CN108145733A - A kind of clamping device suitable for industrial robot - Google Patents
A kind of clamping device suitable for industrial robot Download PDFInfo
- Publication number
- CN108145733A CN108145733A CN201810191190.8A CN201810191190A CN108145733A CN 108145733 A CN108145733 A CN 108145733A CN 201810191190 A CN201810191190 A CN 201810191190A CN 108145733 A CN108145733 A CN 108145733A
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- component
- seat
- clamping device
- fixed
- industrial robot
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- 238000012544 monitoring process Methods 0.000 claims description 13
- 239000000523 sample Substances 0.000 claims description 10
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000007599 discharging Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- 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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of clamping devices suitable for industrial robot,It includes connecting flange,Runner assembly,Clamping main body component,Handgrip component,Vacuum suction component,Component and controller are discharged to positive benchmark,The industrial robot of the present invention is in clamping,Workpiece is not positioned with being fixed merely with the mode of vacuum suction,But also it is realized by the way of handgrip and auxiliary fixation is carried out to workpiece,Substantially increase the fixed stability of piece-holder,Enhance fixed force,Simultaneously,The present invention is also specially devised discharges component to what workpiece releasing position was positioned to positive benchmark,The positioning accuracy of workpiece can be effectively improved in this way,And,In release,Auxiliary support can also be carried out to mechanical gripping means to positive benchmark release component,It can prevent from generating sharp pounding to clamping device when discharging workpiece,Improve the stationarity of clamping device work.
Description
Technical field
The present invention relates to a kind of clamping devices suitable for industrial robot, belong to robotic gripper ancillary equipment technology neck
Domain.
Background technology
At present, with the continuous development of industrial automation and application, in the industrial production, the application of industrial robot is more next
It is more.Industrial robot can not only realize the carrying to workpiece, but also can realize the accurate positionin to workpiece, industrial machine
The application of device people substantially increases the efficiency of industrial processes, effectively increases automated process.
With being constantly needed to for high-accuracy mechanical processing, for industrial robot, how to improve its to object or
The positioning accuracy of workpiece, the efficient application for ensureing industrial robot are most important.The position control of current robot is big
Rely solely on is programmed to more, although this control mode has preferable positioning accuracy, for than heavier work
For part, the mode for relying solely on programming is positioned, and with the long-time service of clamping device, tends to the mistake for leading to positioning
Difference increases, and in the course of time, positioning accuracy is difficult to the needs for reaching high-accuracy processing.
Invention content
The present invention provides a kind of clamping device suitable for industrial robot, to improve work for above-mentioned technical problem
The stability and positioning accuracy of industry robotic gripper workpiece.
To achieve the above object, the present invention provides following technical solution：A kind of clamping device suitable for industrial robot,
It include connecting flange, runner assembly, clamping main body component, handgrip component, vacuum suction component, to positive benchmark discharge component and
Controller, which is characterized in that on the connecting flange using the runner assembly can 360 ° rotation be provided with it is described clamp master
Body component, the peripheral side of the clamping main body component are provided with multiple handgrip components, the center of the clamping main body component
Position is provided with the vacuum suction component, described that positive benchmark release component is arranged on the runner assembly, is grasped in crawl
When making, the controller controls the vacuum suction component to workpiece adsorb after preliminary be set to handgrip group described in controller again
Part auxiliary picks up workpiece, discharge operate when, it is described that positive benchmark release component is acted and touched and is arranged on specified reference position
Reference switches after, the controller just controls the handgrip component and vacuum suction component to discharge workpiece.
Further, preferably, the runner assembly include fixed seat, rotary output axis, fixed guide seat, guide sleeve,
The convex ball cover of support rotating, the fixed seat are fixed on the connecting flange, and the end of the fixed seat is fixedly installed
The fixed guide seat, bottom is provided with the convex ball cover of the support rotating, the end of the rotary output axis in the fixed seat
The recessed ball groove of setting ball cover cooperation convex with the support rotating, is provided with driving between the fixed seat and the rotary output axis
For device so that the rotary output axis is driven to rotate, the rotary output axis stretches out the fixed guide seat setting, and the rotation
The guide sleeve is provided between output shaft and the fixed guide seat, to be led to the rotation of the rotary output axis
To.
Further, preferably, the runner assembly further includes rotational angle monitor controller, the rotational angle monitoring
Controller includes angle reference ring and monitoring is popped one's head in, and the angle reference ring is arranged on the excircle of the rotary output axis,
The monitoring probe is arranged on the fixed seat inner wall, and the monitoring probe can realize the rotational angle to angle reference rings
It is identified, the monitoring probe is connect with the controller.
Further, it is described outer preferably, the clamping main body component includes outer support disk, inner support disk and connecting pole
Support plate and inner support disk are the arcuate structure being arranged concentrically, and the company is used between the outer support disk and the inner support disk
Column is connect to link together setting.
Further, preferably, the handgrip component includes mechanical paw and crawl cylinder, one end that the manipulator is grabbed
It is hingedly arranged on the outer support disk, one end of the crawl cylinder is hingedly arranged on the inner support disk, the crawl
The other end of cylinder is hingedly arranged on the manipulator and grabs, and the other end that the manipulator is grabbed is used for grabbing workpiece.
Further, preferably, the vacuum suction component includes hinged seat, adjusts cylinder and vacuum cup, the hinge
Joint chair is fixed at the center of the inner support disk, and the adjusting cylinder, the adjusting are hingedly provided on the hinged seat
The vacuum cup is fixedly installed on the piston rod of cylinder.
Further, it is described preferably, the vacuum cup includes disk body and the multiple vacuum slots being arranged on disk body
Be provided with the vacuum runner connected with the vacuum slot in disk body, the vacuum slot is cutting-edge structure, the disk body it is outer
Portion is provided with reinforcing rib shell, to be fixed on the piston rod using the reinforcing rib shell.
Further, preferably, described include positive benchmark release component that reference seat, reference switches, to touch bar, L-type solid
Determine frame, actuating arm and rotary driver, the rotary driver is arranged on the rotary output axis, the center of the actuating arm
Position is hingedly arranged on the rotary output axis, and the actuating arm is driven by the rotary driver and swung, the driving
The both ends of arm be hingedly provided with it is described touch bar, it is described touch bar and be extended in its longitudinal direction have bar-shaped trough, the L
Type fixed frame is fixed on the fixed guide seat, and connecting pin, the connecting pin setting are provided on the L-type fixed frame
In the bar-shaped trough, the reference seat is arranged on workpiece suitable position to be placed, and the base is provided in the reference seat
Quasi- switch, when the rotary driver driving driving arm swing, it is described touch bar and stretch into realize in the reference seat and touch
The reference switches are touched, the control to the clamping device is realized by the reference switches.
Further, preferably, the rotary driver uses rotation cylinder or stepper motor.
Further, preferably, two reference seats are symmetrical arranged, two reference switches are arranged in series, and are touched described in two
Bar is also symmetrical arranged.
Compared with prior art, the beneficial effects of the invention are as follows：
The industrial robot of the present invention is not positioned with being consolidated workpiece merely with the mode of vacuum suction in clamping
It is fixed, but also realized by the way of handgrip and auxiliary fixation is carried out to workpiece, the fixed stability of piece-holder is substantially increased,
Fixed force is enhanced, meanwhile, the present invention is also specially devised discharges component to what workpiece releasing position was positioned to positive benchmark,
The positioning accuracy of workpiece can be effectively improved in this way, moreover, in release, it can also be to mechanical grip to positive benchmark release component
Device carries out Auxiliary support, can prevent from generating sharp pounding to clamping device when discharging workpiece, improve clamping device work
Stationarity.
Description of the drawings
Fig. 1 is a kind of structure diagram of clamping device suitable for industrial robot of the invention；
Fig. 2 is a kind of sucker main structure diagram of clamping device suitable for industrial robot of the invention；
Fig. 3 is a kind of sucker schematic cross-sectional view of clamping device suitable for industrial robot of the invention；
Fig. 4 is a kind of clamping device suitable for industrial robot of the invention to the release modular construction signal of positive benchmark
Figure；
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution：A kind of clamping device suitable for industrial robot, packet
It includes connecting flange 1, runner assembly, clamping main body component, handgrip component, vacuum suction component, component and control discharged to positive benchmark
Device processed, on the connecting flange 1 using the runner assembly can 360 ° of rotations be provided with the clamping main body component, the folder
The peripheral side of tight body assembly is provided with multiple handgrip components, and the center of the clamping main body component is provided with described
Vacuum suction component, it is described that positive benchmark release component is arranged on the runner assembly, in grasping manipulation, the controller
The vacuum suction component is controlled to workpiece adsorb after preliminary be set to, and handgrip component auxiliary picks up workpiece described in controller again,
Discharge operate when, it is described positive benchmark release component is acted and touches and is arranged on the reference switches of specified reference position after, institute
Stating controller just controls the handgrip component and vacuum suction component to discharge workpiece.
In the present embodiment, the runner assembly includes fixed seat 3, rotary output axis 5, fixed guide seat 6, guide sleeve 8
Ball cover 2 convex with support rotating, the fixed seat 3 are fixed on the connecting flange 1, and the end of the fixed seat 3 is fixed
The fixed guide seat 6 is provided with, bottom is provided with the convex ball cover 2 of the support rotating, the rotation output in the fixed seat 3
The recessed ball grooves of 2 sets cooperations of the end set of axis 5 and the convex ball of the support rotating, the fixed seat 2 and the rotary output axis 5 it
Between be provided with driver so that the rotary output axis 5 is driven to rotate, the rotary output axis 5 stretches out the fixed guide seat 6
Setting, and the guide sleeve 8 is provided between the rotary output axis 5 and the fixed guide seat 6, so as to defeated to the rotation
The rotation of shaft 5 is oriented to.
As more preferably embodiment, the runner assembly further includes rotational angle monitor controller, the rotational angle prison
It surveys controller and includes angle reference ring 7 and monitoring probe 4, the angle reference ring 7 is arranged on the outer circle of the rotary output axis 5
Zhou Shang, the monitoring probe 4 are arranged on 3 inner wall of fixed seat, and the monitoring probe 4 can be realized to angle reference rings 7
Rotational angle be identified, the monitoring probe 4 is connect with the controller.
The clamping main body component includes outer support disk 17, inner support disk 18 and connecting pole 25,17 He of outer support disk
Inner support disk 18 is the arcuate structure being arranged concentrically, and the connection is used between the outer support disk 17 and the inner support disk 18
Column 25 links together setting.
The handgrip component includes mechanical paw 23 and crawl cylinder 19, and one end that the manipulator grabs 23 is hingedly arranged on
On the outer support disk 17, one end of the crawl cylinder 19 is hingedly arranged on the inner support disk 18, the crawl cylinder
19 other end is hingedly arranged on the manipulator and grabs on 23, and the other end that the manipulator grabs 23 is used for grabbing workpiece 24.
The vacuum suction component includes hinged seat 20, adjusts cylinder 21 and vacuum cup 22, hinged 20 fixations
The center of the inner support disk 18 is arranged on, the adjusting cylinder 21, the adjusting gas are hingedly provided on the hinged seat 20
The vacuum cup 22 is fixedly installed on the piston rod of cylinder 21.
Such as Fig. 2-3, the vacuum cup 22 includes disk body 26 and the multiple vacuum slots 27 being arranged on disk body 26, described
The vacuum runner 30 connected with the vacuum slot 27 is provided in disk body 26, the vacuum slot 27 is cutting-edge structure, described
The outside of disk body 26 is provided with reinforcing rib shell 29, to be fixed on the piston rod using the reinforcing rib shell 29.
It is described that reference seat 10, reference switches 11 are included to positive benchmark release component, touch bar 12, L-type fixed frame such as Fig. 4
9th, actuating arm 14 and rotary driver 15, the rotary driver 15 are arranged on the rotary output axis 5, the actuating arm 14
Center be hingedly arranged on the rotary output axis 5, and the actuating arm 14 drives pendulum by the rotary driver 15
It is dynamic, the both ends of the actuating arm 14 be hingedly provided with it is described touch bar 12, the bar 12 that touches extends in its longitudinal direction
Bar-shaped trough 13 is provided with, the L-type fixed frame 9 is fixed on the fixed guide seat 6, is set on the L-type fixed frame 9
There is connecting pin 16, the connecting pin 16 is arranged in the bar-shaped trough 13, and the reference seat 10 is arranged on to be placed suitable of workpiece
Position is closed, the reference switches 11 are provided in the reference seat 10, when the rotary driver 15 drives the actuating arm 14
During swing, it is described touch bar 12 and stretch into realize in the reference seat 10 and touch the reference switches 11, pass through the reference switches
11 realize the control to the clamping device.
As preferred embodiment, the rotary driver 15 uses rotation cylinder or stepper motor.Two reference seats
10 are symmetrical arranged, and two reference switches 11 are arranged in series, and bar 12 is touched described in two and is also symmetrical arranged.
The industrial robot of the present invention is not positioned with being consolidated workpiece merely with the mode of vacuum suction in clamping
It is fixed, but also realized by the way of handgrip and auxiliary fixation is carried out to workpiece, the fixed stability of piece-holder is substantially increased,
Fixed force is enhanced, meanwhile, the present invention is also specially devised discharges component to what workpiece releasing position was positioned to positive benchmark,
The positioning accuracy of workpiece can be effectively improved in this way, moreover, in release, it can also be to mechanical grip to positive benchmark release component
Device carries out Auxiliary support, can prevent from generating sharp pounding to clamping device when discharging workpiece, improve clamping device work
Stationarity.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of clamping device suitable for industrial robot, which is characterized in that it includes connecting flange, runner assembly, clamping
Body assembly, vacuum suction component, discharges positive benchmark component and controller at handgrip component, and institute is used on the connecting flange
State runner assembly can 360 ° of rotations be provided with the clamping main body component, the peripheral side of the clamping main body component is provided with more
A handgrip component, the center of the clamping main body component is provided with the vacuum suction component, described to positive benchmark
Release component is arranged on the runner assembly, and in grasping manipulation, the controller controls the vacuum suction component to work
Part adsorb it is preliminary handgrip component auxiliary picks up workpiece described in controller again after being set to, discharge operate when, it is described to positive group
After quasi- release component acts and touches and be arranged on the reference switches of specified reference position, the controller just controls the handgrip group
Part and vacuum suction component discharge workpiece.
2. a kind of clamping device suitable for industrial robot according to claim 1, it is characterised in that：The rotating group
Part includes fixed seat, rotary output axis, fixed guide seat, guide sleeve and the convex ball cover of support rotating, the fixed seat fixed setting
On the connecting flange, the end of the fixed seat is fixedly installed the fixed guide seat, and bottom is set in the fixed seat
It is equipped with the convex ball cover of the support rotating, the recessed ball of the end set of rotary output axis ball cover cooperation convex with the support rotating
Slot is provided with driver so that the rotary output axis is driven to rotate between the fixed seat and the rotary output axis, described
Rotary output axis stretches out the fixed guide seat setting, and is set between the rotary output axis and the fixed guide seat
Guide sleeve is stated, to be oriented to the rotation of the rotary output axis.
3. a kind of clamping device suitable for industrial robot according to claim 2, it is characterised in that：The rotating group
Part further includes rotational angle monitor controller, and the rotational angle monitor controller includes angle reference ring and monitoring is popped one's head in, institute
It states angle reference ring to be arranged on the excircle of the rotary output axis, the monitoring probe is arranged on the fixed seat inner wall
On, the monitoring probe, which can be realized, is identified the rotational angle of angle reference rings, the monitoring probe and the control
Device connects.
4. a kind of clamping device suitable for industrial robot according to claim 2, it is characterised in that：It is described to clamp master
Body component includes outer support disk, inner support disk and connecting pole, and the outer support disk and inner support disk are the arc knot being arranged concentrically
Structure is linked together between the outer support disk and the inner support disk using the connecting pole.
5. a kind of clamping device suitable for industrial robot according to claim 4, it is characterised in that：The handgrip group
Part includes mechanical paw and crawl cylinder, and one end that the manipulator is grabbed hingedly is arranged on the outer support disk, the crawl
One end of cylinder is hingedly arranged on the inner support disk, and the other end of the crawl cylinder is hingedly arranged on the manipulator and grabs
On, the other end that the manipulator is grabbed is used for grabbing workpiece.
6. a kind of clamping device suitable for industrial robot according to claim 4, it is characterised in that：The vacuum is inhaled
Attached component includes hinged seat, adjusting cylinder and vacuum cup, the hinged seat and is fixed at the center of the inner support disk, institute
It states and the adjusting cylinder is hingedly provided on hinged seat, being fixedly installed the vacuum on the piston rod for adjusting cylinder inhales
Disk.
7. a kind of clamping device suitable for industrial robot according to claim 6, it is characterised in that：The vacuum is inhaled
Disk includes disk body and multiple vacuum slots for being arranged on disk body, be provided in the disk body connected with the vacuum slot it is true
Empty runner, the vacuum slot are cutting-edge structure, and the outside of the disk body is provided with reinforcing rib shell, to use the reinforcing rib
Shell is fixed on the piston rod.
8. a kind of clamping device suitable for industrial robot according to claim 4, it is characterised in that：It is described to positive group
Quasi- release component includes reference seat, reference switches, touches bar, L-type fixed frame, actuating arm and rotary driver, and the rotation is driven
Dynamic device is arranged on the rotary output axis, and the center of the actuating arm is hingedly arranged on the rotary output axis, and
The actuating arm is driven by the rotary driver and swung, the both ends of the actuating arm be hingedly provided with it is described touch bar, institute
It states to touch bar and be extended in its longitudinal direction and has bar-shaped trough, the L-type fixed frame is fixed at the fixed guide seat
On, connecting pin is provided on the L-type fixed frame, the connecting pin is arranged in the bar-shaped trough, and the reference seat is arranged on
Workpiece suitable position to be placed is provided with the reference switches in the reference seat, when described in rotary driver driving
When driving arm swing, it is described touch bar and stretch into realize in the reference seat and touch the reference switches, pass through the reference switches
Realize the control to the clamping device.
9. a kind of clamping device suitable for industrial robot according to claim 8, it is characterised in that：The rotation is driven
Dynamic device uses rotation cylinder or stepper motor.
10. a kind of clamping device suitable for industrial robot according to claim 8, it is characterised in that：Two benchmark
Seat is symmetrical arranged, and two reference switches are arranged in series, and touching bar described in two is also symmetrical arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810191190.8A CN108145733B (en) | 2018-03-08 | 2018-03-08 | Clamping device suitable for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810191190.8A CN108145733B (en) | 2018-03-08 | 2018-03-08 | Clamping device suitable for industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN108145733A true CN108145733A (en) | 2018-06-12 |
| CN108145733B CN108145733B (en) | 2024-01-23 |
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ID=62456183
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810191190.8A Active CN108145733B (en) | 2018-03-08 | 2018-03-08 | Clamping device suitable for industrial robot |
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| Country | Link |
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| CN (1) | CN108145733B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109058899A (en) * | 2018-08-20 | 2018-12-21 | 深圳市奈士迪技术研发有限公司 | A kind of outdoor illumination equipment convenient for safeguarding |
| CN109702528A (en) * | 2019-01-07 | 2019-05-03 | 中国工程物理研究院材料研究所 | Alignment device and its aligning method suitable for cup-shaped revolving meber |
| CN110091356A (en) * | 2019-05-30 | 2019-08-06 | 丁维华 | A kind of manipulator wrist of robot |
| CN110561471A (en) * | 2019-10-22 | 2019-12-13 | 广东金贝贝智能机器人研究院有限公司 | Artificial intelligence composite clamping and assembling robot |
| CN111515989A (en) * | 2020-05-26 | 2020-08-11 | 泉州台商投资区中栓机械技术有限公司 | Guide wheel type goods taking robot clamping structure device |
| CN112276979A (en) * | 2020-10-29 | 2021-01-29 | 江苏安全技术职业学院 | A grabbing device for industrial robot |
| CN113084853A (en) * | 2021-03-17 | 2021-07-09 | 武汉理工大学 | Flexible gripper at tail end of robot |
| CN113878609A (en) * | 2021-10-12 | 2022-01-04 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Sucking disc, adsorption component and end execution device |
| CN117601356A (en) * | 2023-12-07 | 2024-02-27 | 中亿腾模塑科技（苏州）有限公司 | Automatic go up injection molding machine of unloading |
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| CN207930687U (en) * | 2018-03-08 | 2018-10-02 | 苏州工业职业技术学院 | a kind of clamping device suitable for industrial robot |
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| US6431816B1 (en) * | 1998-10-07 | 2002-08-13 | Cascade Corporation | Adaptive load-clamping system |
| DE20107907U1 (en) * | 2001-05-10 | 2001-11-15 | Hasenpusch, Wolfgang, Prof. Dr., 63457 Hanau | Concentric gripper |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109058899A (en) * | 2018-08-20 | 2018-12-21 | 深圳市奈士迪技术研发有限公司 | A kind of outdoor illumination equipment convenient for safeguarding |
| CN109702528A (en) * | 2019-01-07 | 2019-05-03 | 中国工程物理研究院材料研究所 | Alignment device and its aligning method suitable for cup-shaped revolving meber |
| CN110091356A (en) * | 2019-05-30 | 2019-08-06 | 丁维华 | A kind of manipulator wrist of robot |
| CN110561471A (en) * | 2019-10-22 | 2019-12-13 | 广东金贝贝智能机器人研究院有限公司 | Artificial intelligence composite clamping and assembling robot |
| CN111515989A (en) * | 2020-05-26 | 2020-08-11 | 泉州台商投资区中栓机械技术有限公司 | Guide wheel type goods taking robot clamping structure device |
| CN112276979A (en) * | 2020-10-29 | 2021-01-29 | 江苏安全技术职业学院 | A grabbing device for industrial robot |
| CN113084853A (en) * | 2021-03-17 | 2021-07-09 | 武汉理工大学 | Flexible gripper at tail end of robot |
| CN113084853B (en) * | 2021-03-17 | 2024-07-02 | 武汉理工大学 | Terminal flexible gripper of robot |
| CN113878609A (en) * | 2021-10-12 | 2022-01-04 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Sucking disc, adsorption component and end execution device |
| CN117601356A (en) * | 2023-12-07 | 2024-02-27 | 中亿腾模塑科技（苏州）有限公司 | Automatic go up injection molding machine of unloading |
| CN117601356B (en) * | 2023-12-07 | 2024-05-14 | 英普亿塑胶电子(江苏)有限公司 | Automatic go up injection molding machine of unloading |
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| CN108145733B (en) | 2024-01-23 |
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