CN113070891A - Multifunctional grabbing mechanism and grabbing robot - Google Patents
Multifunctional grabbing mechanism and grabbing robot Download PDFInfo
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- CN113070891A CN113070891A CN202110293712.7A CN202110293712A CN113070891A CN 113070891 A CN113070891 A CN 113070891A CN 202110293712 A CN202110293712 A CN 202110293712A CN 113070891 A CN113070891 A CN 113070891A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims 1
- 239000000463 material Substances 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
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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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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Abstract
The invention discloses a multifunctional grabbing mechanism and a grabbing robot, wherein the grabbing mechanism comprises a mounting base, a first clamping device and a second clamping device, wherein the mounting base is provided with a mounting plane, and the mounting plane is provided with a central hole; the first driving part is arranged on the mounting base, and a power output end of the first driving part penetrates through the central hole; the clamping part is arranged on the mounting base in an opening and closing movement mode along a first direction and is connected with the first driving part through a first transmission device; the second driving part is arranged on the mounting base; the suction part is connected with the power output end of the second driving part through a second transmission device so that the second driving part can drive the suction part to switch between a first position and a second position; the suction part can avoid the clamping part in the state of the first position, and the suction part can suck the object to be sucked in the state of the second position. The grabbing mechanism can be used for conveniently carrying out different grabbing work without replacing the quick-change head, so that the time is saved, and the grabbing efficiency is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a multifunctional grabbing mechanism and a grabbing robot.
Background
At present, in order to improve production efficiency, in the working production process, a manipulator is required to be used for assisting grabbing work.
The manipulator on the market adopts quick change formula structure more, and the function components of a whole that can function independently, and the robot uses quick-change head switching function, realizes the different function of snatching through changing different quick-change heads promptly, however, this kind snatchs the mode and need frequently change quick-change head to extravagant more time influences production efficiency.
Disclosure of Invention
The invention provides a multifunctional grabbing mechanism and a grabbing robot, and aims to improve grabbing efficiency of a manipulator.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
in a first aspect of the present invention, there is provided a multifunctional grasping mechanism, including:
the mounting base is provided with a mounting plane, and the center of the mounting plane is provided with a central hole;
the first driving part is arranged on the mounting base, and a power output end of the first driving part penetrates through the central hole;
the clamping part is arranged on the mounting base in a manner of opening and closing movement along a first direction, and the clamping part is connected with the power output end of the first driving part through a first transmission device, so that the first driving part can drive the clamping part to open and close along the first direction to clamp or release an object to be clamped, and the first direction is parallel to the mounting plane;
the second driving part is arranged on the mounting base;
the suction part is connected with the power output end of the second driving part through a second transmission device so that the second driving part can drive the suction part to switch between a first position and a second position; the suction part can avoid the clamping part in the state of the first position, and the suction part can suck the object to be sucked in the state of the second position.
Preferably, press from both sides the portion of getting and include first splint and second splint, follow on the mounting plane the first direction is equipped with sliding guide, all be equipped with the slider on first splint and the second splint, the slider of first splint with the slider of second splint all with sliding guide sliding fit, just first splint with the second splint all pass through first transmission with the power take off end of first drive division is connected, so that first splint with the second splint can mutual reverse motion in the first direction.
Preferably, a pressure sensor is arranged on the first clamping plate and/or the second clamping plate to detect the pressure of the object to be clamped.
Preferably, the first transmission device comprises a gear and two racks, the gear is mounted on the power output end of the first driving part, the two racks are respectively mounted on the first clamping plate and the second clamping plate and are parallel to each other, and both the two racks are meshed with the gear;
the power output end of the first driving part can drive the gear to rotate and correspondingly drive the two racks to move in the first direction in the opposite direction, and then the first clamping plate and the second clamping plate are driven to move in the first direction in the opposite direction.
Preferably, two opposite inner sides of the first clamping plate and the second clamping plate are provided with buffering parts.
Preferably, the second transmission device comprises a rotating block, a rotating shaft and a connecting rod, wherein the first end of the rotating block is rotatably arranged on the power output end of the second driving part, the second end of the rotating block is fixedly sleeved on the rotating shaft, the connecting rod is fixed on the rotating shaft, and the suction part is arranged on the connecting rod; the rotating shaft is arranged along a second direction, and the second direction is parallel to the mounting plane and is vertical to the first direction;
the second driving part can move in a telescopic mode to drive the rotating block to push the rotating shaft to rotate and correspondingly drive the connecting rod to rotate, and then the suction part is driven to be switched between the first position and the second position.
Preferably, the multifunctional grabbing mechanism is provided with two sets of second transmission devices, each set of transmission device is provided with two connecting rods, the two connecting rods are respectively fixed on two sides of the rotating shaft and are parallel to each other, the suction parts are respectively installed on the connecting rods, and the second driving parts can move in a telescopic mode so as to drive the two suction parts on the connecting rods to rotate for a set angle at the same time.
Preferably, the suction part is a vacuum chuck.
Preferably, the first driving part is a servo motor, and the second driving part is a cylinder.
In a second aspect of the technical solution of the present invention, a grabbing robot is provided, which includes a robot body and the multifunctional grabbing mechanism, and the mounting base is connected to the robot body.
Compared with the prior art, the invention has the following beneficial effects:
the multifunctional grabbing mechanism provided by the technical scheme of the invention is provided with the clamping part and the suction part, and the clamping part is driven to move in an opening and closing manner by the first driving part so as to realize the clamping function of the grabbing mechanism; simultaneously, drive the portion of absorbing through the second drive division and switch operating position, be used for dodging when the portion of absorbing is in the first position and press from both sides the portion of getting to avoid getting to press from both sides and producing the interference, be used for absorbing when the portion of absorbing is in the second position and wait to absorb the article, thereby realize snatching the absorption function of mechanism. During specific use, the working state can be automatically switched according to use requirements, different grabbing work can be very conveniently carried out without replacing the quick-change head, so that the time for replacing the quick-change head is saved, and the grabbing efficiency and the overall production efficiency of the manipulator are improved.
Drawings
Fig. 1 is a schematic structural diagram of a multifunctional grabbing mechanism provided by an embodiment of the present invention;
FIG. 2 is a schematic view of another angle of the multi-functional grasping mechanism;
FIG. 3 is a schematic view of the multi-function gripping mechanism gripping an object;
fig. 4 is a schematic structural diagram of the multifunctional grabbing mechanism for adsorbing articles.
In the drawings, each reference numeral denotes:
1. mounting a base; 11. a mounting plane; 12. a sliding guide rail; 111. a central bore;
2. a first driving section;
3. a gripping section; 31. a first splint; 32. a second splint; 33. a slider; 34. a pressure sensor; 35. a buffer member; 351. strip-shaped bulges;
4. a second driving section; 5. a suction part;
6. a first transmission device; 61. a gear; 62. a rack;
7. a second transmission device; 71. rotating the block; 72. a rotating shaft; 73. a connecting rod;
10. an object to be clamped; 20. the object to be sucked.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent 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.
Referring to fig. 1 and fig. 2, a multifunctional grabbing mechanism according to an embodiment of the present invention includes: the mounting base 1, the first driving part 2, the gripping part 3, the second driving part 4, and the suction part 5. Wherein, the mounting base 1 is used for providing a mounting base, the first driving part 2 and the second driving part 4 are used for providing driving force, the clamping part 3 is used for clamping and releasing an object 10 to be clamped (such as a steel wire roll, a cloth roll and other cylindrical materials), and the suction part 5 is used for sucking an object 20 to be sucked (such as cardboard, steel plate and other sheet materials).
The mounting base 1 is provided with a mounting plane 11, and the center of the mounting plane 11 is provided with a central hole 111; the first driving part 2 is arranged on the mounting base 1, and the power output end of the first driving part 2 penetrates through the central hole 111; the clamping part 3 is arranged on the mounting base 1 in a manner of being capable of opening and closing along a first direction, and the clamping part 3 is connected with a power output end of the first driving part 2 through a first transmission device 6, so that the first driving part 2 can drive the clamping part 3 to open and close along the first direction to clamp or release an object 10 to be clamped, and the first direction is parallel to the mounting plane 11; the second driving part 2 is arranged on the mounting base 1, and the suction part 5 is connected with the power output end of the second driving part 2 through a second transmission device 7, so that the second driving part 2 can drive the suction part 5 to switch between a first position and a second position; the suction part 5 can avoid the gripping part 3 in a state of the first position, and the suction part 5 can suck the object 20 to be sucked in a state of the second position.
In the embodiment, the first driving part 2 drives the clamping part 3 to open and close so as to realize the clamping function of the clamping mechanism; meanwhile, the second driving part 4 drives the suction part 5 to switch the working position, and the suction part 5 is used for avoiding the clamping part 3 when being positioned at the first position so as to avoid interference on clamping, and the suction part 5 is used for sucking the object 20 to be sucked when being positioned at the second position, thereby realizing the suction function of the grabbing mechanism. During specific use, the working state can be automatically switched according to use requirements, different grabbing work can be very conveniently carried out without replacing the quick-change head, so that the time for replacing the quick-change head is saved, and the grabbing efficiency and the overall production efficiency of the manipulator are improved.
Referring to fig. 2, in the above embodiment, preferably, the clamping part 3 includes a first clamping plate 31 and a second clamping plate 32, the mounting plane 11 is provided with a sliding guide rail 12 along a first direction, the first clamping plate 31 and the second clamping plate 32 are both provided with a sliding block 33, the sliding block 33 of the first clamping plate and the sliding block 33 of the second clamping plate are both in sliding fit with the sliding guide rail 12, and the first clamping plate 31 and the second clamping plate 32 are both connected with the power output end of the first driving part 2 through the first transmission device 6, so that the first clamping plate 31 and the second clamping plate 32 can move in opposite directions to each other in the first direction. Specifically, in this embodiment, by providing the slide rail 12 on the mounting plane 11, the first clamp plate 31 and the second clamp plate 32 can be movably guided by the sliding fit of the slider 33 with the slide rail 12, when it is necessary to clamp the object 10 to be clamped, the power of the first driving part 2 is transmitted to the first clamp plate 31 and the second clamp plate 32 through the first conveying device 6, respectively, and then the first clamp plate 31 and the second clamp plate 32 are correspondingly brought close to each other along the slide rail 12 to perform the clamping operation on the object 10 to be clamped; when moving the object 10 to be gripped to the palletizing position, the power of the first driving part 2 is transmitted to the first clamping plate 31 and the second clamping plate 32 through the first conveying device 6, respectively, and then the first clamping plate 31 and the second clamping plate 32 are correspondingly separated from each other along the slide guide 12, so that the object 10 to be gripped naturally drops at the palletizing position under the action of gravity to complete the palletizing operation. Therefore, the sliding fit between the sliding block 33 and the sliding guide rail 12 can improve the stability of the movement of the first clamping plate 31 and the second clamping plate 32, so as to avoid the situation of deviation from affecting the clamping effect.
In the above embodiment, it is preferable that the first clamping plate 31 and/or the second clamping plate 32 is provided with a pressure sensor 34 to detect the pressure of the object 10 to be gripped. Specifically, in this embodiment, the pressure sensor 34 is disposed on the first clamping plate 31, when the clamping operation is performed by using the first clamping plate 31 and the second clamping plate 32, the pressure of the first clamping plate 31 and the second clamping plate 32 to the object 10 to be clamped is increased with the first clamping plate 31 and the second clamping plate 32 approaching each other, an optimal pressure value (for example, 5N) is preset to avoid damage to the surface of the object 10 to be clamped, and once the pressure sensor 34 detects that the pressure value reaches 5N during the process that the first driving part 2 drives the first clamping plate 31 and the second clamping plate 32 to approach each other, the first driving part 2 stops working to ensure that the object 10 to be clamped has sufficient pressing force and the surface of the object 10 to be clamped is not damaged. It will be readily appreciated that in other embodiments, the pressure sensor 34 may be provided on the second clamping plate 32, or both the first clamping plate 31 and the second clamping plate 32 may be provided with the pressure sensor 34. In addition, after the optimal pressure value is set, the first clamping plate 31 and the second clamping plate 32 can automatically adapt to the objects 10 to be clamped in different sizes, and the relative displacement of the first clamping plate 31 and the second clamping plate 32 is different for tubular materials with different diameters, so that the optimal pressure value is only required to be ensured to be consistent.
Referring to fig. 2, in the above embodiment, preferably, the first transmission 6 includes a gear 61 and two racks 62, the gear 61 is mounted on the power output end of the first driving part 2, the two racks 62 are respectively mounted on the first clamping plate 31 and the second clamping plate 32 and are parallel to each other, and both racks 62 are engaged with the gear 61; the power output end of the first driving portion 2 can drive the gear 61 to rotate and correspondingly drive the two racks 62 to move in the first direction in the opposite direction, so as to drive the first clamping plate 31 and the second clamping plate 32 to move in the first direction in the opposite direction. Specifically, in this embodiment, the structure that passes through the rack and pinion is as first transmission 6, and overall structure is comparatively simple, and can the first splint 31 of accurate control and the displacement distance of second splint 32 to be favorable to improving the precision of first splint 31 and second splint 32.
In the above embodiment, it is preferable that both opposite inner sides of the first clamping plate 31 and the second clamping plate 32 are provided with the cushion members 35. Specifically, the buffering member 35 may be a sponge, a silica gel or other flexible material, and when the object to be clamped is clamped, the buffering member 35 contacts with the outer surface of the object to be clamped, so as to avoid scratching the surface of the object 10 to be clamped, and further improve the safety of clamping. In addition, in this embodiment, the surface of the buffer member 35 is uniformly provided with a plurality of strip-shaped protrusions 351 parallel to each other, so as to increase the surface roughness of the buffer member 35, thereby improving the friction between the buffer member 35 and the object 10 to be gripped, and further improving the gripping stability.
In the above embodiment, preferably, the second transmission device 7 includes the rotating block 71, the rotating shaft 72 and the connecting rod 73, the first end of the rotating block 71 is rotatably installed on the power output end of the second driving portion 4, the second end of the rotating block 71 is fixedly sleeved on the rotating shaft 72, the connecting rod 73 is fixed on the rotating shaft 72, and the suction portion 5 is installed on the connecting rod 73; the rotation shaft 72 is disposed along a second direction, wherein the second direction is parallel to the mounting plane 11 and perpendicular to the first direction; the second driving portion 4 can move telescopically to drive the rotating block 71 to push the rotating shaft 72 to rotate, and correspondingly drive the connecting rod 73 to rotate, so as to drive the suction portion 5 to switch between the first position and the second position. Specifically, in this embodiment, when the power shaft of the second driving portion 4 is extended, the suction portion 5 is in the first position (the state shown in fig. 3), and at this time, the suction portion 5 is in the retracted state to avoid the grasping portion 3, so as to avoid interference with the grasping operation; when the power shaft of the second driving portion 4 is retracted, the suction portion 5 is in the second position (the state shown in fig. 4), and at this time, the suction portion 5 is in the deployed state, so that the suction operation can be performed.
In the above embodiment, preferably, the multifunctional grabbing mechanism has two sets of second transmission devices 7, each set of transmission devices 7 has two connecting rods 73, the two connecting rods 73 are respectively fixed on two sides of the rotating shaft 72, the two connecting rods 73 are parallel to each other, each connecting rod 73 is provided with the suction portion 5, and the second driving portion 4 can move telescopically to drive the suction portions 5 on the two connecting rods 73 to rotate at a set angle. Specifically, in this embodiment, one set of second transmission device 7 has two connecting rods 73, so as to drive two suction portions 5 to perform a rotation motion, and meanwhile, the grabbing mechanism has two sets of second transmission devices 7, and the two sets of second transmission devices 7 perform a synchronization motion, so as to drive four suction portions 5 to simultaneously rotate, so as to utilize four suction portions 5 to simultaneously perform an adsorption operation, thereby improving the stability of the object 20 to be sucked to be adsorbed.
In the above embodiment, it is preferable that the suction part 5 is a vacuum chuck. When the second driving portion 4 drives the suction portion 5 to move to the second position, the sheet material can be sucked in a vacuum suction manner, so that damage to the surface of the sheet material can be avoided.
In the above embodiment, the first driving unit 2 is preferably a servomotor and the second driving unit 4 is preferably a cylinder, but the present invention is not limited to this configuration, and in other embodiments, the first driving unit may be adaptively selected as needed.
The embodiment of the invention also provides a grabbing robot, which comprises a robot body and a multifunctional grabbing mechanism, wherein the mounting base 1 is connected with the robot body. Utilize this to snatch mechanism, need not to change the quick change head and can realize pressing from both sides the function of getting and adsorb the function, can improve the convenience that snatchs the robot and use and the work efficiency who snatchs.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the present invention shall be covered thereby. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A multifunctional gripping mechanism, comprising:
the mounting base is provided with a mounting plane, and the center of the mounting plane is provided with a central hole;
the first driving part is arranged on the mounting base, and a power output end of the first driving part penetrates through the central hole;
the clamping part is arranged on the mounting base in a manner of opening and closing movement along a first direction, and the clamping part is connected with the power output end of the first driving part through a first transmission device, so that the first driving part can drive the clamping part to open and close along the first direction to clamp or release an object to be clamped, and the first direction is parallel to the mounting plane;
the second driving part is arranged on the mounting base;
the suction part is connected with the power output end of the second driving part through a second transmission device so that the second driving part can drive the suction part to switch between a first position and a second position; the suction part can avoid the clamping part in the state of the first position, and the suction part can suck the object to be sucked in the state of the second position.
2. The multifunctional grabbing mechanism of claim 1, wherein the grabbing portion comprises a first clamping plate and a second clamping plate, a sliding guide rail is arranged on the installation plane along the first direction, sliding blocks are arranged on the first clamping plate and the second clamping plate, the sliding blocks of the first clamping plate and the sliding blocks of the second clamping plate are in sliding fit with the sliding guide rail, and the first clamping plate and the second clamping plate are connected with the power output end of the first driving portion through the first transmission device, so that the first clamping plate and the second clamping plate can move in the first direction in the opposite direction to each other.
3. The multifunctional grabbing mechanism of claim 2, wherein the first clamping plate and/or the second clamping plate is provided with a pressure sensor to detect the pressure of the object to be grabbed.
4. The multi-function gripping mechanism of claim 2, wherein the first transmission comprises a gear mounted on the power output end of the first driving portion and two racks mounted on the first clamping plate and the second clamping plate respectively and parallel to each other, and both racks are engaged with the gear;
the power output end of the first driving part can drive the gear to rotate and correspondingly drive the two racks to move in the first direction in the opposite direction, and then the first clamping plate and the second clamping plate are driven to move in the first direction in the opposite direction.
5. The multi-functional gripping mechanism of claim 2, wherein the first clamping plate and the second clamping plate are provided with a buffer on opposite inner sides.
6. The multifunctional grabbing mechanism of claim 1, wherein the second transmission device comprises a rotating block, a rotating shaft and a connecting rod, a first end of the rotating block is rotatably mounted on a power output end of the second driving part, a second end of the rotating block is fixedly sleeved on the rotating shaft, the connecting rod is fixed on the rotating shaft, and the sucking part is mounted on the connecting rod; the rotating shaft is arranged along a second direction, and the second direction is parallel to the mounting plane and is vertical to the first direction;
the second driving part can move in a telescopic mode to drive the rotating block to push the rotating shaft to rotate and correspondingly drive the connecting rod to rotate, and then the suction part is driven to be switched between the first position and the second position.
7. The multifunctional grabbing mechanism of claim 6, wherein the multifunctional grabbing mechanism has two sets of second transmission devices, each set of transmission device has two connecting rods, the two connecting rods are respectively fixed on two sides of the rotating shaft and are parallel to each other, the suction portion is mounted on each connecting rod, and the second driving portion can move telescopically to drive the suction portions on the two connecting rods to rotate at a set angle simultaneously.
8. The multi-function grasping mechanism according to claim 1, wherein the suction portion is a vacuum chuck.
9. The multi-functional gripping mechanism of claim 1, wherein the first driving portion is a servo motor and the second driving portion is a pneumatic cylinder.
10. A gripping robot comprising a robot body and a multifunctional gripping mechanism according to any one of claims 1-9, the mounting base being connected to the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110293712.7A CN113070891A (en) | 2021-03-19 | 2021-03-19 | Multifunctional grabbing mechanism and grabbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110293712.7A CN113070891A (en) | 2021-03-19 | 2021-03-19 | Multifunctional grabbing mechanism and grabbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN113070891A true CN113070891A (en) | 2021-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110293712.7A Pending CN113070891A (en) | 2021-03-19 | 2021-03-19 | Multifunctional grabbing mechanism and grabbing robot |
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| CN (1) | CN113070891A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09141588A (en) * | 1995-11-21 | 1997-06-03 | Mitsubishi Electric Corp | Grip device for industrial robot |
| CN103264397A (en) * | 2013-06-05 | 2013-08-28 | 南通通用机械制造有限公司 | Multifunctional robot palletizer gripper |
| CN204036462U (en) * | 2014-08-18 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | A kind of stack robot manipulator |
| CN106672620A (en) * | 2017-03-16 | 2017-05-17 | 烟台瓦鲁机器人自动化有限公司 | Composite gripper device of robot |
| CN208068301U (en) * | 2018-04-21 | 2018-11-09 | 淮安信息职业技术学院 | A kind of robot gripper convenient for crawl |
| CN209835004U (en) * | 2019-03-26 | 2019-12-24 | 迈巴赫机器人（昆山）有限公司 | Multifunctional gripper |
| CN112265820A (en) * | 2020-11-12 | 2021-01-26 | 健芮智能科技（昆山）有限公司 | Clamping mechanism with adjustable clamping range and torque force |
| CN212578625U (en) * | 2020-06-17 | 2021-02-23 | 江苏大全高压开关有限公司 | Circuit breaker frame clamp and upper and lower line carrying system for same |
-
2021
- 2021-03-19 CN CN202110293712.7A patent/CN113070891A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09141588A (en) * | 1995-11-21 | 1997-06-03 | Mitsubishi Electric Corp | Grip device for industrial robot |
| CN103264397A (en) * | 2013-06-05 | 2013-08-28 | 南通通用机械制造有限公司 | Multifunctional robot palletizer gripper |
| CN204036462U (en) * | 2014-08-18 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | A kind of stack robot manipulator |
| CN106672620A (en) * | 2017-03-16 | 2017-05-17 | 烟台瓦鲁机器人自动化有限公司 | Composite gripper device of robot |
| CN208068301U (en) * | 2018-04-21 | 2018-11-09 | 淮安信息职业技术学院 | A kind of robot gripper convenient for crawl |
| CN209835004U (en) * | 2019-03-26 | 2019-12-24 | 迈巴赫机器人（昆山）有限公司 | Multifunctional gripper |
| CN212578625U (en) * | 2020-06-17 | 2021-02-23 | 江苏大全高压开关有限公司 | Circuit breaker frame clamp and upper and lower line carrying system for same |
| CN112265820A (en) * | 2020-11-12 | 2021-01-26 | 健芮智能科技（昆山）有限公司 | Clamping mechanism with adjustable clamping range and torque force |
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Application publication date: 20210706 |