CN109048956B - A kind of industrial robot loading and unloading clamping device - Google Patents
A kind of industrial robot loading and unloading clamping device Download PDFInfo
- Publication number
- CN109048956B CN109048956B CN201811002437.3A CN201811002437A CN109048956B CN 109048956 B CN109048956 B CN 109048956B CN 201811002437 A CN201811002437 A CN 201811002437A CN 109048956 B CN109048956 B CN 109048956B
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- Prior art keywords
- clamping
- fixture
- servo motor
- bar
- fixed plate
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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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of industrial robot loading and unloading clamping devices, including the first fixed plate, second fixed plate and clamping mounting base, the right side center rotating of first fixed plate is plugged with driven voller, the first servo motor is connected with drive roll by line shaft, the rectangle steelframe sliding is through two rectangle adjustment holes for adjusting beam, second servo motor is by line shaft rotation through the top end face of clamping mounting base, and driving gear and the second clamping bar are connected to by transmission shaft fixing sleeve, driven gear and the first clamping bar are connected to by driving sleeve on the left of the inner cavity of the clamping mounting base, the driving gear and driven gear are intermeshed, the tip of first clamping bar and the second clamping bar is fixed with the first fixture and the second fixture respectively.The present invention can preset the chucking power that clamped part can bear, and be pressed from both sides to prevent clamped part by fixture bad, influence the process of production and processing, can be convenient for auxiliary operation of feeding and discharging.
Description
Technical field
The present invention relates to industrial robot loading and unloading clamping technique field, the upper and lower material clamping of specially a kind of industrial robot
Mechanism.
Background technique
With the fast development of industrial economy, many producers in order to improve the production efficiency, largely introduce industrial robot, generation
For a large amount of labour, the machining accuracy and speed of product are improved.During production and processing, loading and unloading are generally required, that
The quick frequent operation of industrial robot is just needed, loading and unloading, existing loading and unloading clamping device, often because of clamping are assisted
Dynamics is excessive, causes product often to be pressed from both sides bad, influences product quality, so design produces a kind of industrial robot or more here
Material clamping mechanism, in order to solve the above problems.
Summary of the invention
The purpose of the present invention is to provide a kind of industrial robot loading and unloading clamping devices, to solve in above-mentioned background technique
The fixture clamping force of proposition is excessive, causes product often to be pressed from both sides bad, influences product quality problem.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of industrial robot loading and unloading clamping machine
Structure, including the first fixed plate, the second fixed plate and clamping mounting base, the right side center rotating of first fixed plate are plugged with
Driven voller, the right side of first fixed plate front and back centered on driven voller are symmetrically embedded with the first row by mounting blocks respectively
Cheng Kaiguan and second stroke switch, the left end of the driven voller are radially provided with touching bar, and the left side of second fixed plate is logical
It crosses bracket and is fixedly installed with first servo motor, the first servo motor is connected with drive roll, the active by line shaft
Rectangle steelframe is fixedly welded between roller and driven voller, the front end face of the clamping mounting base is fixedly welded with adjusting beam, described
It is U-shaped to adjust beam, and left and right sides front-rear direction is provided with rectangle adjustment hole, the rectangle steelframe sliding is through the two of adjusting beam
A rectangle adjustment hole, the clamping mounting base are U-shaped hollow frame, and are fixed with the second servo motor, institute on the right side of top end face
Top end face of second servo motor by line shaft rotation through clamping mounting base is stated, and is connected to actively by transmission shaft fixing sleeve
The inner cavity left side of gear and the second clamping bar, the clamping mounting base is connected to driven gear and the first clamping bar by driving sleeve, and
First clamping bar is located at the lower section of driven gear, and the driving gear and driven gear are intermeshed, first clamping bar and second
The tip of clamping bar is fixed with the first fixture and the second fixture, the right side of first fixture and the left end of the second fixture respectively
The T-type buffer groove inner cavity of face symmetrical two T-type buffer grooves before and after being embedded with, first fixture and the second fixture is equal
Buffering clamping plate is plugged with by sliding bar, the middle section positions of two buffering clamping plates are embedded with pressure sensor, and two
The signal output port of the pressure sensor is connected with PLC controller.
Preferably, first fixed plate and the second fixed plate or so face, and it is provided with the symmetrical mounting hole in front and back.
Preferably, the longitudinal separation of the first stroke switch and second stroke switch apart from driven voller is equal to touching bar
Length, and touch the top that bar is located at the horizontal plane of first stroke switch and second stroke switch.
Preferably, the front end face center for adjusting beam is plugged with adjusting screw rod, the adjusting silk by threaded hole rotation
The rear end of bar extends to the front end face of rectangle steelframe, and is connect by turntable with the front end face center rotating of rectangle steelframe.
Preferably, two buffering clamping plates are arc-shaped, and bilateral symmetry is distributed, the slide bar of two buffering clamping plates
Buffer spring is equipped between T-type buffer groove inner cavity.
Preferably, the signal output port that first stroke switch and second stroke switch with the letter of PLC controller
The connection of number input port, the signal output port of the PLC controller are connected with A/D converter, the signal of the A/D converter
Output port is connected with LED display, and the first servo motor and the second servo motor are exported with the signal of PLC controller
Port connection.
Compared with prior art, the beneficial effects of the present invention are:
1. the present invention, by the pressure sensitive signal value of PLC controller preset pressure sensor, can preset clamped part
The chucking power that can bear, is pressed from both sides to prevent clamped part by fixture bad, influences the process of production and processing.
2. the present invention is switched by setting first stroke and second stroke switchs, PLC controller can control the first servo electricity
It the positive and negative rotation of machine and the second servo motor and stops operating, it can be convenient for auxiliary operation of feeding and discharging.
3. the present invention, during loading and unloading, by PLC controller be analyzed and processed each first stroke switch and
The starting of second stroke switch and closing number, the whole process of as one time loading and unloading, that is, a work piece, then lead to
It crosses A/D converter and carries out analog-to-digital conversion, specific value is shown by LED display, reckon by the piece convenient for auxiliary, in order to grasp original
The service condition of material.
Detailed description of the invention
Fig. 1 is the internal structure top view of the embodiment of the present invention；
Fig. 2 is clamping installation holder structure enlarged structure schematic diagram of the embodiment of the present invention；
Fig. 3 is the first fixture of embodiment of the present invention left view；
Fig. 4 is the second servo motor of the embodiment of the present invention, driving gear and the second clamp structure main view；
Fig. 5 is that the embodiment of the present invention adjusts girder construction enlarged diagram；
Fig. 6 is working principle diagram of the embodiment of the present invention.
In figure: 1, buffer spring；2, T-type buffer groove；3, slide bar；4, clamping plate is buffered；5, the first fixture；6, the first folder
Bar；7, driven gear；8, beam is adjusted；9, second stroke switchs；10, bar is touched；11, driven voller；12, the first fixed plate；13, pacify
Fill block；14, second stroke switchs；15, rectangle steelframe；16, screw rod is adjusted；17, drive roll；18, the second fixed plate；19, bracket；
20, first servo motor；21, the second servo motor；22, mounting base is clamped；23, the second clamping bar；24, pressure sensor；25,
Two fixtures；26, driving gear；27, rectangle adjustment hole；28, PLC controller；29, LED display；30, A/D converter.
Specific embodiment
It is excessive in order to solve fixture clamping force, the problem of causing product often to be pressed from both sides bad, influence product quality, the present invention
Embodiment provides a kind of industrial robot loading and unloading clamping device.Following will be combined with the drawings in the embodiments of the present invention, to this
Technical solution in inventive embodiments is clearly and completely described, it is clear that described embodiment is only the present invention one
Divide embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.
Embodiment 1
Fig. 1-6 is please referred to, a kind of industrial robot loading and unloading clamping device, including the first fixed plate are present embodiments provided
12, the second fixed plate 18 and clamping mounting base 22, the right side center rotating of the first fixed plate 12 are plugged with driven voller 11, and first
The right side of fixed plate 12 front and back centered on driven voller 11 is symmetrically embedded with first stroke switch 14 by mounting blocks 13 respectively
With second stroke switch 9, the left end of driven voller 11 is radially provided with touching bar 10, and the left side of the second fixed plate 18 passes through bracket 19
Be fixedly installed with first servo motor 20, first servo motor 20 is connected with drive roll 17 by line shaft, drive roll 17 with from
Rectangle steelframe 15 is fixedly welded between dynamic roller 11, the front end face of clamping mounting base 22, which is fixedly welded with, adjusts beam 8, adjusts beam 8
It is U-shaped, and left and right sides front-rear direction is provided with rectangle adjustment hole 27, the sliding of rectangle steelframe 15 is through two squares for adjusting beam 8
Shape adjustment hole 27, clamping mounting base 22 is U-shaped hollow frame, and the second servo motor 21 is fixed on the right side of top end face, second
Servo motor 21 runs through the top end face of clamping mounting base 22 by line shaft rotation, and is connected to driving tooth by transmission shaft fixing sleeve
Wheel 26 and the second clamping bar 23 clamp and are connected to driven gear 7 and the first clamping bar 6 by driving sleeve on the left of the inner cavity of mounting base 22,
And first clamping bar 6 be located at the lower section of driven gear 7, driving gear 26 and driven gear 7 are intermeshed, the first clamping bar 6 and second
The tip of clamping bar 23 is fixed with the first fixture 5 and the second fixture 25 respectively, the right side of the first fixture 5 and the second fixture 25
Left side is embedded with the symmetrical two T-type buffer grooves 2 in front and back, the T-type buffer groove 2 of the first fixture 5 and the second fixture 25
Inner cavity, which passes through 3 sliding plug of slide bar, buffering clamping plate 4, and the middle section position of two buffering clamping plates 4 is embedded with pressure sensor
24, the signal output port of two pressure sensors 24 is connected with PLC controller 28.
In the present embodiment, work piece is placed in position between the first fixture 5 and the second fixture 25, while starting first and watching
Motor 20 and the second servo motor 21 are taken, when the second servo motor 21 drives driving gear 26 to rotate counterclockwise, driving gear
26 rotate with the intermeshing of driven gear 7, and driven gear 7 rotates clockwise, can pick up clamped part, pass through model S7-
The pressure sensitive signal value of 200 28 preset pressure sensor 24 of PLC controller, that is, preset what clamped part can bear
Chucking power, when the pressure signal value of pressure sensor 24 reaches preset value, the second servo motor 21 will stop operating,
It is pressed from both sides to prevent clamped part by fixture bad, influences the process of production and processing, the automatically controlled first servo motor 20 of PLC controller 28 is inverse at this time
Hour hands rotation drives rectangle steelframe 15 to rotate by drive roll 17, when touching bar 10 touches first stroke switch 14, that
First servo motor 20 will stop operating, at this point, PLC controller 28 rotates clockwise automatically controlled second servo motor 21, it is main
Moving gear 26 rotates clockwise, then driven gear 7 rotates counterclockwise, then the first fixture 5 and the separation of the second fixture 25, under completion
Material, subsequent PLC controller 28 rotate clockwise automatically controlled first servo motor 20, once when touching bar 10 touches second stroke
When switch 9, then first servo motor 20 stops operating, then the second servo motor 21 repeats to clamp clamped part again, repeats
Above-mentioned steps complete multiple loading and unloading.
Embodiment 2
Fig. 1-6 is please referred to, is further improved on the basis of embodiment 1: the first fixed plate 12 and the second fixed plate
18 or so faces, and being provided with the symmetrical mounting hole in front and back can be by the first fixed plate 12 and the second fixed plate 18 by mounting hole
It is fixedly mounted on processing stations, the longitudinal separation of first stroke switch 14 and second stroke switch 9 apart from driven voller 11 is equal to
The length of bar 10 is touched, and touches the top that bar 10 is located at the horizontal plane of first stroke switch 14 and second stroke switch 9, in this way
Convenient for manipulation first stroke switch 14 and second stroke switch 9, the front end face center for adjusting beam 8 is plugged with by threaded hole rotation
Screw rod 16 is adjusted, the rear end for adjusting screw rod 16 extends to the front end face of rectangle steelframe 15, and passes through turntable and rectangle steelframe 15
The connection of front end face center rotating can drive rectangle steel by adjusting screw rod 16 according to the long-range of overturning loading and unloading distance
Frame 15 is mobile in 27 front-rear position of rectangle adjustment hole for adjusting beam 8, and two buffering clamping plates 4 are arc-shaped, and bilateral symmetry is distributed,
It is equipped with buffer spring 1 between 2 inner cavity of slide bar 3 and T-type buffer groove of two buffering clamping plates 4, buffer spring 1 plays buffering
Signal input port of the signal output port of left and right, first stroke switch 14 and second stroke switch 9 with PLC controller 28
Connection receives first stroke switch 14 and 9 operation signal of second stroke switch, first servo motor 20 convenient for PLC controller 28
It is connect with the signal output port of PLC controller 28 with the second servo motor 21, PLC controller 28 can be to first servo motor
20 and the second servo motor 21 manipulation.
Embodiment 3
Referring to Fig. 6, being further improved on the basis of embodiment 1: the signal output port of PLC controller 28 connects
It is connected to A/D converter 30, the signal output port of A/D converter 30 is connected with LED display 29, during loading and unloading,
The starting of each first stroke switch 14 and second stroke switch 9 is analyzed and processed by PLC controller 28 and closes number,
The whole process of as one time loading and unloading, that is, a work piece, then analog-to-digital conversion is carried out by A/D converter 30, lead to
It crosses LED display 29 and shows specific value, reckon by the piece convenient for auxiliary, in order to grasp the service condition of raw material.
In description of the invention, it should be noted that the orientation of the instructions such as term "vertical", "upper", "lower", "horizontal" or
Person's positional relationship is orientation based on the figure or positional relationship, is merely for convenience of description of the present invention and simplification of the description,
Rather than the device or element of instruction or hint meaning must have a particular orientation, and are constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.In addition, " first ", " second " are used for description purposes only, and should not be understood as
Instruction implies relative importance.
In description of the invention, it is also necessary to explanation, unless otherwise specific regulation and limitation, term " setting ", " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection, can be mechanical connection, is also possible to be electrically connected, can be and be directly connected to, and be also possible to be connected by intermediary, can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of industrial robot loading and unloading clamping device, including the first fixed plate (12), the second fixed plate (18) and clamping peace
It filling seat (22), it is characterised in that: the right side center rotating of first fixed plate (12) is plugged with driven voller (11), and described the
The right side of one fixed plate (12) front and back centered on driven voller (11) is symmetrically embedded with the first row by mounting blocks (13) respectively
Cheng Kaiguan (14) and second stroke switch (9), the left end of the driven voller (11) are radially provided with touching bar (10), and described second is solid
The left side of fixed board (18) is fixedly installed with first servo motor (20) by bracket (19), and the first servo motor (20) is logical
It crosses line shaft to be connected with drive roll (17), is fixedly welded with rectangle steelframe between the drive roll (17) and driven voller (11)
(15), the front end face of clamping mounting base (22), which is fixedly welded with, adjusts beam (8), and the adjusting beam (8) is U-shaped, and left and right
Two sides front-rear direction is provided with rectangle adjustment hole (27), and rectangle steelframe (15) sliding is through two rectangles for adjusting beam (8)
Adjustment hole (27), the clamping mounting base (22) are U-shaped hollow frame, and are fixed with the second servo motor on the right side of top end face
(21), second servo motor (21) runs through the top end face of clamping mounting base (22) by line shaft rotation, and passes through transmission
Axis fixing sleeve is connected to driving gear (26) and the second clamping bar (23), passes through transmission shaft on the left of the inner cavity of clamping mounting base (22)
It is socketed with driven gear (7) and the first clamping bar (6), and the first clamping bar (6) is located at the lower section of driven gear (7), the driving tooth
It takes turns (26) and driven gear (7) to be intermeshed, the tip of first clamping bar (6) and the second clamping bar (23) is fixed with the respectively
One fixture (5) and the second fixture (25), the right side of first fixture (5) and the left side of the second fixture (25) are embedded with
In the T-type buffer groove (2) of the symmetrical two T-type buffer grooves (2) in front and back, first fixture (5) and the second fixture (25)
Chamber, which passes through slide bar (3) sliding plug, to be had buffering clamping plate (4), and the middle section position of two bufferings clamping plate (4) is embedded with pressure
The signal output port of force snesor (24), two pressure sensors (24) is connected with PLC controller (28).
2. a kind of industrial robot loading and unloading clamping device according to claim 1, it is characterised in that: described first is fixed
Plate (12) and the second fixed plate (18) left and right face, and it is provided with the symmetrical mounting hole in front and back.
3. a kind of industrial robot loading and unloading clamping device according to claim 1, it is characterised in that: the first stroke
The length that the longitudinal separation of (14) and second stroke switch (9) apart from driven voller (11) is equal to touching bar (10) is switched, and is touched
Bar (10) is located at the top of the horizontal plane of first stroke switch (14) and second stroke switch (9).
4. a kind of industrial robot loading and unloading clamping device according to claim 1, it is characterised in that: the adjusting beam
(8) front end face center is plugged with by threaded hole rotation and adjusts screw rod (16), and the rear end for adjusting screw rod (16) extends to
The front end face of rectangle steelframe (15), and connect by turntable with the front end face center rotating of rectangle steelframe (15).
5. a kind of industrial robot loading and unloading clamping device according to claim 1, it is characterised in that: two bufferings
Clamping plate (4) is arc-shaped, and bilateral symmetry is distributed, in the slide bar (3) and T-type buffer groove (2) of two bufferings clamping plate (4)
Buffer spring (1) is equipped between chamber.
6. a kind of industrial robot loading and unloading clamping device according to claim 1, it is characterised in that: the first stroke
The signal output port of switch (14) and second stroke switch (9) is connect with the signal input port of PLC controller (28), institute
The signal output port for stating PLC controller (28) is connected with A/D converter (30), the signal output of the A/D converter (30)
Port is connected with LED display (29), and the first servo motor (20) and the second servo motor (21) are and PLC controller
(28) signal output port connection.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910525231.7A CN110281255B (en) | 2018-08-30 | 2018-08-30 | Feeding and discharging clamping mechanism of industrial robot |
| CN201811002437.3A CN109048956B (en) | 2018-08-30 | 2018-08-30 | A kind of industrial robot loading and unloading clamping device |
| PCT/CN2019/084737 WO2020042645A1 (en) | 2018-08-30 | 2019-04-28 | Feeding and discharging clamping mechanism of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811002437.3A CN109048956B (en) | 2018-08-30 | 2018-08-30 | A kind of industrial robot loading and unloading clamping device |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910525231.7A Division CN110281255B (en) | 2018-08-30 | 2018-08-30 | Feeding and discharging clamping mechanism of industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109048956A CN109048956A (en) | 2018-12-21 |
| CN109048956B true CN109048956B (en) | 2019-06-07 |
Family
ID=64757892
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811002437.3A Active CN109048956B (en) | 2018-08-30 | 2018-08-30 | A kind of industrial robot loading and unloading clamping device |
| CN201910525231.7A Active CN110281255B (en) | 2018-08-30 | 2018-08-30 | Feeding and discharging clamping mechanism of industrial robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910525231.7A Active CN110281255B (en) | 2018-08-30 | 2018-08-30 | Feeding and discharging clamping mechanism of industrial robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN109048956B (en) |
| WO (1) | WO2020042645A1 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048956B (en) * | 2018-08-30 | 2019-06-07 | 南京禹智智能科技有限公司 | A kind of industrial robot loading and unloading clamping device |
| CN110153922B (en) * | 2019-06-27 | 2020-09-22 | 河南理工大学 | Clamping equipment for machining |
| CN110451152A (en) * | 2019-09-09 | 2019-11-15 | 陕西中烟工业有限责任公司 | Piece overhead cigarette library holds machine and clamps promotion trigger device |
| CN111924513A (en) * | 2020-08-05 | 2020-11-13 | 佛山协航智能装备制造有限公司 | Automatic feeding and discharging production line of valve spring robot |
| CN112936327A (en) * | 2021-02-02 | 2021-06-11 | 锐思为精(武汉)科技有限公司 | Novel mechanical claw with changeable shape and use method thereof |
| CN113426717A (en) * | 2021-06-16 | 2021-09-24 | 赵炎 | Automatic electric engineering equipment of loading and unloading is with multiple dust removal cleaning device |
| CN113699896A (en) * | 2021-10-08 | 2021-11-26 | 中化学交通建设集团有限公司 | Intercommunication bridge construction multiple spot console mode steelframe protector |
| CN115625724A (en) * | 2022-09-24 | 2023-01-20 | 江西冶金职业技术学院 | Tubular part clamping device for industrial robot |
| CN117740222B (en) * | 2024-02-21 | 2024-04-26 | 贵州大学 | Wood-like beam prestress testing device |
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| FR2648072B1 (en) * | 1989-06-08 | 1994-08-05 | Commissariat Energie Atomique | GRIPPING SYSTEM WITH A CLAMP CONTROLLED BY A SERVO MOTOR |
| JP4997501B2 (en) * | 2006-09-05 | 2012-08-08 | 株式会社インターパック | Reverse transfer device |
| CN201026611Y (en) * | 2007-04-10 | 2008-02-27 | 亚龙科技集团有限公司 | Mechanical clamping device having four-degree of freedom |
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| CN206465097U (en) * | 2016-12-22 | 2017-09-05 | 天津市仁好工贸有限公司 | It is a kind of to grip the good manipulator of adaptability |
| CN108436961A (en) * | 2018-03-05 | 2018-08-24 | 天津朗硕机器人科技有限公司 | A kind of robot replaces the transition apparatus of end effector automatically |
| CN108406813A (en) * | 2018-03-05 | 2018-08-17 | 天津朗硕机器人科技有限公司 | A kind of Universal clamp for industrial robot clamping tubular workpiece |
| CN109048956B (en) * | 2018-08-30 | 2019-06-07 | 南京禹智智能科技有限公司 | A kind of industrial robot loading and unloading clamping device |
-
2018
- 2018-08-30 CN CN201811002437.3A patent/CN109048956B/en active Active
- 2018-08-30 CN CN201910525231.7A patent/CN110281255B/en active Active
-
2019
- 2019-04-28 WO PCT/CN2019/084737 patent/WO2020042645A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN110281255A (en) | 2019-09-27 |
| CN110281255B (en) | 2020-04-14 |
| WO2020042645A1 (en) | 2020-03-05 |
| CN109048956A (en) | 2018-12-21 |
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Effective date of registration: 20201123 Address after: No.1 CHUANGYOU Road, hardware machinery industrial park, nianzhuang Town, Pizhou City, Xuzhou City, Jiangsu Province Patentee after: Jiangsu Guangkun Aluminum Co.,Ltd. Address before: No. 300 Zhihui Road, Kirin Science and Technology Innovation Park, Nanjing, Jiangsu Province, 211100 Patentee before: NANJING YUZHI INTELLIGENT TECHNOLOGY Co.,Ltd. |