CN113681586A - Based on industrial robot anchor clamps of intelligent manufacturing - Google Patents
Based on industrial robot anchor clamps of intelligent manufacturing Download PDFInfo
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- CN113681586A CN113681586A CN202111145328.9A CN202111145328A CN113681586A CN 113681586 A CN113681586 A CN 113681586A CN 202111145328 A CN202111145328 A CN 202111145328A CN 113681586 A CN113681586 A CN 113681586A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 5
- 230000001276 controlling effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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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
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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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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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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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an industrial robot clamp based on intelligent manufacturing, which comprises a bracket, a clamping mechanism, a control mechanism, a turntable, clamping plates and a first driving piece, wherein the clamping mechanism is used for being assembled with mechanical arms of a robot, the clamping mechanism is arranged on one side of the bracket, the control mechanism is arranged in the bracket, the first driving piece is used for controlling the clamping plates to move, the clamping plates can be used for clamping an object, the angles of the clamping plates can be adjusted through the turntable according to the orientation of the surface of the object to be clamped, the clamping plates can be more effectively attached to the surface of the object, the clamping plates of two groups of clamping heads are used for matching, each clamping plate is adjusted to face the center of the bracket, so that a round shape is enclosed, the clamping mechanism is suitable for clamping objects with different shapes, the linkage rods can be driven to stretch under the driving of the linkage rods under the action of the linkage rods and the connecting rods, thereby further adjust the interval of carousel and support according to the particular case of object, it is more convenient nimble to use.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to an industrial robot clamp based on intelligent manufacturing.
Background
In intelligent manufacturing, the applicability and functionality of a robot are continuously improved, a tool clamp is used as the most important equipment of the robot, and the installation and design of the tool clamp are always the key contents in the research field of the robot. Whether the function of the tool clamp is successfully realized or not as a final executing mechanism of the industrial robot determines the working performance of the whole intelligent manufacturing system of the industrial robot to a great extent.
Among the prior art, industrial robot's anchor clamps most all absorb the work piece or inwards press from both sides and get the work piece, get the work piece inwards, through removing splint, make its and object surface contact, carry out centre gripping work, and when processing the object of different shapes, in order to improve the centre gripping effect, need be to the object of different shapes, need change the anchor clamps that correspond and carry out the centre gripping, waste time and energy, reduce work efficiency, so the urgent need is based on intelligent manufacturing industrial robot anchor clamps and solves above-mentioned problem.
Disclosure of Invention
The invention provides an intelligent manufacturing-based industrial robot clamp which is simple to operate, can flexibly adjust the clamping direction and is suitable for clamping objects with different shapes, so as to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a based on industrial robot anchor clamps are made to intelligence, includes the support, and install fixture of support one side and install control mechanism in the support, wherein:
the clamping mechanism comprises at least two groups of clamping heads, each group of clamping heads comprises a pair of turntables, each turntable is provided with a clamping plate and a first driving piece, the first driving pieces are connected with the clamping plates and control the clamping plates to move along the radial direction of the turntables, and a linkage rod is arranged on one side, far away from the clamping plates, of each turntable and is arranged on the support and connected with the control mechanism;
the control mechanism comprises a gear set and a second driving piece, wherein each linkage rod is connected with the gear set, the second driving piece drives the gear set to rotate, the linkage rods are driven to drive the rotary disc to synchronously rotate, and the advancing angle of the clamping plate is adjusted.
Preferably, the fixed block is installed to carousel center department, has radially seted up the through-hole along the carousel on the fixed block, install first nut in the through-hole, first driven gear is installed in the first nut outside, and first screw rod is installed to splint one side, and splint one end is kept away from to first screw rod and is passed the through-hole, and with first nut meshing, first driving piece is including installing the first driving motor of fixed one side, first driving gear is installed to first driving motor output shaft, first driving gear with first driven gear meshing, the first driving gear of first driving motor drive rotate, drive first driven gear and first nut synchronous rotation, wherein, rotate along with first nut, control first screw rod drives splint and removes along the through-hole direction.
Preferably, each the carousel is kept away from splint one side center department and is all installed the connecting block, and the connecting block rotates with the carousel to be connected, and the linkage pipe passes the connecting block links to each other with the carousel, wherein, install the connecting rod on the connecting block, the connecting rod other end with the support links to each other, is used for fixing each the carousel is fixed support one side.
Preferably, every the one end that the gangbar stretched into in the support links to each other with the gear train, and the second driving piece is including installing the second driving motor of support center department, second drive gear is installed to second driving motor output shaft, second drive gear and gear train meshing drive each gangbar simultaneously and rotate.
Preferably, the gear train is including installing second driven gear on the gangbar to and install the ganged gear between second drive gear and second driven gear, wherein, one the gangbar passes through second driven gear and directly meshes with second drive gear, and is adjacent link to each other through the ganged gear between the second driven gear of gangbar and the second drive gear, rotate along with second drive gear, control each carousel and rotate towards support center direction or keep away from center direction rotation in step.
Preferably, each linkage rod comprises an inner rod connected with the turntable and an outer tube sleeved on the inner rod, one end, far away from the inner rod, of the outer tube is installed on the support and connected with the control mechanism, the connecting rod is movably connected with the support along the moving direction of the inner rod and moves in the outer tube along with the inner rod in a telescopic mode, and the distance between the corresponding turntable and the corresponding support is adjusted.
Preferably, the outer surface of the inner rod is uniformly provided with a plurality of first limiting strips along the circumferential direction, a first limiting groove is formed in the outer tube in a matched manner with the first limiting strips, and the first limiting strips are inserted into the first limiting groove, so that the outer tube drives the inner rod to rotate synchronously when rotating.
Preferably, the support is provided with a linkage piece at each connecting rod, the linkage piece is connected with the connecting rods and works along with the linkage piece to control the connecting rods to move along the moving direction of the inner rod, and the connecting blocks and the rotary table are synchronously driven to move.
Preferably, the linkage part comprises a second nut installed on the support and a second screw rod connected with the connecting rod, the second screw rod is meshed with the second nut and connected with a third driven gear in a sleeved mode, an adjusting part is installed on the second driving gear and controls the second driving gear to move and be meshed with the gear set or the third driven gear.
Preferably, the regulating part is including installing the electric telescopic handle on the practical teaching, wherein, the center tube is installed at second drive gear center, and second driving motor's output shaft inserts in the center tube, evenly install the spacing strip of second along circumference on second driving motor's the output shaft, the second spacing groove has been seted up with the spacing strip of second is supporting in the center tube, and the spacing strip of second inserts the spacing inslot of second makes second driving motor work, and the synchronous drive center tube is rotated by second drive gear, electric telescopic rod tip with second drive gear links to each other, along with electric telescopic handle work, drives second drive gear removes, control second drive gear with gear train meshing or with third driven gear meshing.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the clamping heads are matched with the clamping plates through the rotary disc and the first driving part, so that the clamping plates can be controlled to move through the first driving part, an object can be clamped by using a pair of clamping plates, and the angle of the clamping plates can be adjusted through the rotary disc according to the orientation of the surface of the object to be clamped, so that the object can be more effectively attached to the surface of the object;
in addition, under the action of the linkage rod and the connecting rod, the linkage rod can be driven to stretch under the driving of the connecting rod, so that the distance between the turntable and the support can be further adjusted according to the specific conditions of objects, and the use is more convenient and flexible.
2. According to the invention, under the action of the control mechanism and the action of the gear set, the second driving motor can be used for controlling the turnplates of all groups of clamping heads to synchronously rotate, so that the cost is reduced, the working efficiency is improved, and meanwhile, under the action of the linkage piece and the adjusting piece, the second driving gear is adjusted to be meshed with the gear set or with the third driven gear according to requirements, so that the second driving motor is used for controlling the turnplates to correspondingly move, and the operation is more convenient and faster.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic diagram of the construction of the robotic gripper of the present invention;
FIG. 2 is a side view of the robotic gripper of the present invention;
FIG. 3 is a bottom view of the robotic gripper of the present invention;
FIG. 4 is a schematic structural view of the clamping mechanism and control mechanism of the present invention;
FIG. 5 is a bottom view of the clamping mechanism and control mechanism of the present invention;
FIG. 6 is a side view of the clamping mechanism and control mechanism of the present invention;
FIG. 7 is a bottom view of the clamping mechanism and control mechanism of the present invention;
reference numbers in the figures: 1. a support; 2. a turntable; 3. a splint; 4. a fixed block; 5. a through hole; 6. a first nut; 7. a first driven gear; 8. a first screw; 9. a first drive motor; 10. a first drive gear; 11. connecting blocks; 12. a connecting rod; 13. an inner rod; 14. an outer tube; 15. a first limit strip; 16. a first limit groove; 17. a second driven gear; 18. a linkage gear; 19. a second drive motor; 20. a second drive gear; 21. a second nut; 22. a second screw; 23. a third driven gear; 24. an electric telescopic rod; 25. a central tube; 26. a second limit strip; 27. a second limit groove.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example (b): as shown in fig. 1-3, an industrial robot clamp based on intelligent manufacturing comprises a support 1, a clamping mechanism and a control mechanism, wherein the support 1 is used for being assembled with a mechanical arm of a robot, the clamping mechanism is installed on one side of the support 1, the control mechanism is installed in the support 1, the clamping mechanism comprises at least two groups of clamping heads, each group of clamping heads comprises a pair of turntables 2, each turntable 2 is provided with a clamping plate 3 and a first driving part, the first driving part is connected with the clamping plate 3 and controls each clamping plate 3 to move along the radial direction of the turntable 2, a linkage rod is installed on one side, far away from the clamping plate 3, of the turntable 2, and the linkage rod is installed on the support 1 and connected with the control mechanism; the control mechanism comprises a gear set and a second driving piece, wherein each linkage rod is connected with the gear set, the second driving piece drives the gear set to rotate, the linkage rods are driven to drive the rotary disc 2 to synchronously rotate, and the advancing angle of the clamping plate 3 is adjusted.
Referring to fig. 4-6, a fixed block 4 is installed at the center of a turntable 2, a through hole 5 is formed in the fixed block 4 along the radial direction of the turntable 2, a first nut 6 is installed in the through hole 5, a first driven gear 7 is installed on the outer side of the first nut 6, a first screw 8 is installed on one side of a clamping plate 3, one end of the first screw 8, which is far away from the clamping plate 3, penetrates through the through hole 5 and is meshed with the first nut 6, a first driving member includes a first driving motor 9 installed on one fixed side, a first driving gear 10 is installed on an output shaft of the first driving motor 9, the first driving gear 10 is meshed with the first driven gear 7, the first driving motor 9 drives the first driving gear 10 to rotate to drive the first driven gear 7 and the first nut 6 to rotate synchronously, wherein the first screw 8 is controlled to drive the clamping plate 3 to move along the direction of the through hole 5 as the first nut 6 rotates, a connecting block 11 is installed at the center of each turntable 2, which is far away from the clamping plate 3, connecting block 11 rotates with carousel 2 to be connected, and the linkage pipe passes connecting block 11 and links to each other with carousel 2, wherein, installs connecting rod 12 on the connecting block 11, and the connecting rod 12 other end links to each other with support 1 for fix each carousel 2 in support 1 one side, thereby fix carousel 2 in support 1 one side, when the gangbar rotates, can connecting block 11 be the fulcrum simultaneously, and the gangbar drives carousel 2 and rotates.
Referring to fig. 4-7, one end of each linkage rod extending into the bracket 1 is connected with a gear set, the second driving member comprises a second driving motor 19 installed at the center of the bracket 1, a second driving gear 20 is installed on an output shaft of the second driving motor 19, the second driving gear 20 is meshed with the gear set to synchronously drive each linkage rod to rotate simultaneously, wherein the gear set comprises a second driven gear 17 arranged on the linkage rod, and a linkage gear 18 arranged between a second driving gear 20 and the second driven gear 17, one linkage rod is directly meshed with the second driving gear 20 through the second driven gear 17, the second driven gears 17 of the adjacent linkage rods are connected with the second driving gear 20 through the linkage gear 18, and the rotation of the second driving gear 20 controls the rotation of each turntable 2 towards the center direction of the support 1 or away from the center direction synchronously.
Referring to fig. 1 and 4, in this embodiment, including two sets of clamping heads, the symmetry is installed below support 1, second driving motor 19 works, it rotates to drive second drive gear 20, second drive gear 20 drives and rotates rather than second driven gear 17 and the synchronous rotation of linkage gear 18 of meshing, linkage gear 18 drives and rotates rather than second driven gear 17 of meshing, thereby each carousel 2 rotates to support 1 center or keeps away from support 1 center and rotates in step, refer to fig. 1, rotate through carousel 2, make two sets of splint 3 correspond each other, usable two sets of splint 3 carry out synchronous clamping work, or adjust each splint 3 and make it all towards the center of support 1, thereby enclose into circularly, can carry out clamping work to circular object.
In addition, motors may be mounted on the chuck heads of each group, and the respective turntables 2 may be independently controlled to rotate by the motors.
Referring to fig. 4, each linkage rod comprises an inner rod 13 connected with the rotary table 2 and an outer tube 14 sleeved on the inner rod 13, one end of the outer tube 14, which is far away from the inner rod 13, is mounted on the support 1 and is connected with the control mechanism, the connecting rod 12 is movably connected with the support 1 along the moving direction of the inner rod 13 and moves along with the inner rod 13 in the outer tube 14 in a stretching manner, the distance between the corresponding rotary table 2 and the support 1 is adjusted, wherein the outer surface of the inner rod 13 is uniformly provided with a plurality of first limiting strips 15 along the circumferential direction, a first limiting groove 16 is formed in the outer tube 14 in a matching manner with the first limiting strips 15, the first limiting strips 15 are inserted into the first limiting grooves 16, and the outer tube 14 is driven to synchronously rotate the inner rod 13 when rotating.
Referring to fig. 4-7, a linkage member is mounted on each connecting rod 12 on the bracket 1, the linkage member is connected to the connecting rod 12, and operates with the linkage member to control the connecting rod 12 to move along the moving direction of the inner rod 13 and synchronously drive the connecting block 11 and the turntable 2 to move, wherein the linkage member comprises a second nut 21 mounted on the bracket 1 and a second screw 22 connected to the connecting rod 12, the second screw 22 is meshed with the second nut 21, a third driven gear 23 is sleeved on the second nut 21, an adjusting member is mounted on the second driving gear 20 and controls the second driving gear 20 to move and to be meshed with the gear set or the third driven gear 23, the adjusting member comprises an electric telescopic rod 24 mounted on the support, wherein a central tube 25 is mounted at the center of the second driving gear 20, and the output shaft of the second driving motor 19 is inserted into the central tube 25, second spacing 26 is evenly installed along circumference on the output shaft of second driving motor 19, second spacing groove 27 has been seted up with second spacing 26 is supporting in the center tube 25, second spacing 26 inserts in second spacing groove 27, make second driving motor 19 work, hold-in range center tube 25 is rotated by second drive gear 20, electric telescopic handle 24 tip links to each other with second drive gear 20, work along with electric telescopic handle 24, drive second drive gear 20 and remove, control second drive gear 20 and gear train meshing or with third driven gear 23 meshing.
During operation, work through electric telescopic handle 24, promote second drive gear 20 and remove, make second drive gear 20 remove, center tube 25 cup joints and moves on second driving motor 19's output shaft, make second drive gear 20 break away from with the gear train, simultaneously with third driven gear 23 meshing, along with second driving motor 19 work, drive second drive gear 20 rotates, drive third driven gear 23 and rotate, third driven gear 23 drives second nut 21 and rotates, second nut 21 drives second screw rod 22 and removes, thereby control connecting rod 12 removes, connecting rod 12 drives connecting block 11 carousel 2 and removes, adjust the interval of carousel 2 and support 1, treat 2 position control of carousel and accomplish the back, drive second drive gear 20 and gear train meshing through electric telescopic handle 24, can carry out centre gripping work.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an industrial robot anchor clamps based on intelligent manufacturing which characterized in that: including the support, and install fixture of support one side and installation control mechanism in the support, wherein:
the clamping mechanism comprises at least two groups of clamping heads, each group of clamping heads comprises a pair of turntables, each turntable is provided with a clamping plate and a first driving piece, the first driving pieces are connected with the clamping plates and control the clamping plates to move along the radial direction of the turntables, and a linkage rod is arranged on one side, far away from the clamping plates, of each turntable and is arranged on the support and connected with the control mechanism;
the control mechanism comprises a gear set and a second driving piece, wherein each linkage rod is connected with the gear set, the second driving piece drives the gear set to rotate, the linkage rods are driven to drive the rotary disc to synchronously rotate, and the advancing angle of the clamping plate is adjusted.
2. The industrial robot clamp based on intelligent manufacturing according to claim 1, characterized in that: the fixed block is installed to carousel center department, has radially seted up the through-hole along the carousel on the fixed block, install first nut in the through-hole, first driven gear is installed in the first nut outside, and first screw rod is installed to splint one side, and splint one end is kept away from to first screw rod passes the through-hole, and with first nut meshing, first driving piece is including installing the first driving motor of fixed one side, first drive gear is installed to first driving motor output shaft, first drive gear with first driven gear meshing, the first drive gear of first driving motor drive rotates, drives first driven gear and first nut synchronous rotation, wherein, rotates along with first nut, and control first screw rod drives splint and removes along the through-hole direction.
3. The industrial robot clamp based on intelligent manufacturing according to claim 2, characterized in that: each the carousel is kept away from splint one side center department and is all installed the connecting block, and the connecting block rotates with the carousel to be connected, and the linkage pipe passes the connecting block links to each other with the carousel, wherein, install the connecting rod on the connecting block, the connecting rod other end with the support links to each other, is used for fixing each the carousel is in support one side.
4. The industrial robot clamp based on intelligent manufacturing according to claim 3, characterized in that: every the one end that the gangbar stretched into in the support links to each other with the gear train, and the second driving piece is including installing the second driving motor of support center department, second drive gear is installed to second driving motor output shaft, second drive gear and gear train meshing drive each gangbar simultaneously and rotate.
5. The industrial robot clamp based on intelligent manufacturing according to claim 4, characterized in that: the gear train is including installing second driven gear on the gangbar to and install the linked gear between second drive gear and second driven gear, wherein, one the gangbar passes through the direct and second drive gear meshing of second driven gear, and is adjacent link to each other through the linked gear between the second driven gear of gangbar and the second drive gear, rotate along with the second drive gear, control each carousel and rotate towards support center direction or keep away from center direction and rotate in step.
6. The industrial robot clamp based on intelligent manufacturing according to claim 3, characterized in that: each linkage rod comprises an inner rod connected with the rotary table and an outer tube sleeved on the inner rod, one end, away from the inner rod, of the outer tube is installed on the support and connected with the control mechanism, the connecting rod is movably connected with the support along the moving direction of the inner rod and moves in the outer tube along with the inner rod in a telescopic mode, and the distance between the rotary table and the support is adjusted correspondingly.
7. The industrial robot clamp based on intelligent manufacturing according to claim 6, characterized in that: the outer surface of the inner rod is uniformly provided with a plurality of first limiting strips along the circumferential direction, a first limiting groove is formed in the outer tube in a matched mode with the first limiting strips, and the first limiting strips are inserted into the first limiting grooves, so that the outer tube drives the inner rod to rotate synchronously when rotating.
8. The industrial robot clamp based on intelligent manufacturing according to claim 7, wherein: and linkage pieces are arranged at the positions of the connecting rods on the support, are connected with the connecting rods and work along with the linkage pieces to control the connecting rods to move along the moving direction of the inner rod and synchronously drive the connecting blocks and the rotary table to move.
9. An industrial robot gripper for smart manufacturing based on claims 5 or 8, characterized in that: the linkage piece is including installing the second nut on the support to and the second screw rod that links to each other with the connecting rod, and the second screw rod is connected with the meshing of second nut, third driven gear has been cup jointed on the second nut, wherein, installs the regulating part on the second drive gear, the regulating part control the second drive gear removes, with gear train meshing or with third driven gear meshing.
10. The industrial robot clamp based on intelligent manufacturing according to claim 9, characterized in that: the regulating part is including installing the electric telescopic handle on practicing the teaching, wherein, the center tube is installed at second drive gear center, and second driving motor's output shaft inserts in the center tube, evenly install the spacing strip of second along circumference on second driving motor's the output shaft, the second spacing groove has been seted up with the spacing strip of second is supporting in the center tube, and the spacing strip of second inserts the spacing inslot of second makes second driving motor work, and the synchronous drive center tube is rotated by second drive gear, electric telescopic rod tip with second drive gear links to each other, along with electric telescopic handle work, drives second drive gear removes, control second drive gear with gear train meshing or with third driven gear meshing.
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| CN202111145328.9A CN113681586B (en) | 2021-09-28 | 2021-09-28 | Based on industrial robot anchor clamps of intelligent manufacturing |
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| CN202111145328.9A CN113681586B (en) | 2021-09-28 | 2021-09-28 | Based on industrial robot anchor clamps of intelligent manufacturing |
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| CN114083558A (en) * | 2022-01-19 | 2022-02-25 | 新乡职业技术学院 | Clamping device that arm was used |
| CN116079776A (en) * | 2022-12-23 | 2023-05-09 | 国家电网有限公司客户服务中心 | Robot clamping jaw mechanism |
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| CN211680735U (en) * | 2019-12-31 | 2020-10-16 | 重庆朗维机电技术有限公司 | Switchable combined clamping device |
| CN112338951A (en) * | 2020-10-22 | 2021-02-09 | 南昌大学 | A full-size multifunctional extrusion manipulator |
| CN112719437A (en) * | 2020-12-25 | 2021-04-30 | 徐德鹏 | Panel cutting device for machining |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083558A (en) * | 2022-01-19 | 2022-02-25 | 新乡职业技术学院 | Clamping device that arm was used |
| CN116079776A (en) * | 2022-12-23 | 2023-05-09 | 国家电网有限公司客户服务中心 | Robot clamping jaw mechanism |
| CN116079776B (en) * | 2022-12-23 | 2025-01-28 | 国家电网有限公司客户服务中心 | A robot gripper mechanism |
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| CN113681586B (en) | 2023-03-24 |
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Application publication date: 20211123 Assignee: Huai'an shuangxiang Intelligent Technology Co.,Ltd. Assignor: Jiangsu electronic information Vocational College Contract record no.: X2023980042340 Denomination of invention: An industrial robot fixture based on intelligent manufacturing Granted publication date: 20230324 License type: Common License Record date: 20230922 |
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