CN203792351U - Robot gripping device - Google Patents
Robot gripping device Download PDFInfo
- Publication number
- CN203792351U CN203792351U CN201420203711.4U CN201420203711U CN203792351U CN 203792351 U CN203792351 U CN 203792351U CN 201420203711 U CN201420203711 U CN 201420203711U CN 203792351 U CN203792351 U CN 203792351U
- Authority
- CN
- China
- Prior art keywords
- base plate
- connecting rod
- clamping connection
- connection rod
- rod set
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a robot gripping device comprising a gripper frame, at least three griping link sets hinged to the gripper frame, and a power input part. The power input part which moves linearly is connected with the gripping link sets via pins and slots so as to drive the griping link sets to swing. Each gripping link set is formed by hinging three bars in order. The gripping link sets are evenly arranged outside the power input part on the periphery. The robot gripping device has the advantages that the gripping link sets disposed on the gripper frame are fitted together, the gripping link sets can retract inward to grip an object or stretch out to release the object under the driving action of the power input part, and accordingly the requirement for gripping the spatial object with the special geometric shape is met; the robot gripping device is compact in structure, capable of gripping the object in a three-point manner more firmly than a two-point manner, and especially suitable for places where the negative pressure suctioning and gripping method is difficult to implement.
Description
Technical field
The utility model belongs to Robotics field, and specifically, the utility model relates to a kind of robot grabbing device.
Background technology
At present, along with space mechanism and the development of Electromechanical Control technology, in industrial automation, obtained extensive use with all kinds of robots of the artificial representative of series, parallel machine; Meanwhile, along with the continuous extension in mankind's activity space, also becoming study hotspot towards the Robotics of unsafe conditions and extreme environment.
The robot using in industrial automation and at unsafe conditions and extreme environment, generally must be according to Method of Calculation of Robotic Movements or contrary solution, pass through software algorithm, control driven by servomotor driving link, realize end effector according to the orbiting motion of expection, finally arrive its operating position point with the attitude of determining, and then complete its functional task by the specialized organization being equipped with on its end effector, here, the specialized organization being equipped with on end effector is different and different according to task, there is the feature of nonstandardized technique, such as, publication number is the patent documentation of CN203380886U disclosed " packaging parallel robot grabbing device ", publication number is the patent documentation of CN203471793U disclosed " automatically insert get sheet robot workstation " and the publication number patent documentation disclosed " robot grabbing jig " that is CN102528813A etc., the specialized organization being equipped with on these end effector of robot---capturing executive system is to adopt negative pressure sucker assembly in essence, and for example, on Automobile final assembly line, capture the grasping mechanism being equipped with in the robot of windshield and be also based on negative-pressure adsorption principle for capturing ad hoc grasping mechanism being equipped with in the robot of punching press plate etc. on vehicle cladding element punching line.But, be difficult to the occasion of implementing in negative-pressure adsorption grasping means, such as need to use robot to have special-shaped geometry space object implement capture with place time, or in the time that unsafe conditions and extreme environment negative pressure fetching are difficult to implement, how to design and be equipped with robot and capture executive system, finding is very few at present.
Utility model content
In order to solve in the time that negative-pressure adsorption grasping means is difficult to implement, robot captures design and the outfit problem of executive system, and the utility model provides a kind of space symmetr 11 bar robot grabbing devices based on planar five-bar mechanism.
To achieve these goals, the technical scheme that the utility model is taked is: a kind of robot grabbing device, comprise paw frame, the clamping connection rod set hinged with paw frame and moving linearly and be connected to drive it to make the power input part of oscillating motion with clamping connection rod set, clamping connection rod set forms by three rod members are hinged successively, and clamping connection rod set is at least provided with three groups and be uniformly distributed circumferentially in the outside of power input part.
Described power input part comprises the slipping base being slidably connected with described paw frame and is connected with slipping base and along the multiple drive links that circumferentially evenly arrange, drive link is connected with described clamping connection rod set respectively.
Described drive link is provided with chute, described clamping connection rod set be provided with hinged one of them rod member of described paw frame the trundle embedding in chute, the drive link being connected with each clamping connection rod set in the time of moving linearly residing plane with clamp connection rod set residing plane parallel in the time doing oscillating motion.
Described slipping base comprises the pull bar that discoidal slippage base plate is connected with slippage base plate with the center at slippage base plate, pull bar is coaxial with slippage base plate, described drive link be connected with slippage base plate and centered by the axis of slippage base plate line be uniformly distributed circumferentially, each drive link and inclined towards described in each, clamp connection rod set place extend.
Described paw frame comprises the fixed base plate parallel with described slippage base plate, and fixed base plate is provided with the pilot hole that allows described pull bar pass, and described clamping connection rod set and fixed base plate are hinged.
Described pilot hole is circular hole, and the inwall of pilot hole is provided with multiple gathering sills, and the surface of described pull bar is provided with and embeds the projection sliding in gathering sill and along gathering sill.
The end face of described fixed base plate is provided with the sleeve pipe being enclosed within on described pull bar.
Three rod members of described clamping connection rod set are outside connecting rod, inner side connecting rod and middle connecting rod, one end and the described fixed base plate of outside connecting rod and inner side connecting rod are hinged, the other end and middle rod hinge connection, outside connecting rod is positioned at the outside of inner side connecting rod, and described trundle is located on outside connecting rod or inner side connecting rod.
Described outside connecting rod parallels with described inner side connecting rod and is equal in length, and described middle connecting rod parallels with described fixed base plate.
Described clamping connection rod set is provided with three groups altogether.
Robot of the present utility model grabbing device, by being set in paw frame, multiple clamping connection rod set match, clamping connection rod set can inwardly be shunk grip objects or outwards open release object under the driving effect of power input part, thereby the space object that can meet having special-shaped geometry captures requirement; This grabbing device compact conformation, can realize 3 clampings, more firm than 2 clampings, is particluarly suitable for negative-pressure adsorption grasping means and is difficult to the occasion of implementing.
Brief description of the drawings
This description comprises the following drawings, shown in content respectively:
The structural representation of Tu1Shi robot grabbing device;
Fig. 2 is the structural representation of paw frame;
Fig. 3 is the structural representation of power input part;
Fig. 4 is the structural representation of inner side connecting rod;
Fig. 5 is the structural representation of outside connecting rod;
Fig. 6 is the structural representation of middle connecting rod;
The bottom view of Tu7Shi robot grabbing device;
In figure, be labeled as:
1, paw frame; 11, fixed base plate; 12, sleeve pipe; 13, pilot hole; 14, gathering sill; 15, outer hinge seat; 16, inner hinge seat;
2, power input part; 21, slippage base plate; 22, pull bar; 23, drive link; 24, chute; 25, projection;
3, clamping connection rod set; 31, outside connecting rod; 32, inner side connecting rod; 33, middle connecting rod; 34, trundle.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, detailed description of the invention of the present utility model is described in further detail, and object is to help those skilled in the art to have more complete, accurate and deep understanding to design of the present utility model, technical scheme, and contributes to its enforcement.
As shown in Figures 1 to 7, a kind of robot of the utility model grabbing device, comprise paw frame 1, the clamping connection rod set 3 hinged with paw frame 1 and moving linearly and be connected with clamping connection rod set 3 power input part 2 that drives it to do oscillating motion, clamping connection rod set 3 forms by three rod members are hinged successively, rod member and the paw frame 1 at clamping connection rod set 3 two ends are hinged, thereby respectively clamp connection rod set 3 paw frames 1 and can form quadric chain, clamping connection rod set 3 is at least provided with three groups and be uniformly distributed circumferentially in the outside of power input part 2.Multiple clamping connection rod set 3 of this robot grabbing device match, and under the driving of power input part 2, clamping connection rod set 3 can be done oscillating traverse motion, thereby can make multiple clamping connection rod set 3 inwardly shrink grip objects or outwards open release object.
Specifically, paw frame 1 is as the basic component that other parts are installed, and it comprises a fixed base plate 11 and is located at a sleeve pipe 12 on fixed base plate 11.As preferably, fixed base plate 11 is discoidal member, and its both ends of the surface are plane.
Power input part 2 comprises the slipping base being slidably connected with paw frame 1 and is connected with slipping base and along the multiple drive links 23 that circumferentially evenly arrange, drive link 23 is connected with clamping connection rod set 3 respectively.Slipping base comprises the pull bar 22 that discoidal slippage base plate 21 is fixedly connected with slippage base plate 21 with the end face center at slippage base plate 21, slippage base plate 21 is the centers that are positioned at multiple clamping connection rod set 3, slippage base plate 21 parallels with fixed underpan and coaxially, the diameter of slippage base plate 21 and less than the diameter of fixed base plate 11.Pull bar 22 is as the power intake being connected with the power source of peripheral hardware, and it is microscler rod member, pull bar 22 and coaxial with slippage base plate 21.In order to realize being slidably connected of paw frame 1, as preferably, on fixed base plate 11, be provided with the pilot hole 13 that allows pull bar 22 pass, the through hole of this pilot hole 13 for running through vertically in the center of fixed base plate 11, slippage base plate 21 is positioned at a side of fixed base plate 11, pull bar 22 stretches out from the opposite side of fixed base plate 11, and pull bar 22 can slide and drive slippage base plate 21 to move as reciprocating linear along pilot hole 13.Can not rotate in the time moving as reciprocating linear in order to ensure slipping base, the pilot hole 13 of fixed base plate 11 is circular hole, on the inwall of pilot hole 13, be provided with multiple gathering sills 14, this gathering sill 14 is radially towards the groove of fixed base plate 11 internal recess along pilot hole 13, and gathering sill 14 is to extend to other end from an end face of fixed base plate 11, corresponding being provided with on the surface of columniform pull bar 22 embeds in gathering sill 14 and the projection 25 sliding along gathering sill 14, projection 25 is radially protruding towards the outside of pull bar 22 along pull bar 22, and the length of projection 25 is parallel with the axis of pull bar 22.The projection 25 on pull bar 22 surfaces forms matched in clearance with the gathering sill 14 on fixed base plate 11, can realize slipping base with respect to the relatively moving of paw frame 1, and guarantees that slipping base can not rotate in the time moving as reciprocating linear.In the present embodiment, gathering sill 14 on fixed base plate 11 is provided with three altogether, and three gathering sills 14 are uniformly distributed circumferentially at the inwall of pilot hole 13, are also provided with altogether three projections 25 accordingly on the surface of pull bar 22, and three projections 25 are also for being uniformly distributed circumferentially.
Pull bar 22 is for being connected with the power source of peripheral hardware, and slipping base will do reciprocating linear motion, and the power source of peripheral hardware can be cylinder or hydraulic cylinder, and pull bar 22 can be connected with the piston rod of cylinder or hydraulic cylinder.As deformation program, also can use screw rod to replace pull bar 22, screwed hole and slippage base plate 21 that screw rod arranges through fixed base plate 11 center are rotationally connected, form screw nut driving mechanism by screw rod and fixed base plate 11, the other end of screw rod is connected with servomotor, thereby also can drive slippage base plate 21 to do reciprocating linear motion.
As depicted in figs. 1 and 2, also be provided with a sleeve pipe 12 being enclosed within on pull bar 22 in the end face center of fixed base plate 11, sleeve pipe 12 and slippage base plate 21 lay respectively at the both sides of fixed base plate 11, sleeve pipe 12 has certain length, the thickness of its Length Ratio fixed base plate 11 is large, sleeve pipe 12 centers are provided with and are communicated with the pilot hole 13 on fixed base plate 11 and coaxial through hole, and be also provided with the groove identical with gathering sill 14 shapes on pilot hole 13 inwalls at the inwall of this through hole, concrete, the number of this groove equates with gathering sill 14 numbers and each groove lays respectively on the extended line of a gathering sill 14, same, projection 25 on pull bar 22 also can embed in the groove of sleeve pipe 12 inwalls and slide along groove.The sleeve pipe 12 of said structure is set on fixed base plate 11, and sleeve pipe 12 inwalls are also provided with and the groove of projection 25 matched in clearance, thereby can further play guide effect to the movement of slipping base, better effects if.
The drive link 23 of slipping base is to be fixedly connected with slippage base plate 21 on the end face of slippage base plate 21, and pull bar 22 and drive link 23 lay respectively at the both sides of slippage base plate 21.Drive link 23 is provided with multiple altogether, and line is uniformly distributed circumferentially centered by the axis of slippage base plate 21.As preferably, clamp connection rod set 3 and be provided with altogether three groups, corresponding, drive link 23 is also provided with three, and each drive link 23 is also inclined towards each clamping connection rod set 3 places extension, clamps connection rod set 3 be connected with each.Like this, the bar line of three drive links 23 all becomes the plane angle of size for α with the end face of slippage base plate 21, and the bar line of three drive links 23 is in being mutually on the element of cone of hexagonal angle.
Because drive link 23 is along with slippage base plate 21 does reciprocating linear motion, and clamping connection rod set 3 is to do oscillating motion, and the drive link 23 being connected with each clamping connection rod set 3 residing plane and clamping connection rod set 3 residing plane parallel in the time doing oscillating motion in the time of moving linearly.Therefore, on drive link 23, be provided with the chute 24 extending along its length, as shown in Figure 3, this chute 24 is for kidney slot and on the side of drive link 23, run through drive link 23, and the residing plane of this chute 24 also parallels with clamping connection rod set 3 residing plane in the time doing oscillating motion equally.The opening that each chute 24 forms in drive link 23 sides is towards each clamping connection rod set 3, each clamping connection rod set 3 be provided with hinged one of them rod member of paw frame 1 trundle 34 embedding in chute 24, trundle 34 embeds in chute 24 and forms and be slidably matched with chute 24, in the time that drive link 23 does reciprocating linear motion, drive link 23 can promote trundle 34 by chute 24 and make reciprocally swinging, can do oscillating traverse motion thereby make to clamp connection rod set 3.
As shown in Figure 1 and Figure 7, slippage base plate 21 and fixed base plate 11 are coaxial, and both axis are positioned at each clamping connection rod set 3 residing plane in the time of moving linearly.Three rod members of each clamping connection rod set 3 are outside connecting rod 31, inner side connecting rod 32 and middle connecting rod 33, one end of outside connecting rod 31 and inner side connecting rod 32 is hinged with the hinge seat that the end face towards slippage base plate 21 at fixed base plate 11 arranges, the other end and middle connecting rod 33 are hinged, thereby form quadric chain with fixed base plate 11.In addition, outside connecting rod 31 is the outsides that are positioned at inner side connecting rod 32, trundle 34 is to be fixedly mounted on outside connecting rod 31 or inner side connecting rod 32, makes outside connecting rod 31 or inner side connecting rod 32 driving member as clamping connection rod set 3, to drive whole clamping connection rod set 3 to swing.
As preferably, outside connecting rod 31 parallels with inner side connecting rod 32 and both equal in length, and the length of outside connecting rod 31 and inner side connecting rod 32 is longer, the length of middle connecting rod 33 is shorter, middle connecting rod 33 parallels with fixed base plate 11, can form parallelogram four-bar mechanism with fixed base plate 11 thereby respectively clamp connection rod set 3, and outside connecting rod 31 and inner side connecting rod 32 are done oscillating motion, middle connecting rod 33 is done translational motion, and middle connecting rod 33 is the members as clamping object.
As preferably, as depicted in figs. 1 and 2, be provided with the hinge seat for being connected with clamping connection rod set 3 at the end face of fixed base plate 11, comprise the outer hinge seat 15 hinged with outside connecting rod 31 upper ends and the inner hinge seat 16 hinged with inner side connecting rod 32 upper ends, outer hinge seat 15 on fixed base plate 11 centered by the axis of fixed base plate 11 line along being circumferentially evenly equipped with three, inner hinge seat 16 on fixed base plate 11 also centered by the axis of fixed base plate 11 line along being circumferentially evenly equipped with three, the diameter of a circle at three outer hinge seat 15 places is larger than the diameter of a circle at three inner hinge seat 16 places, outer hinge seat 15 is the outsides that are positioned at inner hinge seat 16, and each outer hinge seat 15 is in the radial direction same in fixed base plate 11 end faces with an inner hinge seat 16 respectively, guarantee that connected outside connecting rod 31 and inner side connecting rod 32 can swing in same plane, the axis of oscillation of outside connecting rod 31 and inner side connecting rod 32 and be positioned at the same plane parallel with the end face of fixed base plate 11.
In the present embodiment, trundle 34 is to be fixedly mounted on the connecting rod 32 of inner side, the axis of trundle 34 parallels with the axis of oscillation of inner side connecting rod 32, the position of trundle 34 is roughly the centre position place that is positioned at inner side connecting rod 32 length directions, guarantees to have between drive link 23 and middle connecting rod 33 enough for holding the space of the object being held.
The robot grabbing device of said structure has formed a kind of space symmetr 11 bar robot grabbing devices based on planar five-bar mechanism, its principle scheme derives from planar five-bar mechanism, on a rod member of parallel-crank mechanism, trundle 34 is set, on the drive link 23 moving along paw frame 1, chute 24 is set, in the time that drive link 23 moves along paw frame 1, drive the connecting rod of aforementioned parallelogram to do translation by aforementioned chute 24 and the higher pair transmission of trundle 34; Taking aforementioned planar five-bar mechanism as basis, build the clamping connection rod set 3 of three groups of symmetries in space by innovative design, in the time that drive link 23 moves back and forth along paw frame 1, drive the middle connecting rod 33 of three groups of clamping connection rod set 3 to do translation by three pairs of chutes 24 and the higher pair transmission of trundle 34, can form in space to clamp with loose deactuate and do.So, can obtain space symmetr 11 bar robot grabbing devices.
Space symmetr based on the planar five-bar mechanism 11 bar robot grabbing device courses of work of above-mentioned formation are: when slipping base is by the matched in clearance of the gathering sill 14 on projection 25 and fixed base plate 11 on pull bar 22, while moving back and forth with respect to paw frame 1, chute 24 on each drive link 23 respectively with each inner side connecting rod 32 on the upper trundle 34 arranging form high auxiliary driving, and then drive three groups of clamping connection rod set 3 to do respectively flatness and reciprocator swing simultaneously, thereby, the middle connecting rod 33 of each clamping connection rod set 3 can complete in space to clamp with pine and move back function, realize clamping and release to object.
The robot grabbing device of said structure is by arranging three groups of clamping connection rod set 3, thereby can realize 3 clampings, based on the principle of 3 one-tenth one planes, clamping is more firm compared with 2 clampings, if coordinate the clamping coupling design of each middle connecting rod 33 bare terminal ends, the location completely that can realize grasping part object.This robot grabbing device is applicable to be difficult in negative-pressure adsorption grasping means the occasion of implementing, and the space object that can meet having special-shaped geometry captures, and can complete reliably smoothly crawl task.
Below by reference to the accompanying drawings the utility model is exemplarily described.Obviously, the utility model specific implementation is not subject to the restrictions described above.As long as having adopted the improvement of the various unsubstantialities that method of the present utility model design and technical scheme carry out; Or without improvement, above-mentioned design of the present utility model and technical scheme are directly applied to other occasion, all within protection domain of the present utility model.
Claims (10)
1. a robot grabbing device, it is characterized in that: comprise paw frame, the clamping connection rod set hinged with paw frame and moving linearly and be connected to drive it to make the power input part of oscillating motion with clamping connection rod set, clamping connection rod set forms by three rod members are hinged successively, and clamping connection rod set is at least provided with three groups and be uniformly distributed circumferentially in the outside of power input part.
2. robot according to claim 1 grabbing device, it is characterized in that: described power input part comprises the slipping base being slidably connected with described paw frame and is connected with slipping base and along the multiple drive links that circumferentially evenly arrange, drive link is connected with described clamping connection rod set respectively.
3. robot according to claim 2 grabbing device, it is characterized in that: described drive link is provided with chute, described clamping connection rod set be provided with hinged one of them rod member of described paw frame the trundle embedding in chute, the drive link being connected with each clamping connection rod set in the time of moving linearly residing plane with clamp connection rod set residing plane parallel in the time doing oscillating motion.
4. according to the robot grabbing device described in claim 2 or 3, it is characterized in that: described slipping base comprises the pull bar that discoidal slippage base plate is connected with slippage base plate with the center at slippage base plate, pull bar is coaxial with slippage base plate, described drive link be connected with slippage base plate and centered by the axis of slippage base plate line be uniformly distributed circumferentially, each drive link and inclined towards described in each, clamp connection rod set place extend.
5. robot according to claim 4 grabbing device, it is characterized in that: described paw frame comprises the fixed base plate parallel with described slippage base plate, fixed base plate is provided with the pilot hole that allows described pull bar pass, and described clamping connection rod set and fixed base plate are hinged.
6. robot according to claim 5 grabbing device, is characterized in that: described pilot hole is circular hole, and the inwall of pilot hole is provided with multiple gathering sills, and the surface of described pull bar is provided with and embeds the projection sliding in gathering sill and along gathering sill.
7. robot according to claim 6 grabbing device, is characterized in that: the end face of described fixed base plate is provided with the sleeve pipe being enclosed within on described pull bar.
8. robot according to claim 7 grabbing device, it is characterized in that: three rod members of described clamping connection rod set are outside connecting rod, inner side connecting rod and middle connecting rod, one end and the described fixed base plate of outside connecting rod and inner side connecting rod are hinged, the other end and middle rod hinge connection, outside connecting rod is positioned at the outside of inner side connecting rod, and described trundle is located on outside connecting rod or inner side connecting rod.
9. robot according to claim 8 grabbing device, is characterized in that: described outside connecting rod parallels with described inner side connecting rod and be equal in length, and described middle connecting rod parallels with described fixed base plate.
10. robot according to claim 9 grabbing device, is characterized in that: described clamping connection rod set is provided with three groups altogether.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420203711.4U CN203792351U (en) | 2014-04-24 | 2014-04-24 | Robot gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420203711.4U CN203792351U (en) | 2014-04-24 | 2014-04-24 | Robot gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203792351U true CN203792351U (en) | 2014-08-27 |
Family
ID=51374616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420203711.4U Expired - Fee Related CN203792351U (en) | 2014-04-24 | 2014-04-24 | Robot gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203792351U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104128927A (en) * | 2014-04-24 | 2014-11-05 | 安徽工程大学 | Robot gripping device |
| CN105773645A (en) * | 2016-04-26 | 2016-07-20 | 东莞市联洲知识产权运营管理有限公司 | Structure improved claw on mechanical arm |
| CN108246956A (en) * | 2018-03-28 | 2018-07-06 | 常熟非凡新材股份有限公司 | The forging feed collet of punching press steel ball puts device |
| CN108263944A (en) * | 2018-03-12 | 2018-07-10 | 厦门攸信信息技术有限公司 | A kind of Chan Qu mechanisms |
| CN108326225A (en) * | 2018-03-28 | 2018-07-27 | 常熟非凡新材股份有限公司 | The forging material conveying device of punching press steel ball |
| CN108858123A (en) * | 2018-08-30 | 2018-11-23 | 重庆工程职业技术学院 | Scout car based on computer control |
| CN109382833A (en) * | 2018-10-24 | 2019-02-26 | 重庆工业职业技术学院 | Engineering crusing robot |
| CN109454617A (en) * | 2018-10-22 | 2019-03-12 | 重庆工业职业技术学院 | Condition detection device in engineering pipeline |
| CN111001625A (en) * | 2019-12-25 | 2020-04-14 | 芜湖鼎恒材料技术有限公司 | Equipment for removing oil stain on engine cylinder cover |
| CN111496391A (en) * | 2020-05-23 | 2020-08-07 | 袁利峰 | Automatic laser cutting system for batch stainless steel pipes and processing method thereof |
-
2014
- 2014-04-24 CN CN201420203711.4U patent/CN203792351U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104128927A (en) * | 2014-04-24 | 2014-11-05 | 安徽工程大学 | Robot gripping device |
| CN104128927B (en) * | 2014-04-24 | 2015-12-02 | 安徽工程大学 | A kind of robotic gripping device |
| CN105773645A (en) * | 2016-04-26 | 2016-07-20 | 东莞市联洲知识产权运营管理有限公司 | Structure improved claw on mechanical arm |
| CN108263944A (en) * | 2018-03-12 | 2018-07-10 | 厦门攸信信息技术有限公司 | A kind of Chan Qu mechanisms |
| CN108246956A (en) * | 2018-03-28 | 2018-07-06 | 常熟非凡新材股份有限公司 | The forging feed collet of punching press steel ball puts device |
| CN108326225A (en) * | 2018-03-28 | 2018-07-27 | 常熟非凡新材股份有限公司 | The forging material conveying device of punching press steel ball |
| CN108326225B (en) * | 2018-03-28 | 2023-12-15 | 常熟非凡新材股份有限公司 | Forging material conveying device for stamping steel balls |
| CN108858123A (en) * | 2018-08-30 | 2018-11-23 | 重庆工程职业技术学院 | Scout car based on computer control |
| CN109454617A (en) * | 2018-10-22 | 2019-03-12 | 重庆工业职业技术学院 | Condition detection device in engineering pipeline |
| CN109382833A (en) * | 2018-10-24 | 2019-02-26 | 重庆工业职业技术学院 | Engineering crusing robot |
| CN111001625A (en) * | 2019-12-25 | 2020-04-14 | 芜湖鼎恒材料技术有限公司 | Equipment for removing oil stain on engine cylinder cover |
| CN111496391A (en) * | 2020-05-23 | 2020-08-07 | 袁利峰 | Automatic laser cutting system for batch stainless steel pipes and processing method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104128927B (en) | A kind of robotic gripping device | |
| CN203792351U (en) | Robot gripping device | |
| CN108214535B (en) | Synchronous control manipulator | |
| CN203003902U (en) | Universal mechanical gripper | |
| CN109605405B (en) | Self-adaptive cylinder grabbing paw | |
| CN104907844A (en) | Fast fixture for two-sided flat shaft | |
| JPH0569373A (en) | Gripper of two-directional operation | |
| CN204913931U (en) | Steady manipulator that snatchs that exchanges accuse | |
| CN105690417A (en) | Multifunctional intelligent clamping jaw and joint robot | |
| CN105291097A (en) | Three-freedom-degree overturning robot | |
| CN205630668U (en) | Multi -functional intelligent clamping jaw and joint robot | |
| CN110757486A (en) | Double-end two-jaw rank-lacking clamp of forging robot | |
| JP2011177862A (en) | Gripping device | |
| CN108942909A (en) | A kind of crawl transportation manipulator structure | |
| CN115056252A (en) | Multifunctional grabbing device of industrial robot | |
| CN208629464U (en) | A kind of gear-rack drive formula catching robot | |
| CN110216707B (en) | Robot positioning clamping jaw | |
| CN109623697B (en) | Simple workpiece fixing table | |
| CN108145730B (en) | Multi-angle grabbing mechanical claw and grabbing method thereof | |
| Premkumar¹ et al. | Design and implementation of multi handling pick and place robotic arm | |
| CN203818152U (en) | Clamping tool for automobile engine part | |
| CN104511896B (en) | A kind of automation collaborative parallel operation device | |
| CN113829332B (en) | Four-degree-of-freedom parallel robot mechanism with three movements and one rotation | |
| CN205464256U (en) | Connecting rod formula can snatch mechanical gripper that inlays of different internal diameter cylinder liners | |
| CN203945364U (en) | Heavy duty transfer robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140827 Termination date: 20150424 |
|
| EXPY | Termination of patent right or utility model |