 1993-01-08 | Matsushita Electric Works Ltd | 通電金具の接合方法 |
CN103212986A (zh) * | 2013-05-15 | 2013-07-24 | 浙江华龙巨水科技股份有限公司 | 一种球阀自动组装机的阀体上料装置 |
CN203390931U (zh) * | 2013-08-02 | 2014-01-15 | 河南省杜甫机械制造有限公司 | 悬臂式机械手装置 |
CN103817510A (zh) * | 2014-03-13 | 2014-05-28 | 郑祥模 | 用于自动装配机的阀体装配模块 |
CN204957788U (zh) * | 2015-08-28 | 2016-01-13 | 杭州永昌玻璃机械有限公司 | 阀体上、下料机械手模组支架结构 |
CN205380670U (zh) * | 2016-03-04 | 2016-07-13 | 邵伟 | 喷油嘴阀体的高效搬运机械手系统 |
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CN106891329B (zh) * | 2016-03-04 | 2019-01-18 | 温州市科泓机器人科技有限公司 | 用于搬运阀体的高精密机械手 |
-
2016
- 2016-03-04 CN CN201710272071.0A patent/CN106891329B/zh not_active Expired - Fee Related
- 2016-03-04 CN CN201711495252.6A patent/CN108214470B/zh active Active
- 2016-03-04 CN CN201711495225.9A patent/CN108202320B/zh active Active
- 2016-03-04 CN CN201610123878.3A patent/CN105538298B/zh not_active Expired - Fee Related
- 2016-03-04 CN CN201711495203.2A patent/CN108202319B/zh active Active
- 2016-03-04 CN CN201710272072.5A patent/CN107053150B/zh not_active Expired - Fee Related
- 2016-03-04 CN CN201710272025.0A patent/CN106863343B/zh not_active Expired - Fee Related
- 2016-03-04 CN CN201710272340.3A patent/CN107088890B/zh active Active
- 2016-03-04 CN CN201710272325.9A patent/CN107053237B/zh active Active
Patent Citations (8)
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JPH04348887A (ja) * | 1991-05-23 | 1992-12-03 | B L Oototetsuku Kk | 棒状部材を被取付部材の挿通穴に挿入する装置及びその方法 |
JPH05382U (ja) * | 1991-06-24 | 1993-01-08 | 富士通テン株式会社 | 作動部材へのツールの着脱構造 |
JPH05382A (ja) * | 1991-06-25 | 1993-01-08 | Matsushita Electric Works Ltd | 通電金具の接合方法 |
CN103212986A (zh) * | 2013-05-15 | 2013-07-24 | 浙江华龙巨水科技股份有限公司 | 一种球阀自动组装机的阀体上料装置 |
CN203390931U (zh) * | 2013-08-02 | 2014-01-15 | 河南省杜甫机械制造有限公司 | 悬臂式机械手装置 |
CN103817510A (zh) * | 2014-03-13 | 2014-05-28 | 郑祥模 | 用于自动装配机的阀体装配模块 |
CN204957788U (zh) * | 2015-08-28 | 2016-01-13 | 杭州永昌玻璃机械有限公司 | 阀体上、下料机械手模组支架结构 |
CN205380670U (zh) * | 2016-03-04 | 2016-07-13 | 邵伟 | 喷油嘴阀体的高效搬运机械手系统 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111907757A (zh) * | 2020-09-03 | 2020-11-10 | 青岛朗锐智能科技有限公司 | 餐具抓取机械手以及自动装箱机 |
Also Published As
Publication number | Publication date |
---|---|
CN108214470A (zh) | 2018-06-29 |
CN108202319A (zh) | 2018-06-26 |
CN108202319B (zh) | 2020-05-12 |
CN107053150A (zh) | 2017-08-18 |
CN106891329A (zh) | 2017-06-27 |
CN108202320B (zh) | 2020-12-29 |
CN106863343B (zh) | 2019-04-05 |
CN106863343A (zh) | 2017-06-20 |
CN107053237A (zh) | 2017-08-18 |
CN108202320A (zh) | 2018-06-26 |
CN107088890A (zh) | 2017-08-25 |
CN108214470B (zh) | 2020-05-08 |
CN105538298B (zh) | 2018-02-09 |
CN106891329B (zh) | 2019-01-18 |
CN107088890B (zh) | 2018-08-24 |
CN107053150B (zh) | 2019-08-27 |
CN107053237B (zh) | 2019-08-13 |
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