CN110962153A - Industrial stacking mechanical gripper - Google Patents
Industrial stacking mechanical gripper Download PDFInfo
- Publication number
- CN110962153A CN110962153A CN201911118089.0A CN201911118089A CN110962153A CN 110962153 A CN110962153 A CN 110962153A CN 201911118089 A CN201911118089 A CN 201911118089A CN 110962153 A CN110962153 A CN 110962153A
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- China
- Prior art keywords
- gripper
- transmission rod
- crank
- driving device
- industrial
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- 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
Abstract
The invention discloses an industrial stacking mechanical gripper which comprises a support framework and gripper pressing ring mechanisms symmetrically arranged on two sides of the support framework, wherein the gripper pressing ring mechanisms on any side comprise gripper components and pressing ring components; the gripper assembly comprises a first driving device, a transmission rod, a crank assembly and a gripper supporting frame; the first driving device is connected with the transmission rod through the connecting assembly; the transmission rod is connected with the gripper support frame through a crank assembly; a plurality of grippers are arranged on one side of the gripper supporting frame facing the pressing ring assembly, and the plurality of grippers are sequentially arranged along the axis direction of the gripper supporting frame; the clamping ring assembly comprises a second driving device and a clamping ring, and the clamping ring is arranged at the output end of the second driving device. In the embodiment of the invention, the industrial stacking mechanical gripper grips an object and simultaneously adds a certain acting force on the surface of the object to fix and position the object, so that the condition that the object is dropped and damaged in the gripping process is effectively reduced.
Description
Technical Field
The invention relates to the field of industrial stacking equipment, in particular to an industrial stacking mechanical gripper.
Background
With the development of social science and technology, in the industrial production field, the manual labor is continuously replaced by mechanized equipment, especially the appearance of industrial robots, and the manual labor is further replaced in the industrial production process. At present, industrial robots are widely applied to various fields, and the figure of the industrial robots can be seen in the fields of industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration and the like. Although they are different in form, they have a common feature of receiving commands and performing positioning operations accurately. The robot palletizer is one type of industrial robot and is mainly used for carrying and stacking objects, the mechanical gripper is one of the most important components of the robot palletizer, and the taking, carrying and stacking of the objects are realized through the mechanical gripper.
The existing mechanical gripper generally only plays a role in gripping, and does not fix and position objects through other additional acting forces, so that the problem that objects fall and are damaged easily when some objects with larger weight or smoother surfaces are gripped is caused, and the using effect of the robot palletizer is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an industrial stacking mechanical gripper which can grip an object and add a certain acting force on the surface of the object to fix and position the object, so that the condition that the object falls and is damaged in the gripping process is effectively reduced.
Correspondingly, the embodiment of the invention provides an industrial stacking mechanical gripper, which comprises a support framework and gripper pressing ring mechanisms symmetrically arranged on two sides of the support framework, wherein the gripper pressing ring mechanism on any side comprises a gripper assembly and a pressing ring assembly, and the pressing ring assembly is positioned on the inner side of the gripper assembly;
the gripper assembly comprises a first driving device, a transmission rod, a crank assembly and a gripper supporting frame; the first driving device is connected with the transmission rod through a connecting assembly, and the transmission rod rotates under the matching driving of the first driving device and the connecting assembly; the crank assembly comprises a first crank and a second crank; the top of the first crank is connected with one end of the transmission rod, and the bottom of the first crank is connected with the hand grip supporting frame; the top of the second crank is connected with the other end of the transmission rod, and the bottom of the second crank is connected with the gripper supporting frame; a plurality of grippers are arranged on one side, facing the pressing ring assembly, of the gripper supporting frame, and the plurality of grippers are sequentially arranged along the axis direction of the gripper supporting frame;
the clamping ring assembly comprises a second driving device and a clamping ring, the clamping ring is arranged at the output end of the second driving device, and the clamping ring moves in the vertical direction based on the driving of the second driving device.
In an optional embodiment, the support framework comprises support bottom plates symmetrically arranged on two sides of the support framework, and the hand gripping and ring pressing mechanisms on any side are arranged on the support bottom plates on the corresponding sides;
the first driving device is fixed on the supporting bottom plate;
the transmission rod is hinged to the bottom of the support bottom plate, and the axis direction of the transmission rod is perpendicular to the axis direction of the support framework;
the supporting bottom plate is provided with a supporting bottom plate through hole;
the connecting assembly comprises a cylinder connector and a transmission rod connecting piece;
the cylinder connector is connected with the output end of the first driving device and is driven to move along the axis direction of the supporting framework based on the first driving device;
one end of the transmission rod connecting piece is connected with the cylinder connector, and the other end of the transmission rod connecting piece passes through the through hole of the supporting base plate to be connected with the middle of the transmission rod so as to drive the transmission rod to rotate.
In an optional embodiment, a first bearing seat is arranged on one side of the bottom of the supporting bottom plate, and a second bearing seat is arranged on the other side of the bottom of the supporting bottom plate;
one end of the transmission rod is connected in the first bearing seat based on a first bearing, and the first crank is positioned outside the first bearing seat;
the other end of the transmission rod is connected in the second bearing seat based on a second bearing, and the second crank is located on the outer side of the second bearing seat.
In an optional embodiment, one end of the transmission rod is connected with the top of the first crank through a first expansion sleeve;
the other end of the transmission rod is connected with the top of the second crank through a second expansion sleeve.
In an optional implementation manner, one side of the supporting base plate is connected with a triangular fixing frame, and the second driving device is fixed on the triangular fixing frame.
In an optional embodiment, the support frame further includes a first slide rail and a second slide rail parallel to each other, and the axial directions of the first slide rail and the second slide rail are the same as the axial direction of the support frame;
the top of the supporting framework is provided with a mechanical gripper connecting piece, one side of the mechanical gripper connecting piece is provided with a first sliding block which slides along the first sliding rail, and the other side of the mechanical gripper connecting piece is provided with a second sliding block which slides along the second sliding rail.
In an alternative embodiment, the first driving device is a first driving cylinder, and the second driving device is a second driving cylinder.
In an optional implementation manner, the plurality of grippers are sequentially arranged at equal intervals along the axis direction of the gripper supporting frame.
In an optional implementation manner, any one of the plurality of hand grips is in an L shape, the L-shaped hand grip comprises a hand grip vertical plate and a hand grip transverse plate which are perpendicular to each other, and the joint of the hand grip vertical plate and the hand grip transverse plate is in arc transition;
the gripper vertical plate is fixed on the gripper supporting frame, and the gripper transverse plate extends towards the central axis of the industrial stacking mechanical gripper.
In an optional embodiment, the plurality of grippers are made of aluminum alloy.
The embodiment of the invention provides an industrial stacking mechanical gripper which can grip through a plurality of grippers, and in the process of gripping objects, a certain acting force is added on the surface of the object through a pressing ring, and the objects are clamped through the matching of the pressing ring and the gripper, so that the objects are fixed and positioned, the condition that the objects fall and are damaged in the gripping process is effectively reduced, and the normal operation of the gripping process and the use effect of a stacking robot are ensured.
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 diagram of a first three-dimensional structure of an industrial palletizing mechanical gripper in an embodiment of the present disclosure;
fig. 2 is a schematic diagram of a second three-dimensional structure of an industrial palletizing mechanical gripper in an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of a first three-dimensional structure of an industrial palletizing mechanical gripper in an embodiment of the present invention, and fig. 2 is a schematic diagram of a second three-dimensional structure of the industrial palletizing mechanical gripper in the embodiment of the present invention.
The embodiment of the invention provides an industrial stacking mechanical gripper which comprises a support framework 1 and gripper pressing ring mechanisms symmetrically arranged on two sides of the support framework 1; it should be noted that the grip pressing ring mechanisms on both sides of the support framework 1 are symmetrically arranged, the grip pressing ring mechanisms on both sides have the same structure, and the grip pressing ring mechanisms on both sides have opposite movement modes.
Specifically, the hand grip pressing ring mechanism on any side comprises a hand grip assembly 2 and a pressing ring assembly 3, the pressing ring assembly 3 is located on the inner side of the hand grip assembly 2, an object is gripped by the hand grip assembly 2, and a certain acting force is added to the surface of the object by the pressing ring assembly 3.
Wherein the gripper assembly 2 comprises a first driving device 21, a transmission rod 22, a crank assembly 23 and a gripper support frame 24.
The first driving device 21 is connected with the transmission rod 22 through a connecting assembly 25, and the transmission rod 22 rotates under the matching driving of the first driving device 21 and the connecting assembly 25.
The crank assembly 23 comprises a first crank 231 and a second crank 232; the top of the first crank 231 is connected with one end of the transmission rod 22, and the bottom of the first crank 231 is connected with the gripper supporting frame 24; the top of the second crank 232 is connected with the other end of the transmission rod 22, and the bottom of the second crank 232 is connected with the gripper supporting frame 24.
The gripper support frame 24 is provided with a plurality of grippers 241 towards one side of the clamping ring assembly 3, and the plurality of grippers 241 are sequentially arranged along the axial direction of the gripper support frame 24.
In general, the transmission rod 22 rotates under the driving of the first driving device 21 and the connecting assembly 25, and the transmission rod 22 drives the first crank 231 and the second crank 232 to move so as to drive the gripper supporting frames 24 to move, so that the plurality of grippers 241 realize the function of gripping objects.
In the embodiment of the invention, the support framework 1 comprises support bottom plates 11 symmetrically arranged on two sides of the support framework 1, the hand grip pressing ring mechanisms on any side are arranged on the support bottom plates 11 on the corresponding sides, and the support bottom plates 11 provide installation positions for the hand grip pressing ring mechanisms.
The first drive device 21 is fixed to the support base 11.
The transmission rod 22 is hinged to the bottom of the support base plate 11, and the axial direction of the transmission rod 22 is perpendicular to the axial direction of the support framework 11.
It should be noted that, the embodiment of the transmission rod 22 hinged at the bottom of the support base plate 11 may be various, in the embodiment of the present invention, a first bearing seat 111 is disposed on one side of the bottom of the support base plate 11, and a second bearing seat 112 is disposed on the other side of the bottom of the support base plate 11; one end of the transmission rod 22 is connected in the first bearing seat 111 based on a first bearing, and the first crank 231 is located outside the first bearing seat 111; the other end of the transmission rod 22 is connected in the second bearing seat 112 based on a second bearing, and the second crank 231 is located outside the second bearing seat 112; the transmission rod 22 is hinged in this way to the bottom of the support base 11.
The support base plate 11 is provided with a support base plate through hole 113, and the connection between the first driving device 21 and the transmission rod 22 is realized through the support base plate through hole 113.
It should be noted that the connecting assembly 25 may be implemented in various ways as long as it can function to drive the transmission rod 22 to rotate. In the embodiment of the present invention, the connecting assembly 25 includes a cylinder connector 251 and a transmission rod connector 252; the cylinder connector 251 is connected with the output end of the first driving device 21, and the cylinder connector 251 is driven by the first driving device 21 to move along the axial direction of the support framework 1; one end of the transmission rod connecting piece 252 is connected with the cylinder connector 251, the other end of the transmission rod connecting piece 252 is connected with the middle part of the transmission rod 22 through the supporting bottom plate through hole 113, the operation mode of the transmission rod connecting piece 252 is similar to that of an eccentric crank mechanism, the transmission rod 22 can be driven to rotate by moving the top end of the transmission rod connecting piece 252, and the first driving device 21 drives the transmission rod 22 to rotate in such a way.
Specifically, one end of the driving rod 22 is connected to the top of the first crank 231 through a first expansion sleeve 221, and the other end of the driving rod 22 is connected to the top of the second crank 232 through a second expansion sleeve 222. The expansion sleeve is a keyless connection device, and the principle and the purpose of the expansion sleeve are that a huge holding force is generated between an inner ring and a shaft and between an outer ring and a hub under the action of a high-strength tension bolt so as to realize keyless connection of a machine part and the shaft; when bearing load, the combined pressure of the expansion sleeve and the machine member and the shaft and the accompanying friction force are used to transmit torque and axial force or the composite load of the torque and the axial force. In the embodiment of the present invention, the transmission rod 22 is connected to the first crank 231 through the first expansion sleeve 221, and the transmission rod 22 is connected to the second crank 232 through the second expansion sleeve 222, so that the advantages of high strength and stable and reliable connection are provided, and normal operation of the plurality of grippers 241 in gripping heavy objects is ensured.
Preferably, the first driving device 21 is a first driving cylinder, the first driving cylinder is adopted as the first driving device 21, the high-torque output application can be adapted, the adaptability is good when an object with large weight is grabbed, the advantage of rapid action is achieved, the industrial stacking mechanical gripper can quickly grab the object, the grabbing effect is guaranteed, and the grabbing efficiency is improved.
In the embodiment of the present invention, the plurality of hand grips 241 are sequentially arranged at equal intervals along the axial direction of the hand grip support frame 24, and the plurality of hand grips 241 have the same interval therebetween, so as to ensure that the force applied to each hand grip 241 is uniform, and avoid the damage of the hand grip 241 due to the heavy weight of the article and the uneven force applied to the hand grip 241.
In the embodiment of the invention, any one of the plurality of hand grips 241 is L-shaped, the L-shaped hand grip 241 comprises a hand grip vertical plate 2411 and a hand grip transverse plate 2412 which are perpendicular to each other, and the joint of the hand grip vertical plate 2411 and the hand grip transverse plate 2412 is in circular arc transition, so that the surface of an article can be effectively prevented from being damaged by the hand grip 241 in the gripping process. The vertical gripper plates 2411 are fixed on the gripper support frame 24, the grippers 241 are connected and fixed based on the vertical gripper plates 2411, the transverse gripper plates 2412 extend towards the central axis of the industrial stacking mechanical gripper, and the grippers 241 on the other side are matched to grip objects.
Preferably, the plurality of grippers 241 are made of aluminum alloy, the aluminum alloy has the advantages of light weight and good strength, the energy consumption for driving the plurality of grippers 241 can be reduced, and the practicality is good when the large-weight articles are gripped.
Specifically, the pressing ring assembly 3 includes a second driving device 31 and a pressing ring 32, the pressing ring 32 is disposed at an output end of the second driving device 31, the pressing ring 32 is driven by the second driving device 31 to move in a vertical direction, and a certain acting force is applied to a surface of the article by the pressing ring 32 to fix and position the article.
In the embodiment of the present invention, a triangular fixing frame 114 is connected to one side of the supporting base plate 11, the second driving device 31 is fixed on the triangular fixing frame 114, the triangular fixing frame 114 provides a connection position for the second driving device 31, and the triangular fixing frame 114 is well fixed on the supporting base plate 11, so that the second driving device 31 is not displaced in the grabbing process.
Preferably, the second driving device 31 is a second driving cylinder, and the second driving cylinder is used as the second driving device 31, so that a certain acting force can be well applied to the surface of the article, and the article is clamped through the matching of the pressing ring 32 and the hand grip 241, thereby reducing the condition that the article is damaged by falling in the gripping process.
In addition, a mechanical gripper connecting piece 117 is arranged at the top of the supporting framework 11, and in the embodiment of the invention, the industrial stacking mechanical gripper is connected with an industrial stacking mechanical arm based on the mechanical gripper connecting piece 117.
Specifically, the support frame 11 further includes a first slide rail 115 and a second slide rail 116 that are parallel to each other, and the axial directions of the first slide rail 115 and the second slide rail 116 are the same as the axial direction of the support frame 11; a first sliding block 1171 sliding along the first sliding rail 115 is arranged on one side of the mechanical hand connecting piece 117, a second sliding block 1172 sliding along the second sliding rail 116 is arranged on the other side of the mechanical hand connecting piece 117, and the axial position of the mechanical hand connecting piece 117 is adjusted in such a way that the first sliding block 1171 and the second sliding block 1172 respectively slide along the first sliding rail 115 and the second sliding rail 116; after the adjustment is completed, the mechanical gripper connection 117 may be secured based on bolts. It should be noted that the connection between the industrial stacking mechanical gripper and the industrial stacking mechanical arm can be adjusted by adjusting the axial position of the mechanical gripper connecting member 117, and the industrial stacking mechanical gripper can be applied to different gripping scenes.
The embodiment of the invention provides an industrial stacking mechanical gripper which realizes gripping through a plurality of grippers 241, and in the process of gripping objects, a certain acting force is added on the surfaces of the objects through a pressing ring 32, and the objects are clamped through the matching of the pressing ring 32 and the grippers 241 so as to fix and position the objects, thereby effectively reducing the situation that the objects fall and are damaged in the gripping process, and ensuring the normal operation of the gripping process and the use effect of a stacking robot.
In addition, the industrial palletizing mechanical gripper provided by the embodiment of the invention is described in detail, a specific example is adopted herein to explain the principle and the implementation manner of the invention, and the description of the embodiment is only used to help understanding the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. The industrial stacking mechanical gripper is characterized by comprising a supporting framework and gripper pressing ring mechanisms symmetrically arranged on two sides of the supporting framework, wherein the gripper pressing ring mechanism on any side comprises a gripper assembly and a pressing ring assembly, and the pressing ring assembly is positioned on the inner side of the gripper assembly;
the gripper assembly comprises a first driving device, a transmission rod, a crank assembly and a gripper supporting frame; the first driving device is connected with the transmission rod through a connecting assembly, and the transmission rod rotates under the matching driving of the first driving device and the connecting assembly; the crank assembly comprises a first crank and a second crank; the top of the first crank is connected with one end of the transmission rod, and the bottom of the first crank is connected with the hand grip supporting frame; the top of the second crank is connected with the other end of the transmission rod, and the bottom of the second crank is connected with the gripper supporting frame; a plurality of grippers are arranged on one side, facing the pressing ring assembly, of the gripper supporting frame, and the plurality of grippers are sequentially arranged along the axis direction of the gripper supporting frame;
the clamping ring assembly comprises a second driving device and a clamping ring, the clamping ring is arranged at the output end of the second driving device, and the clamping ring moves in the vertical direction based on the driving of the second driving device.
2. The industrial palletizing mechanical gripper as claimed in claim 1, wherein the support framework comprises support bottom plates symmetrically arranged on two sides of the support framework, and gripper clamping ring mechanisms on either side are arranged on the support bottom plates on the corresponding side;
the first driving device is fixed on the supporting bottom plate;
the transmission rod is hinged to the bottom of the support bottom plate, and the axis direction of the transmission rod is perpendicular to the axis direction of the support framework;
the supporting bottom plate is provided with a supporting bottom plate through hole;
the connecting assembly comprises a cylinder connector and a transmission rod connecting piece;
the cylinder connector is connected with the output end of the first driving device and is driven to move along the axis direction of the supporting framework based on the first driving device;
one end of the transmission rod connecting piece is connected with the cylinder connector, and the other end of the transmission rod connecting piece passes through the through hole of the supporting base plate to be connected with the middle of the transmission rod so as to drive the transmission rod to rotate.
3. The industrial palletizing mechanical gripper as claimed in claim 2, wherein a first bearing seat is arranged on one side of the bottom of the support base plate, and a second bearing seat is arranged on the other side of the bottom of the support base plate;
one end of the transmission rod is connected in the first bearing seat based on a first bearing, and the first crank is positioned outside the first bearing seat;
the other end of the transmission rod is connected in the second bearing seat based on a second bearing, and the second crank is located on the outer side of the second bearing seat.
4. The industrial palletizing mechanical gripper as claimed in claim 3, wherein one end of the transmission rod is connected with the top of the first crank through a first expansion sleeve;
the other end of the transmission rod is connected with the top of the second crank through a second expansion sleeve.
5. The industrial palletizing mechanical gripper as claimed in claim 2, wherein a triangular fixing frame is connected to one side of the supporting base plate, and the second driving device is fixed on the triangular fixing frame.
6. The industrial palletizing mechanical gripper as claimed in claim 2, wherein the support framework further comprises a first slide rail and a second slide rail which are parallel to each other, and the axial directions of the first slide rail and the second slide rail are the same as the axial direction of the support framework;
the top of the supporting framework is provided with a mechanical gripper connecting piece, one side of the mechanical gripper connecting piece is provided with a first sliding block which slides along the first sliding rail, and the other side of the mechanical gripper connecting piece is provided with a second sliding block which slides along the second sliding rail.
7. The industrial palletising mechanical gripper of claim 1 wherein the first drive means is a first drive cylinder and the second drive means is a second drive cylinder.
8. The industrial palletizing mechanical gripper as claimed in claim 1, wherein the plurality of grippers are arranged in sequence at equal intervals along an axial direction of the gripper support frame.
9. The industrial stacking mechanical gripper of claim 8, wherein any one of the plurality of grippers is L-shaped, the L-shaped gripper comprises a gripper vertical plate and a gripper transverse plate which are perpendicular to each other, and a joint of the gripper vertical plate and the gripper transverse plate is in circular arc transition;
the gripper vertical plate is fixed on the gripper supporting frame, and the gripper transverse plate extends towards the central axis of the industrial stacking mechanical gripper.
10. The industrial palletizing mechanical gripper as claimed in claim 9, wherein the plurality of grippers are made of aluminum alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911118089.0A CN110962153A (en) | 2019-11-14 | 2019-11-14 | Industrial stacking mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911118089.0A CN110962153A (en) | 2019-11-14 | 2019-11-14 | Industrial stacking mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110962153A true CN110962153A (en) | 2020-04-07 |
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ID=70030677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911118089.0A Pending CN110962153A (en) | 2019-11-14 | 2019-11-14 | Industrial stacking mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110962153A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806771A (en) * | 2020-07-21 | 2020-10-23 | 豪德机械（上海）有限公司 | Flexible plate stack packaging gripper |
| CN113998230A (en) * | 2021-10-29 | 2022-02-01 | 青岛海尔工业智能研究院有限公司 | Mechanical gripper for grabbing flexible package products and stacking robot |
| CN114772275A (en) * | 2022-06-27 | 2022-07-22 | 沈阳工业大学 | Gripper assembly and control method thereof |
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| JPH10236652A (en) * | 1997-02-27 | 1998-09-08 | Takasago Ind Co Ltd | Loading/unloading device for baking dolly |
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| CN203006505U (en) * | 2012-06-28 | 2013-06-19 | 江苏牧羊集团有限公司 | Staking robot gripper |
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| CN205097203U (en) * | 2015-10-30 | 2016-03-23 | 无锡大东机械制造有限公司 | Pile up neatly robot clamp that dibit is adjustable |
| CN207632131U (en) * | 2017-12-20 | 2018-07-20 | 东莞市火线自动化科技有限公司 | A kind of four axis robot palletizers |
| CN209335640U (en) * | 2019-01-17 | 2019-09-03 | 北京信知行数码科技有限公司 | Composite fixture |
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| JPH10236652A (en) * | 1997-02-27 | 1998-09-08 | Takasago Ind Co Ltd | Loading/unloading device for baking dolly |
| CN201253849Y (en) * | 2008-09-24 | 2009-06-10 | 上海沃迪科技有限公司 | Stack robot manipulator |
| CN203006505U (en) * | 2012-06-28 | 2013-06-19 | 江苏牧羊集团有限公司 | Staking robot gripper |
| CN103318652B (en) * | 2013-01-21 | 2015-09-16 | 江苏中科友特机器人科技有限公司 | Mechanical claw for robot palletizer |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806771A (en) * | 2020-07-21 | 2020-10-23 | 豪德机械（上海）有限公司 | Flexible plate stack packaging gripper |
| CN113998230A (en) * | 2021-10-29 | 2022-02-01 | 青岛海尔工业智能研究院有限公司 | Mechanical gripper for grabbing flexible package products and stacking robot |
| CN114772275A (en) * | 2022-06-27 | 2022-07-22 | 沈阳工业大学 | Gripper assembly and control method thereof |
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