CN114367951A - Rotary gripper - Google Patents
Rotary gripper Download PDFInfo
- Publication number
- CN114367951A CN114367951A CN202111673833.0A CN202111673833A CN114367951A CN 114367951 A CN114367951 A CN 114367951A CN 202111673833 A CN202111673833 A CN 202111673833A CN 114367951 A CN114367951 A CN 114367951A
- Authority
- CN
- China
- Prior art keywords
- motor
- nested
- rotating shaft
- hollow
- hollow rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000003014 reinforcing effect Effects 0.000 claims description 17
- 230000009347 mechanical transmission Effects 0.000 abstract description 8
- 230000007246 mechanism Effects 0.000 abstract description 8
- 238000005259 measurement Methods 0.000 description 10
- 230000001976 improved effect Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
Abstract
The invention relates to the technical field of holders, in particular to a rotary holder. The rotary clamp holder comprises a shell, a hollow cup motor, a hollow rotating shaft, a nested motor and a clamping jaw; the hollow cup motor is arranged in the shell, the hollow rotating shaft is coaxially fixed with a rotor of the hollow cup motor, and the hollow rotating shaft is fixedly connected with the base of the clamping jaw; the nested motor is fixed in the hollow rotating shaft, and a motor shaft of the nested motor is connected and matched with the gripper of the clamping jaw and used for driving the gripper to loosen or clamp. The rotary gripper provided by the invention can carry out rotary driving and clamping driving on the clamping jaw in a motor direct driving mode, a mechanical transmission mechanism is hardly required to be arranged between the motor and the clamping jaw, the structure is compact, the size is small, and because a gear set and other similar mechanical transmission mechanisms are not present, the back clearance problem is not present, and the rotary precision and the clamping precision are high.
Description
Technical Field
The invention relates to the technical field of holders, in particular to a rotary holder.
Background
The rotary gripper is a device which can grip and release an object and can drive the gripped object to rotate.
The existing rotary clamper generally adopts two motors arranged side by side, and the clamping jaws are respectively driven to rotate, clamp and release under the action of a gear set or other mechanical transmission mechanisms, so that the structure is poor in compactness and large in size, and back gaps exist at the mutually matched positions of different transmission parts of the mechanical transmission mechanisms to influence the rotation precision.
In summary, it is an urgent technical problem to be solved by those skilled in the art to overcome the above-mentioned drawbacks of the conventional rotary clamper.
Disclosure of Invention
The invention aims to provide a rotary clamp holder to solve the technical problems of poor compactness and poor precision of the rotary clamp holder in the prior art.
The invention provides a rotary clamp holder which comprises a shell, a hollow cup motor, a hollow rotating shaft, a nested motor and a clamping jaw.
The hollow cup motor is arranged in the shell, the hollow rotating shaft is coaxially fixed with a rotor of the hollow cup motor, and the hollow rotating shaft is fixedly connected with the base of the clamping jaw; the nested motor is fixed in the hollow rotating shaft, and a motor shaft of the nested motor is connected and matched with the hand grip of the clamping jaw and used for driving the hand grip to loosen or clamp.
Preferably, as an implementation mode, a control board is further installed in the housing, a first measuring element and a second measuring element are arranged on the control board, the first measuring element is used for measuring a rotation parameter of the hollow rotating shaft, the second measuring element is used for measuring a rotation parameter of a motor shaft of the nested motor, and both the coreless motor and the nested motor are electrically connected with the control board.
Preferably, as an implementation mode, the rotary gripper further comprises a first measured object element, the first measured object element is fixedly connected with the hollow rotating shaft, and the first measuring element is used for measuring a rotation parameter of the first measured object element;
and/or the rotary clamp further comprises a second measured element which is fixedly connected with a motor shaft of the nested motor and is used for measuring a rotation parameter of the second measured element.
Preferably, as an embodiment, the control plate is located on a side of the hollow rotating shaft facing away from the clamping jaw.
The first measured element is arranged at one end of the hollow rotating shaft, which is far away from the clamping jaw, and the first measured element and the first measuring element are arranged oppositely; and/or the motor shaft of the nested motor is provided with a tail end shaft part extending towards the control board, the second measured element is installed at the end part of the tail end shaft part, and the second measured element is arranged opposite to the second measured element.
Preferably, as an implementation mode, a reinforcing cylinder is fixedly connected to a casing of the nested motor, the tail end shaft portion is located in a cylinder of the reinforcing cylinder, and the reinforcing cylinder is in running fit with the tail end shaft portion.
Preferably, as an implementation manner, a fixed seat is fixedly connected to an end portion of the tail end shaft portion, the second measured object element is mounted on the fixed seat, and the reinforcing cylinder is rotationally matched with the fixed seat through a first bearing.
Preferably, as an implementation mode, a slip ring is installed in the housing, a rotor of the slip ring is fixedly connected with the hollow rotating shaft, a stator of the slip ring is electrically connected with the control board, and a rotor of the slip ring is electrically connected with the nested motor.
Preferably, as an embodiment, the slip ring is located on a side of the coreless motor near the control board;
and/or a switching circuit board is fixedly connected to the rotor of the slip ring, a socket is arranged on the switching circuit board, a plug is arranged on a motor wire of the nested motor, and the plug is in plug-in fit with the socket and used for connecting the rotor of the slip ring with the nested motor.
Preferably, as an embodiment, the first measuring element is an encoder, and/or the second measuring element is an encoder.
Preferably, as an embodiment, the hollow rotating shaft is rotatably fitted with the housing.
Compared with the prior art, the invention has the beneficial effects that:
the rotary clamp holder provided by the invention is provided with the hollow cup motor, the hollow rotating shaft coaxial with the hollow cup motor is fixedly connected in the rotor of the hollow cup motor, the other motor (a nested motor) is assembled with the hollow rotating shaft in a nested mode, and particularly, the nested motor is fixed in the hollow rotating shaft, wherein the motor shaft of the nested motor is connected and matched with the hand grip of the clamping jaw, so that the hand grip of the clamping jaw can be driven to loosen or clamp; the hollow rotating shaft is fixedly connected with the base of the clamping jaw and can drive the clamping jaw to rotate, and therefore the hollow cup motor is matched with the nested motor together, and the clamping jaw can rotate and clamp.
Therefore, the rotary gripper provided by the invention can carry out rotary driving and gripping driving on the gripper jaw in a motor direct driving mode, a mechanical transmission mechanism is hardly required to be arranged between the motor and the gripper jaw, the structure is compact, the size is small, and because a gear set and other similar mechanical transmission mechanisms are not present, the back clearance problem is not present, and the rotary precision and the gripping precision are high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic perspective view of a rotary clamper according to an embodiment of the invention;
FIG. 2 is a schematic cross-sectional structural view of a first structure of a rotary clamper according to an embodiment of the present invention;
FIG. 3 is a partial schematic structural view of a first structure of a rotary clamper according to an embodiment of the invention;
fig. 4 is a partial structural schematic view of a second structure of the rotary clamper according to the embodiment of the invention.
Description of reference numerals:
100-a housing; 110-a second bearing;
200-a coreless motor; 210-a hollow rotating shaft; 211 — a first measured element;
300-nested motors; 310-a second measured element; 320-tail end shaft portion; 330-a reinforcement cylinder; 340-a fixed seat; 350-a first bearing;
400-a clamping jaw; 410-a base; 420-hand grip;
500-a control panel; 510-a first measuring element; 520-a second measuring element;
600-slip ring.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
Referring to fig. 1-4, the present embodiment provides a rotary gripper comprising a housing 100, a coreless motor 200, a hollow shaft 210, a nested motor 300, and a jaw 400.
The hollow cup motor 200 is arranged in the shell 100, the hollow rotating shaft 210 is coaxially fixed with the rotor of the hollow cup motor 200, and the hollow rotating shaft 210 is fixedly connected with the base 410 of the clamping jaw 400; the nested motor 300 is fixed in the hollow rotating shaft 210, and a motor shaft of the nested motor 300 is in connection fit with the hand grip 420 of the clamping jaw 400 and is used for driving the hand grip 420 to loosen or clamp.
The rotary clamper provided by the embodiment is provided with a hollow cup motor 200, a hollow rotating shaft coaxial with the hollow cup motor is fixedly connected in a rotor of the hollow cup motor, and another motor (a nested motor 300) is assembled with the hollow rotating shaft in a nested mode, specifically, the nested motor 300 is fixed in the hollow rotating shaft 210 of the hollow cup motor 200, wherein a motor shaft of the nested motor 300 is connected and matched with a gripper 420 of a clamping jaw 400, and can drive the gripper 420 of the clamping jaw 400 to loosen or clamp; the hollow rotating shaft 210 of the coreless motor 200 is fixedly connected with the base 410 of the clamping jaw 400, and can drive the clamping jaw 400 to rotate, so that the coreless motor 200 is matched with the nested motor 300 together, and the rotation and the clamping action of the clamping jaw 400 can be realized.
Therefore, the rotary gripper provided by the embodiment can adopt a motor direct-drive mode to carry out rotary drive and clamping drive on the clamping jaw 400, a mechanical transmission mechanism is hardly required to be arranged between the motor and the clamping jaw 400, the structure is compact, the size is small, and because of the absence of a gear set and other similar mechanical transmission mechanisms, the back clearance problem is avoided, and the rotary precision and the clamping precision are high.
The control board 500 can be further installed in the housing 100, the first measuring element 510 and the second measuring element 520 are arranged on the control board 500, the first measuring element 510 is used for measuring the rotation parameters (such as angular displacement, angular velocity and the like) of the hollow rotating shaft 210, the second measuring element 520 is used for measuring the rotation parameters of the motor shaft of the nested motor 300, and both the coreless motor 200 and the nested motor 300 are electrically connected with the control board 500, so that the control board 500 can perform feedback control on the coreless motor 200 according to the rotation parameter information of the hollow rotating shaft 210 fed back by the first measuring element 510; accordingly, the control board 500 can also perform feedback control on the nested motor 300 according to the rotation parameter information of the motor shaft of the nested motor 300 fed back by the second measuring element 520, thereby improving the gripping precision and the rotational displacement precision of the gripping jaw 400.
The control panel 500 may be provided as one, two or more pieces according to actual requirements.
Preferably, the first measured object 211 may be additionally provided, the first measured object 211 is fixedly connected to the hollow rotating shaft 210, and the first measured object 211 is used as a measurement object of the first measurement element 510, that is, the first measurement element 510 can obtain the rotation parameter of the hollow rotating shaft 210 by measuring the rotation parameter of the first measured object 211, so that the accuracy of the rotation parameter signal of the hollow rotating shaft 210 measured by the first measurement element 510 can be improved.
Accordingly, the second measured element 310 may be added, the second measured element 310 is fixedly connected to the motor shaft of the nested motor 300, and the second measured element 310 is used as the measurement object of the second measurement element 520, that is, the second measurement element 520 may indirectly obtain the rotation parameter of the motor shaft of the nested motor 300 by measuring the rotation parameter of the second measured element 310, so that the accuracy of the rotation parameter signal of the nested motor 300 measured by the second measurement element 520 may be improved.
On the basis of the structure, the first element to be measured 211 can be arranged on one side of the hollow rotating shaft 210, which is far away from the clamping jaw 400, and the first element to be measured 211 and the first measuring element 510 are arranged oppositely, so that the distance between the first element to be measured 211 and the first measuring element 510 can be shortened as much as possible, the measuring effectiveness is ensured, and the measuring precision is improved.
Accordingly, the motor shaft of the nested motor 300 may have a tail end shaft portion 320 extending toward the control board 500, the second to-be-measured element 310 may be mounted at an end portion of the tail end shaft portion 320, and the second to-be-measured element 310 may be disposed opposite to the second measuring element 520, so that a distance between the second to-be-measured element 310 and the second measuring element 520 may be shortened as much as possible, thereby ensuring the effectiveness of the measurement and improving the measurement accuracy.
The reinforcing cylinder 330 can be fixedly connected to the casing of the nested motor 300, so that the tail end shaft part 320 is located in the reinforcing cylinder 330, and the tail end shaft part 320 is rotationally matched with the reinforcing cylinder 330, so that the reinforcing cylinder 330 can limit the position of the tail end shaft part 320, and the tail end shaft part 320 is not easy to shake, therefore, the second measured element 310 mounted on the tail end shaft part 320 is not easy to shake, and the precision of the rotation parameter of the motor shaft of the nested motor 300 obtained by the second measuring element 520 can be further improved.
Particularly, the fixing seat 340 may be fixedly connected to an end portion of the tail end shaft portion 320 of the nested motor 300, and the second measured object element 310 is mounted on the fixing seat 340, on the basis, the reinforcing cylinder 330 and the fixing seat 340 are rotationally matched through the first bearing 350, so that the rotational matching between the tail end shaft portion 320 and the reinforcing cylinder 330 is indirectly achieved, the smooth rotation of the tail end shaft portion 320 in the reinforcing cylinder 330 may be improved, the generated wear is small, the service life is prolonged, and the noise is reduced.
In addition, the slip ring 600 may be installed in the housing 100, and the rotor of the slip ring 600 is fixedly connected to the hollow rotating shaft 210, so that the hollow rotating shaft 210 is utilized to drive the rotor of the slip ring 600 to rotate synchronously therewith; the stator of the slip ring 600 is electrically connected with the control board 500, and the rotor of the slip ring 600 is electrically connected with the nested motor 300, so that the slip ring 600 can avoid the self-phase winding of the cables of the nested motor 300 in the process that the nested motor 300 rotates along with the hollow rotating shaft 210, and the reliability is high.
Preferably, a switching circuit board can be fixedly connected to the rotor of the slip ring 600, a socket is arranged on the switching circuit board, and accordingly, a plug is arranged on the motor line of the nested motor 300, so that the plug is inserted into the socket, the connection between the nested motor 300 and the rotor of the slip ring 600 can be realized, the connection is firmer, and therefore, when the rotary clamp vibrates in the operation process, the rotors of the nested motor 300 and the slip ring 600 are not easy to be loosened due to connection, so that the operation of the nested motor 300 is not easy to break down, and the reliability is higher.
Specifically, an encoder may be used as the first measuring element 510 and the second measuring element 520, the type of the encoder may be any one of a magnetoelectric type, a photoelectric type, an inductive type and a capacitive type, and a magnetic encoder is preferably used as the first measuring element 510 and the second measuring element 520, at this time, the first measured element 211 may be set as a magnetic code disc, and is sleeved on the hollow rotating shaft 210; meanwhile, the first measured object 211 may be provided as a magnet and fixed to the fixing base 340.
Particularly, the hollow rotating shaft 210 and the housing 100 may be rotationally matched, so that the housing 100 may limit the position of the hollow rotating shaft 210, so that the hollow rotating shaft 210 is not prone to shake, on the one hand, the first measured object 211 mounted on the hollow rotating shaft 210 is not prone to shake, and the accuracy of the rotation parameter of the hollow rotating shaft 210 measured by the first measuring object 510 is further improved; on the other hand, the nested motor 300 and the reinforcing cylinder 330 installed in the hollow rotating shaft 210 are not easy to shake, and further, the tail end shaft portion 320 connected to the nested motor 300 and matched with the reinforcing cylinder 330 is not easy to shake, so that the accuracy of the rotation parameter of the motor shaft of the nested motor 300 measured by the second measuring element 520 can be further improved.
In particular, the hollow rotating shaft 210 can be rotatably engaged with the housing 100 through the second bearing 110, so that the rotating smoothness of the hollow rotating shaft 210 in the housing 100 can be improved, the generated abrasion is small, the service life is prolonged, and the noise is reduced.
Specifically, the second bearings 110 may be at least two, and the second bearings 110 are arranged at intervals along the length direction of the hollow rotating shaft 210, so that the supporting effect of the housing 100 on the hollow rotating shaft 210 can be improved, and the hollow rotating shaft 210 is less prone to shake.
Preferably, the second bearings 110 are provided in two, and one of the second bearings 110 is engaged with a portion of the hollow rotating shaft 210 near the clamping jaw 400; optionally, another second bearing 110 may be coupled to a portion of the hollow shaft 210 between the coreless motor 200 and the slip ring 600 (as shown in fig. 2 and 3), and optionally, another second bearing 110 may be coupled to an end of the hollow shaft 210 near the control board 500 (as shown in fig. 4).
Preferably, referring to fig. 2 and 3, the slip ring 600 may be disposed at a side of the coreless motor 200 close to the control board 500, so that internal routing may be simplified and the coreless motor 200 is closer to a final output end, so that a sloshing amount of the coreless motor 200 may be reduced and a process requirement for centering the idle shaft 200 may be simpler.
Of course, referring to fig. 4, it is within the scope of the present invention to provide slip ring 600 on the side of coreless motor 200 facing away from control board 500.
In summary, embodiments of the present invention disclose a rotary gripper that overcomes many technical drawbacks of conventional rotary grippers. The rotary clamp holder provided by the embodiment of the invention has the advantages of compact structure, small volume, no back clearance problem and high rotation precision and clamping precision.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A rotary clamper is characterized by comprising a shell (100), a hollow cup motor (200), a hollow rotating shaft (210), a nested motor (300) and a clamping jaw (400);
the hollow cup motor (200) is arranged in the shell (100), the hollow rotating shaft (210) is coaxially fixed with a rotor of the hollow cup motor (200), and the hollow rotating shaft (210) is fixedly connected with the base (410) of the clamping jaw (400); the nested motor (300) is fixed in the hollow rotating shaft (210), and a motor shaft of the nested motor (300) is connected and matched with the hand grab (420) of the clamping jaw (400) and used for driving the hand grab (420) to loosen or clamp.
2. A rotary clamper according to claim 1, characterized in that a control board (500) is further installed in the housing (100), a first measuring element (510) and a second measuring element (520) are arranged on the control board (500), the first measuring element (510) is used for measuring the rotation parameter of the hollow rotating shaft (210), the second measuring element (520) is used for measuring the rotation parameter of the motor shaft of the nested motor (300), and the hollow cup motor (200) and the nested motor (300) are both electrically connected with the control board (500).
3. A rotary clamper according to claim 2, characterized in that the rotary clamper further comprises a first measured object (211), the first measured object (211) is fixedly connected with the hollow rotating shaft (210), the first measuring element (520) is used for measuring the rotation parameter of the first measured object (211);
and/or the rotary clamp further comprises a second measured element (310), the second measured element (310) is fixedly connected with a motor shaft of the nested motor (300), and the second measuring element (520) is used for measuring a rotation parameter of the second measured element (520).
4. A rotary clamp according to claim 3, characterized in that the control plate (500) is located on the side of the hollow spindle (210) facing away from the clamping jaw (400);
the first measured element (211) is arranged at one end of the hollow rotating shaft (210) which is far away from the clamping jaw (400), and the first measured element (211) is arranged opposite to the first measuring element (510); and/or a motor shaft of the nested motor (300) is provided with a tail end shaft part (320) extending towards the control board (500), the second measured element (310) is installed at the end part of the tail end shaft part (320), and the second measured element (310) is arranged opposite to the second measuring element (520).
5. The rotary clamper according to claim 4, characterized in that a reinforcing cylinder (330) is fixed on the casing of the nested motor (300), the tail end shaft part (320) is positioned in the cylinder of the reinforcing cylinder (330), and the reinforcing cylinder (330) is rotatably matched with the tail end shaft part (320).
6. A rotary clamper according to claim 5, characterized in that a fixed seat (340) is fixed to the end of the tail end shaft part (320), the second measured object (310) is mounted on the fixed seat (340), and the reinforcing cylinder (330) is rotatably matched with the fixed seat (340) through a first bearing (350).
7. Rotating gripper according to claim 4, characterized in that a slip ring (600) is mounted inside the housing (100), the rotor of the slip ring (600) being fixedly connected to the hollow rotating shaft (210), the stator of the slip ring (600) being electrically connected to the control board (500), the rotor of the slip ring (600) being electrically connected to the nested electric machine (300).
8. Rotating gripper according to claim 7, characterized in that the slip ring (600) is located on the side of the coreless motor (200) close to the control board (500);
and/or a transfer circuit board is fixedly connected to a rotor of the slip ring (600), a socket is arranged on the transfer circuit board, a plug is arranged on a motor wire of the nested motor (300), and the plug is in plug-in fit with the socket and used for connecting the rotor of the slip ring (600) with the nested motor (300).
9. Rotating gripper according to claim 2, characterized in that the first measuring element (510) is an encoder and/or the second measuring element (520) is an encoder.
10. A rotary clamp according to any one of claims 1 to 9, characterized in that the hollow spindle (210) is in running engagement with the housing (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111673833.0A CN114367951A (en) | 2021-12-31 | 2021-12-31 | Rotary gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111673833.0A CN114367951A (en) | 2021-12-31 | 2021-12-31 | Rotary gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114367951A true CN114367951A (en) | 2022-04-19 |
Family
ID=81143081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111673833.0A Pending CN114367951A (en) | 2021-12-31 | 2021-12-31 | Rotary gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114367951A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES489379A1 (en) * | 1979-03-10 | 1980-09-16 | Kesel Kg Georg | Improvements in tightening devices specially for machine clamp clamps (Machine-translation by Google Translate, not legally binding) |
| CH631068A5 (en) * | 1978-04-07 | 1982-07-30 | Morita Mfg | Air turbine handpiece for dental purposes |
| SU1530437A1 (en) * | 1987-06-26 | 1989-12-23 | Предприятие П/Я Ю-9192 | Gripping device |
| FR3003784A1 (en) * | 2013-03-27 | 2014-10-03 | Tunkers Maschb Gmbh | KNEE CLAMPING DEVICE EQUIPPED WITH SPINDLE DRIVE |
| CN206132076U (en) * | 2016-08-29 | 2017-04-26 | 中国科学院西安光学精密机械研究所 | Motion target simulation device |
| CN211234644U (en) * | 2019-12-31 | 2020-08-11 | 青岛海威茨仪表有限公司 | Angle adjusting device of detection table for performance test of ultrasonic transducer |
| US20200306902A1 (en) * | 2017-08-29 | 2020-10-01 | Zeroclamp Gmbh | Zentrierkonus und Spannvorrichtung |
| CN211760238U (en) * | 2020-03-17 | 2020-10-27 | 徐州工程学院 | Device for measuring cutting temperature in workpiece turning and milling process |
| CN112059969A (en) * | 2020-10-14 | 2020-12-11 | 东莞鼎企智能自动化科技有限公司 | Gyration integral type clamping jaw |
| CN112405583A (en) * | 2020-11-06 | 2021-02-26 | 慧灵科技(江苏)有限公司 | Electric clamping jaw |
| CN213004828U (en) * | 2020-07-14 | 2021-04-20 | 无锡先导智能装备股份有限公司 | Clamping device and deviation correcting system of battery |
| CN214110445U (en) * | 2020-11-06 | 2021-09-03 | 慧灵科技(江苏)有限公司 | Electric clamping jaw |
-
2021
- 2021-12-31 CN CN202111673833.0A patent/CN114367951A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH631068A5 (en) * | 1978-04-07 | 1982-07-30 | Morita Mfg | Air turbine handpiece for dental purposes |
| ES489379A1 (en) * | 1979-03-10 | 1980-09-16 | Kesel Kg Georg | Improvements in tightening devices specially for machine clamp clamps (Machine-translation by Google Translate, not legally binding) |
| SU1530437A1 (en) * | 1987-06-26 | 1989-12-23 | Предприятие П/Я Ю-9192 | Gripping device |
| FR3003784A1 (en) * | 2013-03-27 | 2014-10-03 | Tunkers Maschb Gmbh | KNEE CLAMPING DEVICE EQUIPPED WITH SPINDLE DRIVE |
| CN206132076U (en) * | 2016-08-29 | 2017-04-26 | 中国科学院西安光学精密机械研究所 | Motion target simulation device |
| US20200306902A1 (en) * | 2017-08-29 | 2020-10-01 | Zeroclamp Gmbh | Zentrierkonus und Spannvorrichtung |
| CN211234644U (en) * | 2019-12-31 | 2020-08-11 | 青岛海威茨仪表有限公司 | Angle adjusting device of detection table for performance test of ultrasonic transducer |
| CN211760238U (en) * | 2020-03-17 | 2020-10-27 | 徐州工程学院 | Device for measuring cutting temperature in workpiece turning and milling process |
| CN213004828U (en) * | 2020-07-14 | 2021-04-20 | 无锡先导智能装备股份有限公司 | Clamping device and deviation correcting system of battery |
| CN112059969A (en) * | 2020-10-14 | 2020-12-11 | 东莞鼎企智能自动化科技有限公司 | Gyration integral type clamping jaw |
| CN112405583A (en) * | 2020-11-06 | 2021-02-26 | 慧灵科技(江苏)有限公司 | Electric clamping jaw |
| CN214110445U (en) * | 2020-11-06 | 2021-09-03 | 慧灵科技(江苏)有限公司 | Electric clamping jaw |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7741746B2 (en) | Magnetic torque limiter | |
| US7141904B2 (en) | Gear reduction unit and geared motor connector | |
| CN101789672A (en) | Magnetic encoder for electric door motor | |
| CN114367951A (en) | Rotary gripper | |
| CN1606821A (en) | AC machine for vehicle | |
| CN2882791Y (en) | Paper shredding mechanism having blocking detector | |
| CN208112440U (en) | The fixed structure of permanent magnet synchronous motor position sensor | |
| CN111745682A (en) | Driving joint and robot arm comprising same | |
| CN218416155U (en) | Permanent magnet synchronous direct drive motor | |
| CN114367931A (en) | Rotary gripper | |
| CN211670696U (en) | Driving structure of root canal preparation machine | |
| CN108899724B (en) | Limited corner conductive slip ring based on rotary flexible circuit board | |
| KR20210016151A (en) | Actuator for SBW | |
| CN216625523U (en) | Motor and electric bicycle | |
| CN213050680U (en) | Electric rotary clamping jaw mechanism | |
| CN212875583U (en) | One-way motor | |
| CN208548820U (en) | Switched reluctance machines and cooking machine | |
| CN114039436A (en) | Rotor for rotating electric machine | |
| CN216067334U (en) | Electric tool | |
| CN101588152B (en) | Method and device capable of achieving communication and transmission for rotor position parameter and reversing motor | |
| CN218549643U (en) | Energy-saving durable brushless micromotor | |
| CN201167278Y (en) | Motor for driving an electronic bicycle and electric bicycle using the same | |
| JP4543508B2 (en) | Terminal box for rotating electrical machine and terminal connection method for rotating electrical machine | |
| CN210350881U (en) | Outer rotor hybrid stepping motor | |
| CN201313293Y (en) | Fully-automatic direct current brushless electric screw driver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |