CN108527431B - Internal and external concentric manipulator - Google Patents
Internal and external concentric manipulator Download PDFInfo
- Publication number
- CN108527431B CN108527431B CN201810335787.5A CN201810335787A CN108527431B CN 108527431 B CN108527431 B CN 108527431B CN 201810335787 A CN201810335787 A CN 201810335787A CN 108527431 B CN108527431 B CN 108527431B
- Authority
- CN
- China
- Prior art keywords
- pin
- plate
- clamping
- pressing
- bottom plate
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention belongs to the technical field of mechanical arm design, and particularly relates to an internal and external concentric mechanical arm. The inner and outer concentric manipulator comprises a large clamping hand consisting of three large clamping jaws and a three-point type clamping jaw, wherein the three-point type clamping jaw is positioned at the central position of the three large clamping jaws and is used for clamping a first part. Because the three-point clamping jaw and the large clamping hand are concentric, the first part and the second part clamped by the three-point clamping jaw are concentric.
Description
Technical Field
The invention belongs to the technical field of mechanical arm design, and particularly relates to an internal and external concentric mechanical arm.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.
The manipulator mainly comprises an actuating mechanism, a driving mechanism and a control system. The hand is a member for gripping a workpiece (or a tool), and has various structures such as a grip type, a holding type, and an adsorption type according to the shape, size, weight, material, and working requirements of an object to be gripped. The motion mechanism enables the hand to complete various rotation (swing), movement or compound motions to realize specified actions and change the position and the posture of a gripped object. The independent motion modes of the motion mechanism, such as lifting, stretching, rotating and the like, are called the degree of freedom of the manipulator. In order to grasp an object at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter for the design of the manipulator. The more degrees of freedom, the more flexible the manipulator, the wider the versatility, and the more complex the structure. The general special manipulator has 2-3 degrees of freedom. The control system is used for controlling a motor of each degree of freedom of the manipulator to complete a specific action. And meanwhile, receiving information fed back by the sensor to form stable closed-loop control. The core of the control system is usually composed of a single chip microcomputer or a dsp and other micro control chips, and the required functions are realized by programming the micro control chips.
The existing mechanical arms have different functions, and when clamping a part, the clamping type mechanical arm can only clamp one part to a specified position. Some two parts used in a matched manner need to be respectively clamped and transported to designated positions during assembly, and the assembly efficiency is low.
Disclosure of Invention
Therefore, the manipulator capable of clamping two parts simultaneously is required to be provided, and the invention provides the inner and outer concentric manipulator which not only can clamp two matched parts simultaneously, but also ensures that the two parts are concentric.
In order to achieve the purpose, the invention adopts the following technical scheme:
the inner and outer concentric mechanical arm comprises a connecting column, a bottom plate, a bearing, a base plate, a rotating plate, a cylinder mounting column, a cylinder mounting plate, a three-point type clamping jaw, a cylinder driving mechanism, a limiting block and a large clamping jaw, wherein the connecting column is fixedly connected with the upper end of the bottom plate, the lower end of the bottom plate is fixedly connected with the cylinder mounting column, the cylinder mounting column is sequentially sleeved with the bearing, the base plate and the rotating plate from top to bottom, the outer ring of the bearing is fixedly connected with the bottom plate, the inner ring of the bearing is fixedly connected with the base plate, the base plate is fixedly connected with the rotating plate, the cylinder mounting plate is fixedly connected with the cylinder mounting column, and the three-point type clamping jaw is fixedly mounted on the cylinder mounting plate;
the limiting block is fixed on the bottom plate, one end of the air cylinder driving mechanism is connected with the bottom plate, the other end of the air cylinder driving mechanism is connected with the rotating plate, and the large clamping jaw is connected with the bottom plate;
big clamping jaw includes slide rail, slider, clamp splice, splint, big clamping jaw, swivel pin, first spring, the slide rail is fixed at the bottom plate lower extreme, slide rail and slider sliding connection, and the slider is fixed at the clamp splice upper surface, and splint are fixed at the lower surface with the clamp splice, and clamp splice one end is connected with the rotor plate, and splint pass through the swivel pin and be connected with big clamping jaw, first spring one end is connected with splint, and the other end is connected with big clamping jaw.
The further optimization of this technical scheme still includes and presses round pin mechanism, it fixes on the bottom plate to press round pin mechanism, it includes and presses round pin connecting block and material locating component to press round pin mechanism, it fixes on the bottom plate to press the round pin connecting block, presses material locating component to fix on pressing the round pin connecting block.
This technical scheme is further optimization, still includes sensor mounting panel and first sensor, the sensor mounting panel is fixed on the pressure pin connecting block, and first sensor setting is on the sensor mounting panel.
According to the further optimization of the technical scheme, the material pressing and positioning assembly comprises a positioning pin, a gasket, a second spring, a pressing sleeve and a stop pin, the pressing sleeve is connected with the positioning pin through the stop pin, the second spring is sleeved on the positioning pin, the gasket is arranged on the top end of the positioning pin, and the positioning pin is connected with a pressing pin connecting block.
Further optimization of this technical scheme, cylinder actuating mechanism includes locking cylinder, connecting pin, fisheye joint and carousel pole, locking cylinder one end and connecting pin are connected, and the other end is connected with the fisheye joint, and the eye that the fisheye connects is connected with the carousel pole.
According to the further optimization of the technical scheme, the number of the first springs is two.
According to the further optimization of the technical scheme, the clamping device further comprises a second sensor, wherein the second sensor is arranged on a small clamping jaw of the three-point type clamping jaw.
Different from the prior art, the technical scheme has the following advantages:
1. the two parts are matched for use, the inner concentric manipulator and the outer concentric manipulator can simultaneously grab the two parts and ensure the concentricity of the two parts;
2. due to the special design of the large clamping jaws of the inner and outer concentric mechanical hands, the synchronization of the three large clamping jaws can be realized, and the part is ensured to face the circle center;
3. the inner concentric manipulator and the outer concentric manipulator are also provided with three pin pressing mechanisms, and a material pressing positioning component of each pin pressing mechanism is respectively provided with a first sensor for detecting whether a clamped part exists or not and is inclined;
4. the clamping block on the large clamping jaw can float and rotate to adapt to the angles of different parts, and the large clamping jaw is matched with the pin pressing mechanism to grab parts with different thicknesses and different diameters;
5. the large clamping jaw and the three-point type clamping jaw are designed concentrically, the structure is compact, and the design is ingenious.
Drawings
FIG. 1 is a schematic view of an overall internal and external concentric manipulator;
FIG. 2 is an exploded view of an inner and outer concentric manipulator;
FIG. 3 is a schematic view of a cylinder drive mechanism;
FIG. 4 is a schematic view of a swage positioning assembly;
FIG. 5 is a cross-sectional view of a swage mount assembly;
FIG. 6 is a partial exploded view of the inner and outer concentric robots;
figure 7 is an overall side view of the inner and outer concentric robots.
Description of reference numerals:
1. the device comprises a connecting column, 2, a bottom plate, 3, a bearing, 4, a base plate, 5, a rotating plate, 6, a cylinder mounting column, 7, a cylinder mounting plate, 8, a three-point type clamping jaw, 9, a cylinder driving mechanism, 10, a limiting block, 11, a large clamping jaw, 12, a press pin mechanism, 13, a first part, 14 and a second part;
111. a sliding rail 112, a sliding block 113, a clamping block 114, a clamping plate 115, a clamping block 116, a rotating pin 117 and a first spring;
121. the device comprises a pressure pin connecting block 122, a sensor mounting plate 123, a first sensor 124 and a material pressing positioning component;
81. a second sensor;
91. a locking cylinder 92, a connecting pin 93, a fisheye joint 94 and a turntable rod;
1241. a positioning pin, 1242, a washer, 1243, a second spring, 1244, a pressing sleeve, 1245 and a stop pin.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1, 2, 6 and 7, which are schematic diagrams of an internal and external concentric manipulator according to a preferred embodiment of the present invention, the internal and external concentric manipulator includes a connection column 1, a bottom plate 2, a bearing 3, a backing plate 4, a rotation plate 5, a cylinder mounting column 6, a cylinder mounting plate 7, a three-point type clamping jaw 8, a cylinder driving mechanism 9, a limiting block 10, a large clamping jaw 11 and a press pin mechanism 12. The connecting column 1 is fixedly connected with the upper end of the bottom plate 2, the lower end of the bottom plate 2 is fixedly connected with the cylinder mounting column 6, the cylinder mounting column 6 is sequentially sleeved with a bearing 3, a base plate 4 and a rotating plate 5 from top to bottom, the outer ring of the bearing 3 is fixedly connected with the bottom plate 2, the inner ring of the bearing 3 is fixedly connected with the base plate 4, the base plate 4 is fixedly connected with the rotating plate 5, the cylinder mounting plate 7 is fixedly connected with the cylinder mounting column 6, and the three-point type clamping jaw 8 is fixedly mounted on the cylinder mounting plate 7.
The limiting block 10 is fixed on the bottom plate 2, one end of the cylinder driving mechanism 9 is connected with the bottom plate 2, the other end of the cylinder driving mechanism is connected with the rotating plate 5, and the large clamping jaw 11 is connected with the bottom plate 2.
The large clamping jaw 11 comprises a sliding rail 111, a sliding block 112, clamping blocks 113, clamping plates 114, clamping blocks 115, a rotating pin 116 and a first spring 117, the sliding rail 111 is fixed at the lower end of the bottom plate 2, the sliding rail 111 is in sliding connection with the sliding block 112, the sliding block 112 is fixed on the upper surface of the clamping blocks 113, the clamping plates 114 are fixed on the lower surfaces of the clamping blocks 113, one end of each clamping block 113 is connected with the rotating plate 5, the clamping blocks 113 and the rotating plate clamping plates 114 are connected with the clamping blocks 115 through the rotating pin 116, the number of the first springs 117 is two, one end of each first spring 117 is connected with the clamping plate 114, and the other end of each.
The pin pressing mechanism 12 of this embodiment is fixed on the bottom plate 2, the pin pressing mechanism 12 includes a pin pressing connecting block 121 and a swaging positioning component 124, the pin pressing connecting block 121 is fixed on the bottom plate 2, and the swaging positioning component 124 is fixed on the pin pressing connecting block 121.
The press pin mechanism 12 of this embodiment further includes a sensor mounting plate 122 and a first sensor 123, the sensor mounting plate 122 is fixed to the press pin connection block 121, and the first sensor 123 is provided on the sensor mounting plate 122.
This embodiment also comprises a second sensor 81, which second sensor 81 is arranged on the small jaw of the three-point jaw 8.
Referring to fig. 4 and fig. 5, which are respectively a schematic view and a cross-sectional view of the swaging positioning assembly, the swaging positioning assembly 124 includes a positioning pin 1241, a washer 1242, a second spring 1243, a pressing sleeve 1244 and a stop pin 1245, the pressing sleeve 1244 is connected to the positioning pin 1241 through the stop pin 1245, the second spring 1243 is sleeved on the positioning pin 1241, the washer 1242 is disposed at the top end of the positioning pin 1241, and the positioning pin 1241 is connected to the swaging connecting block 121. A second spring 1243 is provided between the pressing sleeve 1244 and the positioning pin 1241, so that the pressing sleeve 1244 can move up and down with respect to the positioning pin 1241 to a certain extent.
Referring to fig. 3, which is a schematic view of the cylinder driving mechanism, the cylinder driving mechanism 9 includes a locking cylinder 91, a connecting pin 92, a fisheye joint 93 and a turntable rod 94, one end of the locking cylinder 91 is connected to the connecting pin 92, the other end is connected to the fisheye joint 93, and an eye of the fisheye joint 93 is connected to the turntable rod 94.
The number of the cylinder driving mechanism 9, the limiting block 10, the large clamping jaw 11 and the pressing pin mechanism 12 is 3, the bottom plate 2 is provided with three extending plates, and the three large clamping jaw 11 and the pressing pin mechanism 12 are fixedly arranged on the extending plates of the bottom plate 2.
The outer ring of the bearing 3 is fixedly connected with the bottom plate 2, the inner ring of the bearing 3 is fixedly connected with the backing plate 4,
the cylinder driving mechanism 9 is used for driving the rotating plate 5 to rotate relative to the bottom plate 2, and since the turntable rod 94 of the cylinder driving mechanism 9 is located in the limiting block 10, the limiting block 10 can limit the rotating angle of the cylinder driving mechanism 9 driving the rotating plate 5. The rotating plate 5 drives the clamping block 113 to move, and the sliding block 112 is fixed on the clamping block 113, so that the sliding block 112 moves relative to the sliding rail 111, thereby adjusting the position of the clamping plate 114 relative to the second part 14, and realizing the contact or separation of the clamping block 115 and the second part 14.
The connecting column 1 of this embodiment is connected with the mechanical arm, and the mechanical arm drives this inside and outside concentric manipulator to move to the assigned position, and big clamping jaw 11 is used for snatching second part 14, and three-point type clamping jaw 8 is used for snatching first part 13. When the large clamping jaw 11 grabs the second part 14, the sliding block 112 moves relative to the sliding rail 111, so that the clamping block 115 of the large clamping jaw 14 contacts the second part 14, and because the outer surface of the second part 14 is an inclined plane with a certain radian, the clamping block 115 can rotate relative to the clamping plate 114, so that the clamping block 115 inclines at a certain angle and is completely attached to the inclined plane of the second part 14, the contact area between the clamping block 115 and the second part 14 is increased, and the second part 14 is prevented from falling in the moving process. The special design of the three large clamping jaws 11 of the embodiment can realize the synchronization of the three large clamping jaws 11, and ensure that the second part 14 faces to the center of the bottom plate.
After the large clamping jaw 11 clamps the second part 14, the pressing sleeve 1244 of the pressing pin mechanism 12 contacts with the upper surface of the second part 14, the three pressing pin mechanisms 12 can press the second part 14 flat, the pressing and positioning assembly 124 of each pressing pin mechanism 12 is respectively provided with a first sensor 123, and the first sensor 123 is used for detecting whether the clamped part exists or not and is inclined.
The clamping block 115 on the large clamping jaw 11 can float and rotate to adapt to the angles of different parts, and the large clamping jaw 11 is matched with the pin pressing mechanism 12 to grab parts with different thicknesses and different diameters.
The three-point type clamping jaw 8 is concentrically arranged with the bottom plate 2, the three-point type clamping jaw 8 is used for clamping a first part 13, and the first part 13 is concentric with the three-point type clamping jaw 8. The design of this embodiment not only enables the simultaneous gripping of the first part 13 and the second part 14, but also enables the first part 13 and the second part 14 to be concentric. A second sensor 81 on the three-point jaw 8 of this embodiment is used to detect the gripping of the first part 13.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.
Although the embodiments have been described, once the basic inventive concept is obtained, other variations and modifications of these embodiments can be made by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the contents of the present specification and drawings, or any other related technical fields, which are directly or indirectly applied thereto, are included in the scope of the present invention.
Claims (6)
1. The concentric manipulator inside and outside, its characterized in that: the clamping device comprises a connecting column (1), a bottom plate (2), a bearing (3), a base plate (4), a rotating plate (5), a cylinder mounting column (6), a cylinder mounting plate (7), a three-point type clamping jaw (8), a cylinder driving mechanism (9), a limiting block (10) and a large clamping jaw (11), wherein the connecting column (1) is fixedly connected with the upper end of the bottom plate (2), the lower end of the bottom plate (2) is fixedly connected with the cylinder mounting column (6), the cylinder mounting column (6) is sequentially sleeved with the bearing (3), the base plate (4) and the rotating plate (5) from top to bottom, the outer ring of the bearing (3) is fixedly connected with the bottom plate (2), the inner ring of the bearing (3) is fixedly connected with the base plate (4), the base plate (4) is fixedly connected with the rotating plate (5), the cylinder mounting plate (7) is fixedly connected with the cylinder mounting column (6), and the three-point type clamping jaw (8) is fixedly mounted on the cylinder mounting plate (7), the three-point clamping jaw (8) and the bottom plate (2) are concentrically arranged;
the limiting block (10) is fixed on the bottom plate (2), one end of the cylinder driving mechanism (9) is connected with the bottom plate (2), the other end of the cylinder driving mechanism is connected with the rotating plate (5), and the large clamping jaw (11) is connected with the bottom plate (2);
the large clamping jaw (11) comprises a sliding rail (111), a sliding block (112), a clamping block (113), a clamping plate (114), a clamping block (115), a rotating pin (116) and a first spring (117), the sliding rail (111) is fixed at the lower end of the bottom plate (2), the sliding rail (111) is in sliding connection with the sliding block (112), the sliding block (112) is fixed on the upper surface of the clamping block (113), the clamping plate (114) is fixed on the lower surface of the clamping block (113), one end of the clamping block (113) is connected with the rotating plate (5), the clamping plate (114) is connected with the clamping block (115) through the rotating pin (116), one end of the first spring (117) is connected with the clamping plate (114), and the other end of the first spring (117) is connected with the clamping block (115); the automatic pressing device is characterized by further comprising a pressing pin mechanism (12), the pressing pin mechanism (12) is fixed on the bottom plate (2), the pressing pin mechanism (12) comprises a pressing pin connecting block (121) and a pressing positioning component (124), the pressing pin connecting block (121) is fixed on the bottom plate (2), and the pressing positioning component (124) is fixed on the pressing pin connecting block (121).
2. The inner and outer concentric manipulator as set forth in claim 1, wherein: still include sensor mounting panel (122) and first sensor (123), sensor mounting panel (122) are fixed on pressure pin connecting block (121), and first sensor (123) set up on sensor mounting panel (122).
3. The inner and outer concentric manipulator as set forth in claim 1, wherein: the material pressing positioning assembly (124) comprises a positioning pin (1241), a gasket (1242), a second spring (1243), a pressing sleeve (1244) and a blocking pin (1245), the pressing sleeve (1244) is connected with the positioning pin (1241) through the blocking pin (1245), the second spring (1243) is sleeved on the positioning pin (1241), the gasket (1242) is arranged at the top end of the positioning pin (1241), and the positioning pin (1241) is connected with the pressing pin connecting block (121).
4. The inner and outer concentric manipulator as set forth in claim 1, wherein: the cylinder driving mechanism (9) comprises a locking cylinder (91), a connecting pin (92), a fisheye joint (93) and a turntable rod (94), one end of the locking cylinder (91) is connected with the connecting pin (92), the other end of the locking cylinder is connected with the fisheye joint (93), and an eye part of the fisheye joint (93) is connected with the turntable rod (94).
5. The inner and outer concentric manipulator as set forth in claim 1, wherein: the number of the first springs (117) is two.
6. The inner and outer concentric manipulator as set forth in claim 1, wherein: the clamping jaw is characterized by further comprising a second sensor (81), wherein the second sensor (81) is arranged on a small clamping jaw of the three-point clamping jaw (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810335787.5A CN108527431B (en) | 2018-04-13 | 2018-04-13 | Internal and external concentric manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810335787.5A CN108527431B (en) | 2018-04-13 | 2018-04-13 | Internal and external concentric manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108527431A CN108527431A (en) | 2018-09-14 |
| CN108527431B true CN108527431B (en) | 2021-09-03 |
Family
ID=63481173
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810335787.5A Active CN108527431B (en) | 2018-04-13 | 2018-04-13 | Internal and external concentric manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108527431B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048962A (en) * | 2018-09-25 | 2018-12-21 | 苏州富强科技有限公司 | Clamp structure and manipulator |
| CN109998205B (en) * | 2019-01-24 | 2021-05-18 | 湖南海擎智能科技有限责任公司 | Button upper cover grabbing mechanical arm |
| US11767181B2 (en) * | 2019-03-14 | 2023-09-26 | Mujin, Inc. | Robotic system with handling mechanism and method of operation thereof |
| CN110027901A (en) * | 2019-04-29 | 2019-07-19 | 中国工程物理研究院化工材料研究所 | A kind of flexible holding device for more dimensions explosives |
| CN110788878A (en) * | 2019-12-03 | 2020-02-14 | 无锡奥普特自动化技术有限公司 | Lens clamping device |
| CN114715662A (en) * | 2022-03-15 | 2022-07-08 | 成都晶宝时频技术股份有限公司 | Automatic material turning device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104985605B (en) * | 2015-06-24 | 2016-08-31 | 东莞市天美新自动化设备有限公司 | Water heater liner can mix the robot concentric graping chaw automatically of product type |
-
2018
- 2018-04-13 CN CN201810335787.5A patent/CN108527431B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108527431A (en) | 2018-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108527431B (en) | Internal and external concentric manipulator | |
| US4894901A (en) | Method for positioning a robotic work system | |
| CN107571246B (en) | Part assembling system and method based on double-arm robot | |
| CN109720856B (en) | Lifting rail taking manipulator for laboratory equipment | |
| CN109605405B (en) | Self-adaptive cylinder grabbing paw | |
| CN105563513A (en) | Flexible self-adaption under-actuated robot hand | |
| CN205920318U (en) | Mechanism is got to module clamp | |
| US4785528A (en) | Robotic work positioning system | |
| US4993139A (en) | System for exchanging tools and end effectors on a robot | |
| CN111770810A (en) | End effector and robot thereof | |
| US4635985A (en) | Self-pivoting robotic gripper tool | |
| CN213381609U (en) | Robot arm for grabbing | |
| CN214870681U (en) | Centering clamp holder for robot | |
| CN107234436B (en) | Multifunctional robot gripping apparatus on assembly line | |
| US4664589A (en) | Two-handed robot device | |
| KR101296537B1 (en) | Clamping apparatus for automated robot | |
| CN209970225U (en) | Auxiliary tool for machining cylinder valve body | |
| CN209970224U (en) | Turbocharger clamping jaw | |
| CN211517513U (en) | Clamping mechanism of manipulator for production and processing | |
| CN210704906U (en) | Multifunctional end manipulator of industrial robot | |
| CN109514537B (en) | Automatic micromanipulation manipulator system for complex multi-configuration micro-parts | |
| CN210500309U (en) | Six-shaft double-head manipulator | |
| CN217572928U (en) | Sheet clamping mechanism | |
| CN217318051U (en) | Multi-angle material grabbing machine | |
| CN220348434U (en) | Clamp holder and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221213 Address after: 215000 # 2 Workshop, No. 5, Weixi Road, Suzhou Industrial Park, Suzhou, Jiangsu Province (the address is not allowed to engage in retail) Patentee after: Suzhou shenchuang Automation Technology Co.,Ltd. Address before: 233500 112, Jikang Middle Road, Lengjian community, Mengcheng County, Bozhou City, Anhui Province Patentee before: BOZHOU KEDAHUI AUTOMATION TECHNOLOGY CO.,LTD. |
|
| TR01 | Transfer of patent right |