CN112249749A - Mechanism and robot are got to shim clamp - Google Patents
Mechanism and robot are got to shim clamp Download PDFInfo
- Publication number
- CN112249749A CN112249749A CN202011182992.6A CN202011182992A CN112249749A CN 112249749 A CN112249749 A CN 112249749A CN 202011182992 A CN202011182992 A CN 202011182992A CN 112249749 A CN112249749 A CN 112249749A
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- Prior art keywords
- clamping jaw
- clamping
- fixing frame
- driving piece
- shim
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- 230000007246 mechanism Effects 0.000 title claims abstract description 35
- 238000013459 approach Methods 0.000 claims abstract description 4
- 125000003003 spiro group Chemical group 0.000 claims description 3
- 230000002349 favourable effect Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/11—Dimensional aspect of article or web
- B65H2701/113—Size
- B65H2701/1131—Size of sheets
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of automatic assembly, and particularly discloses a thin gasket clamping mechanism and a clamping robot, wherein the thin gasket clamping mechanism comprises a fixed plate, a clamping jaw fixing frame, a clamping part, a first driving piece and a second driving piece, wherein the clamping jaw fixing frame is connected with the fixed plate in a sliding manner through a sliding assembly; the first driving piece is arranged on one side, far away from the fixed plate, of the clamping jaw fixing frame and can drive the clamping jaw fixing frame to slide along a first direction; the second driving part is fixed on the clamping jaw fixing frame, and the second driving part can drive the first clamping jaw and the second clamping jaw of the clamping part to mutually approach or separate along a second direction. The arrangement is favorable for increasing the compactness of the clamping jaw fixing frame, the first driving piece and the second driving piece in the structure, and the space occupied by the thin gasket clamping mechanism is reduced.
Description
Technical Field
The invention relates to the technical field of automatic assembly, in particular to a thin gasket clamping mechanism and a clamping robot.
Background
In the industrial production process, a large amount of high-precision, large-quantity and high-repeatability part transfer work exists, particularly for a shim product, and the transfer process relates to a clamping process. The existing clamping mechanism occupies a large space.
Disclosure of Invention
The invention aims to: the utility model provides a mechanism is got to shim clamp and gets robot is got to solve the problem that the shim clamp takes up space greatly among the correlation technique.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, the present invention provides a shim gripping mechanism, including:
a fixing plate;
the clamping jaw fixing frame is connected with the fixing plate in a sliding mode through a sliding assembly;
the clamping part comprises a first clamping jaw and a second clamping jaw;
the first driving piece is arranged on one side, away from the fixed plate, of the clamping jaw fixing frame and can drive the clamping jaw fixing frame to slide along a first direction;
the second driving piece is fixed on the clamping jaw fixing frame, and the second driving piece can drive the first clamping jaw and the second clamping jaw to mutually approach or separate along the second direction.
Optionally, the clamping jaw mount includes first mounting panel and the second mounting panel of perpendicular connection, the second mounting panel is to keeping away from the direction of fixed plate extends, first mounting panel with fixed plate sliding connection, first driving piece is located first mounting panel and is kept away from one side of fixed plate, the second mounting panel is located to the second driving piece.
Optionally, the fixing plate is provided with a fixing block; the first driving piece is a lifting cylinder, a cylinder barrel of the lifting cylinder is fixedly connected with the clamping jaw fixing frame, and a telescopic rod of the lifting cylinder is detachably connected with the fixing block.
Optionally, the telescopic rod is detachably connected with the fixed block through a movable joint; the fixed block is equipped with the edge U type groove that the first direction extends, the movable joint includes that connecting rod and two intervals are located the flange of connecting rod, the one end of connecting rod install in U type groove, two the flange joint in the both ends in U type groove, the other end of connecting rod with the top spiro union of telescopic link.
Optionally, the first clamping jaw with the second clamping jaw all include the centre gripping arm and set up in the centre gripping head of centre gripping arm front end, the second driving piece is the clamping jaw cylinder, the clamping jaw cylinder includes two outputs that can be close to each other or keep away from each other, two the output respectively with the connection can be dismantled to the centre gripping arm.
Optionally, the opposite surfaces of the two clamping heads are provided with clamping grooves extending along the first direction.
Optionally, the shim clamping mechanism further comprises a limiting part, wherein the limiting part is arranged on one side, away from the fixed plate, of the clamping jaw fixing frame and can be abutted against the fixed block to limit the maximum stroke of the clamping jaw fixing frame.
Optionally, the sliding assembly comprises a sliding block and a sliding rail which are connected in a sliding manner, the sliding block is fixed to the clamping jaw fixing frame, and the sliding rail is fixedly connected to the fixing plate.
Optionally, the fixing plate is provided with a mounting groove, and the slide rail is fixed to the mounting groove.
In another aspect, the invention provides a clamping robot, which includes the shim clamping mechanism in any of the above aspects.
The invention has the beneficial effects that:
the invention provides a thin gasket clamping mechanism, which is characterized in that a clamping jaw fixing frame is arranged on a fixing frame in a sliding mode, a first driving piece is arranged on one side, away from the fixing plate, of the clamping jaw fixing frame, and a second driving piece is arranged on the fixing frame.
Drawings
FIG. 1 is an oblique side view of a shim gripping mechanism in an embodiment of the present invention;
FIG. 2 is a front view of a shim gripper mechanism according to an embodiment of the present invention;
FIG. 3 is a left side view of a shim gripping mechanism in an embodiment of the present invention;
FIG. 4 is a schematic view of a first jaw of an embodiment of the present invention;
FIG. 5 is a rear view of a shim gripper mechanism in an embodiment of the present invention.
In the figure:
1. a fixing plate; 11. a fixed block; 111. a first plate; 112. a second plate; 12. a rectangular mounting surface;
2. a clamping jaw fixing frame; 21. a first mounting plate; 22. a second mounting plate;
3. a first driving member; 4. a clamping portion; 41. a first jaw; 42. a second jaw; 401. a clamp arm; 4011. a placement groove; 4012. fixing the long hole; 402. a clamping head; 4021. a clamping groove;
5. a second driving member; 6. a sliding assembly; 61. a slider; 62. a slide rail;
7. a movable joint; 71. a connecting rod; 72. a first flange; 73. a second flange;
8. a limiting member; 81. a travel slot.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Where the terms "first position" and "second position" are two different positions, and where a first feature is "over", "above" and "on" a second feature, it is intended that the first feature is directly over and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Fig. 1 is an oblique side view of a shim gripping mechanism according to an embodiment of the present invention, fig. 2 is a front view of the shim gripping mechanism according to the embodiment of the present invention, fig. 3 is a left side view of the shim gripping mechanism according to the embodiment of the present invention, fig. 4 is a schematic structural view of a first clamping jaw according to the embodiment of the present invention, and fig. 5 is a rear view of the shim gripping mechanism according to the embodiment of the present invention. As shown in fig. 1-5, the present embodiment provides a thin pad clamping mechanism, which includes a fixing plate 1, a clamping jaw fixing frame 2 slidably connected to the fixing plate 1, a first driving member 3 and a second driving member 5, wherein the first driving member 3 is disposed on a side of the clamping jaw fixing frame 2 away from the fixing plate 1, and is used for driving the clamping jaw fixing frame 2 to slide along a first direction, the second driving member 5 is disposed on the clamping jaw fixing frame 2, and a clamping portion 4 mounted at a lower end of the second driving member 5, and the second driving member 5 is used for driving the clamping portion 4 to clamp a workpiece. In this embodiment, all set up first driving piece 3, second driving piece 5 in clamping jaw mount 2, be favorable to increasing clamping jaw mount 2, first driving piece 3 and the structural compactness of second driving piece 5, reduce the space that shim clamp mechanism occupy. On the other hand, all install first driving piece 3 and second driving piece 5 in clamping jaw mount 2, also be favorable to the design and the processing of clamping jaw mount 2, improve the production efficiency of product.
Regarding the structure of the clamping jaw fixing frame 2, in this embodiment, specifically, the clamping jaw fixing frame 2 includes a first mounting plate 21 and a second mounting plate 22 which are vertically connected, the second mounting plate 22 extends in a direction away from the fixing plate 1, the first mounting plate 21 is slidably connected to the fixing plate 1, the first driving member 3 is disposed on a side of the first mounting plate 21 away from the fixing plate 1, and the second driving member 5 is disposed on the second mounting plate 22. Optionally, the fixing plate 1 is provided with a rectangular mounting surface 12, and the jaw fixing frame 2 is slidably connected with the rectangular mounting surface 12 through the sliding assembly 6.
The clamping portion 4 includes a first clamping jaw 41 and a second clamping jaw 42, and the first clamping jaw 41 and the second clamping jaw 42 each include a clamping arm 401 and a clamping head 402 disposed at a front end of the clamping arm 401. Further, the opposing faces of the two gripping heads 402 are each provided with a gripping groove 4021 extending in the first direction. Regarding the design of the clamping groove 4021, in this embodiment, optionally, the width of the clamping groove 4021 is smaller than the diameter of the circular shim to be clamped, and this arrangement enables each clamping head 402 and the shim to be in two line contacts when clamping the circular shim, so that the stability of clamping is increased, and the success rate of clamping is improved. Further, the cross-section of the clamping groove 4021 is V-shaped. This setting can guarantee to be four line contact between clamping head 402 and the circular shim while, can reduce the getting rid of clamping head 402 material as far as possible in the manufacturing process, is favorable to guaranteeing the intensity of clamping head 402. Preferably, the first direction is a longitudinal direction of the rectangular mounting surface 12. The arrangement of the extending direction of the clamping groove 4021 is to ensure that the extending direction is parallel to the axial direction of the cylindrical workpiece to be clamped in this embodiment. In other embodiments, the extending direction of the holding groove 4021 may be different from the first direction as long as the direction is parallel to the axial direction of the cylindrical workpiece.
Regarding the first driving member 3, in this embodiment, specifically, the first driving member 3 is a lifting cylinder, the fixing plate 1 is provided with a fixing block 11, a cylinder barrel of the lifting cylinder is fixedly connected to the clamping jaw fixing frame 2, and a telescopic rod of the lifting cylinder is detachably connected to the fixing block 11. Alternatively, the dimension of the first driving member 3 in the width direction of the rectangular mounting surface 12 is smaller than the width dimension of the rectangular mounting surface 12.
In order to facilitate later maintenance, in the embodiment, the telescopic rod is preferably detachably connected with the fixed block 11 through the movable joint 7. Specifically, fixed block 11 is equipped with the U type groove that extends along the first direction, and movable joint 7 includes connecting rod 71 and two flanges that the interval was located connecting rod 71, and the one end of connecting rod 71 is installed in U type groove, and two flange joint in the both ends in U type groove, the other end of connecting rod 71 and the top spiro union of telescopic link. Further, the fixed block 11 includes a first plate 111 and a second plate 112 vertically connected, the first plate 111 is fixedly connected to the rectangular mounting surface 12, the second plate 112 is provided with a U-shaped groove, the flange includes a first flange 72 and a second flange 73, wherein a diameter of the connecting rod 71 is smaller than a diameter of the first flange 72 and the second flange 73, a diameter of the connecting rod 71 is smaller than a width and a depth of the U-shaped groove, and a distance between the first flange 72 and the second flange 73 is greater than a thickness of the second plate 112. During installation, the connecting rod 71 is installed in the U-shaped groove, the axial direction of the connecting rod 71 is consistent with the extending direction of the U-shaped groove, and the first flange 72 and the second flange 73 are clamped at two ends of the U-shaped groove. This setting makes there is the clearance between first flange 72, second flange 73 and the second board 112 to solve the lift cylinder that the flexible direction of lift cylinder and the sliding direction nonparallel of sliding subassembly 6 lead to and block dead problem at flexible process.
Optionally, the top end of the telescopic rod is provided with an external thread, one end of the connecting rod 71 is provided with an internal thread, and the connecting rod 71 is screwed with the telescopic rod. This setting is convenient for process the telescopic link.
In other embodiments, the first flange 72 of the movable joint 7 remote from the lifting cylinder may be in threaded engagement with the connecting rod 71. This arrangement may allow the distance between the first and second flanges 72, 73 to be adjusted to accommodate second plates 112 of different thicknesses.
The second driving member 5 is fixed at the lower end of the clamping jaw fixing frame 2, and the second driving member 5 can drive the first clamping jaw 41 and the second clamping jaw 42 to approach to or separate from each other along the second direction. In this embodiment, optionally, the first direction is perpendicular to the second direction.
Regarding the arrangement of the second driving element 5, in this embodiment, specifically, the second driving element 5 is a clamping jaw cylinder, the clamping jaw cylinder includes two output ends that can be close to or away from each other, and the two output ends are detachably connected to the clamping arm 401, respectively.
In order to realize output and centre gripping arm 401 high-speed joint, in this embodiment, the one end that centre gripping head 402 was kept away from to two centre gripping arms 401 is equipped with standing groove 4011 relatively, and standing groove 4011 is used for placing the output of clamping jaw cylinder, and centre gripping arm 401 still is equipped with the fixed slot 4012 that runs through the lateral wall of standing groove 4011 both sides. During installation, the output end is installed in the placing groove 4011, and the locking bolt sequentially penetrates through the fixing long hole 4012 on the upper side wall of the clamping arm 401, the installation hole of the output end and the fixing long hole 4012 on the lower side wall of the clamping arm 401 and then is locked through the nut. According to the arrangement, the two clamping arms 401 are close to the middle of the two sides of the output ends of the two clamping jaw cylinders, so that the matching can be completed, and the first clamping jaw 41 and the second clamping jaw 42 can be conveniently installed, debugged, maintained and replaced; on the other hand, the arrangement of the placement groove 4011 and the fixing long hole 4012 is beneficial to making the structure of the present embodiment more compact after the assembly.
Preferably, the shim clamping mechanism further comprises a limiting member 8, and the limiting member 8 is disposed on one side of the clamping jaw fixing frame 2 away from the fixing plate 1 and can abut against the fixing block 11 to limit the maximum stroke of the clamping jaw fixing frame 2. Regarding the structure and the installation position of the limiting element 8, in the present embodiment, specifically, the limiting element 8 and the first driving element 3 are arranged in parallel on the clamping jaw fixing frame 2, the limiting element 8 is provided with a U-shaped stroke slot 81 with an opening facing the fixing block 11, and the second plate 112 of the fixing block 11 is located in the stroke slot 81. When the clamping jaw fixing frame 2 moves up and down, the second plate 112 of the fixing block 11 moves in the stroke groove 81, and when the stroke of the first driving piece 3 reaches a preset value, one side wall of the stroke groove 81 can be abutted against the second plate 112 of the fixing block 11. This arrangement, on the one hand, makes the structure of the present embodiment compact; on the other hand for the function of fixed block 11 increases, both is used for being connected with the cylinder, is used for the spacing of clamping jaw mount 2 again.
Further, the second plate 112 is provided with a notch at the position where it is matched with the stroke slot 81. On one hand, the cantilever distance of the position of the second plate 112 with the limiting function is reduced, which is beneficial to improving the strength of the second plate 112; on the other hand, the depth of the stroke groove 81 engaged with the second plate 112 is made smaller, thereby making the structure of the present embodiment more compact.
Furthermore, the top end of the limiting member 8 is provided with a threaded hole penetrating through the stroke slot 81, and the adjusting bolt can abut against the upper end surface of the second plate 112 after penetrating through the threaded hole, so as to limit the maximum stroke of the downward movement of the clamping jaw fixing frame 2 in an adjustable manner.
Regarding the sliding assembly 6, in this embodiment, specifically, the sliding assembly 6 includes a sliding block 61 and a sliding rail 62, the sliding block 61 is an elongated strip extending along the first direction, the sliding rail 62 is provided with a sliding slot, the sliding block 61 slides in the sliding slot of the sliding rail 62, both sides of the sliding block 61 along the sliding direction are provided with grooves, the sliding rail 62 is provided with a boss corresponding to the groove, the sliding block 61 is fixed to the jaw fixing frame 2, and the sliding rail 62 is fixedly connected to the fixing plate 1. Alternatively, the slide rail 62 is provided with two sections at intervals along the sliding direction of the slider 61. The arrangement ensures the stroke of the slide rail 62, reduces the total length of the slide rail 62 and saves the cost.
The fixing plate 1 is provided with at least one mounting groove, and the slide rail 62 is fixed to the mounting groove. In the present embodiment, the number of the mounting slots may be, but is not limited to, two, and matches with the number of the slide rails 62. This set up the first aspect and play the positioning action of slide rail 62 installation, the second aspect for the distance between fixed plate 1 and the clamping jaw mount 2 reduces, can slightly be greater than the thickness of slider 61, and the third aspect, the mounting groove sets up in fixed plate 1, compares the mounting groove and sets up in the lower clamping jaw mount 2 of intensity more firmly, and the fourth aspect also makes the structure of this embodiment compacter. In this embodiment, the depth of the mounting groove can be designed according to the structure of the slide rail 62, so that the relative displacement process between the clamping jaw fixing frame 2 and the fixing plate 1 is ensured, and the interference between the slide block 61 and the fixing plate 1 is avoided.
The embodiment also provides a clamping robot, which comprises the thin gasket clamping mechanism in the scheme. Preferably, the clamping robot comprises a plurality of shim clamping mechanisms arranged in parallel.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A shim gripping mechanism, comprising:
a fixed plate (1);
the clamping jaw fixing frame (2), the clamping jaw fixing frame (2) is connected with the fixing plate (1) in a sliding mode through a sliding assembly (6);
a clamping portion (4) comprising a first clamping jaw (41) and a second clamping jaw (42);
the first driving piece (3) is arranged on one side, away from the fixed plate (1), of the clamping jaw fixing frame (2), and the first driving piece (3) can drive the clamping jaw fixing frame (2) to slide along a first direction;
second driving piece (5), second driving piece (5) are fixed in clamping jaw mount (2), second driving piece (5) can drive first clamping jaw (41) with second clamping jaw (42) are close to each other or are separated from each other along the second direction.
2. The mechanism is got to shim clamp according to claim 1, characterized in that, the clamping jaw mount (2) includes perpendicular first mounting plate (21) and second mounting plate (22) that connect, the second mounting plate (22) extends to the direction of keeping away from fixed plate (1), first mounting plate (21) with fixed plate (1) sliding connection, first driving piece (3) are located the side of first mounting plate (21) far away from fixed plate (1), second driving piece (5) are located second mounting plate (22).
3. The shim gripping mechanism according to claim 2, wherein the fixing plate (1) is provided with a fixing block (11); the first driving piece (3) is a lifting cylinder, a cylinder barrel of the lifting cylinder is fixedly connected with the clamping jaw fixing frame (2), and a telescopic rod of the lifting cylinder is detachably connected with the fixing block (11).
4. The shim gripping mechanism according to claim 3, wherein the telescopic rod is detachably connected with the fixed block (11) through a movable joint (7); fixed block (11) are equipped with the edge U type groove that the first direction extends, swing joint (7) are located including connecting rod (71) and two intervals the flange of connecting rod (71), the one end of connecting rod (71) install in U type groove, two the flange joint in the both ends in U type groove, the other end of connecting rod (71) with the top spiro union of telescopic link.
5. The mechanism for clamping thin gasket as claimed in claim 1, wherein each of the first clamping jaw (41) and the second clamping jaw (42) comprises a clamping arm (401) and a clamping head (402) arranged at the front end of the clamping arm (401), the second driving member (5) is a clamping jaw cylinder, the clamping jaw cylinder comprises two output ends which can approach each other or move away from each other, and the two output ends are respectively detachably connected with the clamping arm (401).
6. The shim gripper mechanism of claim 1, wherein opposing faces of the two gripper heads (402) are each provided with a gripping slot (4021) extending in a first direction.
7. The mechanism for clamping the shims as claimed in claim 3, further comprising a limiting member (8), wherein the limiting member (8) is disposed on a side of the clamping jaw fixing frame (2) far away from the fixing plate (1) and can abut against the fixing block (11) to limit the maximum stroke of the clamping jaw fixing frame (2).
8. The shim clamping mechanism according to claim 1, wherein the sliding assembly (6) comprises a sliding block (61) and a sliding rail (62) which are slidably connected, the sliding block (61) is fixed with the clamping jaw fixing frame (2), and the sliding rail (62) is fixedly connected with the fixing plate (1).
9. The shim gripping mechanism according to claim 8, wherein the fixing plate (1) is provided with a mounting groove, and the slide rail (62) is fixed to the mounting groove.
10. A gripping robot comprising the shim gripping mechanism of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011182992.6A CN112249749A (en) | 2020-10-29 | 2020-10-29 | Mechanism and robot are got to shim clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011182992.6A CN112249749A (en) | 2020-10-29 | 2020-10-29 | Mechanism and robot are got to shim clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112249749A true CN112249749A (en) | 2021-01-22 |
Family
ID=74268048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011182992.6A Pending CN112249749A (en) | 2020-10-29 | 2020-10-29 | Mechanism and robot are got to shim clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112249749A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101733747A (en) * | 2009-12-26 | 2010-06-16 | 江阴德玛斯特钻具有限公司 | Joint punching mechanical hand |
| WO2012026281A1 (en) * | 2010-08-23 | 2012-03-01 | 三菱重工業株式会社 | Clamper and in-water-chamber operation device |
| CN203236382U (en) * | 2012-12-17 | 2013-10-16 | 鸿准精密模具（昆山）有限公司 | Clamping device |
| CN204414733U (en) * | 2014-12-31 | 2015-06-24 | 苏州博众精工科技有限公司 | A kind of feeding clip mechanism |
| CN205061038U (en) * | 2015-05-29 | 2016-03-02 | 苏州赛腾精密电子股份有限公司 | Sheet stock suction means |
| CN209578663U (en) * | 2018-12-26 | 2019-11-05 | 深圳市智能机器人研究院 | A kind of Automated assembly machinery flexible fixture mould group |
| CN111702752A (en) * | 2020-07-17 | 2020-09-25 | 长园启华智能科技(珠海)有限公司 | Four-degree-of-freedom clamping device |
-
2020
- 2020-10-29 CN CN202011182992.6A patent/CN112249749A/en active Pending
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|---|---|---|---|---|
| CN101733747A (en) * | 2009-12-26 | 2010-06-16 | 江阴德玛斯特钻具有限公司 | Joint punching mechanical hand |
| WO2012026281A1 (en) * | 2010-08-23 | 2012-03-01 | 三菱重工業株式会社 | Clamper and in-water-chamber operation device |
| CN203236382U (en) * | 2012-12-17 | 2013-10-16 | 鸿准精密模具（昆山）有限公司 | Clamping device |
| CN204414733U (en) * | 2014-12-31 | 2015-06-24 | 苏州博众精工科技有限公司 | A kind of feeding clip mechanism |
| CN205061038U (en) * | 2015-05-29 | 2016-03-02 | 苏州赛腾精密电子股份有限公司 | Sheet stock suction means |
| CN209578663U (en) * | 2018-12-26 | 2019-11-05 | 深圳市智能机器人研究院 | A kind of Automated assembly machinery flexible fixture mould group |
| CN111702752A (en) * | 2020-07-17 | 2020-09-25 | 长园启华智能科技(珠海)有限公司 | Four-degree-of-freedom clamping device |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210122 |
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| RJ01 | Rejection of invention patent application after publication |