CN116533272A - Clamping mechanism for industrial robot - Google Patents

Clamping mechanism for industrial robot Download PDF

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Publication number
CN116533272A
CN116533272A CN202310543141.7A CN202310543141A CN116533272A CN 116533272 A CN116533272 A CN 116533272A CN 202310543141 A CN202310543141 A CN 202310543141A CN 116533272 A CN116533272 A CN 116533272A
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China
Prior art keywords
clamping
industrial robot
spring
clamping device
plate
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CN202310543141.7A
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Chinese (zh)
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CN116533272B (en
Inventor
许学秀
吴佳佳
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Yancheng Zeyang Intelligent Control Technology Co ltd
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Yancheng Zeyang Intelligent Control Technology Co ltd
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Priority to CN202310543141.7A priority Critical patent/CN116533272B/en
Publication of CN116533272A publication Critical patent/CN116533272A/en
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Publication of CN116533272B publication Critical patent/CN116533272B/en
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Abstract

The invention relates to the technical field of industrial robots, and discloses a clamping mechanism for an industrial robot, which comprises a connecting seat and a mechanical arm, wherein the connecting seat is used for connecting the mechanical arm of the industrial robot; the clamping device is used for clamping different types of structural objects; and the driving device is used for providing driving clamping force for the clamping device. This a press from both sides and get mechanism for industrial robot, three kinds of clamping devices through setting up can provide operating personnel or industrial robot and press from both sides the in-process and carry out the conversion to the object of different structure types and press from both sides and get, have reduced the process that needs change industrial robot or change anchor clamps, improve the whole suitability of pressing from both sides the in-process of getting of equipment, can press from both sides the object of getting according to actual demand and carry out the clamp of different grade type and get. And secondly, better clamping buffer is provided for the clamped object, so that the clamped object is not damaged.

Description

Clamping mechanism for industrial robot
Technical Field
The invention relates to the technical field of industrial clamping robots, in particular to a clamping mechanism for an industrial robot.
Background
With the development of the current technology, more and more human labor is replaced by machines. The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by means of self power energy and control capability. Industrial robots are widely used in various industrial fields such as electronics, logistics, chemical industry, and the like.
Industrial robot can replace much manual labor as a widely applied mechanical device, and the mechanical gripper has flexible action, small motion inertia and strong universality. The shape of the industrial robot is not limited to the arm of a person, and can be changed according to different occasions. However, when the existing industrial robot clamps a workpiece, because of the fixity of the clamping jaw, an operator needs to replace the clamping jaw when clamping objects of different types, or replace another industrial robot to clamp objects of different types, such as liquid and fine particles and solid objects, and moreover, some soft objects, the clamping jaw or the clamping mechanism in the traditional manner easily causes the damage of the clamping process, so that the clamping mechanism for the industrial robot cannot realize conversion on objects of different structural shapes in the prior art, resulting in the problem of relatively low clamping functionality, and therefore, the clamping mechanism for the industrial robot is provided to solve the problem.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a clamping mechanism for an industrial robot, which solves the problems that the clamping mode of the clamping mechanism of the industrial robot in the prior art is too single, and the clamping of objects with different structural shapes can not be realized, so that the clamping applicability of the existing clamping mechanism is relatively low.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: the clamping mechanism for the industrial robot comprises a connecting seat and a clamping mechanism, wherein the connecting seat is used for connecting a mechanical arm of the industrial robot; the clamping device is used for clamping different types of structural objects; a driving device for providing a driving clamping force of the clamping device; the clamping device comprises a solid clamping device, a liquid clamping device and a soft object clamping device; the fixed clamping device is used for clamping the solid object; the liquid clamping device is used for clamping liquid or sandy particles; the soft object clamping device is used for clamping soft objects.
Preferably, the solid clamping device comprises a clamping plate, two first rods are connected to the clamping plate, one ends of the first rods are connected with limiting plates, pressing shafts are connected to the limiting plates, diamond frames are connected to the surfaces of the pressing shafts in a sliding mode, pushing rods are connected to the diamond frames, and the pushing rods are connected to the driving device.
Preferably, a first spring is arranged between the clamping plate and the limiting plate, a second rod is connected to the limiting plate in a sliding manner, the two ends of the second rod are connected with the box plate, a second spring is sleeved on the surface of the second rod, one end of the second spring is fixedly connected with the limiting plate, and the other end of the second spring is fixedly connected with the inner wall of the box plate.
Preferably, the liquid clamping device comprises an upper clamping cover and a lower clamping cover, wherein an upper support and a lower support are respectively fixedly connected to the upper clamping cover and the lower clamping cover, pushing plates are connected to the upper support and the lower support, a trapezoid frame is connected to the surface of the pushing plates in a sliding manner, a pushing plate is fixedly connected to the trapezoid frame, and a pushing shaft is fixedly connected to the rhombic frame.
Preferably, the upper bracket is in sliding connection with the lower bracket through a T-shaped groove, and a connecting spring is arranged between the upper bracket and the lower bracket.
Preferably, the soft object clamping device comprises a support plate, a third rod is connected to the support plate in a sliding manner, a third spring is sleeved on the third rod, one end of the third spring is connected with the support plate, the other end of the third spring is connected with the top of the third rod, and an elastic connecting rod is connected to the bottom of the third rod.
Preferably, the driving device comprises a sleeve body, the end face of the sleeve body is connected with a fixing plate, the fixing plate is fixedly connected to the side face of the box plate, an oil cylinder is mounted in the sleeve body, the output end of the oil cylinder is fixedly connected with a positioning block, two sides of the positioning block are fixedly connected with pushing rods, and two ends of each pushing rod are fixedly connected to the diamond frame.
Preferably, one end of the sleeve body is connected with the connecting seat, a sliding groove is formed in the sleeve body, and a plurality of mounting holes matched and connected with the industrial robot are formed in the connecting seat.
Preferably, the buffer device comprises a fourth rod, the fourth rod is slidably connected to the push plate, one end of the fourth rod is connected with a connecting sheet, the other end of the fourth rod is connected to the surface of the sleeve body, the connecting sheet is arranged on the surface of the sleeve body, a fourth spring is sleeved on the surface of the fourth rod, and the fourth spring is located between the connecting sheet and the push plate.
(III) beneficial effects
Compared with the prior art, the invention provides a clamping mechanism for an industrial robot, which has the following beneficial effects:
1. this a press from both sides and get mechanism for industrial robot, three kinds of clamping devices through setting up can provide operating personnel or industrial robot and press from both sides the in-process and carry out the conversion to the object of different structure types and press from both sides and get, have reduced the process that needs change industrial robot or change anchor clamps, improve the whole suitability of pressing from both sides the in-process of getting of equipment, can press from both sides the object of getting according to actual demand and carry out the clamp of different grade type and get. And secondly, better clamping buffer is provided for the clamped object, so that the clamped object is not damaged.
2. This a press from both sides and get mechanism for industrial robot, different clamp when can realizing back and forth movement through the diamond frame that sets up get the stroke, backward movement is when pressing from both sides getting, and is relatively faster, and the speed is higher, and when moving forward, then is slower relatively, because the slope of diamond frame is different, the simultaneous forward motion reaches certain stroke and can drives the motion that liquid clamp and get the device to this can provide robot or operating personnel's portable clamp and get, can select the mode of getting of clamp of different grade type according to actual conditions.
Drawings
FIG. 1 is a schematic view of an overall structure of a gripping mechanism for an industrial robot according to the present invention;
FIG. 2 is a schematic diagram showing a connection structure of a gripping device and a driving device of a gripping mechanism for an industrial robot according to the present invention;
FIG. 3 is a schematic view of a liquid gripping device for a gripping mechanism of an industrial robot according to the present invention;
FIG. 4 is a schematic diagram of a buffer device for a gripping mechanism of an industrial robot according to the present invention;
FIG. 5 is a schematic diagram showing the connection of an upper bracket and a lower bracket of a gripping mechanism for an industrial robot according to the present invention;
FIG. 6 is a schematic view of a diamond-shaped frame of a gripping mechanism for an industrial robot according to the present invention;
fig. 7 is a schematic structural diagram of a soft object clamping device for a clamping mechanism of an industrial robot according to the present invention.
In the figure: 1. a connecting seat; 2. a clamping device; 201. a clamping plate; 202. a first lever; 203. a first spring; 204. a limiting plate; 205. a box plate; 206. a second lever; 207. a second spring; 208. a third lever; 209. a third spring; 210. an elastic connecting rod; 211. a support plate; 212. an upper clip cover; 213. an upper bracket; 214. a lower bracket; 215. a lower clip cover; 216. a connecting spring; 217. a ladder-shaped frame; 218. a push plate; 219. a push rod; 220. pushing the shaft; 221. pressing a shaft; 222. a diamond-shaped frame; 3. a driving device; 301. a sleeve body; 302. an oil cylinder; 303. a positioning block; 304. a fixing plate; 4. a buffer device; 401. a fourth lever; 402. a fourth spring; 403. and a connecting sheet.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 7, a gripping mechanism for an industrial robot includes a connection base 1 for connecting with a mechanical arm of the industrial robot; the clamping device 2 is used for clamping different types of structural objects;
in this embodiment, the driving device 3 is used for providing the driving clamping force of the clamping device 2; the driving device 3 comprises a sleeve body 301, wherein the end face of the sleeve body 301 is connected with a fixing plate 304, the fixing plate 304 is fixedly connected to the side face of the box plate 205, an oil cylinder 302 is arranged in the sleeve body 301, the output end of the oil cylinder 302 is fixedly connected with a positioning block 303, the main function of the positioning block 303 is to provide the movement stability of a pushing rod 219, the phenomenon that the oil cylinder 302 stretches and contracts unstably is avoided, and the stability in the stretching process can be maintained by utilizing a limited chute. Push rods 219 are fixedly connected to two sides of the positioning block 303, telescopic movement of the oil cylinder 302 is utilized to provide clamping power, and because the movement of the oil cylinder 302 is relatively stable, the clamping force is enough, and two ends of the push rods 219 are fixedly connected to the diamond-shaped frame 222. One end of the sleeve 301 is connected with the connecting seat 1, a chute is arranged on the sleeve 301, and a plurality of mounting holes matched and connected with the industrial robot are arranged on the connecting seat 1. The connecting seat 1 is directly arranged on a mechanical arm of the industrial robot and can be connected in a bolt connection or clamping way.
The clamping device 2 comprises a solid clamping device, a liquid clamping device and a soft object clamping device;
further, the fixed clamping device is used for clamping the solid object; the solid clamping device comprises a clamping plate 201, two first rods 202 are connected to the clamping plate 201, one ends of the first rods 202 are connected to limiting plates 204, pressing shafts 221 are connected to the limiting plates 204, diamond-shaped frames 222 are connected to the surfaces of the pressing shafts 221 in a sliding mode, pushing rods 219 are connected to the diamond-shaped frames 222, and the pushing rods 219 are connected to the driving device 3. After the oil cylinder 302 moves forward and stretches, the push rod 219 connected with the oil cylinder 302 drives the diamond frame 222 to move forward, the inclined planes of the two pressure shafts 221 and the diamond frame 222 slide, the two pressure shafts 221 are driven to move relatively and compress, the two limiting plates 204 are driven to move relatively and shrink, a clamping process is formed, an object is clamped between the two clamping plates 201 at the moment, so that a fixed object is clamped, when the oil cylinder 302 shrinks backwards at the corner position in the middle of the diamond frame 222, the shrinkage of the two clamping plates 201 is directly driven by the principle of inclined plane sliding, and a liquid clamping device is not triggered, so that an operator or an industrial robot can select a clamping mode according to actual conditions.
Further, a first spring 203 is disposed between the clamping plate 201 and the limiting plate 204, a second rod 206 is slidably connected to the limiting plate 204, two ends of the second rod 206 are connected to the box plate 205, a second spring 207 is sleeved on the surface of the second rod 206, one end of the second spring 207 is fixedly connected to the limiting plate 204, and the other end of the second spring 207 is fixedly connected to the inner wall of the box plate 205. The first spring 203 can expand the two clamping plates 201, not the clamping manner of the up-down manner, but the clamping manner of the left-right clamping manner, and the first spring 203 provides the buffer stroke of the clamping plates 201 moving left-right, so as to provide the clamping manner of the transverse spacing, and meanwhile, the clamping manner of the up-down position is not influenced, and the two clamping manners are mutually related but do not interfere. The second rod 206 is provided to limit the up-and-down movement of the limiting plate 204, so as to maintain the stability of the up-and-down sliding, and the second spring 207 is provided to expand and reset, so that the limiting plate 204 is pulled up to reset after the clamping is completed to expand.
In addition, the liquid clamping device is used for clamping liquid or sand-shaped particles; the liquid clamping device comprises an upper clamping cover 212 and a lower clamping cover 215, wherein an upper bracket 213 and a lower bracket 214 are respectively and fixedly connected to the upper clamping cover 212 and the lower clamping cover 215, a push plate 218 is respectively and fixedly connected to the upper bracket 213 and the lower bracket 214, a trapezoid frame 217 is slidably connected to the surface of the push plate 218, the push plate 218 is fixedly connected to the trapezoid frame 217, and a push shaft 220 is fixedly connected to the push plate 218 and the diamond frame 222. The upper bracket 213 is slidably connected with the lower bracket 214 through a T-shaped groove, and a connecting spring 216 is arranged between the upper bracket 213 and the lower bracket 214. When the oil cylinder 302 continues to extend to a certain length, the diamond 222 is driven to move forward, the two pushing shafts 220 on the diamond 222 contact the push plates 218 and push the push plates to move forward, the ladder 217 is driven to move forward and backward, the two push plates 218 are driven to move relatively by the same inclined sliding principle to shrink, the two push plates 218 drive the two clamping covers to shrink and merge through the upper bracket 213, so that liquid or fine particle objects are clamped, and when the four clamping plates 201 follow the shrinkage, a certain degree of gathering effect is achieved on sandy objects.
In addition, the soft object clamping device is used for clamping soft objects. The soft object clamping device comprises a support plate 211, a third rod 208 is connected to the support plate 211 in a sliding manner, a third spring 209 is sleeved on the third rod 208, one end of the third spring 209 is connected with the support plate 211, the other end of the third spring 209 is connected with the top of the third rod 208, and an elastic connecting rod 210 is connected to the bottom of the third rod 208. When the two clamping plates 201 are contracted to clamp the soft object, the two clamping plates 201 are synchronously driven to move downwards, at this time, the elastic connecting rod 210 is contacted with the soft object, and the elastic connecting rod 210 has elasticity, so that the elastic connecting rod 210 is made of a certain elastic force, and meanwhile, the elastic connecting rod 210 is driven to move upwards to slide after the elastic connecting rod is slightly clamped by the elastic force of the third spring 209 and is subjected to certain clamping resistance, and at this time, the third spring 209 is lengthened to form certain buffer tension, so that the soft object is clamped, and the clamping damage caused by the fixed clamping stroke to the object is reduced.
It is noted that the buffer device 4 further comprises a fourth rod 401, the fourth rod 401 is slidably connected to the push plate 218, one end of the fourth rod 401 is connected to a connecting piece 403, the other end of the fourth rod 401 is connected to the surface of the sleeve 301, the connecting piece 403 is mounted on the surface of the sleeve 301, a fourth spring 402 is sleeved on the surface of the fourth rod 401, and the fourth spring 402 is located between the connecting piece 403 and the push plate 218. The main function of the buffer device 4 is to buffer and reset the ladder frame 217 when moving, because after the oil cylinder 302 contracts and resets, the ladder frame 217 is reset by means of the contraction elastic force of the fourth spring 402, and the fourth spring 402 can provide a certain reverse supporting buffer force when the push plate 218 moves forward, and can provide a reset effect, and when moving forward, a certain degree of buffer can be provided, so that the situation of shaking dislocation when the push shaft 220 moves is avoided, and the stability of the clamping process is improved.
The working principle is that the connecting seat 1 is firstly required to be mounted on a mechanical arm of an industrial robot through bolts, then the oil cylinder 302 is controlled to move forwards and backwards, after the oil cylinder 302 moves forwards and stretches, the pushing rod 219 connected with the oil cylinder 302 drives the diamond frame 222 to move forwards, the two pushing plates 218 are driven to move and shrink through the inclined planes of the pressing shafts 221 and the diamond frame 222, further the two pressing shafts 221 are driven to move and compress relatively, further the two limiting plates 204 are driven to move and shrink relatively, a clamping process is formed, an object is clamped between the two clamping plates 201, so that a fixed object is clamped, when the oil cylinder 302 continues to stretch, the diamond frame 222 is driven to move forwards continuously, the two pushing shafts 220 on the diamond frame 222 are contacted with the pushing plates 218 and push the diamond frame 217 to move forwards and backwards, the two pushing plates 218 are driven to shrink and combine by means of the same inclined plane sliding principle, and the two pushing plates 218 are driven to shrink and combine by the upper support 213, and therefore the liquid or fine particle object is clamped. The fourth spring 402 can provide a certain reverse supporting buffer force for the push plate 218 when moving forward, and can provide a resetting effect, and after the oil cylinder 302 is retracted and reset, the ladder frame 217 is reset by means of the retraction elastic force of the fourth spring 402. When the oil cylinder 302 is retracted backward at the corner position in the middle of the diamond frame 222, the inclined sliding principle is directly utilized to directly drive the retraction of the two clamping plates 201, and the liquid clamping device is not triggered, so that an operator or an industrial robot can select a clamping mode according to the actual situation, and the inclination of the oil cylinder 302 is different because the diamond frame 222 is provided with a left-right asymmetric structure, and the clamping process of the oil cylinder 302 for relative retraction of the two clamping plates 201 is quicker when the oil cylinder 302 is retracted backward.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Claims (9)

1. A press from both sides and get mechanism for industrial robot, its characterized in that: comprising
The connecting seat (1) is used for connecting a mechanical arm of the industrial robot;
the clamping device (2) is used for clamping different types of structural objects;
a driving device (3) for providing a driving clamping force of the clamping device (2);
the clamping device (2) comprises a solid clamping device, a liquid clamping device and a soft object clamping device;
the fixed clamping device is used for clamping the solid object;
the liquid clamping device is used for clamping liquid or sandy particles;
the soft object clamping device is used for clamping soft objects.
2. A gripping mechanism for an industrial robot as claimed in claim 1, wherein: the solid clamping device comprises a clamping plate (201), two first rods (202) are connected to the clamping plate (201), one ends of the first rods (202) are connected with limiting plates (204), pressing shafts (221) are connected to the limiting plates (204), diamond-shaped frames (222) are connected to the surfaces of the pressing shafts (221) in a sliding mode, pushing rods (219) are connected to the diamond-shaped frames (222), and the pushing rods (219) are connected to a driving device (3).
3. A gripping mechanism for an industrial robot as claimed in claim 2, wherein: be provided with first spring (203) between splint (201) and limiting plate (204), sliding connection has second pole (206) on limiting plate (204), the both ends of second pole (206) are connected with boxboard (205), second spring (207) have been cup jointed on the surface of second pole (206), the one end and limiting plate (204) fixed connection of second spring (207), the other end and the inner wall fixed connection of boxboard (205) of second spring (207).
4. A gripping mechanism for an industrial robot as claimed in claim 3, wherein: the liquid clamping device comprises an upper clamping cover (212) and a lower clamping cover (215), an upper support (213) and a lower support (214) are fixedly connected to the upper clamping cover (212) and the lower clamping cover (215) respectively, a push plate (218) is connected to the upper support (213) and the lower support (214) respectively, a trapezoid frame (217) is connected to the surface of the push plate (218) in a sliding manner, a push plate (218) is fixedly connected to the trapezoid frame (217), and a push shaft (220) is fixedly connected to the diamond frame (222).
5. The gripping mechanism for an industrial robot of claim 4, wherein: the upper support (213) is in sliding connection with the lower support (214) through a T-shaped groove, and a connecting spring (216) is arranged between the upper support (213) and the lower support (214).
6. A gripping mechanism for an industrial robot as claimed in claim 1, wherein: the soft object clamping device comprises a support plate (211), a third rod (208) is connected to the support plate (211) in a sliding mode, a third spring (209) is sleeved on the third rod (208), one end of the third spring (209) is connected with the support plate (211), the other end of the third spring (209) is connected with the top of the third rod (208), and an elastic connecting rod (210) is connected to the bottom of the third rod (208).
7. A gripping mechanism for an industrial robot as claimed in claim 1, wherein: the driving device (3) comprises a sleeve body (301), the end face of the sleeve body (301) is connected with a fixing plate (304), the fixing plate (304) is fixedly connected to the side face of the box plate (205), an oil cylinder (302) is mounted in the sleeve body (301), the output end of the oil cylinder (302) is fixedly connected with a positioning block (303), two sides of the positioning block (303) are fixedly connected with pushing rods (219), and two ends of each pushing rod (219) are fixedly connected to the diamond-shaped frame (222).
8. The gripping mechanism for an industrial robot of claim 7, wherein: one end of the sleeve body (301) is connected with the connecting seat (1), a sliding groove is formed in the sleeve body (301), and a plurality of mounting holes matched and connected with the industrial robot are formed in the connecting seat (1).
9. A gripping mechanism for an industrial robot as claimed in claim 1, wherein: still including buffer (4), buffer (4) are including fourth pole (401), fourth pole (401) sliding connection is on push pedal (218), the one end of fourth pole (401) is connected with connection piece (403), the other end of fourth pole (401) is connected on the surface of the cover body (301), the surface at the cover body (301) is installed to connection piece (403), fourth spring (402) have been cup jointed on the surface of fourth pole (401), fourth spring (402) are located between connection piece (403) and push pedal (218).
CN202310543141.7A 2023-05-15 2023-05-15 Clamping mechanism for industrial robot Active CN116533272B (en)

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Application Number Priority Date Filing Date Title
CN202310543141.7A CN116533272B (en) 2023-05-15 2023-05-15 Clamping mechanism for industrial robot

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Application Number Priority Date Filing Date Title
CN202310543141.7A CN116533272B (en) 2023-05-15 2023-05-15 Clamping mechanism for industrial robot

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CN116533272A true CN116533272A (en) 2023-08-04
CN116533272B CN116533272B (en) 2024-02-09

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104802177A (en) * 2015-05-11 2015-07-29 清华大学 Magnetorheological fluid indirect-adaptive underactuation robot finger device
CN207710805U (en) * 2017-12-25 2018-08-10 中国科学院沈阳自动化研究所 Robot multi-freedom clamper
US20200094402A1 (en) * 2018-09-24 2020-03-26 Salesforce.Com, Inc. Techniques and Architectures for Managing Heterogenous Robots to Manage Deliveries
CN113246169A (en) * 2021-06-10 2021-08-13 王晓宾 Automatic clamping mechanism for industrial robot
CN114267237A (en) * 2021-12-07 2022-04-01 珠海格力智能装备有限公司 Industrial robot automatic production demonstration equipment and control method thereof
CN217620617U (en) * 2022-05-31 2022-10-21 烟台艾迪精密机械股份有限公司 Multifunctional mechanical gripping device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104802177A (en) * 2015-05-11 2015-07-29 清华大学 Magnetorheological fluid indirect-adaptive underactuation robot finger device
CN207710805U (en) * 2017-12-25 2018-08-10 中国科学院沈阳自动化研究所 Robot multi-freedom clamper
US20200094402A1 (en) * 2018-09-24 2020-03-26 Salesforce.Com, Inc. Techniques and Architectures for Managing Heterogenous Robots to Manage Deliveries
CN113246169A (en) * 2021-06-10 2021-08-13 王晓宾 Automatic clamping mechanism for industrial robot
CN114267237A (en) * 2021-12-07 2022-04-01 珠海格力智能装备有限公司 Industrial robot automatic production demonstration equipment and control method thereof
CN217620617U (en) * 2022-05-31 2022-10-21 烟台艾迪精密机械股份有限公司 Multifunctional mechanical gripping device

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