CN113977622A - Robot end effector for self-adaptive linkage clamping of multiple working objects - Google Patents
Robot end effector for self-adaptive linkage clamping of multiple working objects Download PDFInfo
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- CN113977622A CN113977622A CN202111346659.9A CN202111346659A CN113977622A CN 113977622 A CN113977622 A CN 113977622A CN 202111346659 A CN202111346659 A CN 202111346659A CN 113977622 A CN113977622 A CN 113977622A
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- clamping jaw
- base
- jaw
- end effector
- clamping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to a robot end effector, in particular to a robot end effector for multi-working-object-oriented adaptive linkage clamping. The robot comprises an end effector arranged at the tail end of a robot, wherein the end effector comprises an end effector support, a lower clamping jaw system, an upper clamping jaw system and a clamping driving mechanism, wherein the lower clamping jaw system comprises a lower clamping jaw base and a plurality of lower clamping jaws arranged on the lower clamping jaw base; the upper clamping jaw system comprises an upper clamping jaw base and a plurality of upper clamping jaws arranged on the upper clamping jaw base; the lower clamping jaw base and the upper clamping jaw base are both connected with a guide rail arranged on the end effector support in a sliding manner, and the lower clamping jaws correspond to the upper clamping jaws one by one to form a plurality of groups of clamping hands; the clamping driving mechanism is arranged on the end effector support, connected with the lower clamping jaw base and the upper clamping jaw base and used for driving the lower clamping jaw base and the upper clamping jaw base to move in opposite directions, and therefore synchronous opening or closing of the plurality of groups of clamping hands is achieved. The invention can grab a plurality of workpieces and articles at one time, thereby improving the production efficiency.
Description
Technical Field
The invention relates to a robot end effector, in particular to a robot end effector for multi-working-object-oriented adaptive linkage clamping.
Background
The transfer of a workpiece between two devices is a common practice in industrial automation, where a robot with a single-jaw end effector is used. The method has long teaching time and low efficiency. Accordingly, there is a continuing need for a simple multi-jaw end effector that can be controlled to improve operating efficiency.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a robot end effector for adaptive linkage gripping of multiple working objects, so as to solve the problems of long working time and low efficiency of the existing robot with a single-jaw end effector.
In order to achieve the purpose, the invention adopts the following technical scheme:
the robot end effector comprises an end effector arranged at the tail end of a robot, wherein the end effector comprises an end effector support, a lower clamping jaw system, an upper clamping jaw system and a clamping driving mechanism, wherein the lower clamping jaw system comprises a lower clamping jaw base and a plurality of lower clamping jaws arranged on the lower clamping jaw base; the upper clamping jaw system comprises an upper clamping jaw base and a plurality of upper clamping jaws arranged on the upper clamping jaw base; the lower clamping jaw base and the upper clamping jaw base are both connected with a guide rail arranged on the end effector support in a sliding manner, and the lower clamping jaws correspond to the upper clamping jaws one by one to form a plurality of groups of clamping hands; the clamping driving mechanism is arranged on the end effector support and connected with the lower clamping jaw base and the upper clamping jaw base, and the clamping driving mechanism is used for driving the lower clamping jaw base and the upper clamping jaw base to move in opposite directions, so that multiple groups of clamping jaws are opened or closed synchronously.
The clamping driving mechanism comprises a rotary driving device and a clamping executing mechanism, wherein the clamping executing mechanism comprises a forward and reverse rotating screw rod and two bearing seats, the two bearing seats are arranged at two ends of the end effector support, two ends of the forward and reverse rotating screw rod are respectively in rotating connection with the two bearing seats, and the forward and reverse rotating screw rod is parallel to the guide rail; the lower clamping jaw base and the upper clamping jaw base are respectively connected with two sections of reverse threads on the forward and reverse screw rods;
the rotary driving device is arranged on the end effector support, is connected with the forward and reverse rotation screw rod and is used for driving the forward and reverse rotation screw rod to rotate.
The lower clamping jaw base comprises a lower clamping jaw mounting seat, a lower clamping jaw nut and a lower clamping jaw nut connecting piece, wherein the lower clamping jaw mounting seat is connected with the guide rail in a sliding mode, and the lower clamping jaw nut is connected with the forward and reverse rotation screw rod in a threaded mode and is fixedly connected with the lower clamping jaw mounting seat through the lower clamping jaw nut connecting piece; a plurality of lower clamping jaws are arranged on the lower clamping jaw mounting seat at intervals in sequence.
The upper clamping jaw base comprises an upper clamping jaw mounting seat, an upper clamping jaw nut and an upper clamping jaw nut connecting piece, wherein the upper clamping jaw mounting seat is connected with the guide rail in a sliding mode, and the upper clamping jaw nut is connected with the forward and reverse rotation screw rod in a threaded mode and is connected with the upper clamping jaw mounting seat through the upper clamping jaw nut connecting piece; a plurality of the upper clamping jaws are sequentially arranged on the upper clamping jaw mounting seat at intervals.
The rotary driving device comprises a cylinder assembly and a cylinder connecting rod, wherein the cylinder assembly is arranged on the end effector support and outputs power along the direction vertical to the guide rail; one end of the air cylinder connecting rod is hinged with the output end of the air cylinder assembly, and the other end of the air cylinder connecting rod is hinged with the forward and reverse screw rod.
Lower clamping jaw with it is the same to go up the clamping jaw structure, all includes clamping jaw base I, removal axle, clamping jaw board I and compression spring, wherein clamping jaw base I with lower clamping jaw base or go up the clamping jaw pedestal connection, remove axle and I sliding connection of clamping jaw base, the one pot head of clamping jaw board I is located and is removed epaxially, and compression spring overlaps and locates to remove epaxially, and both ends respectively with clamping jaw board I and I butt of clamping jaw base.
And a buffer piece I is arranged on the working surface of the clamping jaw plate I.
The lower clamping jaw and the upper clamping jaw are the same in structure and respectively comprise a clamping jaw base II, a parallel four-bar mechanism and a clamping jaw plate II, wherein the clamping jaw base II is connected with the lower clamping jaw base or the upper clamping jaw base, and the clamping jaw plate II is connected with the clamping jaw base II through the parallel four-bar mechanism.
The parallel four-bar linkage mechanism comprises a connecting rod A, a connecting rod B, an extension spring and a connecting rod C, wherein the connecting rod B is arranged in parallel with the clamping jaw base II and is hinged with the clamping jaw base II through the connecting rod A and the connecting rod C which are arranged in parallel, and two ends of the extension spring are respectively connected with the connecting rod B and the clamping jaw base II; and the clamping jaw plate II is connected with the connecting rod B.
The extension spring is obliquely arranged and provides a clamping acting force for the clamping jaw plate II to clamp the article; and a buffer piece II is arranged on the working surface of the clamping jaw plate II.
The invention has the advantages and beneficial effects that: the robot end effector for multi-working-object-oriented adaptive linkage clamping replaces a single-clamping-jaw end effector to carry out conveying operation on workpieces and articles, and by using the end effector, the robot can grab a plurality of workpieces and articles at one time, so that the productivity is improved.
Drawings
Fig. 1 is a schematic mounting diagram of a robot end effector for multi-work object adaptive linkage clamping, which is mounted on a robot according to the present invention;
FIG. 2 is a schematic structural diagram of a robot end effector for multi-work object adaptive linkage clamping according to the present invention;
FIG. 3 is a schematic view of a clamping actuator according to the present invention;
FIG. 4 is a schematic view of the construction of the lower jaw system of the present invention;
FIG. 5 is a schematic view of the upper jaw system of the present invention;
FIG. 6 is one of the schematic views of the jaw of the present invention;
FIG. 7 is a second schematic view of the structure of the clamping jaw of the present invention;
in the figure: 1 is an end effector, 2 is a robot, 11 is an end effector support, 12 is a cylinder assembly, 13 is a cylinder connecting rod, 14 is a clamping actuating mechanism, 15 is a guide rail, 16 is a lower clamping jaw system, 17 is an upper clamping jaw system, 141 is a nut, 142 is a bearing seat, 143 is a forward and reverse screw rod, 144 is a cylinder connecting rod limiting part, 161 is a lower clamping jaw mounting seat, 162 is a lower clamping jaw nut, 163 is a lower clamping jaw nut connecting piece, 164 is a lower clamping jaw, 171 is an upper clamping jaw mounting seat, 172 is an upper clamping jaw nut, 173 is an upper clamping jaw nut connecting piece, 174 is an upper clamping jaw, 16411 is a clamping jaw base I, 16412 is a moving shaft, 16413 is a clamping jaw plate I, 16414 is a buffer I, 16415 is a compression spring, 16416 is an oilless bushing, 16417 is a positioning plate, 164181 is a fastener A, and 164182 is a fastener B; 16421 is a jaw base ii, 16422 is a link a, 16423 is an extension spring, 16424 is a link B, 16425 is a jaw plate ii, 16426 is a buffer ii, 164271 is a pin a, 164272 is a pin B, 16428 is a link C, and 16429 is a positioning member.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the robot end effector for adaptive linkage gripping for multiple working objects provided by the present invention includes an end effector 1 disposed at an end of a robot 2. As shown in fig. 2, the end effector 1 includes an end effector support 11, a lower jaw system 16, an upper jaw system 17, and a clamping driving mechanism, wherein the lower jaw system 16 includes a lower jaw base and a plurality of lower jaws 164 disposed on the lower jaw base; the upper jaw system 17 includes an upper jaw base and a plurality of upper jaws 174 disposed on the upper jaw base; the lower clamping jaw base and the upper clamping jaw base are in sliding connection with a guide rail 15 arranged on the end effector support 11, and the lower clamping jaws 164 correspond to the upper clamping jaws 174 one by one to form a plurality of groups of clamping hands; the clamping driving mechanism is arranged on the end effector support 11 and connected with the lower clamping jaw base and the upper clamping jaw base, and the clamping driving mechanism is used for driving the lower clamping jaw base and the upper clamping jaw base to move in opposite directions, so that multiple groups of clamping jaws are opened or closed synchronously.
As shown in fig. 2-3, in the embodiment of the present invention, the clamping driving mechanism includes a rotation driving device and a clamping executing mechanism 14, wherein the clamping executing mechanism 14 includes a forward and reverse rotation screw 143 and two bearing blocks 142, the two bearing blocks 142 are disposed at two ends of the end effector support 11, two ends of the forward and reverse rotation screw 143 are respectively rotatably connected with the two bearing blocks 142, and the forward and reverse rotation screw 143 is parallel to the guide rail 15; the lower clamping jaw base and the upper clamping jaw base are respectively connected with two sections of reverse threads on the forward and reverse screw rod 143; the rotation driving device is disposed on the end effector support 11, and is connected to the forward and backward rotation screw 143, for driving the forward and backward rotation screw 143 to rotate.
As shown in fig. 2, in the embodiment of the present invention, the rotation driving means includes a cylinder assembly 12 and a cylinder link 13, wherein the cylinder assembly 12 is provided on the end effector support 11 and outputs power in a direction perpendicular to the guide rail 15; one end of the cylinder connecting rod 13 is hinged with the output end of the cylinder assembly 12, and the other end is hinged with the positive and negative rotation screw rod 143. The cylinder assembly 12 drives the cylinder connecting rod 13 to swing, so as to drive the forward and reverse rotation screw rod 143 to rotate forward and reverse.
Further, an air cylinder link limiting member 144 is provided at an end portion of the forward/reverse rotation screw 143, and the air cylinder link limiting member 144 axially positions the air cylinder link 13. The nut 141 fixes the forward/reverse rotation screw 143 to the bearing block 142.
As shown in fig. 4, in the embodiment of the present invention, the lower jaw base includes a lower jaw mounting base 161, a lower jaw nut 162 and a lower jaw nut connector 163, wherein the lower jaw mounting base 161 is slidably connected to the guide rail 15, the lower jaw nut 162 is in threaded connection with the forward and reverse rotation screw 143, and is fixedly connected to the lower jaw mounting base 161 through the lower jaw nut connector 163; the plurality of lower jaws 164 are sequentially disposed on the lower jaw mount 161 at intervals.
As shown in fig. 5, in the embodiment of the present invention, the upper jaw base includes an upper jaw mounting seat 171, an upper jaw nut 172 and an upper jaw nut connecting member 173, wherein the upper jaw mounting seat 171 is slidably connected to the guide rail 15, and the upper jaw nut 172 is threadedly connected to the forward and reverse screw rod 143 and is connected to the upper jaw mounting seat 171 through the upper jaw nut connecting member 173; the plurality of upper jaws 174 are sequentially disposed on the upper jaw mounting seat 171 at intervals. The forward and reverse rotation of the screw 143 drives the upper jaw mounting 171 and the lower jaw mounting 161 to move toward or away from each other.
As shown in fig. 6, in the embodiment of the present invention, the lower jaw 164 and the upper jaw 174 have the same structure, and both include a jaw base i 16411, a moving shaft 16412, a jaw plate i 16413, and a compression spring 16415, wherein the jaw base i 16411 is connected to the lower jaw base or the upper jaw base, the moving shaft 16412 is slidably connected to the jaw base i 16411, one end of the jaw plate i 16413 is sleeved on the moving shaft 16412, the compression spring 16415 is sleeved on the moving shaft 16412, and two ends of the compression spring are respectively abutted to the jaw plate i 16413 and the jaw base i 16411. When the lower clamping jaw 164 and the upper clamping jaw 174 grab the workpiece, the compression spring 16415 is used for buffering, so that the workpiece is flexibly grabbed, and the workpiece is prevented from being damaged.
Furthermore, a buffer piece I16414 is arranged on the working surface of the clamping jaw plate I16413, and the buffer piece I16414 prevents the clamped object from being damaged.
Further, an oilless bushing 16416 is arranged between the moving shaft 16412 and the clamping jaw base I16411, one end of the moving shaft 16412 is axially limited through a positioning plate 16417 and locked through a fastener A164181, the other end of the moving shaft is fixedly connected with a clamping jaw plate I16413 through a fastener B164182, and the stroke of the clamping jaw can be adjusted by adjusting the position of the fastener A164181.
In another embodiment of the present invention, as shown in fig. 7, the lower jaw 164 and the upper jaw 174 have the same structure and each include a jaw base ii 16421, a parallel four-bar linkage mechanism and a jaw plate ii 16425, wherein the jaw base ii 16421 is connected to the lower jaw base or the upper jaw base, and the jaw plate ii 16425 is connected to the jaw base ii 16421 through the parallel four-bar linkage mechanism.
Specifically, the parallel four-bar linkage mechanism comprises a connecting bar A16422, a connecting bar B16424, an extension spring 16423 and a connecting bar C16428, wherein the connecting bar B16424 and the clamping jaw base II 16421 are arranged in parallel and hinged with the clamping jaw base II 16421 through the connecting bar A16422 and the connecting bar C16428 which are arranged in parallel, and two ends of the extension spring 16423 are respectively connected with the connecting bar B16424 and the clamping jaw base II 16421; the jaw plate II 16425 is connected with a connecting rod B16424.
Further, the tension spring 16423 is obliquely arranged to provide clamping force for the clamping jaw plate II 16425 to clamp the object. The working surface of the clamping jaw plate II 16425 is provided with a buffer piece II 16426, and the buffer piece II 16426 prevents the clamped object from being damaged.
Specifically, a connecting rod A16422 and a connecting rod B16424 are arranged between the clamping jaw base II 16421 and the connecting rod B16424 in parallel, a first end of the connecting rod A16422 is hinged with the clamping jaw base II 16421 through a pin shaft A164271, and a second end of the connecting rod A16422 is hinged with the connecting rod B16424 through a pin shaft B164272; the first end of the connecting rod C16428 is hinged with the clamping jaw base II 16421 through another pin shaft B164272, and the second end is hinged with the connecting rod B16424 through another pin shaft A164271, so that a four-bar mechanism is formed. The pin A164271 and the pin B164272 are axially positioned by a positioning member 16429, and the two pins B164272 are positioned at the opposite corners of the parallelogram. An extension spring 16423 is arranged between the two pin shafts B164272, when an object to be clamped is clamped, the clamping jaw plate II 16425 is opened, the extension spring 16423 is lengthened, and at the moment, the clamping jaw plate II 16425 and the buffer piece II 16426 generate clamping acting force on the object to be clamped, so that the clamping function of the object to be clamped is realized.
In this embodiment, the lower jaw 164 and the upper jaw 174 can flexibly clamp the object, so as to prevent the clamped object from being damaged; meanwhile, the tension spring 16423 provides clamping force, and the clamping safety is guaranteed. The lower clamping jaw system and the upper clamping jaw system act cooperatively to realize synchronous action of a plurality of claws and can grab a plurality of workpieces or articles at one time.
The robot end effector for multi-working-object-oriented adaptive linkage clamping replaces a single-clamping-jaw end effector to carry out conveying operation on workpieces and articles, and by using the end effector, the robot can grab a plurality of workpieces and articles at one time, so that the productivity is improved.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The robot end effector comprises an end effector (1) arranged at the tail end of a robot (2), and is characterized in that the end effector (1) comprises an end effector support (11), a lower clamping jaw system (16), an upper clamping jaw system (17) and a clamping driving mechanism, wherein the lower clamping jaw system (16) comprises a lower clamping jaw base and a plurality of lower clamping jaws (164) arranged on the lower clamping jaw base; the upper clamping jaw system (17) comprises an upper clamping jaw base and a plurality of upper clamping jaws (174) arranged on the upper clamping jaw base; the lower clamping jaw base and the upper clamping jaw base are both in sliding connection with a guide rail (15) arranged on the end effector support (11), and the lower clamping jaws (164) and the upper clamping jaws (174) are in one-to-one correspondence to form a plurality of groups of clamping hands; the clamping driving mechanism is arranged on the end effector support (11) and connected with the lower clamping jaw base and the upper clamping jaw base, and the clamping driving mechanism is used for driving the lower clamping jaw base and the upper clamping jaw base to move in opposite directions, so that multiple groups of clamping jaws are opened or closed synchronously.
2. The robot end effector for multi-work-object-oriented adaptive linkage clamping according to claim 1, wherein the clamping driving mechanism comprises a rotary driving device and a clamping executing mechanism (14), the clamping executing mechanism (14) comprises a forward and reverse rotation screw rod (143) and two bearing blocks (142), the two bearing blocks (142) are arranged at two ends of the end effector support (11), two ends of the forward and reverse rotation screw rod (143) are respectively connected with the two bearing blocks (142) in a rotating manner, and the forward and reverse rotation screw rod (143) is parallel to the guide rail (15); the lower clamping jaw base and the upper clamping jaw base are respectively connected with two sections of reverse threads on the forward and reverse screw rods (143);
the rotary driving device is arranged on the end effector support (11), is connected with the forward and reverse rotation screw rod (143), and is used for driving the forward and reverse rotation screw rod (143) to rotate.
3. The multi-work object-oriented adaptive linkage gripper robot end effector according to claim 2, wherein the lower jaw base comprises a lower jaw mounting base (161), a lower jaw nut (162) and a lower jaw nut connector (163), wherein the lower jaw mounting base (161) is slidably connected with the guide rail (15), the lower jaw nut (162) is in threaded connection with the forward and reverse screw (143), and is fixedly connected with the lower jaw mounting base (161) through the lower jaw nut connector (163); the lower clamping jaws (164) are sequentially arranged on the lower clamping jaw mounting seat (161) at intervals.
4. The multi-work object-oriented adaptive linkage gripper robot end effector according to claim 2, wherein the upper jaw base comprises an upper jaw mounting base (171), an upper jaw nut (172) and an upper jaw nut connector (173), wherein the upper jaw mounting base (171) is slidably connected with the guide rail (15), the upper jaw nut (172) is in threaded connection with the forward and reverse screw (143), and is connected with the upper jaw mounting base (171) through the upper jaw nut connector (173); the upper clamping jaws (174) are sequentially arranged on the upper clamping jaw mounting seat (171) at intervals.
5. The multi-work object-oriented adaptive linkage gripper robot end effector according to claim 2, wherein the rotary driving means comprises a cylinder assembly (12) and a cylinder link (13), wherein the cylinder assembly (12) is disposed on the end effector support (11) and outputs power in a direction perpendicular to the guide rail (15); one end of the air cylinder connecting rod (13) is hinged with the output end of the air cylinder assembly (12), and the other end of the air cylinder connecting rod is hinged with the forward and reverse rotation screw rod (143).
6. The robot end effector for multi-work-object-oriented adaptive linkage clamping according to claim 1, wherein the lower clamping jaw (164) and the upper clamping jaw (174) have the same structure and each comprise a clamping jaw base I (16411), a moving shaft (16412), a clamping jaw plate I (16413) and a compression spring (16415), wherein the clamping jaw base I (16411) is connected with the lower clamping jaw base or the upper clamping jaw base, the moving shaft (16412) is connected with the clamping jaw base I (16411) in a sliding manner, one end of the clamping jaw plate I (16413) is sleeved on the moving shaft (16412), the compression spring (16415) is sleeved on the moving shaft (16412), and two ends of the clamping jaw plate I (16413) and the clamping jaw base I (16411) are respectively abutted.
7. The multi-work-object-oriented adaptive linkage gripper robot end effector according to claim 6, wherein a buffer member I (16414) is arranged on the working surface of the gripper plate I (16413).
8. The multi-work object-oriented adaptive linkage gripper robot end effector according to claim 1, wherein the lower gripper (164) and the upper gripper (174) are identical in structure and each comprise a gripper base ii (16421), a parallel four-bar linkage mechanism and a gripper plate ii (16425), wherein the gripper base ii (16421) is connected with the lower gripper base or the upper gripper base, and the gripper plate ii (16425) is connected with the gripper base ii (16421) through the parallel four-bar linkage mechanism.
9. The multi-work-object-oriented adaptive linkage gripper robot end effector according to claim 8, wherein the parallelogram linkage comprises a link A (16422), a link B (16424), an extension spring (16423) and a link C (16428), wherein the link B (16424) is arranged in parallel with the jaw base II (16421) and is hinged to the jaw base II (16421) through the link A (16422) and the link C (16428) which are arranged in parallel, and two ends of the extension spring (16423) are respectively connected with the link B (16424) and the jaw base II (16421); the clamping jaw plate II (16425) is connected with a connecting rod B (16424).
10. The multi-workobject-oriented adaptive linkage gripper robot end effector of claim 9, wherein the extension spring (16423) is obliquely disposed to provide a gripping force for the gripper plate ii (16425) to grip an article; and a buffer piece II (16426) is arranged on the working surface of the clamping jaw plate II (16425).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111346659.9A CN113977622A (en) | 2021-11-15 | 2021-11-15 | Robot end effector for self-adaptive linkage clamping of multiple working objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111346659.9A CN113977622A (en) | 2021-11-15 | 2021-11-15 | Robot end effector for self-adaptive linkage clamping of multiple working objects |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113977622A true CN113977622A (en) | 2022-01-28 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111346659.9A Withdrawn CN113977622A (en) | 2021-11-15 | 2021-11-15 | Robot end effector for self-adaptive linkage clamping of multiple working objects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113977622A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5108140A (en) * | 1988-04-18 | 1992-04-28 | Odetics, Inc. | Reconfigurable end effector |
| CN204777618U (en) * | 2015-08-03 | 2015-11-18 | 昆山康斯特精密机械有限公司 | Automatic carrying device of two take place ofs bearings of hub |
| CN106737779A (en) * | 2016-12-21 | 2017-05-31 | 东莞市秦智工业设计有限公司 | A kind of multijaw grasping mechanism |
| CN106829452A (en) * | 2016-12-21 | 2017-06-13 | 东莞市秦智工业设计有限公司 | A kind of two axles movement grasping mechanism |
| CN207372580U (en) * | 2017-07-31 | 2018-05-18 | 深圳市拓野机器人自动化有限公司 | A kind of lamp body fixture |
| CN112297041A (en) * | 2020-10-22 | 2021-02-02 | 广州文冲船厂有限责任公司 | Pickup device |
| CN213801881U (en) * | 2020-11-30 | 2021-07-27 | 江苏兴诺迅自动化科技有限公司 | Bottle taking manipulator based on three-axis platform |
-
2021
- 2021-11-15 CN CN202111346659.9A patent/CN113977622A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5108140A (en) * | 1988-04-18 | 1992-04-28 | Odetics, Inc. | Reconfigurable end effector |
| CN204777618U (en) * | 2015-08-03 | 2015-11-18 | 昆山康斯特精密机械有限公司 | Automatic carrying device of two take place ofs bearings of hub |
| CN106737779A (en) * | 2016-12-21 | 2017-05-31 | 东莞市秦智工业设计有限公司 | A kind of multijaw grasping mechanism |
| CN106829452A (en) * | 2016-12-21 | 2017-06-13 | 东莞市秦智工业设计有限公司 | A kind of two axles movement grasping mechanism |
| CN207372580U (en) * | 2017-07-31 | 2018-05-18 | 深圳市拓野机器人自动化有限公司 | A kind of lamp body fixture |
| CN112297041A (en) * | 2020-10-22 | 2021-02-02 | 广州文冲船厂有限责任公司 | Pickup device |
| CN213801881U (en) * | 2020-11-30 | 2021-07-27 | 江苏兴诺迅自动化科技有限公司 | Bottle taking manipulator based on three-axis platform |
Non-Patent Citations (1)
| Title |
|---|
| 张克猛、赵玉成主编: "《机械设计基础》", 西安：西安交通大学出版社 * |
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Application publication date: 20220128 |
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