CN110774308A - Clamping jaw and manipulator using same - Google Patents
Clamping jaw and manipulator using same Download PDFInfo
- Publication number
- CN110774308A CN110774308A CN201911082730.XA CN201911082730A CN110774308A CN 110774308 A CN110774308 A CN 110774308A CN 201911082730 A CN201911082730 A CN 201911082730A CN 110774308 A CN110774308 A CN 110774308A
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- clamping
- fixing frame
- clamping jaw
- cylinder
- jaw
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- 239000000463 material Substances 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 238000012797 qualification Methods 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 239000007779 soft material Substances 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a clamping jaw and a manipulator using the clamping jaw. The clamping jaw air cylinder comprises a clamping part and an air cylinder, wherein the clamping part is used for clamping and releasing materials, the air cylinder is used for driving the clamping part to complete the operation, one end of the air cylinder is connected with the clamping part, and the other end of the air cylinder is fixed on a fixing frame; the fixing frame is connected with an automatic positioning and aligning mechanism, and the automatic positioning and aligning mechanism comprises an automatic positioning component and a guide component, wherein the automatic positioning component is located on the circumferential direction of the fixing frame, and the guide component guides the fixing frame to realize linear motion. The invention has good adjustable adaptability, the deviation amount is easy to be micro-adjusted when the central position of the clamping jaw cylinder when the clamping jaw cylinder grabs the material deviates, the central position of the clamping jaw cylinder when the clamping jaw cylinder releases the material can be micro-adjusted, the automatic correction of the position of the product in the assembling process is realized, the position difference of the material grabbed by the clamping jaw when the material is unloaded is avoided, the assembling precision is high, the qualification rate is high, and the phenomenon of product scrapping caused by the deviation of the assembling position is avoided.
Description
Technical Field
The invention relates to the technical field of clamps, in particular to a clamping jaw and a manipulator using the clamping jaw.
Background
The manipulator has the characteristics of flexible and controllable action, accurate and reliable positioning, high load driving force, strong environmental adaptability and the like. At present, the mechanical arm is widely applied to automatic production industries such as mechanical manufacturing, electronics, light industry, metallurgy, atomic energy and the like. The use of the mechanical arm greatly reduces the labor intensity and the labor condition of workers, improves the production efficiency and stabilizes the product quality. The manipulator is particularly applied to automatic equipment on an automatic assembly line in the automatic production industry, the main function of the manipulator is to grab, carry and unload materials, and in the process, the clamping jaw of the manipulator plays a vital role.
Currently, the gripper jaw structure of a robot is various, for example: chinese patent CN203863683U discloses a clamping jaw module with a suction cup in 2014, month 10 and 8, which comprises a connecting plate, a mounting frame, a cylinder mounting plate, a CCD, a light source mounting frame, a light source, a suction cup mechanism and a clamping jaw mechanism, wherein a clamping jaw cylinder of the clamping jaw module is connected with the cylinder mounting plate through a slide block and a slide rail, a clamping jaw is mounted below the clamping jaw cylinder, and when a product is clamped by downward movement, the slide block and the slide rail are arranged, so that rigid impact is prevented by spring buffering; and the back of the cylinder mounting plate is provided with a CCD, and whether the product clamping and sucking positions are accurate or not is detected through the CCD. Therefore, the clamping jaws in the prior art are designed for accurately and flexibly gripping materials by the clamping jaws, however, in the automatic equipment on the automatic assembly line, due to the problems of precision, placement position, positioning of a tool and the like of a product to be assembled, the position of the product to be assembled and the position of the material gripped by the clamping jaws are different; when the product is unloaded, in order to prevent to cause the damage because of material position difference, need carry out self-calibration heart. The clamping jaw structure in the prior art can not realize the self-correction of the central position in the assembling process, thereby causing the reduction of the assembling precision of products, the increase of defective rate and even the occurrence of scrapped products.
Disclosure of Invention
The invention aims to provide a clamping jaw, and aims to solve the problems that in the prior art, the clamping jaw cannot realize self-correction, so that the assembly precision of products is reduced, the defective rate is increased, and even the products are scrapped.
In order to solve the technical problems, the invention adopts the following technical scheme:
in one aspect, the invention provides a clamping jaw, which comprises a clamping jaw air cylinder, wherein the clamping jaw air cylinder comprises a clamping part for clamping and releasing materials and an air cylinder for driving the clamping part to complete the operation, one end of the air cylinder is connected with the clamping part, and the other end of the air cylinder is fixed on a fixed frame; the fixing frame is connected with an automatic positioning and aligning mechanism, and the automatic positioning and aligning mechanism comprises an automatic positioning component located on the circumferential direction of the fixing frame and a guide component for guiding the fixing frame to realize linear motion.
The clamping part of the clamping jaw air cylinder is used for clamping the material, so that the material is clamped and released; the automatic positioning and aligning mechanism realizes automatic positioning and aligning under the action of an automatic positioning component, and the automatic positioning and aligning mechanism ensures that the automatic positioning and aligning operation is stable under the action of a guide component without deviation, thereby realizing good micro-adjustment effect; the clamping jaw air cylinder has good adjustable adaptability under the action of the automatic positioning and aligning mechanism, the deviation amount is easy to be micro-adjusted when the central position of the clamping jaw air cylinder when the clamping jaw air cylinder grabs a material deviates, and meanwhile, the central position of the clamping jaw air cylinder when the material is released can also be micro-adjusted, so that the automatic correction of the central position of a product in the assembling process is realized, the position difference of the material grabbed by the clamping jaw when the material is unloaded can not occur, the assembling precision is high, the qualification rate is high, and the phenomenon that the product is scrapped due to the deviation of the assembling position can not occur.
As a preferred embodiment, the automatic positioning component is any one of a spring, a bearing and a ball. The automatic positioning part has various choices, and the spring, the bearing and the ball can realize the automatic positioning and alignment of the central position of the clamping jaw cylinder and realize the stable adjustment of the central position of the clamping jaw cylinder.
In a preferred embodiment, the guide member is a guide rail and a slider adapted to the guide rail. Under the matching action of the guide rail and the sliding block, the automatic positioning component is guided to move along the line, so that the automatic positioning and alignment of the automatic positioning component on the center position of the clamping jaw air cylinder are completed, the position deviation of the clamping jaw air cylinder is avoided, and the clamping jaw air cylinder is adjusted stably and accurately.
As a preferred embodiment, the clamping jaw further comprises a mounting plate, the guide rail is disposed on the mounting plate, and the sliding block is disposed on the fixing frame. The installation of guide rail is made things convenient for in the setting of mounting panel, simultaneously, also makes things convenient for being connected of slider and guide rail.
As a preferred embodiment, the fixing frame is further connected with two limiting plates, the two limiting plates are perpendicular to the fixing frame, and the spring is located between the fixing frame and the limiting plates. The limiting plate can be used for placing the sliding block to fall off from the guide rail, so that the sliding block can stably perform reciprocating linear motion and move freely. The automatic positioning device preferably adopts the spring as an automatic positioning component, and the spring is convenient to use, low in cost, economical and practical.
As a preferred embodiment, the limiting plate is further provided with an adjusting jackscrew, and the adjusting jackscrew is connected with the spring. The limiting plate is provided with an adjusting hole at a position corresponding to the spring, an adjusting jackscrew is arranged in the adjusting hole, namely the adjusting jackscrew is fixed on the limiting plate, and the tail end of the adjusting jackscrew pushes against the spring; the screwing-in depth of the jackscrew in the limiting plate is adjusted through adjustment, the force of the jackscrew pushing the spring is adjusted through changing the adjusting jackscrew, namely the force of the jackscrew extruding the spring is adjusted, so that the initial position of the fixing frame and the force of self-correcting offset are changed, and the adjusted jackscrew is locked by a locking nut.
As a preferred embodiment, the fixing frame is further connected with a side plate, the fixing frame is fixedly connected with the top of the cylinder, the side plate is fixedly connected with the side surface of the cylinder, and the fixing frame and the side plate are arranged vertically. The fixing frame enables the cylinder to be firmly connected, the cylinder is firmly and stably fixed on the fixing frame, and the cylinder is placed to slide or fall off, so that the air cylinder fixing frame is safe to use.
As a preferred embodiment, the clamping part is provided with a clamping groove, the clamping part is further provided with a through hole, one end of the through hole is connected with an air inlet pipe, and the other end of the through hole is arranged on the clamping groove. The clamping part is further connected with an air inlet pipe, when the clamping part is used for discharging, air is blown through the air inlet pipe to enable air to enter the through hole through the air inlet pipe and enter the clamping groove, so that the clamping groove is clamped, materials in the clamping groove are blown off, discharging is easy, and even if the materials are lighter or partial materials cannot be separated from the clamping jaw due to the fact that trace amount of glue overflowing is remained on the surface of the materials.
As a preferred embodiment, the clamping part is connected with a connecting plate, a pneumatic joint is arranged on the connecting plate, an air inlet is arranged on the connecting plate, one end of the air inlet is connected with the through hole, and the other end of the air inlet is connected with the pneumatic joint. In general, a connecting plate is fixed on a clamping finger of a clamping jaw cylinder and used for connecting clamping parts, and the clamping parts on two sides are made of soft materials and directly clamp materials; the pneumatic connectors are fixed on the connecting plates on the two sides, the pneumatic connectors and the air inlet holes in the connecting plates and the through holes in the clamping parts form a closed passage, after the air source is started, air flow is blown out from the clamping grooves to blow down materials, and the force and the speed of the air flow are adjustable.
In another aspect, the invention also provides a manipulator comprising a robotic arm having a gripping jaw according to any one of the above attached thereto. The mechanical arm of the manipulator drives the clamping jaw to move to a material position, the clamping jaw cylinder is opened to open the clamping part, the clamping center position of the clamping part is aligned with the material, and then the clamping jaw cylinder is closed to drive the clamping parts at two sides to be closed to clamp the material; the clamping part enables the center position of the clamping part to slightly deviate along with the micro center position under the action of the automatic positioning and aligning part, so that the material is prevented from being scratched; the arm drives the clamping jaw and removes the department of unloading, and the clamping jaw cylinder is opened once more, drives both sides clamp and gets the portion and open, and the material falls into the collecting vat. The manipulator can be connected with a four-axis robot or a six-axis robot, and the like.
Compared with the prior art, the invention has the beneficial effects that: the invention has good adjustable adaptability, the deviation amount can be easily adjusted in a micro mode when the central position of the clamping jaw cylinder is deviated when the clamping jaw cylinder grabs the material, meanwhile, the central position of the clamping jaw cylinder can be adjusted in a micro mode when the clamping jaw cylinder releases the material, the material is easy to grab, the material is prevented from being scratched, the automatic correction of the central position of the product in the assembling process is realized, the position difference of the material grabbed by the clamping jaw cannot occur when the material is unloaded, the assembling precision is high, the qualification rate is high, and the phenomenon of product scrapping caused by the deviation of the assembling position cannot occur.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
FIG. 2 is a schematic front view of the structure of FIG. 1;
FIG. 3 is a left side view of the structure of FIG. 1;
FIG. 4 is a schematic top view of the structure of FIG. 1;
FIG. 5 is a perspective view of the middle clamping part of FIG. 1;
FIG. 6 is a schematic perspective view of FIG. 5 from another perspective;
FIG. 7 is a perspective view of the connection plate of FIG. 1;
FIG. 8 is a schematic perspective view of FIG. 7 from another perspective;
in the figure: 1-mounting a plate; 2-a limiting plate; 3-a guide rail; 4-a slide block; 5-adjusting the jackscrew; 6-a spring; 7-a fixing frame; 8-connecting plates; 9-a gripping section; 10-a pneumatic joint; 11-a cylinder; 12-a lock nut; 13-air outlet; 14-side plates; 15-air intake; 16-through holes.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "left", "right", "upper", "lower", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1 to 8, the manipulator provided in this embodiment may be connected to a four-axis robot or a six-axis robot, and the manipulator includes a mechanical arm, the mechanical arm is connected to a clamping jaw, the clamping jaw includes a mounting plate 1, a clamping jaw cylinder and an automatic positioning and aligning mechanism, the mounting plate 1 is fixedly connected to the mechanical arm, the mechanical arm drives the clamping jaw to move as a whole, the clamping jaw cylinder is a conventional universal clamping jaw cylinder, the clamping jaw cylinder includes a clamping part 9 for performing clamping and releasing operations on a material and a cylinder 11 for driving the clamping part to complete the operations, one end of the cylinder 11 is connected to the clamping part 9, and the other end of the cylinder 11 is fixed to a fixing frame 7; the fixing frame 7 is connected with an automatic positioning and aligning mechanism, and the automatic positioning and aligning mechanism comprises an automatic positioning component located on the circumferential direction of the fixing frame 7 and a guide component for guiding the fixing frame 7 to realize linear motion. The clamping part 9 of the clamping jaw cylinder is used for clamping materials, so that the materials are clamped and released; the automatic positioning and aligning mechanism realizes automatic positioning and alignment under the action of the automatic positioning component, and the automatic positioning and aligning operation is stable under the action of the guide component.
Referring to fig. 1 to 4, as a preferred embodiment, the automatic positioning means is a spring 6, but of course, the automatic positioning means may be a bearing or a ball. The automatic positioning part has multiple choices, and spring 6, bearing, ball all can realize the automatic positioning and the alignment of clamping jaw cylinder central point and put, realize the steady adjustment of clamping jaw cylinder central point. The guide member is preferably a guide rail 3 and a slider 4 fitted thereto. Under the matching action of the guide rail 3 and the sliding block 4, the automatic positioning component is guided to move along the line, so that the automatic positioning and alignment of the automatic positioning component on the center position of the clamping jaw air cylinder are completed, the position deviation of the clamping jaw air cylinder is avoided, and the clamping jaw air cylinder is adjusted stably and accurately. Specifically, the guide rail 3 is arranged on the mounting plate 1, and the slide block 4 is arranged on the fixed frame 7; the fixing frame 7 is further connected with a side plate 14, the fixing frame 7 is fixedly connected with the top of the cylinder 11, the side plate 14 is fixedly connected with the side face of the cylinder 11, and the fixing frame 7 and the side plate 14 are arranged vertically. The fixed frame 7 enables the cylinder 11 to be firmly connected, and the cylinder 11 is firmly and stably fixed on the fixed frame 7 and is placed to slide or fall off, so that the use is safe; the mounting plate 1 and the fixing frame 7 are arranged in parallel, the mounting of the guide rail 3 is facilitated by the arrangement of the mounting plate 1, and the connection of the sliding block 4 and the guide rail 3 is also facilitated.
Referring to fig. 1 to 4, as a preferred embodiment, the fixing frame 7 is further connected with two limiting plates 2, the two limiting plates 2 are both perpendicular to the fixing frame 7, and the spring 6 is located between the fixing frame 7 and the limiting plates 2. The left end and the right end of the fixing frame 7 are respectively provided with 2 springs, and the central position of the clamping jaw cylinder can be adjusted along the left-right direction; of course, if the jaws are mounted horizontally, the center position of the jaw cylinder can also be adjusted in the up-down direction. Guide rail 3 sets up along left right direction, and limiting plate 2 sets up along vertical direction, and two limiting plates 2 are located the left end and the right-hand member of mount 7 respectively. The limiting plate 2 can prevent the sliding block 4 from falling off from the guide rail 3, so that the sliding block can stably perform reciprocating linear motion and move freely; the spring 6 is used as an automatic positioning component, and the spring 6 is convenient to use, low in cost, economical and practical. In a preferred embodiment, the limiting plate 2 is further provided with an adjusting jackscrew 5, and the adjusting jackscrew 5 is connected with a spring 6. An adjusting hole is formed in the limiting plate 2 at a position corresponding to the spring 6, an adjusting jackscrew 5 is installed in the adjusting hole, namely the adjusting jackscrew 5 is fixed on the limiting plate 2, and the tail end of the adjusting jackscrew abuts against the spring 6; the screwing depth of the adjusting jackscrew 5 in the limiting plate 2 is adjusted through adjustment, the force of the adjusting jackscrew 5 against the spring 6 is changed, namely the force of the adjusting jackscrew 5 extruding the spring 6 is adjusted, so that the initial position of the fixing frame 7 and the force of self-correcting offset are changed, and the adjusting jackscrew 5 which is adjusted is usually locked by the locking nut 12.
Referring to fig. 1 to 8, the clamping part 9 is located at the lower end of the clamping jaw cylinder, two clamping parts 9 are provided, a clamping groove is provided on the clamping part 9, and the clamping part 9 uses the clamping groove to realize the grabbing, clamping and releasing of the material from the left and right directions. As a preferred embodiment, the clamping part 9 is connected with a connecting plate 8, a pneumatic joint 10 is arranged on the connecting plate 8, an air inlet 15 is arranged in the connecting plate 8, the air inlet 15 penetrates through the connecting plate 8, and a through hole 16 is arranged in the clamping part 9; one end of the pneumatic connector 10 is connected with an air inlet pipe, the other end of the pneumatic connector 10 is connected with one end of an air inlet hole 15, the other end of the air inlet hole 15 is connected with a through hole 16, the other end of the through hole 16 is arranged on the clamping groove, and an air outlet 13 is formed in the clamping groove, so that one end of the through hole 16 is connected with the air inlet pipe, and the clamping part is connected with the air inlet pipe. In general, the connecting plate 8 is fixed on the clamping fingers of the clamping jaw cylinder and used for connecting the clamping parts 9, and the clamping parts 9 on the two sides are made of soft materials and directly clamp materials; the pneumatic connectors 10 are fixed on the connecting plates 8 at two sides, and form a closed passage with the air inlet 15 in the connecting plates 8 and the through hole 16 in the clamping part 9, after an air source is opened, air flow is blown out from the air outlet 13 on the clamping groove to blow down materials, and the force and the speed of the air flow are adjustable. When the clamping part 9 unloads, air is blown through the air inlet pipe to enable air to sequentially pass through the pneumatic connector 10, the air inlet hole 15 and the through hole 16 and enter the clamping groove, so that materials in the clamping groove are blown off, the unloading is easy, and even if the materials are lighter or part of the materials cannot be separated from the clamping jaw due to the fact that trace amount of glue overflowing is remained on the surface of the materials.
Compared with the prior art, the invention has the beneficial effects that: the invention has good adjustable adaptability, the deviation amount can be easily adjusted in a micro mode when the central position of the clamping jaw cylinder is deviated when the clamping jaw cylinder grabs the material, meanwhile, the central position of the clamping jaw cylinder can be adjusted in a micro mode when the clamping jaw cylinder releases the material, the material is easy to grab, the material is prevented from being scratched, the automatic correction of the central position of the product in the assembling process is realized, the position difference of the material grabbed by the clamping jaw cannot occur when the material is unloaded, the assembling precision is high, the qualification rate is high, and the phenomenon of product scrapping caused by the deviation of the assembling position cannot occur.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A clamping jaw, characterized by: comprises a clamping jaw cylinder;
the clamping jaw air cylinder comprises a clamping part and an air cylinder, the clamping part is used for clamping and releasing materials, the air cylinder drives the clamping part to complete the operation, one end of the air cylinder is connected with the clamping part, and the other end of the air cylinder is fixed on a fixing frame;
the fixing frame is connected with an automatic positioning and aligning mechanism, and the automatic positioning and aligning mechanism comprises an automatic positioning component located on the circumferential direction of the fixing frame and a guide component for guiding the fixing frame to realize linear motion.
2. A jaw as claimed in claim 1, characterized in that:
the automatic positioning component is any one of a spring, a bearing and a ball.
3. A jaw as claimed in claim 2, characterized in that:
the guide part is a guide rail and a sliding block matched with the guide rail.
4. A jaw as claimed in claim 3, characterized in that:
the clamping jaw further comprises a mounting plate, the guide rail is arranged on the mounting plate, and the sliding block is arranged on the fixing frame.
5. A jaw as claimed in claim 4, characterized in that:
the fixing frame is further connected with two limiting plates, the two limiting plates are perpendicular to the fixing frame, and the spring is located between the fixing frame and the limiting plates.
6. A jaw as claimed in claim 5, characterized in that:
and the limiting plate is also provided with an adjusting jackscrew, and the adjusting jackscrew is connected with the spring.
7. A jaw as claimed in claim 1, characterized in that:
the fixing frame is further connected with a side plate, the fixing frame is fixedly connected with the top of the cylinder, the side plate is fixedly connected with the side face of the cylinder, and the fixing frame is perpendicular to the side plate.
8. A jaw according to any of claims 1-7, characterized in that:
the clamping part is provided with a clamping groove, the clamping part is further provided with a through hole, one end of the through hole is connected with an air inlet pipe, and the other end of the through hole is arranged on the clamping groove.
9. A jaw as claimed in claim 8, characterized in that:
the clamping part is connected with a connecting plate, a pneumatic connector is arranged on the connecting plate, an air inlet is arranged on the connecting plate, one end of the air inlet is connected with the through hole, and the other end of the air inlet is connected with the pneumatic connector.
10. A manipulator, its characterized in that:
comprising a robot arm to which a jaw according to any of claims 1-9 is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911082730.XA CN110774308A (en) | 2019-11-07 | 2019-11-07 | Clamping jaw and manipulator using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911082730.XA CN110774308A (en) | 2019-11-07 | 2019-11-07 | Clamping jaw and manipulator using same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110774308A true CN110774308A (en) | 2020-02-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911082730.XA Pending CN110774308A (en) | 2019-11-07 | 2019-11-07 | Clamping jaw and manipulator using same |
Country Status (1)
| Country | Link |
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| CN (1) | CN110774308A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021227458A1 (en) * | 2020-05-13 | 2021-11-18 | 博众精工科技股份有限公司 | Polyhedral part detection device |
| TWI795114B (en) * | 2021-12-08 | 2023-03-01 | 國立成功大學 | Multimaterial topology optimization method of adaptive compliant actuator, grippers , method, computer program product and computer readable recording medium for designing such |
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| CN101259619A (en) * | 2008-02-26 | 2008-09-10 | 廊坊智通机器人系统有限公司 | Automatic flexible chucking tools |
| CN101457749A (en) * | 2007-12-14 | 2009-06-17 | 台达电子工业股份有限公司 | Fan testing device |
| CN106313090A (en) * | 2016-11-08 | 2017-01-11 | 歌尔股份有限公司 | Floating gripping mechanism |
| CN107053225A (en) * | 2017-01-25 | 2017-08-18 | 东南大学 | A kind of clamping manipulator transmitted for middle-size and small-size object and its method |
| CN109332916A (en) * | 2018-11-21 | 2019-02-15 | 广东利元亨智能装备股份有限公司 | A kind of laser cutting device |
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2019
- 2019-11-07 CN CN201911082730.XA patent/CN110774308A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101457749A (en) * | 2007-12-14 | 2009-06-17 | 台达电子工业股份有限公司 | Fan testing device |
| CN101259619A (en) * | 2008-02-26 | 2008-09-10 | 廊坊智通机器人系统有限公司 | Automatic flexible chucking tools |
| CN106313090A (en) * | 2016-11-08 | 2017-01-11 | 歌尔股份有限公司 | Floating gripping mechanism |
| CN107053225A (en) * | 2017-01-25 | 2017-08-18 | 东南大学 | A kind of clamping manipulator transmitted for middle-size and small-size object and its method |
| CN109332916A (en) * | 2018-11-21 | 2019-02-15 | 广东利元亨智能装备股份有限公司 | A kind of laser cutting device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021227458A1 (en) * | 2020-05-13 | 2021-11-18 | 博众精工科技股份有限公司 | Polyhedral part detection device |
| TWI795114B (en) * | 2021-12-08 | 2023-03-01 | 國立成功大學 | Multimaterial topology optimization method of adaptive compliant actuator, grippers , method, computer program product and computer readable recording medium for designing such |
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Application publication date: 20200211 |
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| RJ01 | Rejection of invention patent application after publication |