CN114506665A - Multi-claw opening and closing mechanism and method - Google Patents
Multi-claw opening and closing mechanism and method Download PDFInfo
- Publication number
- CN114506665A CN114506665A CN202210109245.2A CN202210109245A CN114506665A CN 114506665 A CN114506665 A CN 114506665A CN 202210109245 A CN202210109245 A CN 202210109245A CN 114506665 A CN114506665 A CN 114506665A
- Authority
- CN
- China
- Prior art keywords
- main body
- radial position
- guide part
- fetching
- closing mechanism
- 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
- 230000007246 mechanism Effects 0.000 title claims abstract description 150
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000001360 synchronised effect Effects 0.000 claims abstract description 4
- 230000001154 acute effect Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 abstract 1
- 230000002093 peripheral effect Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 239000000843 powder Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000007514 turning Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000004663 powder metallurgy Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
-
- 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
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The invention provides a multi-claw opening and closing mechanism and a method, comprising a main body, a plurality of fetching mechanisms and at least one opening and closing mechanism; the fetching mechanisms are uniformly arranged at intervals along the circumferential direction of the main body and can be changed between a first radial position close to the main body and a second radial position far away from the main body along the radial direction of the main body; the mechanism that opens and shuts includes can be along the radial synchronous two at least drive portions of keeping away from or being close to of main part, and each drive portion passes through at least two fetching mechanisms of connecting portion interlock in order to drive a plurality of fetching mechanisms and alternate between first radial position and second radial position in step. Use this technical scheme, many claws open and shut the mechanism and can change so that get thing mechanism work between first radial position and second radial position, get the position that thing mechanism can change the work piece at first radial position and second radial position, convenient and fast's realization position changes to it opens and shuts in step to realize surpassing two thing mechanisms of getting through single mechanism that opens and shuts.
Description
Technical Field
The invention relates to a multi-claw opening and closing mechanism and a method.
Background
In the current field of workpiece manufacturing (workpieces such as numerically controlled inserts, etc.), numerically controlled inserts are a generic term for indexable turning inserts and are the mainstream products in modern metal cutting applications. The method is mainly applied to the fields of metal turning, milling, cutting and grooving, thread turning and the like. At present, the conventional numerical control blade processing mode is powder pressing forming, which is also called powder die forming, and is called pressing for short, and the method is the earliest forming method adopted in powder metallurgy production. In the production process of the numerical control blade, the numerical control blade needs to be taken down from the die and placed to the corresponding material tray, the die can form a plurality of numerical control blades in one cavity, and due to the fact that the placing intervals of the numerical control blades on the die are different from the placing intervals of the numerical control blades on the material tray, corresponding automatic placing control is difficult to achieve.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a multi-claw opening and closing mechanism.
In order to solve the technical problem, the invention provides a multi-claw opening and closing mechanism which comprises a main body, a plurality of fetching mechanisms and at least one opening and closing mechanism; the fetching mechanisms are uniformly arranged at intervals along the circumferential direction of the main body and can be changed between a first radial position close to the main body and a second radial position far away from the main body along the radial direction of the main body; the mechanism that opens and shuts includes can be along the radial synchronous two at least drive portions of keeping away from or being close to of main part, and each drive portion passes through at least two fetching mechanisms of connecting portion interlock in order to drive a plurality of fetching mechanisms and alternate between first radial position and second radial position in step.
In a better embodiment, the connecting part comprises two driving surfaces, and the driving part drives the driving surfaces to move along the radial direction of the main body; the fetching mechanism further comprises a bearing which is abutted and rolled on the driving surface; the driving surfaces are respectively abutted to drive the at least one fetching mechanism to move; the driving surface can synchronously convert the movement of the driving part approaching or separating along the main body into the movement of the bearing of the fetching mechanism approaching or separating along the radial direction of the main body.
In a further preferred embodiment, the tangent to the driving surface is at an acute angle to the direction of movement of the driving portion.
In a preferred embodiment, the fetching mechanism comprises a clamping jaw air cylinder or a suction cup.
In a better embodiment, the device further comprises a plurality of guide mechanisms, and the guide mechanisms are guided and connected with the main body and the fetching mechanism so that the fetching mechanism can move along the radial direction of the main body.
In a more preferred embodiment, the guide mechanism includes a first guide portion, a second guide portion, a first auxiliary guide portion, and a second auxiliary guide portion; the first guide part and the second guide part are connected with the fetching mechanism, the first auxiliary guide part and the second auxiliary guide part are positioned on the main body, and the first guide part and the second guide part respectively slide on the first auxiliary guide part and the second auxiliary guide part so as to drive the fetching mechanism to slide along the radial direction of the main body;
the guide part further comprises a limiting block adjustably connected to the first guide part and an elastic piece sleeved on the second guide part, the elastic piece is abutted between the fetching mechanism and the main body so as to accumulate elastic force when the fetching mechanism is located at the first radial position, and the limiting block can adjustably change the position on the first guide part so as to change the first radial position and/or the second radial position.
In a better embodiment, the first guide part and the first auxiliary guide part are connected through a guide pillar and guide hole structure or through a sliding rail; the second guide part and the second auxiliary guide part are connected through a guide post and guide hole structure or connected through a sliding rail.
In a more preferred embodiment, when the multi-jaw opening and closing mechanism is changed from the second radial position to the first radial position, the fetching mechanism clamps the workpiece at the second radial position and releases the workpiece from the first radial position to change the spacing distance of the workpiece.
The invention also provides a multi-claw opening and closing method, which uses the multi-claw opening and closing mechanism; the multi-claw opening and closing method comprises the following steps:
s1, moving the main body to a first platform corresponding to a workpiece, and making the plurality of fetching mechanisms in a second radial position on the main body;
s2, moving the main body and making the plurality of fetching mechanisms obtain a plurality of workpieces placed on the first platform;
s3, enabling a plurality of fetching mechanisms to be at a first radial position on the main body;
and S4, moving the main body to a second platform, and enabling the plurality of fetching mechanisms to release the plurality of workpieces so that the workpieces are placed on the second platform and the spacing distance of the workpieces is changed.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the multi-claw opening and closing mechanism comprises a main body, a plurality of fetching mechanisms and at least one opening and closing mechanism; the fetching mechanisms are uniformly arranged at intervals along the circumferential direction of the main body and can be changed between a first radial position close to the main body and a second radial position far away from the main body along the radial direction of the main body; the mechanism that opens and shuts includes can be along the radial synchronous two at least drive portions of keeping away from or being close to of main part, and each drive portion passes through at least two fetching mechanisms of connecting portion interlock in order to drive a plurality of fetching mechanisms and alternate between first radial position and second radial position in step. The multi-claw opening and closing mechanism can be changed between a first radial position and a second radial position to enable the fetching mechanism to work, the fetching mechanism can change the positions of a workpiece at the first radial position and the second radial position, the position conversion is conveniently and rapidly realized, and more than two fetching mechanisms can be synchronously opened and closed through a single opening and closing mechanism.
2. The connecting part comprises at least two driving surfaces, and the driving surfaces are driven by the driving parts to move along the radial direction of the main body; the fetching mechanism further comprises a bearing which is abutted and rolled on the driving surface; the driving surfaces are respectively abutted to drive the at least one fetching mechanism to move; the driving surface can synchronously convert the movement of the driving part approaching or separating along the main body into the movement of the bearing of the fetching mechanism approaching or separating along the radial direction of the main body; the matching of the driving surface and the bearing can convert the movement of the driving part towards the center of the main body into the movement of the fetching mechanism towards the center of the main body, the resistance borne by the fetching mechanism is the rolling friction force between the bearing and the driving surface, and the operation is smooth.
Drawings
FIG. 1 is a schematic perspective view of a multi-jaw opening and closing mechanism in a preferred embodiment of the present invention;
FIG. 2 is a schematic plan view of a multi-jaw opening and closing mechanism in accordance with a preferred embodiment of the present invention, showing the connection of the drive surfaces to the bearings;
FIG. 3 is a schematic perspective view of a multi-jaw opening and closing mechanism in accordance with a preferred embodiment of the present invention;
wherein: 1. a main body; 11. a peripheral wall; 12. an upper cover plate; 13. a lower cover plate; 14. an installation space; 2. a fetching mechanism; 21. a bearing; 22. a clamping jaw cylinder; 3. an opening and closing mechanism; 31. a drive section; 32. a connecting portion; 321. a drive face; 4. a guide mechanism; 41. a first guide portion; 42. a second guide portion; 43. a first auxiliary guide part; 44. a second auxiliary guide part; 45. a limiting block; 46. an elastic member; 5. a connecting arm.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
Referring to fig. 1-3, a multi-claw opening and closing mechanism includes a main body 1, a plurality of fetching mechanisms 2, and at least one opening and closing mechanism 3; the fetching mechanisms 2 are uniformly arranged at intervals along the circumferential direction of the main body 1, and the fetching mechanisms 2 can be changed between a first radial position close to the main body 1 and a second radial position far away from the main body 1 along the radial direction of the main body 1; the opening and closing mechanism 3 comprises at least two driving parts 31 which can be synchronously far away from or close to the main body 1 along the radial direction, and each driving part 31 is linked with at least two fetching mechanisms 2 through a connecting part 32 so as to drive the plurality of fetching mechanisms 2 to synchronously change between a first radial position and a second radial position. The multi-claw opening and closing mechanism can be changed between a first radial position and a second radial position to enable the object taking mechanism 2 to work, the object taking mechanism 2 can change the position of a workpiece at the first radial position and the second radial position, the position is changed conveniently and quickly, and the opening and closing of more than two object taking mechanisms 2 are achieved through the single opening and closing mechanism 3.
The connecting part 32 comprises at least two driving surfaces 321, and the driving part 31 drives the driving surfaces 321 to move along the radial direction of the main body 1; the fetching mechanism 2 further comprises a bearing 21, and the bearing 21 is abutted and rolled on the driving surface 321; the driving surfaces 321 are respectively abutted to drive the at least one fetching mechanism 2 to move; the driving surface 321 can synchronously convert the movement of the driving part 31 approaching or moving away along the main body 1 into the movement of the bearing 21 of the fetching mechanism 2 approaching or moving away along the radial direction of the main body 1. The matching between the driving surface 321 and the bearing 21 can convert the movement of the driving part 31 towards the center of the main body 1 into the movement of the fetching mechanism 2 towards the center of the main body 1, the resistance applied to the fetching mechanism 2 is the rolling friction force between the bearing 21 and the driving surface 321, the rolling friction force has a small value, and the operation is smooth. In this embodiment, the driving surface 321 is a plane, but in some simple alternatives, the driving surface 321 may be a smoothly curved surface as long as an included angle between a tangent of the driving surface 321 and a moving direction of the driving portion 31 is an acute angle.
In the present embodiment, the connecting portion 32 includes two driving surfaces 321, but in a simple alternative, three or more driving surfaces 321 may be included, as long as the driving surfaces 321 are arranged at an angle and a shape such that the fetching mechanism 2 moving thereon can move along the radial direction of the main body 1.
The fetching mechanism 2 comprises a clamping jaw air cylinder 22 or a suction cup. In this embodiment, the fetching mechanism 2 includes a clamping jaw cylinder 22, the clamping jaw cylinder 22 is a cylinder which opens and closes in parallel, the fetching framework can also make a sucker, and the sucker can be attracted and released by a vacuum device. In this embodiment, the plurality of fetching mechanisms 2 may be opened and closed by one-way air flow control, or may be controlled by a plurality of air flows separately to realize individual control of a single clamping jaw air cylinder 22.
The multi-claw opening and closing mechanism further comprises a plurality of guide mechanisms 4, and the guide mechanisms 4 are connected with the main body 1 and the fetching mechanism 2 in a guiding mode so that the fetching mechanism 2 can move along the radial direction of the main body 1. In this embodiment, the main body 1 includes a peripheral wall 11, an upper cover plate 12, a lower cover plate 13, the peripheral wall 11 surrounds an installation space 14 defining the main body 1, the upper cover plate 12 is connected to an upper side of the peripheral wall 11, the lower cover plate 13 is connected to a lower side of the peripheral wall 11, the multi-claw opening and closing mechanism further includes a connecting arm 5 connected to the upper cover plate 12, and the connecting arm 5 is used for connecting to a robot arm to realize multi-directional and multi-angle displacement control. The opening and closing mechanism 3 is a conventional parallel opening and closing cylinder or an opening and closing device driven by a motor, and is not described herein any more, the opening and closing mechanism 3 is arranged in the installation space 14 and fixedly connected with the upper cover plate 12, the plurality of fetching mechanisms 2 move on the working space, and clamping jaws of the clamping jaw cylinders 22 of the fetching mechanisms 2 are positioned outside the lower cover plate 13 so as to be capable of correspondingly clamping workpieces. In the present embodiment, the guide mechanism 4 guides and connects the peripheral wall 11 and the fetching mechanism 2.
The guide mechanism 4 includes a first guide portion 41, a second guide portion 42, a first auxiliary guide portion 43, and a second auxiliary guide portion 44; the first guide part 41 and the second guide part 42 are connected with the fetching mechanism 2, the first auxiliary guide part 43 and the second auxiliary guide part 44 are positioned on the main body 1, and the first guide part 41 and the second guide part 42 respectively slide on the first auxiliary guide part 43 and the second auxiliary guide part 44 so as to drive the fetching mechanism 2 to slide along the radial direction of the main body 1. In the present embodiment, the first guide part 41 and the first auxiliary guide part 43 are connected by a guide post and guide hole structure or by a slide rail; the second guide portion 42 and the second auxiliary guide portion 44 are connected by a guide post and guide hole structure or by a slide rail.
The guide part further comprises a limiting block 45 adjustably connected to the first guide part 41 and an elastic piece 46 sleeved on the second guide part 42, the elastic piece 46 is abutted between the fetching mechanism 2 and the main body 1 so as to accumulate elastic force when the fetching mechanism 2 is located at the first radial position, and the limiting block 45 is adjustably changed on the first guide part 41 so as to change the first radial position and/or the second radial position. In this embodiment, the limiting block 45 is located at the outer end of the first guiding portion 41, the limiting block 45 can be connected to the first guiding portion 41 by a threaded connection or any other means, as long as the limiting block 45 can change the axial position on the first guiding portion 41, and in some simple alternatives, the limiting block 45 can also be connected to the inner end of the first guiding portion 41, the first radial position can be changed at the outer end, the second radial position can be changed at the inner end, and in some simple alternatives, the first radial position and the second radial position can be changed simultaneously when the inner end and the outer end of the first guiding portion 41 have a limiting block 45 at the same time.
The invention also comprises a multi-claw opening and closing method, which uses the multi-claw opening and closing mechanism; the multi-claw opening and closing method comprises the following steps: s1, moving the main body 1 to a first platform corresponding to a workpiece, and enabling the plurality of fetching mechanisms 2 to be at a second radial position on the main body 1; s2, moving the main body 1 and making the plurality of fetching mechanisms 2 obtain a plurality of workpieces placed on the first platform; s3, enabling a plurality of fetching mechanisms 2 to be at a first radial position on the main body 1; s4, moving the main body 1 to a second stage, and causing the plurality of picking mechanisms 2 to release the plurality of workpieces to place the workpieces on the second stage and to change the spacing distance of the workpieces.
In the use process, when the multi-claw opening and closing mechanism is changed from the second radial position to the first radial position, the fetching mechanism 2 clamps the workpiece at the second radial position and releases the workpiece from the second radial position so as to change the spacing distance of the workpiece. Specifically, the multi-claw opening and closing mechanism is driven by a robot arm to correspond to a first platform on which a workpiece is placed, and when the multi-claw opening and closing mechanism is located at a second radial position, the clamping jaw cylinder 22 of the fetching mechanism 2 is changed from an opening position to a clamping position so as to clamp the workpiece. The multi-claw opening and closing mechanism is driven by the robot arm to correspond to the second platform, the multi-claw opening and closing mechanism is driven by the opening and closing mechanism 3 to be in a first radial position, at the moment, the fetching mechanism 2 is controlled to be in an opening position, the workpieces are placed on the second platform, and the spacing distance between the workpieces is reduced. In this embodiment, the workpiece is a numerical control blade, and the numerical control blade is formed in a mold of the powder forming press and needs to be conveyed and placed to a corresponding material tray, so that the first platform is the mold of the powder forming press, and the second platform is the material tray.
The above description is only a preferred embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any person skilled in the art can make insubstantial changes in the technical scope of the present invention within the technical scope of the present invention, and the actions infringe the protection scope of the present invention are included in the present invention.
Claims (9)
1. A multi-claw opening and closing mechanism is characterized by comprising a main body, a plurality of fetching mechanisms and at least one opening and closing mechanism; the fetching mechanisms are uniformly arranged at intervals along the circumferential direction of the main body and can be changed between a first radial position close to the main body and a second radial position far away from the main body along the radial direction of the main body; the mechanism that opens and shuts includes can be along the radial synchronous two at least drive portions of keeping away from or being close to of main part, and each drive portion passes through at least two fetching mechanisms of connecting portion interlock in order to drive a plurality of fetching mechanisms and alternate between first radial position and second radial position in step.
2. A multi-jaw opening and closing mechanism as claimed in claim 1, wherein: the connecting part comprises at least two driving surfaces, and the driving surfaces are driven by the driving part to move along the radial direction of the main body; the fetching mechanism further comprises a bearing which is abutted and rolled on the driving surface; the driving surfaces are respectively abutted to drive the at least one fetching mechanism to move; the driving surface can synchronously convert the movement of the driving part approaching or separating along the main body into the movement of the bearing of the fetching mechanism approaching or separating along the radial direction of the main body.
3. The multi-jaw opening and closing mechanism of claim 2, wherein: the included angle between the tangent of the driving surface and the moving direction of the driving part is an acute angle.
4. The multi-jaw opening and closing mechanism of claim 1, wherein: the fetching mechanism comprises a clamping jaw air cylinder or a sucking disc.
5. The multi-jaw opening and closing mechanism of claim 1, wherein: the fetching mechanism is connected with the main body in a guiding mode and can move along the radial direction of the main body.
6. The multi-jaw opening and closing mechanism of claim 5, wherein: the guide mechanism comprises a first guide part, a second guide part, a first auxiliary guide part and a second auxiliary guide part; the first guide part and the second guide part are connected with the fetching mechanism, the first auxiliary guide part and the second auxiliary guide part are positioned on the main body, and the first guide part and the second guide part respectively slide on the first auxiliary guide part and the second auxiliary guide part so as to drive the fetching mechanism to slide along the radial direction of the main body;
the guide part further comprises a limiting block adjustably connected to the first guide part and an elastic piece sleeved on the second guide part, the elastic piece is abutted between the fetching mechanism and the main body so as to accumulate elastic force when the fetching mechanism is located at the first radial position, and the limiting block can adjustably change the position on the first guide part so as to change the first radial position and/or the second radial position.
7. The multi-jaw opening and closing mechanism of claim 6, wherein: the first guide part and the first auxiliary guide part are connected through a guide pillar and guide hole structure or a slide rail; the second guide part and the second auxiliary guide part are connected through a guide post and guide hole structure or connected through a sliding rail.
8. A multi-jaw opening and closing mechanism as claimed in claim 1, wherein: when the multi-claw opening and closing mechanism is changed from the second radial position to the first radial position, the fetching mechanism clamps the workpiece at the second radial position and releases the workpiece from the first radial position so as to change the spacing distance of the workpiece.
9. A multi-jaw opening and closing method characterized by using a multi-jaw opening and closing mechanism according to any one of claims 1 to 8; the multi-claw opening and closing method comprises the following steps:
s1, moving the main body to a first platform corresponding to a workpiece, and making the plurality of fetching mechanisms in a second radial position on the main body;
s2, moving the main body and making the plurality of fetching mechanisms obtain a plurality of workpieces placed on the first platform;
s3, making a plurality of fetching mechanisms in a first radial position on the main body;
and S4, moving the main body to a second platform, and enabling the plurality of fetching mechanisms to release the plurality of workpieces so as to place the workpieces on the second platform and change the spacing distance of the workpieces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210109245.2A CN114506665A (en) | 2022-01-28 | 2022-01-28 | Multi-claw opening and closing mechanism and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210109245.2A CN114506665A (en) | 2022-01-28 | 2022-01-28 | Multi-claw opening and closing mechanism and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114506665A true CN114506665A (en) | 2022-05-17 |
Family
ID=81552573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210109245.2A Pending CN114506665A (en) | 2022-01-28 | 2022-01-28 | Multi-claw opening and closing mechanism and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114506665A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030222415A1 (en) * | 2002-06-03 | 2003-12-04 | Smc Corporation | Three directional opening/closing chuck |
| WO2012019591A2 (en) * | 2010-08-12 | 2012-02-16 | Grenzebach Maschinenbau Gmbh | Device and method for separating and putting together differently structured containers of goods on consignment in an automated manner |
| US20150352642A1 (en) * | 2013-01-25 | 2015-12-10 | Volker Henke | Compensating Chuck |
| CN210557842U (en) * | 2019-01-25 | 2020-05-19 | 广东鼎燊云厨科技股份有限公司 | Snatch mechanism and automatic food and beverage equipment |
| CN210763034U (en) * | 2019-05-29 | 2020-06-16 | 林妃盼 | Four-way automatic gripper |
| CN112692855A (en) * | 2020-12-14 | 2021-04-23 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN213674173U (en) * | 2020-11-17 | 2021-07-13 | 青岛科捷机器人有限公司 | Grabbing jig |
-
2022
- 2022-01-28 CN CN202210109245.2A patent/CN114506665A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030222415A1 (en) * | 2002-06-03 | 2003-12-04 | Smc Corporation | Three directional opening/closing chuck |
| WO2012019591A2 (en) * | 2010-08-12 | 2012-02-16 | Grenzebach Maschinenbau Gmbh | Device and method for separating and putting together differently structured containers of goods on consignment in an automated manner |
| US20150352642A1 (en) * | 2013-01-25 | 2015-12-10 | Volker Henke | Compensating Chuck |
| CN210557842U (en) * | 2019-01-25 | 2020-05-19 | 广东鼎燊云厨科技股份有限公司 | Snatch mechanism and automatic food and beverage equipment |
| CN210763034U (en) * | 2019-05-29 | 2020-06-16 | 林妃盼 | Four-way automatic gripper |
| CN213674173U (en) * | 2020-11-17 | 2021-07-13 | 青岛科捷机器人有限公司 | Grabbing jig |
| CN112692855A (en) * | 2020-12-14 | 2021-04-23 | 珠海格力智能装备有限公司 | Clamp apparatus |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101636757B1 (en) | Hard-metal insert align and flip over device | |
| CN206825841U (en) | A kind of internal tooth housing Gate of Plastics automatic cut-off device | |
| CN114506665A (en) | Multi-claw opening and closing mechanism and method | |
| CN214442352U (en) | Multi-station progressive die material storage and conveying mechanism | |
| CN109866382B (en) | Injection molding system based on double-arm robot | |
| CN219632455U (en) | Pin shearing mechanism and electronic component production equipment | |
| CN111571285A (en) | Positioning plate feeding and punching integrated equipment for mold machining | |
| CN111167937A (en) | Forming processing device and method for special-shaped parts | |
| US10695833B2 (en) | Press arrangement with a further processing module | |
| CN217858492U (en) | Open fixed station feed mechanism for press | |
| CN217097806U (en) | Automatic feeding manipulator | |
| CN207272029U (en) | A kind of feeding edge rolling device | |
| CN114669636A (en) | Processing technology of faucet bent pipe | |
| CN209969514U (en) | Foundry goods blank splitter and transport frock thereof | |
| CN109968403B (en) | Device and method for automatically replacing end effector by mechanical arm | |
| CN208682040U (en) | It is a kind of for the rotary automatic clamping device with bent angle moulding | |
| CN208629846U (en) | It is a kind of for the automatic pick-up robot with bent angle moulding | |
| CN211888726U (en) | Snatch joining in marriage dress structure of mechanism | |
| CN212598449U (en) | Adjustable overturning feeding manipulator | |
| CN219729751U (en) | Suitcase handle material loading positioner | |
| CN113290095A (en) | Bending processing device | |
| CN108638458A (en) | It is a kind of to be used for the rotary automatic clamping device with bent angle moulding | |
| CN211888735U (en) | Continuous die stamping transfer manipulator | |
| CN219967207U (en) | General positioner of machining equipment | |
| CN217492692U (en) | Automatic material taking and gate cutting device for injection of powder metallurgy watch strap |
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 |