CN106393120A - Reconfigurable device of robot tail end executor - Google Patents
Reconfigurable device of robot tail end executor Download PDFInfo
- Publication number
- CN106393120A CN106393120A CN201611106081.9A CN201611106081A CN106393120A CN 106393120 A CN106393120 A CN 106393120A CN 201611106081 A CN201611106081 A CN 201611106081A CN 106393120 A CN106393120 A CN 106393120A
- Authority
- CN
- China
- Prior art keywords
- instrument
- tool
- bracket panel
- robot
- paw
- 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.)
- Pending
Links
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
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
Abstract
The invention relates to the technical field of robots, in particular to a reconfigurable device of a robot tail end executor. The device comprises a connecting main disc, tool auxiliary discs, replaceable tool grippers, replaceable tool fingers and a tool auxiliary disc rack; the tool auxiliary discs are placed on the tool auxiliary disc rack, the replaceable tool grippers are detachably connected with the tool auxiliary discs, the replaceable tool fingers are detachably connected with the replaceable tool grippers, the connecting main disc is connected to a robot execution tail end and can be connected with the tool auxiliary discs, and through reconfiguration of the replaceable tool grippers and the replaceable tool fingers, clamping of parts of different specifications and in different shapes can be achieved. The device is compact in structure, reconfigurable in tail end executor, flexible, reliable and wide in application range.
Description
Technical field
The present invention relates to robotics, specifically a kind of end effector of robot reconfigurable device.
Background technology
Due to the difference of part category and specification, industrial robot when carrying out the such as Job Operations such as loading and unloading, sorting,
Need according to the difference of part shape and size, the retaining paw to end effector of robot and finger carry out quickly, can
The replacement of reconstruct.Robot restructural end effector is a set of mechanical module composition with different shape and size characteristic
, end effector structures can be changed by assembly and disassembly simple, quick between mechanical module in the way of playing with building blocks,
Improve the adaptability of industrial robot operation.
In the current replaceable end effector developed, the structure of interface and the size of replacing paw are inconsistent, reduce
Interchangeability；Mechanical interface does not have Position Design, increases the connection adjustment time between each interface；Mechanical interface lacks auto lock machine
Structure, reduces the reliability connecting between interface.The presence of the problems referred to above, directly affects the flexible of restructural end effector
Property, dependable with function.
Content of the invention
For the deficiencies in the prior art, it is an object of the invention to provide a kind of end effector of robot restructural dress
Put.This apparatus structure is compact, end effector restructural and flexibility and reliability, applied widely.
To achieve these goals, this utility model employs the following technical solutions：
A kind of end effector of robot reconfigurable device, including connect master, instrument bracket panel, tool-changeable paw, can
Change instrument finger and instrument bracket panel frame, wherein instrument bracket panel is placed in instrument bracket panel frame, described tool-changeable paw with
Instrument bracket panel is detachably connected, and described tool-changeable finger and tool-changeable paw are detachably connected, and described connection master connects
Execute end, can be connected with instrument bracket panel in robot, by the reconstruct of tool-changeable paw and tool-changeable finger, realize not
The part gripping of same specification and shape.
Described connection master includes master body, alignment pin, locking steel ball, Pneumatic connecting rod, locking plate and terminal pad, wherein main
Disk body and terminal pad are hollow structure and are connected with each other, and the inwall of described terminal pad is connected with outer wall circumferentially arranged with multiple
Logical spherical groove, one end of described Pneumatic connecting rod is connected with the piston being placed in master body cavity body, the other end and the company of being placed in
Locking plate in flange cavity connects, and described locking steel ball is multiple, is respectively contained in the spherical groove within described terminal pad,
The described locking promotion by locking plate for the steel ball, can partly stretch out the outside of terminal pad, described alignment pin is arranged at master body
On lower surface and at least two.
Described master body is provided with phase loop gastight channels, promotes described piston to move downward for ventilation, thus pushing away
Dynamic locking plate moves downward.
Circumferentially arranged with multiple V-groove on the excircle of described locking plate, it is respectively used to lock multiple locking steel balls.
V-groove on described locking plate is 90 degree of grooves, and the end of described locking plate has taper.
Described master body is provided with Pneumatic control module, and described Pneumatic control module is used for controlling connection master and instrument pair
The connection locking of disk and control gas flow, flow status, realize the clamping to instrument finger and unclamp control.
Described instrument bracket panel includes instrument disk body, connection end and rigid seal circle, wherein the lower end of instrument disk body be connected
End connects, and described connection end is used for being connected with described tool-changeable paw, and the upper end of described instrument disk body is provided with circular groove, institute
The inwall stating circular groove is provided with cannelure, and described rigid seal circle is placed in this cannelure, for be connected master even
Connect.
Described rigid seal circle is provided with sealing hole, for connecting connecting master with the gas passage in instrument bracket panel.
The upper end of described instrument bracket panel frame is provided with multiple stations for place tool bracket panel, and each station is provided with use
In one or two rotary cylinder of setting tool bracket panel, the bottom of described instrument bracket panel frame is provided with foundation bolt.
Described tool-changeable paw includes Short Axis Kind of Parts instrument paw, longaxones parts instrument paw, annular class part
Instrument paw and non-regular shape class part instrument paw.
The present invention has advantages below and beneficial effect：
1. a kind of end effector of robot reconfigurable device disclosed by the invention, all critical piece axis overlap,
Housing size adopts and robot the 6th joint identical disc structure, and compact overall structure, small volume, inertia are little.
2. the present invention passes through automatic, quick replacement instrument bracket panel, and achievable polytype part gripping is replaced.Meanwhile, lead to
Cross gas unidirectional loop, 90 ° of V-groove at Pneumatic connecting rod and steel ball place realize auto-lock function, in Pneumatic control module inefficacy, gas
It is ensured that connection master and instrument bracket panel still lock connection when pressure reveals not enough, prevent instrument bracket panel and instrument paw in robot
Come off in work process；Meanwhile, the no spring design of steel ball motion, enables to connect master again and instrument bracket panel is reliably de-
From.
3. connect master in the present invention and instrument bracket panel connects, using the flange design of seam, alignment pin, make connection accurate
Quickly；Tool-changeable finger and instrument paw pass through that groove three face positions, screw is connected manually, realize four species, no
Quick gripping with dimensions part is replaced.
Brief description
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural representation of the connection master of the present invention；
Fig. 3 is the top view of Fig. 2；
Fig. 4 is the sectional view of the connection master of the present invention；
Fig. 5 is enlarged drawing at the A in Fig. 4；
Fig. 6 is the structural representation of the instrument bracket panel of the present invention；
Fig. 7 is the axonometric drawing of the instrument bracket panel of the present invention；
Fig. 8 is the structural representation of the instrument bracket panel frame of the present invention.
Wherein：1 is to connect master, and 2 is instrument bracket panel, and 3 is tool-changeable paw, and 4 is tool-changeable finger, and 5 is instrument
Bracket panel frame, 6 is robot the 6th joint wrist mouth, and 7 is adpting flange I, and 8 is adpting flange II, and 9 is rotary cylinder, and 10 are ground
Foot bolt, disk body based on 11,12 is alignment pin, and 13 is locking steel ball, and 14 is Pneumatic control module, and 15 is Pneumatic connecting rod, and 16 are
Locking plate, 17 is terminal pad, and 21 is instrument disk body, and 22 is connection end, and 23 is rigid seal circle, and 31 is Short Axis Kind of Parts instrument handss
Pawl, 32 is longaxones parts instrument paw, and 33 is annular class part instrument paw, and 34 is non-regular shape class part instrument handss
Pawl.
Specific embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair
The present invention is described in detail.
As shown in figure 1, a kind of end effector of robot reconfigurable device, including connecting master 1, instrument bracket panel 2, interchangeable
Instrument paw 3, tool-changeable finger 4 and instrument bracket panel frame 5, wherein instrument bracket panel 2 are placed in instrument bracket panel frame 5, institute
State tool-changeable paw 3 to be detachably connected with instrument bracket panel 2, described tool-changeable finger 4 and tool-changeable paw 3 detachably connect
Connect, the described seam end connecting master 1 is connected on robot the 6th joint wrist mouth by adpting flange I7, by robot
Driving makes connection master 1 be connected with instrument bracket panel 2, by the reconstruct of tool-changeable paw 3 and tool-changeable finger 4, realizes not
The part gripping of same specification and shape.
Described tool-changeable paw 3 includes Short Axis Kind of Parts instrument paw 31, longaxones parts instrument paw 32, annular class
Part instrument paw 33 and non-regular shape class part instrument paw 34.
As in Figure 2-4, described connection master 1 include master body 11, alignment pin 12, locking steel ball 13, Pneumatic connecting rod 15,
Locking plate 16 and terminal pad 17, wherein master body 11 and terminal pad 17 are hollow structure and are connected with each other, described terminal pad 17
Inwall on circumferentially arranged with multiple spherical grooves connecting with outer wall, one end of described Pneumatic connecting rod 15 be placed in master body 11
Piston in cavity connects, and the other end is connected with the locking plate 16 being placed in terminal pad 17 cavity, and described locking steel ball 13 is
Multiple, be respectively contained in the spherical groove within described terminal pad 17, described locking steel ball 13, can by the promotion of locking plate 16
Part stretches out the outside of terminal pad 17.Described alignment pin 12 is arranged on the lower surface of master body 11 and at least two.
Described master body 11 is provided with phase loop gastight channels, promotes described piston to move downward for ventilation, thus
Locking plate 16 is promoted to move downward.Circumferentially arranged with multiple V-groove on the excircle of described locking plate 16, it is respectively used to locking many
Individual locking steel ball 13.
As shown in figure 5, the angle [alpha] of the V-groove on described locking plate 16 is 90 degree, the end of described locking plate 16 has cone
Degree.
Described master body 11 is provided with Pneumatic control module 14, and described Pneumatic control module 14 is used for controlling connection master 1
Connection locking with instrument bracket panel 2 and control gas flow, flow status, realize the clamping to instrument finger and unclamp control.
As shown in fig. 6-7, described instrument bracket panel 2 includes instrument disk body 21, connection end 22 and rigid seal circle 23, wherein work
The lower end of tool disk body 21 is connected with connection end 22, and described connection end 22 is used for being connected with described tool-changeable paw 3, described instrument
The upper end of disk body 21 is provided with circular groove, and the inwall of described circular groove is provided with cannelure, and described rigid seal circle 23 houses
In this cannelure, for be connected master 1 and connect.Realized and instrument bracket panel 2 by master body seam and two alignment pins
Position, locked by the connection of locking steel ball 13 and Pneumatic control module 4 realization and instrument bracket panel 2 and unclamp.
Described rigid seal circle 23 is provided with sealing hole, connects for connecting the gas passage in master 1 and instrument bracket panel 2
Logical.
As shown in figure 8, the upper end of described instrument bracket panel frame 5 is provided with multiple stations for place tool bracket panel 2, each
Station is provided with one or two rotary cylinder 9 for setting tool bracket panel 2, and the bottom of described instrument bracket panel frame 5 is provided with
Foundation bolt 10.
In one embodiment of the invention, described instrument bracket panel frame 5 is provided with four instrument bracket panels 2, each instrument bracket panel 2
Fixing by symmetrically arranged two rotary cylinders 9.The lower end of four instrument bracket panels 2 passes through four adpting flanges 8 and spiral shell respectively
Bolt installs Short Axis Kind of Parts instrument paw 31, longaxones parts instrument paw 32, annular class part instrument paw 33, irregular shape
The 4 type of instrument paws such as shape class part instrument paw；Need finally according to current work, instrument finger and instrument paw pass through
Groove three face positioning, screw are connected manually, and the instrument finger of different size specification is bolt-connected to tool-changeable
On paw 3, the quick gripping of part different size specification of the same race is replaced.
Described instrument bracket panel frame 5 is main by 1 40X80X1000 aluminium section bar of 3 40X40X1000mm aluminium section bars and multigroup
Rotatably compress cylinder, many set foundation bolt compositions.First frame is fixed on the ground by expansion bolt, then by instrument pair
Disk 2 is fixed in frame.
After upper-part installation, part instruction is gripped according to robot, if gripping Short Axis Kind of Parts, machine first
People moves to directly over the Short Axis Kind instrument bracket panel of instrument bracket panel frame 5；Then robot moves downward makes master body 11 pass through
Alignment pin 12 inserts instrument bracket panel 2；The 3 position-5 way electromagnetic valve work of Pneumatic control module 14 simultaneously, gas passes through one-way flow
Passage, locking steel ball 13 is pressed in V-type annular groove, and rigid seal circle is compressed, at triggering Pneumatic connecting rod close to opening
Close, confirm to connect master 1 and instrument bracket panel 2 connects locking；Then robot moves upwards, and Short Axis Kind instrument bracket panel is proposed work
Tool bracket panel frame 5, the proximity switch triggering at the mounting flange of instrument bracket panel frame 5, confirms that Short Axis Kind instrument bracket panel takes off simultaneously
From instrument bracket panel frame 5.
By the reconfigurable design of instrument paw and finger, realize a robot to four species, different size specification
The quick gripping of part is replaced.The putting and positioning action of described instrument bracket panel frame 5 implementation tool bracket panel 2, and by rotation
Compression cylinder and proximity switch, detection determination instrument bracket panel 2 has been crawled by robots and has put down.
In sum, the described alignment pin 12 connecting master 1 and locking steel ball 13, the rigid seal circle of instrument bracket panel and gas
Dynamic control module is jointly realized connection master 1 and rapidly, is automatically and reliably connected with instrument bracket panel 2 and departs from, and realizes simultaneously
The clamping of instrument finger and unclamp control.Described connection master alignment pin front end adopts 1: 20 taper, is threadedly secured to lead
On disk body, master body fixes 2 taper pins, and achievable Double-conical-surface locks the quick positioning it is ensured that between master and bracket panel；Described connection
The passage of gas unidirectional circulation is had on master and instrument bracket panel, described Pneumatic control module makes gas with 3 position-5 way electromagnetic valve
Body passes through one-way flow passage, and the locking steel ball of described connection master passes through Pneumatic control module and master and bracket panel are connected lock
Tightly, and lock steel ball and pass through 90 ° of V-groove and disk body middle pneumatic connecting rod and can achieve auto-lock function, lose in Pneumatic control module
It is ensured that master and bracket panel still lock connection when effect, air pressure reveal not enough, prevent bracket panel and paw de- in robot work process
Fall, simultaneously the no spring design of steel ball motion, enable to connect master again and instrument bracket panel reliably departs from, described rigidity is close
Seal is after connecting master and instrument bracket panel connects, and master bromhidrosis body passes through the sealing hole entering tool disk body of sealing ring, makes
Gas no leakage phenomenon from master body entering tool disk, to ensure the air-tightness of ball lock；Described Pneumatic control module control
Gas flow processed, flow status, realize the clamping to instrument finger and unclamp control.
The foregoing is only embodiments of the present invention, be not intended to limit protection scope of the present invention.All in the present invention
Spirit and principle within made any modification, equivalent substitution and improvement, extension etc., be all contained in protection scope of the present invention
Interior.
Claims (10)
1. a kind of end effector of robot reconfigurable device it is characterised in that include connect master (1), instrument bracket panel (2),
Tool-changeable paw (3), tool-changeable finger (4) and instrument bracket panel frame (5), wherein instrument bracket panel (2) are placed on instrument pair
In disk frame (5), described tool-changeable paw (3) and instrument bracket panel (2) are detachably connected, described tool-changeable finger (4) with
Tool-changeable paw (3) is detachably connected, described connection master (1) be connected to robot execution end, can be with instrument bracket panel (2)
Connect, by the reconstruct of tool-changeable paw (3) and tool-changeable finger (4), realize the part gripping of different size and shape.
2. end effector of robot reconfigurable device according to claim 1 is it is characterised in that described connection master
(1) master body (11), alignment pin (12), locking steel ball (13), Pneumatic connecting rod (15), locking plate (16) and terminal pad are included
(17), wherein master body (11) and terminal pad (17) are hollow structure and are connected with each other, on the inwall of described terminal pad (17)
Circumferentially arranged with multiple spherical grooves connecting with outer wall, one end of described Pneumatic connecting rod (15) be placed in master body (11) cavity
Interior piston connects, and the other end is connected with the locking plate (16) being placed in terminal pad (17) cavity, described locking steel ball (13)
For, in spherical groove that is multiple, being respectively contained in described terminal pad (17) inside, described locking steel ball (13) passes through locking plate (16)
Promotion, can partly stretch out the outside of terminal pad (17), described alignment pin (12) be arranged on the lower surface of master body (11) and
At least two.
3. end effector of robot reconfigurable device according to claim 2 is it is characterised in that described master body (11)
It is provided with phase loop gastight channels, promotes described piston to move downward for ventilation, thus promoting locking plate (16) to transport downwards
Dynamic.
4. end effector of robot reconfigurable device according to claim 2 is it is characterised in that described locking plate (16)
Excircle on circumferentially arranged with multiple V-groove, be respectively used to lock multiple lockings steel ball (13).
5. end effector of robot reconfigurable device according to claim 4 is it is characterised in that described locking plate (16)
On V-groove be 90 degree of grooves, the end of described locking plate (16) has taper.
6. end effector of robot reconfigurable device according to claim 1 is it is characterised in that described master body (11)
It is provided with Pneumatic control module (14), described Pneumatic control module (14) is used for controlling and connects master (1) and instrument bracket panel (2)
Connect locking and control gas flow, flow status, realize the clamping to instrument finger and unclamp control.
7. end effector of robot reconfigurable device according to claim 1 is it is characterised in that described instrument bracket panel
(2) instrument disk body (21), connection end (22) and rigid seal circle (23), the wherein lower end of instrument disk body (21) and connection end are included
(22) connect, described connection end (22) is used for being connected with described tool-changeable paw (3), and the upper end of described instrument disk body (21) sets
There is circular groove, the inwall of described circular groove is provided with cannelure, described rigid seal circle (23) is placed in this cannelure,
For be connected master (1) connect.
8. end effector of robot reconfigurable device according to claim 7 is it is characterised in that described rigid seal circle
(23) it is provided with sealing hole, for connecting connecting master (1) with the gas passage in instrument bracket panel (2).
9. end effector of robot reconfigurable device according to claim 1 is it is characterised in that described instrument bracket panel machine
The upper end of frame (5) is provided with multiple stations for place tool bracket panel (2), and each station is provided with for setting tool bracket panel
(2) one or two rotary cylinder (9), the bottom of described instrument bracket panel frame (5) is provided with foundation bolt (10).
10. end effector of robot reconfigurable device according to claim 1 is it is characterised in that described tool-changeable
Paw (3) includes Short Axis Kind of Parts instrument paw (31), longaxones parts instrument paw (32), annular class part instrument paw
And non-regular shape class part instrument paw (34) (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611106081.9A CN106393120A (en) | 2016-12-05 | 2016-12-05 | Reconfigurable device of robot tail end executor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611106081.9A CN106393120A (en) | 2016-12-05 | 2016-12-05 | Reconfigurable device of robot tail end executor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106393120A true CN106393120A (en) | 2017-02-15 |
Family
ID=58083464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611106081.9A Pending CN106393120A (en) | 2016-12-05 | 2016-12-05 | Reconfigurable device of robot tail end executor |
Country Status (1)
| Country | Link |
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| CN (1) | CN106393120A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107498576A (en) * | 2017-09-19 | 2017-12-22 | 柳州欧卡机器人有限公司 | A kind of industrial robot tail house for being conveniently replaceable instrument |
| CN108942990A (en) * | 2018-09-21 | 2018-12-07 | 华中科技大学无锡研究院 | Valve plate detects loading and unloading end effector of robot |
| CN109397258A (en) * | 2017-08-17 | 2019-03-01 | 精工爱普生株式会社 | Robot |
| CN109571535A (en) * | 2019-01-09 | 2019-04-05 | 沈阳安德镭斯智能科技有限公司 | A kind of wisdom storage reconstruct device of feeding robot end effector |
| CN109849042A (en) * | 2019-03-11 | 2019-06-07 | 南京英尼格玛工业自动化技术有限公司 | A kind of robot end's tool fast replacing device |
| CN110076635A (en) * | 2019-06-03 | 2019-08-02 | 东莞智富五金制品有限公司 | A kind of multistation flexibility hardware machining center and its processing method |
| CN110142788A (en) * | 2018-02-11 | 2019-08-20 | 上汽通用五菱汽车股份有限公司 | A kind of grabbing device of automobile door cover inner panel |
| CN110315565A (en) * | 2019-08-08 | 2019-10-11 | 江苏汇博机器人技术股份有限公司 | A kind of robot Quick change module for Technique Authentication real training |
| CN110371696A (en) * | 2019-08-08 | 2019-10-25 | 北京赛育达科教有限责任公司 | A kind of robot palletizing system for real training |
| CN110695746A (en) * | 2019-09-24 | 2020-01-17 | 苏州鑫凯达精密机械有限公司 | Automatic change processing tool device and modularization workstation that is applied to thereof |
| CN111673788A (en) * | 2020-07-13 | 2020-09-18 | 河南城建学院 | Man-machine interactive humanoid mechanical arm |
| CN111844008A (en) * | 2020-08-14 | 2020-10-30 | 天津博诺智创机器人技术有限公司 | Industrial robot 1+ X quick change instrument module |
| CN112238463A (en) * | 2019-07-18 | 2021-01-19 | 奥腾工业自动化(廊坊)有限公司 | Tool head changing system |
| CN112476399A (en) * | 2020-11-12 | 2021-03-12 | 哈尔滨工业大学 | Mechanical arm modular joint rapid electromechanical butt joint device |
| CN113386161A (en) * | 2021-07-05 | 2021-09-14 | 四川中科彭成机器人技术有限公司 | Creep-resistant rope-driven mechanical finger |
| CN114472736A (en) * | 2022-01-13 | 2022-05-13 | 江苏亚威机床股份有限公司 | Automatic tongs quick change device of bending of robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397258A (en) * | 2017-08-17 | 2019-03-01 | 精工爱普生株式会社 | Robot |
| CN107498576A (en) * | 2017-09-19 | 2017-12-22 | 柳州欧卡机器人有限公司 | A kind of industrial robot tail house for being conveniently replaceable instrument |
| CN110142788A (en) * | 2018-02-11 | 2019-08-20 | 上汽通用五菱汽车股份有限公司 | A kind of grabbing device of automobile door cover inner panel |
| CN108942990A (en) * | 2018-09-21 | 2018-12-07 | 华中科技大学无锡研究院 | Valve plate detects loading and unloading end effector of robot |
| CN109571535A (en) * | 2019-01-09 | 2019-04-05 | 沈阳安德镭斯智能科技有限公司 | A kind of wisdom storage reconstruct device of feeding robot end effector |
| CN109849042A (en) * | 2019-03-11 | 2019-06-07 | 南京英尼格玛工业自动化技术有限公司 | A kind of robot end's tool fast replacing device |
| CN110076635A (en) * | 2019-06-03 | 2019-08-02 | 东莞智富五金制品有限公司 | A kind of multistation flexibility hardware machining center and its processing method |
| CN112238463A (en) * | 2019-07-18 | 2021-01-19 | 奥腾工业自动化(廊坊)有限公司 | Tool head changing system |
| CN110371696A (en) * | 2019-08-08 | 2019-10-25 | 北京赛育达科教有限责任公司 | A kind of robot palletizing system for real training |
| CN110315565A (en) * | 2019-08-08 | 2019-10-11 | 江苏汇博机器人技术股份有限公司 | A kind of robot Quick change module for Technique Authentication real training |
| CN110695746A (en) * | 2019-09-24 | 2020-01-17 | 苏州鑫凯达精密机械有限公司 | Automatic change processing tool device and modularization workstation that is applied to thereof |
| CN111673788A (en) * | 2020-07-13 | 2020-09-18 | 河南城建学院 | Man-machine interactive humanoid mechanical arm |
| CN111673788B (en) * | 2020-07-13 | 2021-06-29 | 河南城建学院 | Man-machine interactive humanoid mechanical arm |
| CN111844008A (en) * | 2020-08-14 | 2020-10-30 | 天津博诺智创机器人技术有限公司 | Industrial robot 1+ X quick change instrument module |
| CN112476399A (en) * | 2020-11-12 | 2021-03-12 | 哈尔滨工业大学 | Mechanical arm modular joint rapid electromechanical butt joint device |
| CN113386161A (en) * | 2021-07-05 | 2021-09-14 | 四川中科彭成机器人技术有限公司 | Creep-resistant rope-driven mechanical finger |
| CN114472736A (en) * | 2022-01-13 | 2022-05-13 | 江苏亚威机床股份有限公司 | Automatic tongs quick change device of bending of robot |
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Application publication date: 20170215 |