CN107020616A - Small-sized machine Pneumatic paw and application method - Google Patents
Small-sized machine Pneumatic paw and application method Download PDFInfo
- Publication number
- CN107020616A CN107020616A CN201710236662.2A CN201710236662A CN107020616A CN 107020616 A CN107020616 A CN 107020616A CN 201710236662 A CN201710236662 A CN 201710236662A CN 107020616 A CN107020616 A CN 107020616A
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- clamping jaw
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- pneumatic paw
- processed
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 238000012545 processing Methods 0.000 claims abstract description 35
- 210000000078 claw Anatomy 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 7
- 230000002045 lasting effect Effects 0.000 abstract description 3
- 210000001145 finger joint Anatomy 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000009467 reduction Effects 0.000 description 4
- 241000276425 Xiphophorus maculatus Species 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000011112 process operation Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 241000736595 Tridactyle Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
Abstract
The invention discloses the small-sized machine Pneumatic paw of Product processing field application and application method.Small-sized machine Pneumatic paw structure includes fixture, clip claw mechanism, sliding equipment and rotating mechanism, the fixture is provided with track, the sliding equipment is reciprocating along track, the rotating mechanism includes the installation portion that is fixedly connected with sliding part and rotates housing, the clip claw mechanism takes clamping jaw including processed product and finished product is taken clamping jaw.The setting of sliding part in the present invention, it is to avoid influence of the larger structure of manipulator to the clip claw mechanism scope of application, for the accurate operation of clip claw mechanism provides guarantee.Converted products takes clamping jaw simultaneously and finished product is taken the setting that clamping jaw is engaged, improve operating efficiency, reduce production cost, and the clamping jaw can carry out the adjustment of position by rotating mechanism, the steady progress of the loading or unloading operation process of product has been effectively ensured, the working strength of staff is reduced, guarantee is provided for the lasting progress of process.
Description
Technical field
The present invention relates to a kind of small-sized machine paw of Product processing field application and application method.
Background technology
In the product processings such as circular or polygon, it usually needs carry out product using multiple processing machines multiple
Process operation.Staff takes product to required processing machine, and then realizes process operation, when Product processing completes laggard
Go and take and carry out next operational sequence.The mode production efficiency manually taken is relatively low, and product precision of taking is not high, and it is numerous to work
It is trivial to increase its production pressure, it is unfavorable for the lasting progress of production.Note is easily caused when staff carries out lasting operation
The decline for power of anticipating, is unfavorable for the guarantee of the holding of product quality and the personal safety of staff.In present production and living
In, staff is provided with gripping tool between production machine and product rest area, to product progress taking one by one, to work
Making the working strength of personnel is reduced, but operating efficiency is relatively low, and Work Limitations are larger, is unfavorable for the guarantor of production efficiency
Barrier.
Such as practicality novel C N201620159777.7 is related to Pneumatic manipulator, more particularly, to a kind of Pneumatic manipulator hand
Pawl.The piston rod on paw drive cylinder, described paw drive cylinder is set to be connect by setting on described paw connecting seat
Headstock is connected with pull bar, and described the outside of plinth is set in installation sleeve, described installation sleeve by setting pine
Relaxation spring is in contact with pull bar and installation sleeve, and three hinges are set by being hinged respectively on described push-and-pull head, described
The secondary finger joint of three manipulators and three manipulator finger joints are set by being hinged respectively in paw mounting seat, described three hinges point
It is not hinged with three manipulator finger joints, manipulator claw, described three is set by being hinged in described manipulator finger joint
Manipulator pair finger joint is hinged with the manipulator claw in three manipulator finger joints respectively.The utility model can neatly complete folder
The action of various different workpieces is taken, while the characteristics of there is simple in construction, compact, compact, attractive in appearance and low cost.But grasp every time
The operating efficiency for making process is relatively low, is unfavorable for the guarantee of the progress of work.
The content of the invention
Present invention solves the technical problem that being to provide a kind of small-sized machine Pneumatic paw for effectively improving paw using scope.
The technical solution adopted for the present invention to solve the technical problems is：
Small-sized machine Pneumatic paw, including the fixture and clip claw mechanism being connected with mechanical arm, in addition to sliding equipment
And rotating mechanism, the fixture is provided with track, and the sliding equipment is reciprocating along track, and the rotating mechanism includes
The installation portion being fixedly connected with sliding equipment and the rotation housing being connected with some clip claw mechanisms, the clip claw mechanism include to be added
Chemical product takes clamping jaw and finished product is taken clamping jaw.
In use, small-sized machine Pneumatic paw is moved to corresponding the small-sized machine Pneumatic paw by mechanical arm
Position, and then jaw position is carried out by precision adjustment by sliding part.And clamping jaw is divided into processed product and taken folder by the present invention
Pawl and finished product are taken clamping jaw, then processed product can be taken into clamping jaw by the motion of rotating mechanism and finished product is taken clamping jaw
Position is adjusted, and effectively increases the efficiency of taking of the single running of the small-sized machine Pneumatic paw, and positioning precision is high, reduction
Staff's working strength, while realizing reduction to production cost, it is ensured that the reasonable utilization of resource.
Being further that the processed product takes clamping jaw and finished product is taken, clamping jaw is Pneumatic paw, the pneumatic hand
Pawl includes the Pneumatic paw cylinder of the fixture being adapted with product and control fixture work.
It is further that the fixture is dove-tail form component, the dove-tail form component includes fixing end and sets rail
The connection end in road, the track is dove-tail form chute, and the sliding equipment includes cylinder and the cunning matched with dove-tail form chute
Moving part, the cylinder includes mobile terminal and installation end, and the installation end is fixedly connected with the end of dove-tail form chute, the movement
End is fixedly connected with sliding part, and the sliding part is arranged in dove-tail form chute, and the sliding part is slided with mobile terminal along dove-tail form
Groove is reciprocating, and the mobile terminal is fixedly installed the installing plate for installing rotating mechanism.
It is further that the dove-tail form chute is provided with the position limiting structure for limit slippage part moving range.
It is further that the sliding part is guide rail slide block or hinge.
It is further that the rotating mechanism is rotary cylinder or servomotor.
Small-sized machine Pneumatic paw application method, its application method is as follows：
A) small-sized machine Pneumatic paw is moved to the top of processed product placement location by mechanical arm；
B) receive and take order, processed product clamping jaw of taking is taken towards processed products；
C) small-sized machine Pneumatic paw is moved upward to corresponding height, moves to the gripping of processing machine and has processed finished products
Spindle clamping jaw relevant position, and small-sized machine Pneumatic paw is dropped to immediately ahead of spindle clamping jaw；
D) finished product clamping jaw of taking is rotated towards spindle clamping jaw by rotating mechanism, and the main shaft of sliding equipment towards processing machine is pressed from both sides
Pawl is moved；
E) finished product take clamping jaw by the spindle clamping jaw of processing machine processed finished products carry out clipping operation, processing machine
The spindle clamping jaw of device releases the clipping operation of corresponding product, sliding equipment return movement origin；
F) rotating mechanism by the processed product for processed product of taking take clamping jaw towards processing machine main shaft press from both sides
Pawl, the spindle clamping jaw for sliding part towards processing machine is moved；
G) processed product is placed into the spindle clamping jaw of processing machine by processed product clamping jaw of taking, processing machine master
Axle clamp pawl clamp after, processed product take clamping jaw release corresponding product clipping operation, sliding equipment return movement origin；
H) small-sized machine Pneumatic paw is moved upward to corresponding height, moves to processed finished products and places position；
I) take processed finished products finished product take clamping jaw by processed finished products be placed on processed finished products place position；
J) repeat step A) to I), the end until product is taken.
The beneficial effects of the invention are as follows：
1st, processed product takes clamping jaw and finished product is taken the setting that clamping jaw is engaged, and manipulator in use may be used
Operated with progress processed product and processed finished products simultaneously, improve operating efficiency, and positioning precision is high, reduces production
Cost, while the jaw position can carry out the adjustment of position by rotating mechanism, has been effectively ensured the loading or unloading operation mistake of product
The steady progress of journey, it is to avoid transport operations of the operating personnel to product, realizes the reduction of working strength；
2nd, the setting of sliding part, it is to avoid influence of the larger structure of manipulator to the clamping jaw scope of application, improves clamping jaw
Use reliability, provide guarantee for the accurate operation of clamping jaw；
3rd, the setting of the Pneumatic paw, effectively increases the stable using effect of the device, and technique is elegant in appearance, is
The product for capturing different dimensions is provided and ensured, is expanded its product and is taken diversity；
4th, the use of dove-tail form component, improves the detachability of the manipulator paw, it is ensured that the dimension of manipulator paw
Repair, change efficiency, guarantee is provided for the steady operation of manipulator paw.
Brief description of the drawings
Fig. 1 is the attachment structure front view of the small-sized machine Pneumatic paw of the present invention；
Fig. 2 is the attachment structure side view of the small-sized machine Pneumatic paw of the present invention；
Marked in figure：Fixture 1, fixing end 11, connection end 12, dove-tail form chute 13, sliding part 14, clip claw mechanism 2,
Processed product is taken clamping jaw 21, and finished product is taken clamping jaw 22, sliding equipment 3, cylinder 31, mobile terminal 32, installation end 33, installing plate
34, rotating mechanism 4.
Embodiment
The present invention is further described with reference to the accompanying drawings and detailed description.
The small-sized machine Pneumatic paw structure is as shown in figure 1, the fixture 1 is rectangular parallelepiped structure.Now fixture 1
Fixing end 11 is fixedly connected by bolt with mechanical arm.The connection end 12 relative with fixing end 11, which is given a farfetched interpretation, has cross section to be dovetail
The track of type, while being provided with the sliding part 14 matched with its cross section in orbit.The cross section of the dove-tail form chute 13
As shown in Fig. 2 the chute has larger receiving portion and the opening portion less than receiving portion width.Now sliding part 14 be shape with
Its guide rail slide block matched, larger end is placed on receiving portion, while smaller end is placed on opening portion position, then sliding part
14 can not drop from the opening portion of chute.Now the sliding part 14 can be realized by hinge.
The cylinder 31 that is driven through of sliding equipment 3 is realized.The installation end 33 of cylinder 31 is connected by bolt with connection sheet, even
The other end of contact pin is connected with the end of dove-tail form chute 13.I.e. cylinder 31 is consolidated by the end of connection sheet and fixture 1
Fixed connection.In the motion process of cylinder 31, mobile terminal 32 carries out flexible reciprocating motion, and the direction of motion of mobile terminal 32 is set to
With track open up direction be set to it is identical.Sliding part 14 is attached with mobile terminal 32, and sliding part 14 is pushed away mobile terminal 32
Realize and move back and forth in dove-tail form chute 13 during dynamic.To ensure mobile effect, set in the end of dove-tail form chute 13
There is baffle plate, sliding part 14 is moved at baffle plate under the impetus of mobile terminal 32, the stopping that sliding part 14 is moved can be realized, entered
And the dropping in moving process of sliding part 14 is avoided, provide guarantee for the matching relationship of sliding equipment 3 and fixture 1.
Fixture 1 and sliding equipment 3 remove above-mentioned connected mode, could be arranged to the both side ends of the connection end 12 of fixture 1
Corresponding groove is provided with, the opposite sides extension of sliding equipment 3 is connected with two hinges or guide rail slide block.Hinge or guide rail
Sliding block is provided with the extension board mutually agreed with towards groove set location.Fixture 1 and sliding equipment 3 pass through hinge or guide rail slide block
Extension board and groove are carried out clamping, now sliding equipment 3 is realized along grooves on two sides and moved back and forth.
Platy structure is connected with the end of the remote sliding part 14 of mobile terminal 32 simultaneously, the platy structure is with mobile terminal 32
Movement move back and forth.The gas supply assembly of 90 degree of rotary cylinders is now fixedly mounted on to the installing plate 34 of platy structure
On, it has been bolted two clip claw mechanisms 2 on rotation housing.Two clip claw mechanisms 2 are as shown in figure 1, processed product
The take setting of clamping jaw 21 of clamping jaw 22 and finished product of taking at right angles is set.Processed product is taken by the rotation of rotary cylinder
Clamping jaw 22 and finished product take clamping jaw 21 carry out position conversion.When carrying out the application of clip claw mechanism 2, small-sized machine Pneumatic paw
The relevant position of taking can be moved under the drive of mechanical arm.Clip claw mechanism 2 can be with the drive of sliding equipment 3 simultaneously
Carry out precision adjustment towards position to be operated, it is to avoid mechanical paw is integrally larger or manipulator motion limitation caused by produce
The appearance of the unsteady phenomena of product gripping.Sliding equipment 3 drives clip claw mechanism 2 to the corresponding position of product, is effectively ensured
Effect is taken and placed to product, reduces fault in production rate.The clip claw mechanism 2 for reaching relevant position passes through rotating mechanism 4
Angle adjustment, and then realize gripping or the placement operation of different clip claw mechanisms 2, it is to avoid the relative position of clip claw mechanism 2
Limitation, improves the utilization rate of the Pneumatic paw.The rotational structure 4 it can also be provided that 180 degree or 90 degree of rotary cylinders,
Now processed product takes clamping jaw 22 and finished product clamping jaw 21 of taking can realize 180 degree or the conversion of 90 degree of position, relative folder
The quantity and size of pawl mechanism 2 can carry out relative change, to ensure that the clamping jaw is applicable product, effectively increase folder
The use flexibility of pawl mechanism 2, expands the use scope of the paw, reduces the application of production cost.
Above-mentioned processed product is taken into clamping jaw 22 and finished product clamping jaw 21 of taking selects Tridactyle pneumatic paw.The Pneumatic paw
The fixture constituted according to product type from three fingers being adapted.The now piston linear reciprocating motion band of Pneumatic paw cylinder
Start the connected crank connecting link of pawl, while being driven operation to three fingers.When processed product takes clamping jaw 21 in machinery
When the top of processed product is moved under the driving effect of arm, processed product is taken the cylinder piston driving three in clamping jaw 21
Individual finger carries out opening movement simultaneously, when processed product be placed into processed product take clamping jaw 22 finger surround scope
When interior, cylinder piston drives three fingers to carry out closed procedures, and then completes product and take operation.Gripping has the manipulator of product
Pawl is moved to converted products machine relative position under the driving operation of mechanical arm, and then will be to be added by three opening for finger
Chemical product is placed.While finished product is taken, three fingers of clamping jaw 21 carry out opening operation under the driving of cylinder, and then right
Processed finished products are taken and complete to place.This set-up mode is used only a mechanical paw and can just completed towards processed products
Processing and operation of taking with processed finished products, effectively increase the use scope of manipulator, reduce production cost, and reduction work
Make the labor intensity of personnel, significant raising is realized to production efficiency.Above-mentioned cylinder paw can be used according to the shape of product
Fixture of two pawls or four paws etc..The product of different model can be realized that stabilization is taken by the Pneumatic paw, effectively increase product
The scope of application of efficiency of taking and small-sized machine Pneumatic paw, the input to cost realizes control.
Small-sized machine Pneumatic paw application method is as follows：
A) the small-sized machine Pneumatic paw is moved to the top of processed product placement location by mechanical arm；
B) receive and take order, processed product clamping jaw 22 of taking is taken towards processed products；
C) small-sized machine Pneumatic paw is moved upward to corresponding height, moves to the gripping of processing machine and has processed finished products
Spindle clamping jaw relevant position, and small-sized machine Pneumatic paw is dropped to immediately ahead of spindle clamping jaw；
D) finished product clamping jaw 21 of taking is rotated towards the spindle clamping jaw of processing machine by rotating mechanism 4, and sliding equipment 3 is towards adding
Work machine spindle clamping jaw movement, make finished product take clamping jaw 21 and processing machine spindle clamping jaw it is mutually close, effectively increase fortune
The accuracy requirement of dynamic process, it is to avoid the damaged in collision between each device；
E) finished product take clamping jaw 21 position it is corresponding with processed finished products when, processing machine spindle clamping jaw unclamp after, finished product
Clamping jaw 21 of taking is taken the processed finished products on the spindle clamping jaw of processing machine, and the driving finished product of sliding equipment 3 is taken
Clamping jaw 3 returns to motion origin；
F) rotating mechanism 4 takes the processed product for processed product of taking main shaft of the clamping jaw 22 towards processing machine
Clamping jaw, the spindle clamping jaw for sliding part 3 towards processing machine is moved, and then makes the spindle clamping jaw phase of processed product and processing machine
It is close；
G) processed product is placed into the spindle clamping jaw of processing machine by processed product clamping jaw 22 of taking, processing machine
Spindle clamping jaw clamp after, processed product take clamping jaw 22 release the product clipping operation, in the driving effect of sliding equipment 3
It is lower drive the return movement origin of clip claw mechanism 2, now complete processed product be placed into processing machine and to process；
H) small-sized machine Pneumatic paw is moved upward to corresponding height, moves to processed finished products and places position；
Processed finished products are placed on processed finished products and place position by the finished product clamping jaw 21 of taking of processed finished products of I) taking, and then complete
Storage into processed finished products is operated；
J A) is repeated to I steps, the end until product is taken.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail it is bright, should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (7)
1. small-sized machine Pneumatic paw, including the fixture (1) and clip claw mechanism (2) being connected with mechanical arm, it is characterised in that
Also include sliding equipment (3) and rotating mechanism (4), the fixture (1) is provided with track, the sliding equipment (3) is along track
It is reciprocating, the rotating mechanism (4) include the installation portion that is fixedly connected with sliding equipment (3) and with some clip claw mechanisms
(2) the rotation housing of connection, the clip claw mechanism (2) takes clamping jaw (22) including processed product and finished product is taken clamping jaw
(21)。
2. small-sized machine Pneumatic paw according to claim 1, it is characterised in that the processed product is taken clamping jaw
(22) and finished product takes clamping jaw (21) for Pneumatic paw, the Pneumatic paw includes the fixture being adapted with product and controls fixture
The Pneumatic paw cylinder of work.
3. small-sized machine Pneumatic paw according to claim 1, it is characterised in that the fixture (1) is dove-tail form structure
Part, the dove-tail form component includes fixing end (11) and is provided with the connection end (12) of track, and the track is dove-tail form chute
(13), the sliding equipment (3) includes cylinder (31) and the sliding part (14) matched with dove-tail form chute (13), the cylinder
(31) mobile terminal (32) and installation end (33) are included, the installation end (33) is fixedly connected with the end of dove-tail form chute (13),
The mobile terminal (32) is fixedly connected with sliding part (14), and the sliding part (14) is arranged in dove-tail form chute (13), described
Sliding part (14) is reciprocating along dove-tail form chute (13) with mobile terminal (32), and the mobile terminal (32), which is fixedly installed, to be used for
The installing plate (34) of rotating mechanism (4) is installed.
4. small-sized machine Pneumatic paw according to claim 3, it is characterised in that the dove-tail form chute (13) is provided with
Position limiting structure for limit slippage part (14) moving range.
5. small-sized machine Pneumatic paw according to claim 3, it is characterised in that the sliding part (14) is guide rail slide block
Or hinge.
6. small-sized machine Pneumatic paw according to claim 1, it is characterised in that the rotating mechanism (4) is rotary pneumatic
Cylinder or servomotor.
7. small-sized machine Pneumatic paw application method, it is characterised in that the small-sized machine Pneumatic paw using claim 1 to
Small-sized machine Pneumatic paw described in 6 any one, its application method is as follows：
A) small-sized machine Pneumatic paw is moved to the top of processed product placement location by mechanical arm；
B) receive and take order, processed product clamping jaw (22) of taking is taken towards processed products；
C) small-sized machine Pneumatic paw is moved upward to corresponding height, and moving to the gripping of processing machine has the main shaft of processed finished products
Clamping jaw relevant position, and small-sized machine Pneumatic paw is dropped to immediately ahead of spindle clamping jaw；
D) finished product clamping jaw (21) of taking is rotated towards the spindle clamping jaw of processing machine, sliding equipment (3) direction by rotating mechanism (4)
The spindle clamping jaw movement of processing machine；
E) finished product take clamping jaw (21) by the spindle clamping jaw of processing machine processed finished products carry out clipping operation, processing machine
The spindle clamping jaw of device releases the clipping operation of corresponding product, sliding equipment (3) return movement origin；
F) rotating mechanism (4) takes the processed product for processed product of taking main shaft of the clamping jaw (22) towards processing machine
Clamping jaw, the spindle clamping jaw for sliding part (3) towards processing machine is moved；
G) processed product is placed into the spindle clamping jaw of processing machine by processed product clamping jaw (22) of taking, processing machine master
Axle clamp pawl clamp after, processed product take clamping jaw (22) release corresponding product clipping operation, sliding equipment (3) return movement
Origin；
H) small-sized machine Pneumatic paw is moved upward to corresponding height, moves to processed finished products and places position；
I) take processed finished products finished product take clamping jaw (21) by processed finished products be placed on processed finished products place position；
J) repeat step A) to I), the end until product is taken.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710236662.2A CN107020616A (en) | 2017-04-12 | 2017-04-12 | Small-sized machine Pneumatic paw and application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710236662.2A CN107020616A (en) | 2017-04-12 | 2017-04-12 | Small-sized machine Pneumatic paw and application method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107020616A true CN107020616A (en) | 2017-08-08 |
Family
ID=59526456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710236662.2A Pending CN107020616A (en) | 2017-04-12 | 2017-04-12 | Small-sized machine Pneumatic paw and application method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107020616A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109205311A (en) * | 2018-10-19 | 2019-01-15 | 江苏大鑫教育装备有限公司 | A kind of transport detection device of different model teat glass |
| CN111906810A (en) * | 2020-08-21 | 2020-11-10 | 天津博诺智创机器人技术有限公司 | Two-division pneumatic three-jaw manipulator of industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101367208A (en) * | 2007-08-15 | 2009-02-18 | 庄添财 | Extracting jaw |
| CN102357661A (en) * | 2011-09-22 | 2012-02-22 | 浙江大学 | Numerical control lathe mechanical hand suitable for production of disc type parts |
| CN205438550U (en) * | 2016-02-19 | 2016-08-10 | 苏州凯林捷机器人科技有限公司 | High -speed truss manipulator |
| CN106363448A (en) * | 2016-12-12 | 2017-02-01 | 广州市新滘热处理厂 | CNC (computer numerical control) machine tool |
| CN106425489A (en) * | 2016-08-31 | 2017-02-22 | 佛山市艾乐博机器人科技有限公司 | Automatic feeding and discharging edge cutting and rolling integrated equipment |
| CN206029935U (en) * | 2016-09-07 | 2017-03-22 | 浙江凯拓机电有限公司 | Unloading terminal hand claw group on manipulator |
| CN206048182U (en) * | 2016-07-21 | 2017-03-29 | 深圳市凯昇科技有限公司 | A kind of multifunction automatic blowing mechanical hand |
| CN206690081U (en) * | 2017-04-12 | 2017-12-01 | 苏州红松江精密机械设备有限公司 | Small-sized machine Pneumatic paw |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101367208A (en) * | 2007-08-15 | 2009-02-18 | 庄添财 | Extracting jaw |
| CN102357661A (en) * | 2011-09-22 | 2012-02-22 | 浙江大学 | Numerical control lathe mechanical hand suitable for production of disc type parts |
| CN205438550U (en) * | 2016-02-19 | 2016-08-10 | 苏州凯林捷机器人科技有限公司 | High -speed truss manipulator |
| CN206048182U (en) * | 2016-07-21 | 2017-03-29 | 深圳市凯昇科技有限公司 | A kind of multifunction automatic blowing mechanical hand |
| CN106425489A (en) * | 2016-08-31 | 2017-02-22 | 佛山市艾乐博机器人科技有限公司 | Automatic feeding and discharging edge cutting and rolling integrated equipment |
| CN206029935U (en) * | 2016-09-07 | 2017-03-22 | 浙江凯拓机电有限公司 | Unloading terminal hand claw group on manipulator |
| CN106363448A (en) * | 2016-12-12 | 2017-02-01 | 广州市新滘热处理厂 | CNC (computer numerical control) machine tool |
| CN206690081U (en) * | 2017-04-12 | 2017-12-01 | 苏州红松江精密机械设备有限公司 | Small-sized machine Pneumatic paw |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109205311A (en) * | 2018-10-19 | 2019-01-15 | 江苏大鑫教育装备有限公司 | A kind of transport detection device of different model teat glass |
| CN111906810A (en) * | 2020-08-21 | 2020-11-10 | 天津博诺智创机器人技术有限公司 | Two-division pneumatic three-jaw manipulator of industrial robot |
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Application publication date: 20170808 |