CN205521408U - Clamping jaw formula manipulator - Google Patents
Clamping jaw formula manipulator Download PDFInfo
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- CN205521408U CN205521408U CN201620232034.8U CN201620232034U CN205521408U CN 205521408 U CN205521408 U CN 205521408U CN 201620232034 U CN201620232034 U CN 201620232034U CN 205521408 U CN205521408 U CN 205521408U
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Abstract
The utility model discloses a clamping jaw formula manipulator, including the mounting panel subassembly, install drive assembly and two clamping jaw assembly that are the symmetry setting on the mounting panel subassembly, every clamping jaw assembly all includes a drive division, one is used for pressing from both sides the clamp of the getting article portion of getting and is located the drive division and presss from both sides the articulated portion between the portion of getting, two clamping jaw assembly are all articulated with the mounting panel subassembly through articulated portion, drive assembly is connected with two drive divisions simultaneously, the synchronous reciprocating motion of two drive divisions of drive assembly drive, a press from both sides and get for making two clamp portions of getting use articulated portion to realize article as the synchronous reciprocating rotation in center in order to coordinate. The utility model has the advantages of centre gripping demand, clamping position precision that simple structure is compact, occupation space is little, can satisfy different diameter samples are high.
Description
Technical field
This utility model is mainly concerned with the gathering and processing apparatus field of material sample, is specifically related to a kind of clip type mechanical hand.
Background technology
For material (such as Ore, the coal) sampling of sample, sample preparation, chemical examination work, every country all has pressure standard, it is necessary to the chemical industry of gathering and processing carrying out sample in accordance with standard is made.The sampling of sample, sample preparation, the criterion of chemical examination work process are on the premise of not destroying sample representativeness, the sample granularity collected is gradually reduced, quality also gradually reduces, until meeting laboratory assay to the granularity of sample and quality (weight) required precision, the assay then satisfactory sample being correlated with.
Turning to example as gathered and processed with the sample of coal, the process of a kind of sampling analysis, coal samling and the purpose of sample preparation, be to represent and be sampled the experiment coal sample of coal by the gross to obtain its experimental result.Coal is a kind of uneven material (granularity, mass property distribution etc.), it is sampled the quality the biggest (tens tons Dao several ten thousand tons) of coal, from being sampled coal the process taking representative part of coal " sampling ", there are the various ways methods such as mechanical sampling, artificial sample, half mechanical sampling at present.After adopting sample by standard, next process is " sample preparation ", and sample making course typically has broken, mixing, division, the process such as is dried.Sample is i.e. carried out next step sample and " is chemically examined " after making, be analyzed sample.Whether " sample ", " sample preparation " or " chemical examination ", can not have the loss of sample during this, it is impossible to enough make sample occur some physically or chemically to change, otherwise final result of the test will be impacted.
In material (such as Ore, the coal) sampling of sample, sample preparation, chemical examination work, need to transport the sample gathered and processed from the station (laboratory) of this link to be delivered to the station (laboratory) of next link to carry out next stage work.During the transhipment of sample carries this, robot device can be used for gripping sample.There is techniques below problem in existing machinery arm device:
(1) mechanical hand of the prior art (such as parallel jaw mechanical hand, 3 jaw mechanical hands), when needing the sample clamping different size diameter, manipulator clamping stroke must is fulfilled for the demand of different-diameter sample, this stroke allowing for mechanical hand is bigger, mechanical hand is bulky, it is relatively big to take up room, and space availability ratio is low.
(2) mechanical hand of the prior art (as swung jaw mechanical hand), when clamping the sample of different-diameter size, deposit that sample position after clamping is inconsistent, the unstable problem easily dropped of chucking power, this gathers and processes for chemical industry makees for the material that precision, efficiency requirements are high, there is great hidden danger.
(3) mechanical hand of the prior art, when clamping the sample of different-diameter size, Different Weight, the chucking power of mechanical hand can not change flexibly, the i.e. chucking power of mechanical hand will not reduce with the reduction of sample diameter, this easily cause minor diameter sample damage, finally affect physical characteristic and the precision of sample.
Utility model content
The technical problems to be solved in the utility model is: the problem existed for prior art, it is provided that a kind of simple and compact for structure, take up room little, the clamping demand of different-diameter sample can be met, clip type mechanical hand that clip position precision is high.
For solve above-mentioned technical problem, this utility model by the following technical solutions:
A kind of clip type mechanical hand, including installing plate assembly, driving assembly and two clip claw assemblies being symmetrical set are installed on described installing plate assembly, each described clip claw assembly all includes a drive division, one for gripping the gripping portion of article and the articulated section between drive division and gripping portion, two described clip claw assemblies are all by articulated section and installing plate member hinges, described driving assembly is connected with two drive divisions simultaneously, two the drive division synchronous reciprocating motions of described driving Component driver, for making two described gripping portions synchronous reciprocating centered by articulated section rotate to coordinate the gripping realizing article.
As further improvement of the utility model, the location blade assemblies matched with clip claw assembly it is additionally provided with on described installing plate assembly, described location blade assemblies is located between two clip claw assemblies, and described article are adjacent to be fixed between location blade assemblies and two gripping portions under the clamping action in two gripping portions.
As further improvement of the utility model, described location blade assemblies includes positioning supporting plate, described location supporting plate is provided with the depressed part for location, and described depressed part arranges towards article gripping direction so that article slip into the center being fixed on depressed part under the clamping action in two gripping portions.
As further improvement of the utility model, described location blade assemblies also includes that seat fixed by supporting plate, and described location supporting plate is fixed seat by supporting plate and is fixed on installing plate assembly.
As further improvement of the utility model, described driving assembly includes driving cylinder and slip pushing block, described slip pushing block is fixed in the drive shaft end driving cylinder to seesaw along drive shaft direction under the driving driving cylinder, and described slip pushing block and two drive divisions are connected to drive two drive division synchronous reciprocating motions.
As further improvement of the utility model, described slip pushing block is provided with chute, and two described drive divisions are all slidably connected with slip pushing block by chute.
As further improvement of the utility model, described driving assembly also includes that cylinder fixes seat, and described driving cylinder is fixed seat by cylinder and is fixed on installing plate assembly.
As further improvement of the utility model, each described clip claw assembly all includes that the jaw of fixing connection and jaw fix seat, and described gripping portion is located on jaw, and described drive division and articulated section are all located at jaw and are fixed on seat.
As further improvement of the utility model, described gripping portion is provided with slipmat.
As further improvement of the utility model, described installing plate assembly includes upper mounting plate and the lower installation board be arrangeding in parallel, the connecting plate of more than one piece it is provided with between described upper mounting plate and lower installation board, described driving assembly and clip claw assembly may be contained between upper mounting plate and lower installation board, and described clip claw assembly is hinged with upper mounting plate and lower installation board respectively by articulated section.
Compared with prior art, the utility model has the advantage of:
(1) clip type mechanical hand of the present utility model, forms swing arm structure by arranging two symmetrically arranged clip claw assemblies, drives design in conjunction with the synchronization driving assembly, it is possible to meet the gripping demand of different-diameter size article.
(2) clip type mechanical hand of the present utility model, drives the reciprocal of assembly to drive stroke short so that clip type mechanical hand simple and compact for structure, volume is little, it is little to take up room.
(3) clip type mechanical hand of the present utility model, two symmetrically arranged clip claw assemblies can swing around fixing point under the effect of driving force, and clip claw assembly is designed with certain angle so that the article of clip claw assembly energy automatic straightening diverse location, and gripping precision is high.
(4) clip type mechanical hand of the present utility model; along with the increase of the pendulum angle of clip claw assembly, the chucking power in two gripping portions can progressively reduce, and effectively protects minor diameter article; make minor diameter article not easily cause damage when clamping, physical characteristic and the precision of sample have finally been effectively ensured.
(5) clip type mechanical hand of the present utility model, the location blade assemblies matched with clip claw assembly by setting so that clip type mechanical hand of the present utility model, there is automatic straightening function, it is possible to the article of automatic straightening diverse location, improve gripping precision high.Especially by arranging the depressed part with positioning action, article can slide under the effect of thrust at depressed part, finally slides into the center of depressed part, completes clamping operation accurately.
(6) clip type mechanical hand of the present utility model, by being provided with the slip pushing block of chute, make drive cylinder driving force can be average synchronous transfer give two drive divisions, two drive divisions can synchronously be moved back and forth, two gripping portions of final drive are synchronized with the movement, and grip operation accurately to synchronously complete.
Accompanying drawing explanation
Fig. 1 is the stereochemical structure principle schematic of clip type mechanical hand of the present utility model.
Fig. 2 is the front perspective structural principle schematic diagram of clip type mechanical hand of the present utility model.
Fig. 3 is principle schematic during clip type mechanical hand article the most to be held of the present utility model.
Fig. 4 is the clip type mechanical hand of the present utility model principle schematic when clamping major diameter article in an embodiment.
Fig. 5 is the clip type mechanical hand of the present utility model principle schematic when clamping minor diameter article in an embodiment.
Fig. 6 is the clip type mechanical hand of the present utility model state change principle schematic when clamping article in an embodiment.
Fig. 7 is clip type mechanical hand of the present utility model structural principle schematic diagram in other embodiments.
Marginal data:
1, installing plate assembly；11, upper mounting plate；12, lower installation board；13, connecting plate；2, assembly is driven；21, cylinder is driven；22, slip pushing block；221, chute；23, cylinder fixes seat；3, clip claw assembly；31, drive division；32, gripping portion；321, slipmat；33, articulated section；34, jaw；35, jaw fixes seat；4, location blade assemblies；41, location supporting plate；42, seat fixed by supporting plate；5, article.
Detailed description of the invention
Below in conjunction with specific embodiments and the drawings, this utility model is described in further detail.It should be pointed out that, that protection domain of the present utility model is not limited merely to following embodiment, for those skilled in the art, without departing from the some improvements and modifications under this utility model principle premise, also should be regarded as protection domain of the present utility model.
As shown in Figures 1 to 6, this utility model provides a kind of clip type mechanical hand, including installing plate assembly 1, driving assembly 2 and two clip claw assemblies being symmetrical set 3 are installed on installing plate assembly 1, each clip claw assembly 3 all includes a drive division 31, one for gripping the gripping portion 32 of article 5 and the articulated section 33 between drive division 31 and gripping portion 32, two clip claw assemblies 3 are all hinged with installing plate assembly 1 by articulated section 33, drive assembly 2 to be connected with two drive divisions 31 simultaneously, assembly 2 is driven to drive two drive division 31 synchronous reciprocating motions, for making two gripping portions 32 synchronous reciprocating centered by articulated section 33 rotate to coordinate the gripping realizing article 5.
When needs grip article 5, drive assembly 2 first to simultaneously drive two drive divisions 31 to move upward, make two gripping portions 32 under the effect of two drive divisions 31, centered by articulated section 33, towards outside rotation, (i.e. the gripping portion 32 on right side rotates clockwise to the right in corresponding synchronization, the gripping portion 32 in left side rotates counterclockwise to the left), to form grasp opening, mechanical hand continuously moves at article 5, makes article 5 fall in grasp opening.Now, drive assembly 2 to simultaneously drive two drive divisions 31 again to move downward, make two gripping portions 32 under the effect of two drive divisions 31, centered by articulated section 33, (i.e. the gripping portion 32 on right side rotates counterclockwise to the left in corresponding synchronization inwards rotation, the gripping portion 32 in left side rotates clockwise to the right), two gripping portions 32 rotated finally are made to cooperate, to be clamped by the article being in grasp opening 5, it is achieved the gripping of article 5 and movement.
When article 5 are moved to demand position by mechanical hand, when needing to unload article 5, drive assembly 2 first to simultaneously drive two drive divisions 31 to move upward, make two gripping portions 32 under the effect of two drive divisions 31, centered by articulated section 33, towards outside rotation, (i.e. the gripping portion 32 on right side rotates clockwise to the right in corresponding synchronization, the gripping portion 32 in left side rotates counterclockwise to the left), now article 5 are no longer clamped by the gripping portion 32 of clip claw assembly 3, article 5 fall into demand position, mechanical hand exits back, and completes the transhipment of article 5.
As shown in Figures 1 to 6, clip type mechanical hand of the present utility model, swing arm structure is formed by arranging two symmetrically arranged clip claw assemblies 3, drive assembly 2 to drive drive division 31 synchronous reciprocating of two clip claw assemblies 3 to move, make two gripping portions 32 cooperate synchronous axial system to form gripping space and to complete gripping.Scientific design by the most special: one is so that clip type mechanical hand of the present utility model disclosure satisfy that the gripping demand of different-diameter size article 5.As shown in Figure 4, Figure 5, i.e. when needing the article 5 gripping major diameter, only need to strengthen driving assembly 2 driving stroke upwards, so that forming the gripping space that opening is bigger between two gripping portions 32；When needing the article 5 gripping minor diameter, corresponding increasing drives the driving stroke that assembly 2 is downward.Two is such scientific design, drives the reciprocal of assembly 2 to drive stroke short so that clip type mechanical hand of the present utility model simple and compact for structure, volume is little, it is little to take up room.Three is that two symmetrically arranged clip claw assemblies 3 can swing around fixing point (i.e. articulated section 33) under the effect of driving force, and clip claw assembly 3 is designed with certain angle, the clip claw assembly 3 making both sides can co-operatively be gradually completing the promotion to article 5, clamping process, making the article 5 of clip claw assembly 3 energy automatic straightening diverse location, gripping precision is high.Four is this special design; two gripping portions 32 of clip claw assembly 3 are when synchronization corresponding centered by articulated section 33 inwards rotates; increase along with the pendulum angle of clip claw assembly 3; the chucking power in two gripping portions 32 can progressively reduce; the most effectively protect minor diameter article 5; make minor diameter article 5 not easily cause damage when clamping, physical characteristic and the precision of sample have finally been effectively ensured.
As shown in Figure 1, Figure 2, Figure 4 shows, further, in the preferred embodiment, the location blade assemblies 4 matched with clip claw assembly 3 it is additionally provided with on installing plate assembly 1, location blade assemblies 4 is located between two clip claw assemblies 3, and article 5 are adjacent to be fixed between location blade assemblies 4 and two gripping portions 32 under the clamping action in two gripping portions 32.When article 5 fall in grasp opening, drive assembly 2 to simultaneously drive two drive divisions 31 to move downward, two gripping portions 32 corresponding synchronization centered by articulated section 33 is inwards rotated, gripping portion 32 can take the lead in contacting article 5, and co-operatively it is gradually completing the promotion to article 5, when being pushed to article 5 position at blade assemblies 4, article 5 no longer move, and finally make two gripping portions 32 and location blade assemblies 4 three be formed and article 5 are adjacent to clamping.Certainly, mechanical hand is when moving to article 5, it is also possible to after directly making location blade assemblies 4 keep contacting with article 5, then drive two gripping portions 32 to complete clamping.
In the present embodiment, location blade assemblies 4 includes positioning supporting plate 41 and seat 42 fixed by supporting plate, and location supporting plate 41 is fixed seat 42 by supporting plate and is fixed on installing plate assembly 1.Location supporting plate 41 is provided with the depressed part for location, and depressed part grips direction setting towards article 5 so that article 5 slip into the center being fixed on depressed part under the clamping action in two gripping portions 32.As shown in Figure 6, when clip position article 5 the most accurately, two gripping portions 32 first can co-operatively be gradually completing the promotion to article 5, when being pushed to article 5 position at supporting plate 41, article 5 can slide under the effect of thrust at depressed part, finally slides into the center of depressed part, now, two gripping portions 32 and location supporting plate 41 three are formed and article 5 are adjacent to clamping, complete clamping operation accurately.By the most special scientific design so that clip type mechanical hand of the present utility model, further enhance automatic straightening function, it is possible to the article 5 of automatic straightening diverse location, further increase gripping precision high.In the present embodiment, the cross section of location supporting plate 41 is arc-shaped, and cross section is that the depressed part of arc-shaped makes article 5 effect when sliding more preferable, and when article 5 are sample bottle, depressed part can keep fitting more closely with body.Certainly, in other embodiments, location supporting plate 41 may be designed in other forms, as cross section is V-shaped, finally makes article 5 fall in V-type.
As shown in Figure 1 and Figure 2, further, in the preferred embodiment, drive assembly 2 to include driving cylinder 21, slip pushing block 22 and cylinder to fix seat 23, drive cylinder 21 to fix seat 23 by cylinder and be fixed on installing plate assembly 1.Slip pushing block 22 is fixed in the drive shaft end driving cylinder 21 to seesaw along drive shaft direction under the driving driving cylinder 21, and slip pushing block 22 and two drive divisions 31 are connected to drive two drive division 31 synchronous reciprocating motions.Slip pushing block 22 is provided with two chutes 221, and two drive divisions 31 are all slidably connected with slip pushing block 22 by chute 221.By such design, make drive cylinder 21 driving force can be average synchronous transfer give two drive divisions 31, two drive divisions 31 can synchronously be moved back and forth, and two gripping portions 32 of final drive are synchronized with the movement, and grip operation accurately to synchronously complete.
As shown in Figure 1 and Figure 2, further, in the preferred embodiment, each clip claw assembly 3 all includes that the jaw 34 of fixing connection and jaw fix seat 35, and gripping portion 32 is located on jaw 34, and drive division 31 and articulated section 33 are all located at jaw and are fixed on seat 35.Jaw 34 and jaw are fixed between seat 35 by the dismountable connection of bolt part, it is simple to jaw 34 or jaw are fixed when safeguarding the replacing of seat 35 in the future.It should be strongly noted that as it is shown on figure 3, in the present embodiment, it is relative shape that two clip claw assemblies 3 are set to mutually fasten the interior angle A of shape, i.e. two clip claw assemblies 3.In other embodiments, as shown in Figure 7, it is also possible to by oppositely arranged for two clip claw assemblies 3, the interior angle A of two clip claw assemblies 3 will be both designed as shape outwardly, then at each drive division 31, be respectively provided with a slip pushing block 22；Now, when driving cylinder 21 to drive two drive divisions 31 to move upward, two gripping portions 32 have all inwardly rotated gripping operation, otherwise when driving cylinder 21 to drive two drive divisions 31 to move downward, two gripping portions 32 are turned out forming grasp opening.Also protection domain of the present utility model should be belonged to up conversion.
As shown in Figure 1 and Figure 2, further, in the preferred embodiment, gripping portion 32 is provided with slipmat 321, to strengthen the clamping stability to article 5 further.Installing plate assembly 1 includes upper mounting plate 11 and the lower installation board 12 be arrangeding in parallel, and upper mounting plate 11 and/or lower installation board 12 are provided with multiple installation portion for mechanical hand integral installation is fixed on other equipment (such as mobile platform).The connecting plate 13 of more than one piece it is provided with so that upper mounting plate 11 and lower installation board 12 keep firm connection between upper mounting plate 11 and lower installation board 12.Simultaneously, assembly 2 and clip claw assembly 3 is driven to may be contained between upper mounting plate 11 and lower installation board 12, drive cylinder 21 to fix seat 23 by cylinder to be fixed on upper mounting plate 11, location supporting plate 41 is fixed seat 42 by supporting plate and is individually fixed on the front end of upper mounting plate 11 and lower installation board 12, and clip claw assembly 3 is hinged with upper mounting plate 11 and lower installation board 12 respectively by articulated section 33.By above design, further enhance the overall steadiness of mechanical hand so that clip type robot manipulator structure of the present utility model is the compactest, volume is little, it is little to take up room.
Claims (10)
- null1. a clip type mechanical hand，Including installing plate assembly (1)，Driving assembly (2) and two clip claw assemblies being symmetrical set (3) are installed on described installing plate assembly (1)，It is characterized in that，Each described clip claw assembly (3) all includes a drive division (31)、One for the gripping portion (32) gripping article and the articulated section (33) being positioned between drive division (31) and gripping portion (32)，Two described clip claw assemblies (3) are all hinged with installing plate assembly (1) by articulated section (33)，Described driving assembly (2) is connected with two drive divisions (31) simultaneously，Described driving assembly (2) drives two drive division (31) synchronous reciprocating motions，For making two described gripping portions (32) synchronous reciprocating centered by articulated section (33) rotate to coordinate the gripping realizing article.
- Clip type mechanical hand the most according to claim 1, it is characterized in that, the location blade assemblies (4) matched with clip claw assembly (3) it is additionally provided with on described installing plate assembly (1), described location blade assemblies (4) is located between two clip claw assemblies (3), and described article are adjacent to be fixed between location blade assemblies (4) and two gripping portions (32) under the clamping action of two gripping portions (32).
- Clip type mechanical hand the most according to claim 2, it is characterized in that, described location blade assemblies (4) includes positioning supporting plate (41), described location supporting plate (41) is provided with the depressed part for location, and described depressed part arranges towards article gripping direction so that article slip into the center being fixed on depressed part under the clamping action of two gripping portions (32).
- Clip type mechanical hand the most according to claim 3, it is characterised in that described location blade assemblies (4) also includes that seat (42) fixed by supporting plate, described location supporting plate (41) is fixed seat (42) by supporting plate and is fixed on installing plate assembly (1).
- Clip type mechanical hand the most as claimed in any of claims 1 to 4, it is characterized in that, described driving assembly (2) includes driving cylinder (21) and slip pushing block (22), described slip pushing block (22) is fixed in the drive shaft end driving cylinder (21) to seesaw along drive shaft direction under the driving driving cylinder (21), and described slip pushing block (22) and two drive divisions (31) are connected to drive two drive division (31) synchronous reciprocating motions.
- Clip type mechanical hand the most according to claim 5, it is characterised in that described slip pushing block (22) is provided with chute (221), two described drive divisions (31) are all slidably connected with slip pushing block (22) by chute (221).
- Clip type mechanical hand the most according to claim 6, it is characterised in that described driving assembly (2) also includes that cylinder fixes seat (23), and described driving cylinder (21) is fixed seat (23) by cylinder and is fixed on installing plate assembly (1).
- Clip type mechanical hand the most as claimed in any of claims 1 to 4, it is characterized in that, each described clip claw assembly (3) all includes that the jaw (34) of fixing connection and jaw fix seat (35), described gripping portion (32) is located on jaw (34), and described drive division (31) and articulated section (33) are all located at jaw and are fixed on seat (35).
- Clip type mechanical hand the most as claimed in any of claims 1 to 4, it is characterised in that described gripping portion (32) is provided with slipmat (321).
- Clip type mechanical hand the most as claimed in any of claims 1 to 4, it is characterized in that, described installing plate assembly (1) includes upper mounting plate (11) and the lower installation board (12) be arrangeding in parallel, the connecting plate (13) of more than one piece it is provided with between described upper mounting plate (11) and lower installation board (12), described driving assembly (2) and clip claw assembly (3) may be contained between upper mounting plate (11) and lower installation board (12), and described clip claw assembly (3) is hinged with upper mounting plate (11) and lower installation board (12) respectively by articulated section (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620232034.8U CN205521408U (en) | 2016-03-24 | 2016-03-24 | Clamping jaw formula manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620232034.8U CN205521408U (en) | 2016-03-24 | 2016-03-24 | Clamping jaw formula manipulator |
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| CN205521408U true CN205521408U (en) | 2016-08-31 |
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| CN201620232034.8U Active CN205521408U (en) | 2016-03-24 | 2016-03-24 | Clamping jaw formula manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106864752A (en) * | 2017-03-18 | 2017-06-20 | 芜湖元航空科技有限公司 | Fire extinguisher bomb bomb droping gear is unloaded in a kind of grabbing for fire-fighting unmanned plane |
| CN107200223A (en) * | 2017-06-09 | 2017-09-26 | 湖南三德科技股份有限公司 | Automatic transceiving cabinet device for material pneumatic conveyer system |
| CN107381023A (en) * | 2017-07-26 | 2017-11-24 | 深圳市嘉熠精密自动化科技有限公司 | A kind of multidirectional material transfer device |
| CN107825456A (en) * | 2017-12-06 | 2018-03-23 | 馆陶县鑫江电热设备有限公司 | A kind of stirring manipulator |
| CN108480975A (en) * | 2018-05-31 | 2018-09-04 | 周兆弟 | One kind tearing nut machine open |
| CN108638103A (en) * | 2018-05-22 | 2018-10-12 | 航天材料及工艺研究所 | The end effector of robot and method of adjustment of a kind of automatic crawl and pose adjustment |
| CN110179395A (en) * | 2019-06-19 | 2019-08-30 | 小狗电器互联网科技（北京）股份有限公司 | The method of suction nozzle and change suction inlet size for dust catcher |
| CN111230906A (en) * | 2020-01-23 | 2020-06-05 | 佛山科学技术学院 | Fragile article clamping manipulator and clamping method thereof |
| CN111618844A (en) * | 2019-02-28 | 2020-09-04 | 精工爱普生株式会社 | Robot system and control method |
| CN112025687A (en) * | 2020-09-09 | 2020-12-04 | 芜湖捷和科技有限公司 | Clamping jaw type mechanical arm with base |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106864752A (en) * | 2017-03-18 | 2017-06-20 | 芜湖元航空科技有限公司 | Fire extinguisher bomb bomb droping gear is unloaded in a kind of grabbing for fire-fighting unmanned plane |
| CN107200223A (en) * | 2017-06-09 | 2017-09-26 | 湖南三德科技股份有限公司 | Automatic transceiving cabinet device for material pneumatic conveyer system |
| CN107200223B (en) * | 2017-06-09 | 2023-03-14 | 湖南三德科技股份有限公司 | Automatic receiving and dispatching cabinet device for material pneumatic conveying system |
| CN107381023A (en) * | 2017-07-26 | 2017-11-24 | 深圳市嘉熠精密自动化科技有限公司 | A kind of multidirectional material transfer device |
| CN107381023B (en) * | 2017-07-26 | 2023-08-18 | 深圳市嘉熠精密自动化科技有限公司 | Multidirectional material transfer device |
| CN107825456A (en) * | 2017-12-06 | 2018-03-23 | 馆陶县鑫江电热设备有限公司 | A kind of stirring manipulator |
| CN107825456B (en) * | 2017-12-06 | 2024-04-26 | 馆陶县鑫江电热设备有限公司 | Material turning manipulator |
| CN108638103B (en) * | 2018-05-22 | 2020-09-18 | 航天材料及工艺研究所 | Robot end effector capable of automatically grabbing and adjusting pose and adjusting method |
| CN108638103A (en) * | 2018-05-22 | 2018-10-12 | 航天材料及工艺研究所 | The end effector of robot and method of adjustment of a kind of automatic crawl and pose adjustment |
| CN108480975A (en) * | 2018-05-31 | 2018-09-04 | 周兆弟 | One kind tearing nut machine open |
| CN108480975B (en) * | 2018-05-31 | 2024-03-26 | 周兆弟 | Nut dismounting machine |
| CN111618844A (en) * | 2019-02-28 | 2020-09-04 | 精工爱普生株式会社 | Robot system and control method |
| CN110179395B (en) * | 2019-06-19 | 2023-11-28 | 小狗电器互联网科技（北京）股份有限公司 | Suction head for dust collector and method for changing size of suction inlet |
| CN110179395A (en) * | 2019-06-19 | 2019-08-30 | 小狗电器互联网科技（北京）股份有限公司 | The method of suction nozzle and change suction inlet size for dust catcher |
| CN112677175A (en) * | 2019-10-18 | 2021-04-20 | 神讯电脑(昆山)有限公司 | Clamping nozzle structure |
| CN111230906A (en) * | 2020-01-23 | 2020-06-05 | 佛山科学技术学院 | Fragile article clamping manipulator and clamping method thereof |
| CN112025687A (en) * | 2020-09-09 | 2020-12-04 | 芜湖捷和科技有限公司 | Clamping jaw type mechanical arm with base |
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