CN109015714A - A kind of crawl mechanical arm tail end clamping device - Google Patents
A kind of crawl mechanical arm tail end clamping device Download PDFInfo
- Publication number
- CN109015714A CN109015714A CN201811052222.2A CN201811052222A CN109015714A CN 109015714 A CN109015714 A CN 109015714A CN 201811052222 A CN201811052222 A CN 201811052222A CN 109015714 A CN109015714 A CN 109015714A
- Authority
- CN
- China
- Prior art keywords
- clamping
- gear
- clamping device
- fixedly connected
- case
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other 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
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of crawl mechanical arm tail end clamping devices, including rotating mechanism, first clamping device and the second clamping device, one end of rotating mechanism is fixedly connected with the first clamping device and the second clamping device, and rotating mechanism is by rotating electric machine, driving gear, driven gear, rotary shaft, rotary box and connecting plate composition, one end of rotation chamber interior wall is fixedly connected with rotating electric machine, the output end of rotating electric machine is fixedly connected with driving gear, the present invention is by being provided with rotating mechanism, it is convenient for replacing the first clamping device and the second clamping device by rotating electric machine, convenient for being clamped to workpiece of different shapes, flexible structure is adjustable, considerably increase the scope of application of clamping device, by being provided with the first clamping device, convenient for being clamped to blocky workpiece, by being provided with the second clamping device, convenient for column Shape workpiece is clamped, avoid because clamping device structure it is inflexible caused by the single problem of clamping mode.
Description
Technical field:
The present invention relates to mechanical arm technical field, in particular to a kind of crawl mechanical arm tail end clamping device.
Background technique:
Mechanical arm using very extensive, greatly speeds up industrial efficiency, in the industry, mechanical arm is big in industry
It is chiefly used in feeding and blanking, needs to be clamped workpiece during feeding and blanking, existing clamping device structure is dead
Plate you, be not easy to clamp workpiece of different shapes, structure is inflexible and non-adjustable, reduces the applicable model of clamping device
Enclose, columnar workpiece clamped while can not being clamped to blocky workpiece, exist because clamping device structure it is inflexible caused by
Clamping mode is single, and influences the problem of processing.
Summary of the invention:
The object of the invention is that a kind of crawl mechanical arm tail end clamping device is provided to solve the above-mentioned problems,
It solves the problems, such as of the existing technology.
To solve the above-mentioned problems, the present invention provides a kind of technical solutions:
A kind of crawl mechanical arm tail end clamping device, including rotating mechanism, the first clamping device and the second clamping device,
One end of the rotating mechanism is fixedly connected with the first clamping device and the second clamping device, and the rotating mechanism is by electric rotating
One end of machine, driving gear, driven gear, rotary shaft, rotary box and connecting plate composition, the rotation chamber interior wall is fixedly connected with
Rotating electric machine, the output end of the rotating electric machine are fixedly connected with driving gear, and the inner rotation of the rotary box is connected with rotation
Shaft, the outside of the rotary shaft, which is located at right above driving gear, is fixed with driven gear, the driving gear with it is driven
Gear engagement connection, one end of the rotary shaft is pierced by from one end of rotary box, and the rotary shaft is pierced by one end of rotary box
It is fixedly connected with connecting plate, first clamping device is passed by the first clamping case, the first clamping motor, grip block, groove, first
Moving axis, first gear, second driving shaft, second gear, drive sprocket, roll adjustment screw rod, drive sprocket, left hand thread, dextrorotation spiral shell
Line, the first sliding block, the second sliding block, limit slide bar and drive lead screw composition.
Preferably, the connecting plate is fixedly connected with the first clamping case, and first folder far from one end of rotary shaft
The inner rotation for holding case is connected with the first transmission shaft, and first gear is fixed in the middle part of first transmission shaft, and described
One being internally located at right above the first transmission shaft for case of clamping is rotatably connected to second driving shaft, the outside of the second driving shaft
It is fixed with second gear right above first gear, and the first gear engages connection with second gear, described
Drive sprocket, the top for being internally located at second driving shaft of the first clamping case are fixed in the middle part of the outside of two transmission shafts
It is rotatably connected to roll adjustment screw rod, the middle part on the outside of the roll adjustment screw rod is fixed with drive sprocket, position on the outside of the roll adjustment screw rod
It is equipped with left hand thread in the side of drive sprocket, the other side that drive sprocket is located on the outside of the roll adjustment screw rod is equipped with dextrorotation
Screw thread, being internally located above roll adjustment screw rod for case of the first clamping are fixedly connected with limit slide bar, the limit slide bar
Outside symmetrically slidably connects the first sliding block and the second sliding block, is equipped in the middle part of the middle part of first sliding block and the second sliding block
The threaded hole engaged with roll adjustment screw rod, the roll adjustment screw rod are passed through from the middle part of threaded hole.
Preferably, being fixedly connected to grip block, the folder at the top of the top of first sliding block and the second sliding block
It holds plate and is inserted with buffering slide bar far from one end of limit slide bar, the buffering slide bar is fixedly connected with close to the side of drive sprocket
There is buffering clamping plate, the outside of the limit slide bar, which is located between grip block and buffering clamping plate, is cased with buffer spring, second folder
Mechanism is held to be made of the second clamping case, clamping disk, clamping head, sliding slot, clamping slider, the second clamping motor and bevel gear, it is described
Connecting plate is fixedly connected with the second clamping case close to the side of the first clamping case, and the inside of the second clamping case is fixedly connected with
Second clamping motor, the second clamping case are fixedly connected with clamping disk, second clamping far from one end of the first clamping case
The output end of motor is through clamping disk and is fixedly connected with bevel gear, and the clamping disk is equidistantly set far from the side of the second clamping case
There are three sliding slot, the internal slide of the sliding slot is connected with clamping slider, and the inner rotation of the sliding slot is connected with drive lead screw,
The drive lead screw is passed through from the middle part of clamping slider, and the clamping slider is threadedly coupled with drive lead screw, the driving wire
Bar is fixedly connected to bevel gear close to one end of bevel gear, and the bevel gear engages connection with bevel gear.
Preferably, the diameter of the second gear is twice of first gear diameter.
Preferably, the middle part of the grip block is equipped with groove.
Preferably, the first clamping case is fixedly connected with the first clamping motor close to one end of connecting plate, described the
The output end of one clamping motor is fixedly connected with the first transmission shaft.
Preferably, the clamping slider is fixedly connected to the clamping of arcuate structure far from the side of the second clamping case
Head.
Preferably, the drive sprocket is sequentially connected by chain and drive sprocket.
Beneficial effects of the present invention: structure of the invention is compact, uses convenient for mechanical arm clamping, by being provided with whirler
Structure replaces the first clamping device and the second clamping device by rotating electric machine, convenient for workpiece of different shapes
It is clamped, flexible structure is adjustable, considerably increases the scope of application of clamping device, by being provided with the first clamping device, just
It clamps in blocky workpiece, by being provided with the second clamping device, convenient for being clamped to columnar workpiece, avoids because clamping
The inflexible problem for causing clamping mode single of apparatus structure.
Detailed description of the invention:
Detailed description will be given by the following detailed implementation and drawings by the present invention for ease of explanation,.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the sectional view that the present invention first clamps case；
Fig. 3 is enlarged drawing at A of the present invention；
Fig. 4 is the structural schematic diagram of clamping disk of the present invention；
Fig. 5 is bevel gear of the present invention and bevel gear connection figure:
Fig. 6 is the sectional view of clamping disk of the present invention.
In figure: 1- rotating mechanism, the first clamping device of 2-, the second clamping device of 3-, 4- rotating electric machine, 5- driving gear,
6- driven gear, 7- rotary shaft, 8- rotary box, 9- connecting plate, 10- first clamp case, 11- first clamps motor, 12- clamping
Plate, 13- groove, the first transmission shaft of 14-, 15- first gear, 16- second driving shaft, 17- second gear, 18- drive sprocket,
19- roll adjustment screw rod, 20- drive sprocket, 21- left hand thread, 22- right-handed thread, the first sliding block of 23-, the second sliding block of 24-, 25- limit
Position slide bar, 26- drive lead screw, 27- bevel gear, 28- buffering slide bar, 29- buffer spring, 30- buffering clamping plate, 31- second are clamped
Case, 32- clamping disk, 33- clamping head, 34- sliding slot, 35- clamping slider, 36- second clamp motor, 37- bevel gear.
Specific embodiment:
As shown in figures 1 to 6, present embodiment uses following technical scheme: a kind of crawl mechanical arm tail end clamping dress
It sets, including rotating mechanism 1, the first clamping device 2 and the second clamping device 3, one end of the rotating mechanism 1 is fixedly connected with
One clamping device 2 and the second clamping device 3, and the rotating mechanism 1 is by rotating electric machine 4, driving gear 5, driven gear 6, rotation
Shaft 7, rotary box 8 and connecting plate 9 form, and one end of 8 inner wall of rotary box is fixedly connected with rotating electric machine 4, the rotation
The output end of motor 4 is fixedly connected with driving gear 5, and the inner rotation of the rotary box 8 is connected with rotary shaft 7, the rotation
The surface that the outside of axis 7 is located at driving gear 5 is fixed with driven gear 6, and the driving gear 5 is engaged with driven gear 6
Connection, one end of the rotary shaft 7 is pierced by from one end of rotary box 8, and the rotary shaft 7 is pierced by one end of rotary box 8 and fixes
Be connected with connecting plate 9, first clamping device 2 by the first clamping case 10, first clamp motor 11, grip block 12, groove 13,
First transmission shaft 14, first gear 15, second driving shaft 16, second gear 17, drive sprocket 18, roll adjustment screw rod 19, transmission chain
Wheel 20, left hand thread 21, right-handed thread 22, the first sliding block 23, the second sliding block 24, limit slide bar 25 and drive lead screw 26 form.
Wherein, the connecting plate 9 is fixedly connected with the first clamping case 10, and first folder far from one end of rotary shaft 7
The inner rotation for holding case 10 is connected with the first transmission shaft 14, and the middle part of first transmission shaft 14 is fixed with first gear
15, the surface for being internally located at the first transmission shaft 14 of the first clamping case 10 is rotatably connected to second driving shaft 16, described
The surface that the outside of second driving shaft 16 is located at first gear 15 is fixed with second gear 17, and the first gear 15 with
The engagement of second gear 17 connects, and drive sprocket 18, first folder are fixed in the middle part of the outside of the second driving shaft 16
The top for being internally located at second driving shaft 16 for holding case 10 is rotatably connected to roll adjustment screw rod 19, in 19 outside of roll adjustment screw rod
Portion is fixed with drive sprocket 20, and the side that drive sprocket 20 is located on the outside of the roll adjustment screw rod 19 is equipped with left hand thread 21, institute
It states and is equipped with right-handed thread 22 positioned at the other side of drive sprocket 20 on the outside of the roll adjustment screw rod 19, described first clamps the interior of case 10
The top that portion is located at roll adjustment screw rod 19 is fixedly connected with limit slide bar 25, and the outside of the limit slide bar 25 symmetrically slidably connects
The middle part of first sliding block 23 and the second sliding block 24, the middle part of first sliding block 23 and the second sliding block 24 is equipped with and roll adjustment screw rod
The threaded hole of 19 engagements, the roll adjustment screw rod 19 are passed through from the middle part of threaded hole.
Wherein, the top of first sliding block 23 and the top of the second sliding block 24 are fixedly connected to grip block 12, described
Grip block 12 is inserted with buffering slide bar 28 far from one end of limit slide bar 25, and the buffering slide bar 28 is close to the one of drive sprocket 20
Side is fixedly connected to buffering clamping plate 30, and the outside of the limit slide bar 25, which is located between grip block 12 and buffering clamping plate 30, to be cased with
Buffer spring 29, second clamping device 3 is by the second clamping case 31, clamping disk 32, clamping head 33, sliding slot 34, clamping slider
35, the second clamping motor 36 and bevel gear 37 form, and the connecting plate 9 is fixedly connected with the close to the side of the first clamping case 10
Two clamping casees 31, the inside of the second clamping case 31 are fixedly connected with the second clamping motor 36, and the second clamping case 31 is remote
One end from the first clamping case 10 is fixedly connected with clamping disk 32, and the output end of the second clamping motor 36 runs through clamping disk 32
And it is fixedly connected with bevel gear 37, the clamping disk 32 is equidistantly set far from the side of the second clamping case 31 there are three sliding slot 34, institute
The internal slide for stating sliding slot 34 is connected with clamping slider 35, and the inner rotation of the sliding slot 34 is connected with drive lead screw 26, described
Drive lead screw 26 is passed through from the middle part of clamping slider 35, and the clamping slider 35 is threadedly coupled with drive lead screw 26, the biography
Dynamic screw rod 26 is fixedly connected to bevel gear 27 close to one end of bevel gear 37, and the bevel gear 27 engages with bevel gear 37
Connection.
Wherein, the diameter of the second gear 17 is twice of 15 diameter of first gear, convenient for reducing the first clamping motor
11 revolving speed.
Wherein, the middle part of the grip block 12 is equipped with groove 13, convenient for clamping rod-shaped workpiece.
Wherein, the first clamping case 10 is fixedly connected with the first clamping motor 11 close to one end of connecting plate 9, and described the
The output end of one clamping motor 11 is fixedly connected with the first transmission shaft 14, convenient for driving grip block 12 to work.
Wherein, the clamping slider 35 is fixedly connected to the clamping head of arcuate structure far from the side of the second clamping case 31
33, it is convenient for clamping circular work pieces.
Wherein, the drive sprocket 18 is sequentially connected by chain and drive sprocket 20, convenient for driving 19 turns of roll adjustment screw rod
It is dynamic.
Use state of the invention are as follows: in use, passing through control the first clamping motor 11 when needing to clamp blocky workpiece
Work, the first clamping motor 11 drive the rotation of the first transmission shaft 14, and the first transmission shaft 14 drives the second tooth by first gear 15
17 rotation of wheel, second gear 17 drives second driving shaft 16 to rotate, because the diameter of second gear 17 is 15 diameter of first gear
Twice, low with rotating ratio the first transmission shaft 14 of this second driving shaft 16, second driving shaft 16 drives drive sprocket 18, drive chain
Wheel 18 is rotated by chain-driving drive sprocket 20, and drive sprocket 20 drives roll adjustment screw rod 19 to rotate, because of 19 outside of roll adjustment screw rod
It is respectively equipped with left hand thread 21 and right-handed thread 22, under the reaction force of screw thread, the first sliding block 23 and the equal band of the second sliding block 24
Dynamic grip block 12 move to middle part, completes to clamp with this, when clamping, is buffered slide bar 28 and is slided in the middle part of grip block 12, buffering
It under spring 29 acts on, prevents workpiece clamp is bad, when needing clamping circular work pieces, clamping disk 32 is located above workpiece, opening
Second clamping motor 36, the second clamping motor 36 drive bevel gear 37 to rotate, and bevel gear 37 is by driving three 27 turns of bevel gear
Dynamic, bevel gear 27 drives drive lead screw 26 to rotate, because drive lead screw 26 is threadedly coupled with clamping slider 35, and clamping slider 35 and
Sliding slot 34 is slidably connected, and under screw thread reaction force, three clamping sliders 35 drive three clamping heads 33 simultaneously to clamping disk 32
The center point movement, complete to clamp with this, in the first clamping device 2 and when replace of the second clamping device 3, rotation can be passed through
Rotating motor 4 and driving gear 5 drive rotary shaft 7 to rotate, and the position of the first clamping device 2 and the second clamping device 3 is realized with this
Replacement.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, the technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention, the claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (8)
1. a kind of crawl mechanical arm tail end clamping device, including rotating mechanism (1), the first clamping device (2) and the second clamping
Mechanism (3), which is characterized in that one end of the rotating mechanism (1) is fixedly connected with the first clamping device (2) and the second clamping machine
Structure (3), and the rotating mechanism (1) is by rotating electric machine (4), driving gear (5), driven gear (6), rotary shaft (7), rotary box
(8) it is formed with connecting plate (9), one end of rotary box (8) inner wall is fixedly connected with rotating electric machine (4), the rotating electric machine
(4) output end is fixedly connected with driving gear (5), and the inner rotation of the rotary box (8) is connected with rotary shaft (7), described
The outside of rotary shaft (7), which is located at right above driving gear (5), is fixed with driven gear (6), the driving gear (5) with from
Moving gear (6) engagement connection, one end of the rotary shaft (7) is pierced by from one end of rotary box (8), and the rotary shaft (7) is worn
One end of rotary box (8) is fixedly connected with connecting plate (9) out, and first clamping device (2) is by the first clamping case (10), first
Clamp motor (11), grip block (12), groove (13), the first transmission shaft (14), first gear (15), second driving shaft (16),
Second gear (17), drive sprocket (18), roll adjustment screw rod (19), drive sprocket (20), left hand thread (21), right-handed thread
(22), the first sliding block (23), the second sliding block (24), limit slide bar (25) and drive lead screw (26) composition.
2. a kind of crawl mechanical arm tail end clamping device according to claim 1, it is characterised in that: the connecting plate
(9) one end far from rotary shaft (7) is fixedly connected with the first clamping case (10), and the inner rotation of first clamping case (10)
It is connected with the first transmission shaft (14), and is fixed with first gear (15) in the middle part of first transmission shaft (14), described first
Being internally located at right above the first transmission shaft (14) for case (10) of clamping is rotatably connected to second driving shaft (16), and described second passes
The outside of moving axis (16), which is located at right above first gear (15), is fixed with second gear (17), and the first gear (15)
Connection is engaged with second gear (17), is fixed with drive sprocket (18), institute in the middle part of the outside of the second driving shaft (16)
It states being internally located above second driving shaft (16) for the first clamping case (10) and is rotatably connected to roll adjustment screw rod (19), the roll adjustment
Middle part on the outside of screw rod (19) is fixed with drive sprocket (20), is located on the outside of the roll adjustment screw rod (19) drive sprocket (20)
Side is equipped with left hand thread (21), and the other side that drive sprocket (20) are located on the outside of the roll adjustment screw rod (19) is equipped with dextrorotation
Screw thread (22), being internally located above roll adjustment screw rod (19) for case (10) of the first clamping are fixedly connected with limit slide bar
(25), the outside of limit slide bar (25) symmetrically slidably connects the first sliding block (23) and the second sliding block (24), and described first
The threaded hole engaged with roll adjustment screw rod (19), the roll adjustment silk are equipped in the middle part of the middle part of sliding block (23) and the second sliding block (24)
Bar (19) is passed through from the middle part of threaded hole.
3. a kind of crawl mechanical arm tail end clamping device according to claim 2, it is characterised in that: first sliding block
(23) it is fixedly connected to grip block (12) at the top of top and the second sliding block (24), the grip block (12) slides far from limit
One end of bar (25) is inserted with buffering slide bar (28), side fixed company of buffering slide bar (28) close to drive sprocket (20)
Be connected to buffering clamping plate (30), it is described limit slide bar (25) outside be located at grip block (12) and buffer clamping plate (30) between be cased with it is slow
It rushes spring (29), second clamping device (3) is by the second clamping case (31), clamping disk (32), clamping head (33), sliding slot
(34), clamping slider (35), the second clamping motor (36) and bevel gear (37) composition, the connecting plate (9) is close to the first clamping
The side of case (10) is fixedly connected with the second clamping case (31), and the inside of second clamping case (31) is fixedly connected with the second folder
It holds motor (36), second clamping case (31) is fixedly connected with clamping disk (32), institute far from one end of the first clamping case (10)
The output end of the second clamping motor (36) is stated through clamping disk (32) and is fixedly connected with bevel gear (37), the clamping disk (32)
Side far from the second clamping case (31) is equidistantly set there are three sliding slot (34), and the internal slide of the sliding slot (34) is connected with clamping
The inner rotation of sliding block (35), the sliding slot (34) is connected with drive lead screw (26), and the drive lead screw (26) is from clamping slider
(35) middle part passes through, and the clamping slider (35) is threadedly coupled with drive lead screw (26), and the drive lead screw (26) is close
One end of bevel gear (37) is fixedly connected to bevel gear (27), and the bevel gear (27) with bevel gear (37) company of engagement
It connects.
4. a kind of crawl mechanical arm tail end clamping device according to claim 2, it is characterised in that: the second gear
(17) diameter is twice of first gear (15) diameter.
5. a kind of crawl mechanical arm tail end clamping device according to claim 3, it is characterised in that: the grip block
(12) middle part is equipped with groove (13).
6. a kind of crawl mechanical arm tail end clamping device according to claim 2, it is characterised in that: first clamping
Case (10) is fixedly connected with the first clamping motor (11) close to the one end of connecting plate (9), and described first clamps the defeated of motor (11)
Outlet is fixedly connected with the first transmission shaft (14).
7. a kind of crawl mechanical arm tail end clamping device according to claim 3, it is characterised in that: the clamping slider
(35) side far from the second clamping case (31) is fixedly connected to the clamping head (33) of arcuate structure.
8. a kind of crawl mechanical arm tail end clamping device according to claim 2, it is characterised in that: the drive sprocket
(18) it is sequentially connected by chain and drive sprocket (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811052222.2A CN109015714A (en) | 2018-09-10 | 2018-09-10 | A kind of crawl mechanical arm tail end clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811052222.2A CN109015714A (en) | 2018-09-10 | 2018-09-10 | A kind of crawl mechanical arm tail end clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109015714A true CN109015714A (en) | 2018-12-18 |
Family
ID=64621291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811052222.2A Pending CN109015714A (en) | 2018-09-10 | 2018-09-10 | A kind of crawl mechanical arm tail end clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109015714A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228077A (en) * | 2019-07-05 | 2019-09-13 | 天津中设机器人科技有限公司 | A kind of clamping header structure for industrial robot |
| CN113246169A (en) * | 2021-06-10 | 2021-08-13 | 王晓宾 | Automatic clamping mechanism for industrial robot |
| CN113635220A (en) * | 2021-09-03 | 2021-11-12 | 徐伟 | Mechanical clamping structure suitable for various workpieces and use method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160031088A1 (en) * | 2013-10-21 | 2016-02-04 | Kondo Seisakusho Co., Ltd. | Gantry type workpiece transfer apparatus |
| CN105774764A (en) * | 2016-05-10 | 2016-07-20 | 博格思众智能装备（昆山）有限公司 | Lateral grabbing assembling device for new energy battery |
| CN107253189A (en) * | 2017-07-25 | 2017-10-17 | 芜湖超源力工业设计有限公司 | A kind of transfer robot with sucked type handgrip |
| CN107309892A (en) * | 2017-08-21 | 2017-11-03 | 苏州工业职业技术学院 | A kind of parallel clamping device for robot end |
| CN206643950U (en) * | 2017-04-21 | 2017-11-17 | 广东顺威自动化装备有限公司 | A kind of grabbing device of through-flow fan blade finished product |
| CN207807732U (en) * | 2018-01-11 | 2018-09-04 | 吴秋丽 | A kind of mechanical arm carried for knitting wool |
-
2018
- 2018-09-10 CN CN201811052222.2A patent/CN109015714A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160031088A1 (en) * | 2013-10-21 | 2016-02-04 | Kondo Seisakusho Co., Ltd. | Gantry type workpiece transfer apparatus |
| CN105774764A (en) * | 2016-05-10 | 2016-07-20 | 博格思众智能装备（昆山）有限公司 | Lateral grabbing assembling device for new energy battery |
| CN206643950U (en) * | 2017-04-21 | 2017-11-17 | 广东顺威自动化装备有限公司 | A kind of grabbing device of through-flow fan blade finished product |
| CN107253189A (en) * | 2017-07-25 | 2017-10-17 | 芜湖超源力工业设计有限公司 | A kind of transfer robot with sucked type handgrip |
| CN107309892A (en) * | 2017-08-21 | 2017-11-03 | 苏州工业职业技术学院 | A kind of parallel clamping device for robot end |
| CN207807732U (en) * | 2018-01-11 | 2018-09-04 | 吴秋丽 | A kind of mechanical arm carried for knitting wool |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228077A (en) * | 2019-07-05 | 2019-09-13 | 天津中设机器人科技有限公司 | A kind of clamping header structure for industrial robot |
| CN113246169A (en) * | 2021-06-10 | 2021-08-13 | 王晓宾 | Automatic clamping mechanism for industrial robot |
| CN113635220A (en) * | 2021-09-03 | 2021-11-12 | 徐伟 | Mechanical clamping structure suitable for various workpieces and use method thereof |
| CN113635220B (en) * | 2021-09-03 | 2022-09-06 | 徐伟 | Mechanical clamping structure suitable for various workpieces and use method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109015714A (en) | A kind of crawl mechanical arm tail end clamping device | |
| CN105583832B (en) | The flat folder adaptive robot finger apparatus of closed loop flexible piece gear drive | |
| CN205346301U (en) | Rotary combined tongs | |
| CN107139206B (en) | Variable-posture garbage pickup end effector | |
| CN207771853U (en) | Industrial robot conveying robot | |
| CN109940288A (en) | Chuck | |
| CN204382271U (en) | Manipulator | |
| CN109178917A (en) | A kind of wheel rotation material transfering device | |
| CN202251768U (en) | Reduction mechanism with repeatedly moved output | |
| CN114227335B (en) | Clamping structure for machining driving motor | |
| CN108500780A (en) | It is a kind of miniature to be used for auto parts machinery grinding device | |
| CN109500832A (en) | The flat folder adaptive robot finger apparatus of altimetric compensation bar tooth parallel connection straight line | |
| CN112428005B (en) | Conveying mechanism for machining convenient to adjust feeding speed | |
| CN203548752U (en) | Belt tension adjusting mechanism of machine tool spindle box | |
| CN209272670U (en) | A kind of Gear Processing grinding device | |
| CN109807920A (en) | A kind of gripper structure based on steel wire driving | |
| CN209193030U (en) | A kind of speed adjustable type translation shifting apparatus | |
| CN217194838U (en) | Quick clamping device of annular workpiece | |
| CN110253326A (en) | A kind of section steel cutting machinery hand | |
| CN210968936U (en) | Clamping jaw mechanism of vision positioning robot | |
| CN106099776B (en) | A kind of gripper device of wire stripper | |
| CN105397840A (en) | Uniaxial joint type mechanical arm | |
| CN209411257U (en) | A kind of length-adjustable robotic gripping device | |
| CN207127886U (en) | Finger displacement and the dual drive crank block parallel institution palm-type manipulator of indexing | |
| CN115159086A (en) | Two-sided contact pin upset material feeding unit |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181218 |