CN110744573A - Industrial robot hand claw - Google Patents

Industrial robot hand claw Download PDF

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Publication number
CN110744573A
CN110744573A CN201911034038.XA CN201911034038A CN110744573A CN 110744573 A CN110744573 A CN 110744573A CN 201911034038 A CN201911034038 A CN 201911034038A CN 110744573 A CN110744573 A CN 110744573A
Authority
CN
China
Prior art keywords
linear guide
plate
pair
paw
guide rails
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.)
Granted
Application number
CN201911034038.XA
Other languages
Chinese (zh)
Other versions
CN110744573B (en
Inventor
许良
俞文强
赵树江
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Langfang fuming Intelligent Technology Co.,Ltd.
Original Assignee
Field (langfang) Mechanical Automation Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Field (langfang) Mechanical Automation Technology Co Ltd filed Critical Field (langfang) Mechanical Automation Technology Co Ltd
Priority to CN201911034038.XA priority Critical patent/CN110744573B/en
Publication of CN110744573A publication Critical patent/CN110744573A/en
Application granted granted Critical
Publication of CN110744573B publication Critical patent/CN110744573B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members

Abstract

The application provides an industrial robot paw, which comprises a paw bottom plate; one side of the paw bottom plate is provided with a connecting flange, and the other side of the paw bottom plate is provided with a pair of parallel transverse linear guide rails; a pair of longitudinal linear guide rails can be connected to the pair of transverse linear guide rails in a sliding manner; the pair of transverse linear guide rails and the pair of longitudinal linear guide rails form a # -shape; the paw bottom plate is also provided with a bidirectional screw rod; the pair of longitudinal linear guide rails are respectively and fixedly connected with the screw rod nut block of the bidirectional screw rod through the guide rail fixing plate; hinge fixing plates are arranged in the middle of two ends of the paw bottom plate far away from the side provided with the connecting flange; a pair of longitudinal sliding plates which are symmetrically arranged up and down are slidably arranged on the longitudinal linear guide rail; the longitudinal sliding plate is rotatably connected with a hinge connecting rod; the free end of the hinge connecting rod is hinged on the hinge fixing plate adjacent to the hinge connecting rod; and clamping fingers are fixedly arranged on the longitudinal sliding plate. The bearing centering device can meet the requirements for clamping bearings of various sizes, and can realize automatic centering of the bearings.

Description

Industrial robot hand claw
Technical Field
The application relates to the technical field of robot accessories, in particular to an industrial robot paw.
Background
In the bearing processing industry, large-specification bearing spare and accessory parts always depend on manual carrying in the processing production process, so that the labor intensity is high, certain risks exist in the carrying process, fatigue operation is easy to occur, personal injury is caused, artificial damage to parts is easy to cause, and unnecessary economic loss is generated. Three-jaw or four-jaw chucks used in cooperation with industrial robots are produced at the same time, however, the specifications of bearings produced in the bearing industry are more, the sizes of inner and outer rings of the bearings are greatly different, and the conventional chucks can only clamp the bearings with individual sizes. Therefore, a new paw is urgently needed to meet the requirement of bearing industry for clamping bearings of different sizes.
Disclosure of Invention
It is an object of the present application to address the above problems and to provide an industrial robot gripper.
The application provides an industrial robot paw, which comprises a paw bottom plate and a machine vision component arranged on the paw bottom plate; the machine vision component is configured to photograph a product to be clamped so as to acquire the size and the position of the product to be clamped; one side of the paw bottom plate is fixedly provided with a connecting flange, and the other side is provided with a pair of parallel transverse linear guide rails; a pair of longitudinal linear guide rails can be connected to the pair of transverse linear guide rails in a sliding manner; the pair of transverse linear guide rails and the pair of longitudinal linear guide rails form a # -shape; a bidirectional screw rod is further arranged on one side of the paw bottom plate, which is far away from the connecting flange; the bidirectional screw rod is arranged in parallel with the transverse linear guide rail; one end of the bidirectional screw rod is connected with a driving device; the pair of longitudinal linear guide rails are fixedly connected with the screw rod nut blocks at the two ends of the bidirectional screw rod through guide rail fixing plates respectively and slide towards the middle or the two ends of the bidirectional screw rod simultaneously under the driving of the bidirectional screw rod; hinge fixing plates are arranged in the middle of two ends of the paw bottom plate far away from the side provided with the connecting flange; a pair of longitudinal sliding plates which are symmetrically arranged up and down are slidably arranged on the longitudinal linear guide rail; the longitudinal sliding plate is rotatably connected with a hinge connecting rod; the free end of the hinge connecting rod is hinged on the hinge fixing plate adjacent to the hinge connecting rod; and clamping fingers are fixedly arranged on the longitudinal sliding plate. Through adopting above-mentioned technical scheme, industrial robot passes through flange and industrial robot hand claw and is connected to drive industrial robot hand claw and remove to treating centre gripping bearing department, treat through machine vision subassembly that centre gripping bearing shoots in order to acquire size and positional information who treats centre gripping bearing, and with information transfer to controller, four centre gripping fingers synchronous action of controller control industrial robot hand claw, thereby accomplish the centre gripping of treating centre gripping bearing.
According to the technical scheme that some embodiments of this application provided, centre gripping finger is the column setting, and its surface invagination forms a plurality of evenly arranged's recess. When the surface of the bearing to be clamped is irregular, the contact area between the clamping finger and the bearing to be clamped can be reduced by arranging the groove, so that the clamping is more stable.
According to the technical scheme provided by some embodiments of the application, one end of the bidirectional screw rod penetrates through the hinge fixing plate on the side close to the driving device and is connected with the driving device, and the other end of the bidirectional screw rod is rotatably connected with the hinge fixing plate on the side far away from the driving device.
According to the technical scheme provided by some embodiments of the application, the driving device comprises a servo motor and a speed reducer; an output shaft of the servo motor is in transmission connection with an input shaft of the speed reducer; an output shaft of the speed reducer is connected with one end of the bidirectional screw rod through a coupler. The controller controls the servo motor to rotate, and the speed is reduced through the speed reducer and transmitted through the coupler, so that the bidirectional screw rod is driven to rotate.
According to the technical scheme provided by some embodiments of the application, the machine vision assembly comprises a vision camera and a camera fixing seat; the vision camera is fixed on one side of the paw bottom plate, which is provided with the connecting flange, through the camera fixing seat; the vision camera is connected with the robot controller.
According to the technical scheme provided by some embodiments of the application, the end part for clamping the fingers is provided with an annular blocking part; the annular blocking part is provided with a rubber gasket at one side far away from the end part of the clamping finger. Through setting up annular stop part, can prevent treating that centre gripping bearing is outside slided along the centre gripping finger.
The beneficial effect of this application: the two-way screw rod is driven to rotate, so that the pair of longitudinal linear guide rails symmetrically slide towards the middle or two ends of the two-way screw rod along the pair of transverse linear guide rails, the pair of longitudinal sliding plates of the longitudinal linear guide rails symmetrically slide towards the middle or two ends of the longitudinal linear guide rails under the action of the hinge connecting rod, namely, four longitudinal sliding plates on the pair of longitudinal linear guide rails symmetrically and synchronously move, and the four clamping fingers symmetrically and synchronously move to clamp the bearings to be clamped. The device is also suitable for other annular products to be clamped, such as: gears, bushings, etc.
Drawings
Fig. 1 is a schematic structural diagram of an industrial robot gripper provided in an embodiment of the present application;
fig. 2 is a schematic top view of an industrial robot gripper provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a gripping finger of an industrial robot gripper provided in an embodiment of the present application;
fig. 4 is another schematic structural diagram of a gripping finger of an industrial robot gripper according to an embodiment of the present application.
The text labels in the figures are represented as:
1. a gripper base plate; 2. a connecting flange; 3. a transverse linear guide rail; 4. a longitudinal linear guide rail; 5. a guide rail fixing plate; 6. a horizontal slider; 7. a hinge fixing plate; 8. a bidirectional screw rod; 9. a longitudinal slide; 10. clamping fingers; 11. a hinge connecting rod; 12. a vision camera; 13. a camera fixing base; 14. a servo motor; 15. a speed reducer; 16. a coupling; 17. a groove; 18. an annular blocking portion.
Detailed Description
The following detailed description of the present application is given for the purpose of enabling those skilled in the art to better understand the technical solutions of the present application, and the description in this section is only exemplary and explanatory, and should not be taken as limiting the scope of the present application in any way.
Referring to fig. 1 and fig. 2, the present embodiment provides an industrial robot gripper, including a gripper base plate 1 arranged in a rectangular shape, a connecting flange 2 is fixedly installed on one side of the gripper base plate 1 for connecting with an industrial robot, a pair of parallel transverse linear guide rails 3 is installed on one side of the gripper base plate 1 away from the connecting flange 2, and the pair of transverse linear guide rails 3 are fixed at the upper and lower ends of the gripper base plate 1; the industrial robot paw further comprises a pair of longitudinal linear guide rails 4, the pair of transverse linear guide rails 3 and the pair of longitudinal linear guide rails 4 form a # -shape, the pair of longitudinal linear guide rails 4 are respectively fixed on a pair of guide rail fixing plates 5, one sides, far away from the longitudinal linear guide rails 4, of the guide rail fixing plates 5 are provided with a pair of horizontal sliding blocks 6 in an up-down symmetrical mode, and the longitudinal linear guide rails 4 are connected with the pair of longitudinal linear guide rails 4 in a sliding mode through the pair of horizontal sliding blocks 6; the middle parts of two ends of one side of the paw bottom plate 1, which is far away from the connecting flange 2, are respectively provided with a hinge fixing plate 7, a bidirectional screw 8 is arranged between the pair of transverse linear guide rails 3, the bidirectional screw 8 is parallel to the transverse linear guide rails 3, one end of the bidirectional screw is rotatably connected with the hinge fixing plate 7 adjacent to the bidirectional screw through a bearing, and the other end of the bidirectional screw passes through the hinge fixing plate 7 adjacent to the bidirectional screw and is connected with a driving device; two ends of the bidirectional screw 8 are respectively provided with screw nut blocks matched with the two ends of the bidirectional screw, the middle part of the guide rail fixing plate 5 is provided with a fixing groove for fixing the screw nut blocks, the screw nut blocks are fixed in the fixing grooves of the guide rail fixing plate 5 on the same side, and the pair of longitudinal linear guide rails 4 are driven by the bidirectional screw 8 to simultaneously slide towards the middle or two ends of the bidirectional screw 8, namely the pair of longitudinal linear guide rails 4 synchronously and symmetrically move; a pair of longitudinal sliding plates 9 which are symmetrically arranged up and down are slidably mounted on each longitudinal linear guide rail 4, a clamping finger 10 is arranged at the same position on each longitudinal sliding plate 9, a hinge connecting rod 11 is rotatably connected to each longitudinal sliding plate 9, the free end of each hinge connecting rod 11 is hinged to the hinge fixing plate 7 adjacent to the hinge connecting rod 11, when the longitudinal linear guide rails 4 slide left and right along the transverse linear guide rails 3, the pair of hinge connecting rods 11 fixed on the same hinge fixing plate 7 drive the pair of longitudinal sliding plates 9 to slide towards the middle or two ends of the longitudinal linear guide rails 4 at the same time, so that the two clamping fingers 10 on the same longitudinal linear guide rail 4 synchronously and symmetrically move; this industrial robot hand claw still includes the machine vision subassembly, and the machine vision subassembly is installed on hand claw bottom plate 1, and the configuration is used for treating the centre gripping bearing and shoots in order to acquire the size and the positional information of treating the centre gripping bearing to with information transfer to controller, thereby the centre gripping of treating the centre gripping bearing is accomplished to the synchronous symmetrical action of four centre gripping fingers 10 of controlling industrial robot hand claw through the controller.
Referring further to fig. 3, in a preferred embodiment, the fingers 10 are cylindrical, either cylindrical or prismatic, and have an outer surface recessed to form a plurality of uniformly arranged grooves 17. When the surface of the bearing to be clamped is irregular, the contact area between the clamping finger 10 and the bearing to be clamped can be reduced by arranging the groove 17, so that the clamping is more stable.
In a preferred embodiment, the driving device comprises a servo motor 14 and a speed reducer 15, an output shaft of the servo motor 14 is in transmission connection with an input shaft of the speed reducer 15, and an output shaft of the speed reducer 15 is connected with one end of the bidirectional screw rod 8 through a coupler 16. The controller controls the servo motor 14 to rotate, and the speed is reduced through the speed reducer 15 and is transmitted through the coupler 16, so that the bidirectional screw rod 8 is driven to rotate; when the clamping finger 10 contacts with the bearing, the servo motor 14 can automatically detect and output a torque value in real time, so that the clamping force is kept within a set range, the clamped bearing can be prevented from being deformed due to overlarge clamping force, and the bearing can be prevented from falling off from the clamping finger 10 in the carrying process due to the undersize clamping force.
In a preferred embodiment, the machine vision assembly comprises a vision camera 12 and a camera fixing base 13, the vision camera 12 is fixed on one side of the gripper base plate 1 provided with the connecting flange 2 through the camera fixing base 13, and the vision camera 12 is connected with the robot controller. The machine vision assembly may further include a light source, which facilitates the processing of the clearer picture of the bearing to be clamped taken by the vision camera 12 in the case of a darker environment in which the bearing to be clamped is located.
Referring further to fig. 4, in a preferred embodiment, the end of the clamping finger 10 is provided with an annular blocking portion 18, the annular blocking portion 18 is provided with a rubber gasket on a side away from the end of the clamping finger 10, and the annular blocking portion 18 is configured to prevent the clamped bearing from sliding outwards along the clamping finger 10.
Adopt this industrial robot hand claw to carry out the process of centre gripping to the bearing: firstly, an industrial robot paw is installed on an industrial robot through a connecting flange 2, the industrial robot is controlled by a controller to drive the industrial robot paw to move to the area where a bearing to be clamped is located, meanwhile, a vision camera 12 is used for taking a picture of the bearing to be clamped so as to obtain the size and position information of the bearing to be clamped, the information is transmitted to the controller, the controller controls a driving device to drive a bidirectional screw 8 to rotate, so that two screw nut blocks drive a longitudinal linear guide rail 4 on a guide rail fixing plate 5 to simultaneously slide to the middle or two ends of the bidirectional screw 8, a pair of longitudinal sliding plates 9 on the same longitudinal linear guide rail 4 simultaneously slide to the middle or two ends of the longitudinal linear guide rail 4 under the action of a hinge connecting rod 11, then four clamping fingers 10 synchronously and symmetrically move along with the fixed longitudinal sliding plates 9, after the clamping fingers 10 are contacted with the bearing, the clamping force is ensured to be within a set range by observing the torque value output by the servo motor 14 in real time, and the clamping of the product to be clamped is completed.
The application discloses an industrial robot paw which can not only meet the clamping requirements of bearings of various sizes, but also realize automatic centering of the bearings; the surface of the clamping finger 10 is provided with the groove 17, so that the contact area of the clamping finger 10 and a bearing to be clamped can be reduced, and the clamping can be more stable; by providing the annular stop 18, the clamped bearing is prevented from sliding outwardly along the clamping finger 10. The gripper can also clamp other circular products or cylindrical products, and when the products to be clamped are circular, such as a bearing, a gear and the like, the four clamping fingers 10 can clamp the products tightly from the outside of the products to be clamped and can also clamp the outer support of the products to be clamped from the inside of the products to be clamped; when treating that the centre gripping product is cylindric, can hold tightly the centre gripping to it from the outside of treating the centre gripping product.
The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. The foregoing is only a preferred embodiment of the present application, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention in other instances, which may or may not be practiced, are intended to be within the scope of the present application.

Claims (6)

1. An industrial robot paw is characterized by comprising a paw bottom plate (1) and a machine vision component arranged on the paw bottom plate (1); the machine vision assembly is configured to photograph a product to be clamped so as to acquire the size and the position of the product to be clamped; one side of the paw bottom plate (1) is fixedly provided with a connecting flange (2), and the other side is provided with a pair of parallel transverse linear guide rails (3); a pair of longitudinal linear guide rails (4) are connected to the pair of transverse linear guide rails (3) in a sliding manner; the pair of transverse linear guide rails (3) and the pair of longitudinal linear guide rails (4) form a groined shape; a bidirectional screw rod (8) is further arranged on one side, away from the connecting flange (2), of the paw bottom plate (1); the bidirectional screw rod (8) is arranged in parallel with the transverse linear guide rail (3); one end of the bidirectional screw rod (8) is connected with a driving device; the pair of longitudinal linear guide rails (4) are respectively fixedly connected with screw rod nut blocks at two ends of the bidirectional screw rod (8) through guide rail fixing plates (5), and are driven by the bidirectional screw rod (8) to simultaneously slide towards the middle or two ends of the bidirectional screw rod (8); hinge fixing plates (7) are arranged in the middle of two ends of one side, away from the connecting flange (2), of the paw bottom plate (1); a pair of longitudinal sliding plates (9) which are symmetrically arranged up and down are slidably arranged on the longitudinal linear guide rail (4); the longitudinal sliding plate (9) is rotatably connected with a hinge connecting rod (11); the free end of the hinge connecting rod (11) is hinged on the hinge fixing plate (7) adjacent to the hinge connecting rod; and a clamping finger (10) is fixedly arranged on the longitudinal sliding plate (9).
2. An industrial robot gripper according to claim 1, characterized in that the gripping fingers (10) are arranged cylindrically, the outer surfaces of which are recessed to form a plurality of evenly arranged grooves (17).
3. An industrial robot gripper according to claim 1, characterized in that one end of the bidirectional screw (8) is passed through the hinge fixing plate (7) on the side close to the drive and connected to the drive, and the other end is rotatably connected to the hinge fixing plate (7) on the side remote from the drive.
4. An industrial robot gripper according to claim 1, characterized in that the drive means comprise a servomotor (14) and a reducer (15); an output shaft of the servo motor (14) is in transmission connection with an input shaft of the speed reducer (15); an output shaft of the speed reducer (15) is connected with one end of the bidirectional screw rod (8) through a coupler (16).
5. An industrial robot gripper according to claim 1, characterized in that the machine vision components comprise a vision camera (12) and a camera mount (13); the vision camera (12) is fixed on one side of the paw bottom plate (1) provided with the connecting flange (2) through the camera fixing seat (13); the vision camera (12) is connected with the robot controller.
6. An industrial robot gripper according to claim 2, characterized in that the end of the gripping finger (10) is provided with an annular stop (18); and a rubber gasket is arranged on one side of the annular blocking part (18) far away from the end part of the clamping finger (10).
CN201911034038.XA 2019-10-29 2019-10-29 Industrial robot hand claw Active CN110744573B (en)

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CN110744573A true CN110744573A (en) 2020-02-04
CN110744573B CN110744573B (en) 2021-08-17

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112059125A (en) * 2020-08-17 2020-12-11 山东国创风能装备有限公司 Movable position platform of large wind power casting

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CN204308962U (en) * 2014-12-02 2015-05-06 中国核工业中原建设有限公司 A kind of core process robot grippers
CN204893968U (en) * 2015-08-04 2015-12-23 刘巍巍 Novel claw formula hand mechanism
CN205033195U (en) * 2015-09-25 2016-02-17 广州擎天实业有限公司 Robot clamp that commonality is strong
CN205363945U (en) * 2016-01-18 2016-07-06 西南科技大学 Reinforcement mechanical gripper
CN206551046U (en) * 2017-03-10 2017-10-13 东莞市德雅塑料制品有限公司 Manipulator fixture with microswitch
CN206998960U (en) * 2017-08-14 2018-02-13 叶岑捷诺 A kind of gripper of industrial robot
CN107775386A (en) * 2016-08-25 2018-03-09 天津宝涞精工集团股份有限公司 A kind of self-centering special clamping device of large-diameter circular ring parts
CN207387133U (en) * 2017-11-10 2018-05-22 唐勇 For the surrounding positioning attaching clamp of mechanical processing
CN208759599U (en) * 2018-06-25 2019-04-19 肇庆胜尚知识产权服务有限公司 A kind of fluid pressure type high holding power manipulator
CN208828861U (en) * 2018-08-27 2019-05-07 天津依姆森科技发展有限公司 A kind of clamping transfer device of paint can
CN209380742U (en) * 2019-01-10 2019-09-13 福州大学 A kind of simple motion mechanism of the changeable direction of motion
CN110315566A (en) * 2019-07-27 2019-10-11 南京蹑波物联网科技有限公司 It is a kind of for grabbing the industrial robot of work

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6039375A (en) * 1998-01-28 2000-03-21 Abb Flexible Automation, Inc. Gripper assembly with integrated heat shield
JP2010155320A (en) * 2008-12-29 2010-07-15 Honda Motor Co Ltd Holding device of circular workpiece
CN204308962U (en) * 2014-12-02 2015-05-06 中国核工业中原建设有限公司 A kind of core process robot grippers
CN204893968U (en) * 2015-08-04 2015-12-23 刘巍巍 Novel claw formula hand mechanism
CN205033195U (en) * 2015-09-25 2016-02-17 广州擎天实业有限公司 Robot clamp that commonality is strong
CN205363945U (en) * 2016-01-18 2016-07-06 西南科技大学 Reinforcement mechanical gripper
CN107775386A (en) * 2016-08-25 2018-03-09 天津宝涞精工集团股份有限公司 A kind of self-centering special clamping device of large-diameter circular ring parts
CN206551046U (en) * 2017-03-10 2017-10-13 东莞市德雅塑料制品有限公司 Manipulator fixture with microswitch
CN206998960U (en) * 2017-08-14 2018-02-13 叶岑捷诺 A kind of gripper of industrial robot
CN207387133U (en) * 2017-11-10 2018-05-22 唐勇 For the surrounding positioning attaching clamp of mechanical processing
CN208759599U (en) * 2018-06-25 2019-04-19 肇庆胜尚知识产权服务有限公司 A kind of fluid pressure type high holding power manipulator
CN208828861U (en) * 2018-08-27 2019-05-07 天津依姆森科技发展有限公司 A kind of clamping transfer device of paint can
CN209380742U (en) * 2019-01-10 2019-09-13 福州大学 A kind of simple motion mechanism of the changeable direction of motion
CN110315566A (en) * 2019-07-27 2019-10-11 南京蹑波物联网科技有限公司 It is a kind of for grabbing the industrial robot of work

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112059125A (en) * 2020-08-17 2020-12-11 山东国创风能装备有限公司 Movable position platform of large wind power casting

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