CN109625927A - A kind of manipulator and industrial robot - Google Patents
A kind of manipulator and industrial robot Download PDFInfo
- Publication number
- CN109625927A CN109625927A CN201811480362.XA CN201811480362A CN109625927A CN 109625927 A CN109625927 A CN 109625927A CN 201811480362 A CN201811480362 A CN 201811480362A CN 109625927 A CN109625927 A CN 109625927A
- Authority
- CN
- China
- Prior art keywords
- clamping
- rigid
- flexible
- limb
- clamping part
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of manipulator and industrial robot, the manipulator includes frame main body and at least one clamp assemblies connecting with frame main body, clamp assemblies include driving mechanism, the first clamping limb and the second clamping limb, driving mechanism is connect with frame main body, driving mechanism is drivingly connected the first clamping limb and the second clamping limb, wherein, at least one the first rigid clamping part and at least one first flexible clamping portion are provided on the first clamping limb；At least one the second rigid clamping part and at least one second flexible clamping portion are provided on second clamping limb；At least one first rigid clamping part and at least one second rigid clamping part cooperation grip the first workpiece to be handled；Alternatively, at least one first flexible clamping portion and the cooperation of at least one second flexible clamping portion grip the second workpiece to be handled.It can effectively guarantee the surface quality of workpiece to be handled in this way.
Description
Technical field
The present invention relates to field of communication technology more particularly to a kind of manipulators and industrial robot.
Background technique
With the continuous development of robot technology, various industries all gradually use robot as ancillary equipment to substitute hand
Work industry, replaces handwork using robot, reduces the working strength of worker, improve production efficiency, and robot
Various severe production environments are not only adapted to, also have many advantages, such as that easy to control, production product has precision high.
Currently, the robot for carrying, in order to guarantee grip strength, the general of clamping part uses rigid structure.It is right
In workpiece to be handled, before work pieces process to be handled, surface quality is insufficient, using the clamping part of rigid structure, does not have to worry
It causes to damage in the surface for treating carrying workpiece；And the workpiece to be handled after processing, Surface Quality is more demanding, uses robot
When carrying, it is easy that finished surface is caused to damage.
As it can be seen that existing industrial robot when carrying the workpiece after processing, is easy to cause to damage to finished surface.
Summary of the invention
The embodiment of the present invention provides a kind of manipulator and industrial robot, with solve existing industrial robot carrying plus
When workpiece after work, it is easy the problem of damage is caused to finished surface.
The embodiment of the invention provides a kind of manipulators, connect at least including frame main body and with the frame main body
One clamp assemblies, the clamp assemblies include driving mechanism, the first clamping limb and the second clamping limb, the driving mechanism and institute
Frame main body connection is stated, the driving mechanism is drivingly connected first clamping limb and second clamping limb, in which:
At least one the first rigid clamping part and at least one first flexible clamping portion are provided on first clamping limb；
At least one the second rigid clamping part and at least one second flexible clamping portion are provided on second clamping limb；
At least one described first rigid clamping part and at least one described second rigid clamping part cooperation grip the
One workpiece to be handled；Alternatively, at least one described first flexible clamping portion and the cooperation of at least one described second flexible clamping portion
Grip the second workpiece to be handled.
The embodiment of the present invention also provides a kind of industrial robot, including the pedestal, mechanical arm and above-mentioned machine set gradually
Tool hand.
In this way, in the embodiment of the present invention, by the way that the clamping part of manipulator is designed to include rigid clamping part and flexible folder
The double-deck clamp structure in portion is held, different classes of workpiece to be handled can be directed in this way, it is carried out using different clamping parts
It grips, wherein be directed to the higher workpiece to be handled of surface quality, flexible clamping portion can be used, it is carried out to clamp admittedly
It is fixed, so as to effectively guarantee the surface quality of workpiece to be handled.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, needed in being described below to the embodiment of the present invention
Attached drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention,
For those of ordinary skill in the art, without any creative labor, it can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of manipulator provided in an embodiment of the present invention；
Fig. 2 is the partial structural diagram of the first clamping limb provided in an embodiment of the present invention；
Fig. 3 is the partial structural diagram of the second clamping limb provided in an embodiment of the present invention；
Fig. 4 is one of the structural schematic diagram of the first clamping limb provided in an embodiment of the present invention；
Fig. 5 is the second structural representation of the first clamping limb provided in an embodiment of the present invention；
Fig. 6 is the operation schematic diagram of manipulator provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of industrial robot provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
As shown in Figures 1 to 7, the embodiment of the present invention provides a kind of manipulator 100, including frame main body 10 and with it is described
At least one clamp assemblies 20 that frame main body 10 connects, the clamp assemblies 20 include driving mechanism 21, the first clamping limb 22
With the second clamping limb 23, the driving mechanism 21 is connect with the frame main body 10, and the driving mechanism 21 is drivingly connected described
First clamping limb 22 and second clamping limb 23；
At least one first rigid clamping part 221 and at least one first flexible folder are provided on first clamping limb 22
Hold portion 222；
At least one second rigid clamping part 231 and at least one second flexible folder are provided on second clamping limb 23
Hold portion 232；
Wherein, at least one described first rigid clamping part 221 and at least one described second rigid clamping part 231 can
Cooperation grips the first workpiece (not shown) to be handled；Alternatively, at least one described first flexible clamping portion 222 and it is described extremely
A few second flexible clamping portion 232, which can cooperate, grips the second workpiece (not shown) to be handled.
In the present embodiment, the first workpiece to be handled can be unprocessed workpiece to be handled, the second workpiece to be handled
It can be machined workpiece to be handled.By the way that the clamping part on the first clamping limb 22 and the second clamping limb 23 is designed to rigidity
The combination of clamping part and flexible clamping portion carries workpiece progress by treating in this way when workpiece to be handled is carried in clamping
Classification, for example workpiece to be handled can be divided into unprocessed workpiece to be handled and machined workpiece to be handled, and for not
Generic workpiece to be handled carries out clamping carrying to it using different clamping parts.
Specifically, since its surface quality is coarse, rigid clamping part pair can be used for unprocessed workpiece to be handled
It is gripped, and can not have to worry that rigid clamping part causes to damage to its surface；And for machined to be handled
Workpiece, since its surface is after processing, surface quality is improved, and carries out clamping admittedly to it if continuing to use rigid clamping part
It is fixed, it is easy that its surface is caused to damage, and in the present embodiment, flexible clamping portion, which can be used, grips it,
It is not destroyed with the surface for ensuring to process, so as to effectively guarantee the surface quality of workpiece to be handled.
Wherein, it is the self weight for reducing manipulator 100, the first clamping limb 22 and the second clamping limb 23 can be used into hollow knot
The clamping arm configuration of structure.Specifically, can be formed by integral solder after steel plate bending, as long as can satisfy manipulator 100
Stress intensity.By the way that the first clamping limb 22 and the second clamping limb 23 are used hollow structure, manipulator can be greatly reduced
100 self weight, and the transporting capacity and operational efficiency of elevating mechanism hand 100, can also reduce the list of manipulator 100 at work
Position energy consumption.
Wherein, at least one described first rigid clamping part 221 and at least one described equal position in the first flexible clamping portion 222
In the first side of first clamping limb 22；At least one described second rigid clamping part 231 and described at least one is second soft
Property clamping part 232 is respectively positioned on second side of second clamping limb 23, and the first side of first clamping limb 22 and described
Second side of two clamping limbs 23 is towards identical.Pass through the rigidity clamping that will be set on the first clamping limb 22 and the second clamping limb 23
Portion and flexible clamping portion it is ipsilateral and layering setting, can be convenient manipulator 100 treat carry workpiece clamped.
Optionally, the first rigid clamping part 221 and the first flexible clamping portion 222 can be coaxially disposed in the first clamping limb 22
On.Specifically, can be coaxial by the first rigid clamping part 221 and the first flexible clamping portion 222 by one first bolt assembly 223
It is fixedly installed on the first clamping limb 22.
Wherein, the first bolt assembly 223 includes the first bolt 2231 and the first nut 2232, the first rigid clamping part 221,
It is provided with the through-hole passed through for the first bolt 2231 in first flexible clamping portion 222 and the first clamping limb 22, and passes through first
The first rigid clamping part 221 and the first flexible clamping portion 222 are consolidated in threaded connection between bolt 2231 and the first nut 2232
It is fixed to be arranged on the first clamping limb 22；Moreover, to avoid the first rigid clamping part 221 from causing to squeeze to the first flexible clamping portion 222
The first disc spring 224 can also be arranged between the first rigid clamping part 221 and the first flexible clamping portion 222 in pressure.Wherein, first
When flexible clamping portion 222 is located between the first rigid clamping part 221 and the first clamping limb 22, the first disc spring 224 be may be located on
Between first flexible clamping portion 222 and the first clamping limb 22, the first disc spring 224 may be located on the first 221 He of rigid clamping part
Between first flexible clamping portion 222.
In the present embodiment, the first bolt 2231 can not only play the role of fixed function, can function as axis.Its
In, the first rigid clamping part 221 can be fixedly connected with the first bolt 2231, guarantee the first rigid clamping part 221 not and around the
The rotation of one bolt 2231, the first flexible clamping portion 222 can pass through the first disc spring 224 and complete axial compression, it is ensured that will not be along
First bolt 2231 generates vibration.Simultaneously as the first rigid clamping part 221 is close in the first flexible clamping portion 222, by frictional force
Effect, will not generally be circumferentially rotated around the first bolt 2231；And works as peripheral force suffered by the first flexible clamping portion 222 and be greater than
When frictional force, the first flexible clamping portion 222 can rotate again around the first bolt 2231.
Similarly, optionally, the second rigid clamping part 231 and the second flexible clamping portion 232 can be coaxially disposed in the second folder
In gripping arm 23.Specifically, can be by one second bolt assembly 233 by the second rigid clamping part 231 and the second flexible clamping portion
232 are coaxially fixedly installed on the second clamping limb 23.
Wherein, the second bolt assembly 233 includes the second bolt 2331 and the second nut 2332, the second rigid clamping part 231,
It is provided with the through-hole passed through for the second bolt 2331 in second flexible clamping portion 232 and the second clamping limb 23, and passes through second
The second rigid clamping part 231 and the second flexible clamping portion 232 are consolidated in threaded connection between bolt 2331 and the second nut 2332
It is fixed to be arranged on the second clamping limb 23；Moreover, to avoid the second rigid clamping part 231 from causing to squeeze to the second flexible clamping portion 222
The second disc spring 234 can also be arranged between the second rigid clamping part 231 and the second flexible clamping portion 232 in pressure.Wherein, second
When flexible clamping portion 232 is located between the second rigid clamping part 231 and the second clamping limb 23, the second disc spring 234 be may be located on
Second disc spring 234 may be located on the second rigid clamping part 231 and the between second flexible clamping portion 232 and the second clamping limb 23
Between two flexible clamping portions 232.
In the present embodiment, the second bolt 2331 can not only play the role of fixed function, can function as axis.Its
In, the second rigid clamping part 231 can be fixedly connected with the second bolt 2331, guarantee the second rigid clamping part 231 not and around the
The rotation of two bolts 2331, the second flexible clamping portion 232 can pass through the second disc spring 234 and complete axial compression, it is ensured that will not be along
Second bolt 2331 generates vibration.Simultaneously as the second rigid clamping part 231 is close in the second flexible clamping portion 232, by frictional force
Effect, will not generally be circumferentially rotated around the second bolt 2331；And works as peripheral force suffered by the second flexible clamping portion 232 and be greater than
When frictional force, the second flexible clamping portion 232 can rotate again around the second bolt 2331.
Wherein, the first rigid clamping part 221 and the first flexible clamping portion 222 can also be by the connection such as riveting or being clamped
Mode is fixed on the first clamping limb 22；Similarly, the second rigid clamping part 231 and the second flexible clamping portion 232 can also pass through
The connection types such as riveting or clamping are fixed on the second clamping limb 23.
Optionally, the first rigid clamping part 221, first the 222, second rigid clamping part 231 and second of flexible clamping portion are soft
Property clamping part 232 can select pulley structure, and the circumferential surface of the pulley structure is recessed to form clamping face.Wherein, first
Rigid clamping part 221 and the second rigid clamping part 231 can select pulley structure made of steel, to guarantee the rigidity of clamping part
Demand；And the first flexible clamping portion 222 and the second flexible clamping portion 232 can select pulley structure made of nylon material, with
Guarantee the flexible demand in flexible clamping portion.
Wherein, the driving mechanism 21 in present embodiment is preferably to have the driving mechanism of alignment function, for example centering is driven
It takes offence cylinder or centering hydraulic cylinder etc., has the driving mechanism of alignment function by selecting, can guarantee to carry out every time wait remove
When transporting the crawl of workpiece, the first clamping limb 22 and the second clamping limb 23 can be clamped with synchronous centering, so that clamped is to be handled
Workpiece is always positioned at the middle position of clamp assemblies 20, accurately gives lathe loading and unloading convenient for manipulator 100.Be not in because
100 clamp error of manipulator is excessive and causes to collide the case where can not be successfully loading with fixture, so that it is guaranteed that clamp is in place,
It is not in that workpiece to be handled loosens the safety accident to fly out.And since clamping position is accurate, can also avoid because to be handled
Workpiece dress causes to forge a knife partially；Equally, Tool in Cutting position in process is accurate, and such design also can guarantee the life
The standard degree and product quality of the part of producing line output.
Wherein, the fast removable disk connector 30 connecting with mechanical arm 200 is additionally provided in frame main body 10, so as to manipulator
100 can be rapidly completed with mechanical arm 200 and dock.
Wherein, clamp assemblies 20 in frame main body 10 are set to and are generally two, and two clamp assemblies 20 relative to
Workpiece to be handled can be rapidly completed so that manipulator 100 is when carrying workpiece to be handled in 10 center symmetric setting of frame main body
Position interaction function.
As shown in fig. 7, the embodiment of the present invention also provides a kind of industrial robot, including pedestal 300, the machinery set gradually
Arm 200 and above-mentioned manipulator 100.
Wherein, manipulator 100 can be complete by the fast removable disk connector 30 and mechanical arm 200 that are set in frame main body 10
At rapid abutting joint.
It should be noted that the implementation of above-mentioned manipulator embodiment is equally applicable to the embodiment of the industrial robot
In, and identical technical effect can be reached, details are not described herein.
As shown in Fig. 1, Fig. 6 and Fig. 7, below by taking industrial robot 100 carries wheel hub 400 as an example, it is described in detail:
Step 1: control industrial robot goes to the blank feed bin of wheel hub 400, by the clamp assemblies at the end A of manipulator 100
400 edge of wheel hub in green state is stretched to, after reaching designated position, control driving mechanism 21 drives two clamping limbs to synchronize pair
Middle clamping, the wheel hub 400 in green state will be in theoretical center position after being clamped；Wherein, due to being in green state
The wheel rim of wheel hub 400 have burr more, therefore rigid clamping part can be used, it is clamped, and do not have to worry rigidity
Clamping part causes to damage to the surface of the wheel hub 400 in green state；
Step 2: control industrial robot motion, carries the wheel hub 400 in green state and leaves feed bin；
Step 3: control industrial robot carries the machining tool that the wheel hub 400 in green state goes to first step,
By the rotation of control 200 joint of mechanical arm, the clamp assemblies at the end B of manipulator 100 are adjusted to the top of machining tool, and locate
The clamping limb at the end B is stretched to the chucking position inside lathe after the machine tool door of lathe to be processed is opened in releasing orientation；
Step 4: the clamping limb at the end B is reached the edge of the machined wheel hub 400 of fixture by industrial robot, reach specified
Behind position, control driving mechanism 21 drives two clamping limb synchronous centerings to clamp, and machined wheel hub 400 will be in reason after being clamped
By center；Wherein, the surface of machined wheel hub 400 has already passed through cutting, and surface quality is higher, therefore can be used soft
Property clamping part clamps it, in order to avoid its finished surface is caused to damage；
Step 5: the clamp assemblies for being clamped with machined wheel hub 400 are removed lathe by industrial robot, and rotation can be passed through
Turn end joint, completes the location swap of two clamp assemblies；
Step 6: the wheel hub 400 in green state that the end A of manipulator 100 clamps is reached lathe by industrial robot
Above internal fixture, and it is loaded into machine tool fixture；
Step 7: the end A of manipulator 100 is removed lathe by industrial robot after machine tool fixture clamps in place, machine tool door is closed
It closes, so that lathe is processed the wheel hub 400 in green state；
Step 8: the machined wheel hub 400 taken out from lathe is carried to subsequent processing by industrial robot.
By the above process, industrial robot may be implemented the automation of workpiece loading and unloading to be handled, and by by machine
The clamping part of tool hand be designed to include rigid clamping part and flexible clamping portion the double-deck clamp structure, inhomogeneity can be directed in this way
Other workpiece to be handled, grips it using different clamping parts, wherein higher to be handled for surface quality
Workpiece can be used flexible clamping portion and grip to it, so as to effectively guarantee the surface matter of workpiece to be handled
Amount.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of manipulator, which is characterized in that including frame main body and at least one clamping being connect with the frame main body
Component, the clamp assemblies include driving mechanism, the first clamping limb and the second clamping limb, the driving mechanism and the rack master
Body connection, the driving mechanism are drivingly connected first clamping limb and second clamping limb, wherein
At least one the first rigid clamping part and at least one first flexible clamping portion are provided on first clamping limb；
At least one the second rigid clamping part and at least one second flexible clamping portion are provided on second clamping limb；
At least one described first rigid clamping part and at least one described second rigid clamping part cooperation grip first to
Carry workpiece；Alternatively, at least one described first flexible clamping portion and the cooperation clamping of at least one described second flexible clamping portion
Fix the second workpiece to be handled.
2. manipulator according to claim 1, which is characterized in that at least one described first rigid clamping part and it is described extremely
A few first flexible clamping portion is respectively positioned on the first side of first clamping limb；
At least one described second rigid clamping part and at least one described second flexible clamping portion are respectively positioned on second clamping
Second side of arm；
Second side of first side of first clamping limb and second clamping limb is towards identical.
3. manipulator according to claim 1, which is characterized in that the described first rigid clamping part and the first flexible folder
The portion of holding is co-axially located on the first clamping limb, and the described second rigid clamping part and second flexible clamping portion are co-axially located at institute
It states on the second clamping limb.
4. manipulator according to any one of claim 1 to 3, which is characterized in that the first rigid clamping part, described
First flexible clamping portion, the second rigid clamping part and second flexible clamping portion are all made of pulley structure.
5. manipulator according to claim 1, which is characterized in that first clamping limb and second clamping limb are
The clamping limb of hollow structure.
6. manipulator according to claim 1, which is characterized in that the described first rigid clamping part and the first flexible folder
It holds portion and is fixedly connected by the first bolt assembly with first clamping limb；
Described second rigid clamping part and second flexible clamping portion are solid by the second bolt assembly and second clamping limb
Fixed connection.
7. manipulator according to claim 6, which is characterized in that first bolt assembly further includes the first disc spring, institute
The first disc spring is stated to be located between the described first rigid clamping part and first flexible clamping portion；
Second bolt assembly further includes the second disc spring, and second disc spring is located at the described second rigid clamping part and described the
Between two flexible clamping portions.
8. manipulator according to claim 1, which is characterized in that the driving mechanism is that centering drives cylinder.
9. manipulator according to claim 1, which is characterized in that be provided in the frame main body and industrial robot
The fast removable disk connector of mechanical arm connection.
10. a kind of industrial robot, which is characterized in that including the pedestal, mechanical arm and such as claim 1 to 9 set gradually
Any one of described in manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811480362.XA CN109625927A (en) | 2018-12-05 | 2018-12-05 | A kind of manipulator and industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811480362.XA CN109625927A (en) | 2018-12-05 | 2018-12-05 | A kind of manipulator and industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109625927A true CN109625927A (en) | 2019-04-16 |
Family
ID=66071385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811480362.XA Pending CN109625927A (en) | 2018-12-05 | 2018-12-05 | A kind of manipulator and industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109625927A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284323A (en) * | 2022-07-06 | 2022-11-04 | 浙江巨创机器人有限公司 | Connecting rod type hub double-hand gripping mechanism |
| CN117260794A (en) * | 2023-11-21 | 2023-12-22 | 北京软体机器人科技股份有限公司 | Flexible clamping jaw and clamping mechanism |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102825609A (en) * | 2012-09-04 | 2012-12-19 | 上海松盛机器人系统有限公司 | Hub fixture |
| CN202878322U (en) * | 2012-10-30 | 2013-04-17 | 江苏天宏机械工业有限公司 | Rotary machine clamping jaw mechanism |
| CN204868873U (en) * | 2015-08-17 | 2015-12-16 | 济南新立新机器制造有限公司 | Make flighty and impatient tongs that moves by oneself |
| KR20150143197A (en) * | 2014-06-13 | 2015-12-23 | 현대자동차주식회사 | Wheels loading system for vehicle and wheels loading apparatus provided thereto |
| CN205572452U (en) * | 2016-03-23 | 2016-09-14 | 武汉和越装备技术有限公司 | Two head pulley hub anchor clamps of robot |
| CN205766225U (en) * | 2016-05-20 | 2016-12-07 | 黄石艾博科技发展有限公司 | A kind of loading and unloading clamping device and robot |
| CN107214728A (en) * | 2017-07-20 | 2017-09-29 | 江苏天宏自动化科技有限公司 | A kind of double-claw type aluminum alloy forged hub conveying robot |
| CN207058180U (en) * | 2015-11-14 | 2018-03-02 | 苏州阿福机器人有限公司 | Wheel hub clamp |
-
2018
- 2018-12-05 CN CN201811480362.XA patent/CN109625927A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102825609A (en) * | 2012-09-04 | 2012-12-19 | 上海松盛机器人系统有限公司 | Hub fixture |
| CN202878322U (en) * | 2012-10-30 | 2013-04-17 | 江苏天宏机械工业有限公司 | Rotary machine clamping jaw mechanism |
| KR20150143197A (en) * | 2014-06-13 | 2015-12-23 | 현대자동차주식회사 | Wheels loading system for vehicle and wheels loading apparatus provided thereto |
| CN204868873U (en) * | 2015-08-17 | 2015-12-16 | 济南新立新机器制造有限公司 | Make flighty and impatient tongs that moves by oneself |
| CN207058180U (en) * | 2015-11-14 | 2018-03-02 | 苏州阿福机器人有限公司 | Wheel hub clamp |
| CN205572452U (en) * | 2016-03-23 | 2016-09-14 | 武汉和越装备技术有限公司 | Two head pulley hub anchor clamps of robot |
| CN205766225U (en) * | 2016-05-20 | 2016-12-07 | 黄石艾博科技发展有限公司 | A kind of loading and unloading clamping device and robot |
| CN107214728A (en) * | 2017-07-20 | 2017-09-29 | 江苏天宏自动化科技有限公司 | A kind of double-claw type aluminum alloy forged hub conveying robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284323A (en) * | 2022-07-06 | 2022-11-04 | 浙江巨创机器人有限公司 | Connecting rod type hub double-hand gripping mechanism |
| CN117260794A (en) * | 2023-11-21 | 2023-12-22 | 北京软体机器人科技股份有限公司 | Flexible clamping jaw and clamping mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106975956B (en) | A method of revolution jig and clamping workpiece | |
| CN105537367B (en) | Magic chuck is cut with the water of automatically replaceable gripping finger by a kind of robot | |
| CN109625927A (en) | A kind of manipulator and industrial robot | |
| CN104354029B (en) | Five-axis linkage blade processing machine tool with automatic workpiece clamping function and clamping method of five-axis linkage blade processing machine tool | |
| CN210588774U (en) | 4.5 frock clamp for axle | |
| CN108015794A (en) | A kind of worm gear is carried and loading and unloading robot hand and its application | |
| CN211661253U (en) | Spiral lifting automatic centering hydraulic pressing chuck for gear machining | |
| CN213105786U (en) | Truss manipulator | |
| CN114147601A (en) | Turbine machining manipulator assembly and machining unit thereof | |
| CN207997315U (en) | A kind of worm gear is carried and loading and unloading robot hand | |
| CN211639265U (en) | Charging and discharging device of cylindrical grinding machine | |
| CN109702571B (en) | Automatic clamping device of external grinding machine | |
| CN203045380U (en) | Machine tool fixture | |
| CN210451012U (en) | Novel lathe | |
| CN101890517A (en) | Power device for automatic chuck of lathe | |
| CN212763509U (en) | Automatic centering clamp | |
| CN210818489U (en) | CNC adds clamping apparatus | |
| CN210451892U (en) | Tree felling machine axle housing adds clamping apparatus | |
| JPH08118126A (en) | C surface working tool and c surface working method | |
| CN102049542B (en) | Pneumatic clamp for processing of claw pole outer surface | |
| CN201950233U (en) | Pneumatic clamp for processing external leveler of claw pole | |
| CN205904467U (en) | Special fixture device is used to eccentric and special -shaped product | |
| CN206393452U (en) | Gear Processing captures fixture | |
| CN211940983U (en) | Mechanical arm for carrying bar stock | |
| CN220372762U (en) | Lathe feeding mechanical arm |
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: 20190416 |