CN108025442B - 抓取设备 - Google Patents

抓取设备 Download PDF

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Publication number
CN108025442B
CN108025442B CN201680055353.9A CN201680055353A CN108025442B CN 108025442 B CN108025442 B CN 108025442B CN 201680055353 A CN201680055353 A CN 201680055353A CN 108025442 B CN108025442 B CN 108025442B
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CN
China
Prior art keywords
hook
plane
guide
guide axis
section
Prior art date
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CN201680055353.9A
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English (en)
Chinese (zh)
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CN108025442A (zh
Inventor
本杰明·柯尔斯顿
塞缪尔·维特里希
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Individual
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Publication of CN108025442A publication Critical patent/CN108025442A/zh
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Publication of CN108025442B publication Critical patent/CN108025442B/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/06—Arrangements for positively actuating jaws
    • B25B5/10—Arrangements for positively actuating jaws using screws
    • B25B5/101—C-clamps
    • 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
    • B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
    • B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
    • B23B31/16233—Jaws movement actuated by oblique surfaces of a coaxial control rod
    • B23B31/16254—Jaws movement actuated by oblique surfaces of a coaxial control rod using fluid-pressure means to actuate the gripping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/24—Details, e.g. jaws of special shape, slideways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/02—Clamps with sliding jaws

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Clamps And Clips (AREA)
  • Manipulator (AREA)
CN201680055353.9A 2015-09-22 2016-08-24 抓取设备 Active CN108025442B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015218127.8A DE102015218127A1 (de) 2015-09-22 2015-09-22 Greif- oder Spannvorrichtung
DE102015218127.8 2015-09-22
PCT/EP2016/070017 WO2017050514A1 (de) 2015-09-22 2016-08-24 Greif- oder spannvorrichtung

Publications (2)

Publication Number Publication Date
CN108025442A CN108025442A (zh) 2018-05-11
CN108025442B true CN108025442B (zh) 2021-07-09

Family

ID=56853601

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680055353.9A Active CN108025442B (zh) 2015-09-22 2016-08-24 抓取设备

Country Status (7)

Country Link
US (1) US10843311B2 (enExample)
EP (1) EP3352955B1 (enExample)
JP (1) JP7040728B2 (enExample)
KR (1) KR102242887B1 (enExample)
CN (1) CN108025442B (enExample)
DE (2) DE102015218127A1 (enExample)
WO (1) WO2017050514A1 (enExample)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109715352B (zh) * 2016-10-05 2022-11-15 株式会社北川铁工所 夹具
ES2787881T3 (es) 2017-02-13 2020-10-19 Smw Autoblok Spannsysteme Gmbh Dispositivo y carcasa de sujeción
EP3603905A4 (en) * 2017-06-20 2021-01-20 Kosmek Ltd. GRIPPING DEVICE
CN107598961A (zh) * 2017-09-28 2018-01-19 深圳市优必选科技有限公司 一种机器人手臂
DE102018003486A1 (de) * 2018-04-30 2019-10-31 Günther Zimmer Greifvorrichtung mit optimiertem Doppelschiebekeilglied II
CN109333572B (zh) * 2018-10-25 2020-07-28 台州市良曜成套设备有限公司 一种机械手
TWI811471B (zh) * 2018-10-26 2023-08-11 日商北川鐵工所股份有限公司 滑動構造體
WO2020090655A1 (ja) * 2018-10-31 2020-05-07 株式会社北川鉄工所 グリッパ、及びシステム
KR102183454B1 (ko) * 2019-03-29 2020-11-26 황규건 트리플 죠를 구비한 공압 바이스
KR102200040B1 (ko) * 2019-03-29 2021-01-08 황규건 더블 죠를 구비한 공압 바이스
KR102326880B1 (ko) * 2019-07-12 2021-11-16 주식회사 로보스타 그리퍼
CN110860882B (zh) * 2020-01-14 2021-08-27 珠海迈超智能装备有限公司 灯带夹持推送机构以及灯带穿线机
KR102251923B1 (ko) * 2020-03-31 2021-05-14 유에 다르 인더스트리 컴퍼니 리미티드 자동 위치고정 정밀 공기 유압 클램핑 고정구
JP2022126062A (ja) * 2021-02-18 2022-08-30 Smc株式会社 開閉チャックおよびそのフィンガの製造方法
KR102733988B1 (ko) * 2022-09-02 2024-11-25 디사이노 주식회사 반도체 웨이퍼 트레이 지그장치
JP2025029330A (ja) * 2023-08-21 2025-03-06 株式会社コスメック 把持装置
CN119927659A (zh) * 2025-03-17 2025-05-06 苏州澜力重工集团有限公司 一种钢结构加工用开槽装置

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3338898A1 (de) * 1983-10-27 1985-05-15 Cushman Industries, Inc., Hartford, Conn. Keilspannfutter
DE3736148A1 (de) * 1987-10-26 1989-05-03 Mader Gmbh Greifvorrichtung
CN1377758A (zh) * 2001-03-28 2002-11-06 费斯托合资公司 液控夹紧器
CN1416382A (zh) * 2000-03-15 2003-05-07 顺科两合公司夹具和抓取工具厂 平行夹持器
US6827381B1 (en) * 1996-02-09 2004-12-07 Fritz Schunk Gmbh & Co. Kg Fabrik Fur Spann-Und Greifwerkzeuge Gripper or clamping device
CN101439479A (zh) * 2007-11-22 2009-05-27 Smc株式会社 驱动机构和配备有该驱动机构的夹具机构
DE202011103200U1 (de) * 2011-06-29 2012-07-04 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Spann- oder Greifeinrichtung
DE102013019034A1 (de) * 2013-11-15 2015-05-21 Günther Zimmer Greifvorrichtung mit separaten Führungsschienen
DE102013020490A1 (de) * 2013-12-11 2015-06-11 Günther Zimmer Antriebsvorrichtung für eine Greifvorrichtung
CN104908050A (zh) * 2014-03-11 2015-09-16 厄罗瓦公司 用于操纵器的联接装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10049070C2 (de) * 2000-10-02 2002-10-24 Schunk Gmbh & Co Kg Kraftspannfutter
WO2010028145A1 (en) * 2008-09-04 2010-03-11 Phd, Inc. Gripper with self-compensating jaw guides

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3338898A1 (de) * 1983-10-27 1985-05-15 Cushman Industries, Inc., Hartford, Conn. Keilspannfutter
DE3736148A1 (de) * 1987-10-26 1989-05-03 Mader Gmbh Greifvorrichtung
US6827381B1 (en) * 1996-02-09 2004-12-07 Fritz Schunk Gmbh & Co. Kg Fabrik Fur Spann-Und Greifwerkzeuge Gripper or clamping device
CN1416382A (zh) * 2000-03-15 2003-05-07 顺科两合公司夹具和抓取工具厂 平行夹持器
CN1377758A (zh) * 2001-03-28 2002-11-06 费斯托合资公司 液控夹紧器
CN101439479A (zh) * 2007-11-22 2009-05-27 Smc株式会社 驱动机构和配备有该驱动机构的夹具机构
DE202011103200U1 (de) * 2011-06-29 2012-07-04 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Spann- oder Greifeinrichtung
DE102013019034A1 (de) * 2013-11-15 2015-05-21 Günther Zimmer Greifvorrichtung mit separaten Führungsschienen
DE102013020490A1 (de) * 2013-12-11 2015-06-11 Günther Zimmer Antriebsvorrichtung für eine Greifvorrichtung
CN104908050A (zh) * 2014-03-11 2015-09-16 厄罗瓦公司 用于操纵器的联接装置

Also Published As

Publication number Publication date
DE202016008780U1 (de) 2019-08-21
CN108025442A (zh) 2018-05-11
WO2017050514A1 (de) 2017-03-30
JP2018527210A (ja) 2018-09-20
JP7040728B2 (ja) 2022-03-23
KR102242887B1 (ko) 2021-04-21
EP3352955A1 (de) 2018-08-01
DE102015218127A1 (de) 2017-03-23
US20180290267A1 (en) 2018-10-11
EP3352955B1 (de) 2020-01-29
KR20180056672A (ko) 2018-05-29
US10843311B2 (en) 2020-11-24

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