CN206936927U - Mechanical paw - Google Patents
Mechanical paw Download PDFInfo
- Publication number
- CN206936927U CN206936927U CN201721231351.9U CN201721231351U CN206936927U CN 206936927 U CN206936927 U CN 206936927U CN 201721231351 U CN201721231351 U CN 201721231351U CN 206936927 U CN206936927 U CN 206936927U
- Authority
- CN
- China
- Prior art keywords
- hole
- mechanical paw
- fixed plate
- bolster
- clamping device
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The utility model provides a kind of mechanical paw, including mechanically connecting handle and being arranged on the mounting head of described mechanical connection handle one end, the mounting head includes at least three side installing plates being sequentially connected, the mechanical paw also includes the adsorbing mechanism being separately positioned on three side installing plates of the mounting head, first clamping device and the second clamping device, the cover plate that the adsorbing mechanism is used to adsorb a tool is to open tool, first clamping device is used to take out one first workpiece in the tool, second clamping device is used to grip a second workpiece and is placed in the tool.Mechanical paw of the present utility model can realize automation multistation loading and unloading.
Description
Technical field
A kind of mechanical paw is the utility model is related to, more particularly to one kind can be realized and automate loading and unloading in multiplexing interdigit
Mechanical paw.
Background technology
The operation by the way of artificial loading and unloading of existing cell phone rear cover.So, artificial loading and unloading manpower demand is more, is produced into
This height, labor intensity is big, low production efficiency, and artificial loading and unloading easily cause workpiece damage, scratch, and then influence workpiece matter
Amount.
Utility model content
In view of this, it is necessary to a kind of mechanical paw is provided, can realize that multiplexing interdigit automates loading and unloading, with solution
State problem.
The utility model provides a kind of mechanical paw, including mechanically connects handle and be arranged on described mechanical connection handle one end
Mounting head, the mounting head include at least three side installing plates being sequentially connected, and the mechanical paw also includes being separately positioned on
Adsorbing mechanism, the first clamping device and the second clamping device on three side installing plates of the mounting head, the absorption
Mechanism is used to adsorb the cover plate of a tool to open tool, and first clamping device is used to take out one in the tool
First workpiece, second clamping device are used to grip a second workpiece and are placed in the tool.
Preferably, the quantity of at least three side installing plate is four, and the mechanical paw also includes adjustment mechanism, institute
State adsorbing mechanism, the first clamping device, the second clamping device and adjustment mechanism to be separately positioned on four side installing plates, institute
Adjustment mechanism is stated to be used to adjust position of the second workpiece in the tool.
Preferably, the adjustment mechanism includes at least one lead, at least one elastic component and pressing plate, and described at least one
One end of individual lead is movably disposed on one of them described side installing plate, and the other end is fixed on the pressing plate, often
The individual elastic component is set on one of them described lead, and the both ends of the elastic component are against described in one of them respectively
On side installing plate and the pressing plate.
Preferably, first clamping device is identical with the second clamping device structure, the first clamping device bag
Tumbler, fixed plate, at least one clamp system and at least one guiding mechanism are included, the tumbler is arranged on the fixed plate
Between one of them described side installing plate, at least one clamp system and at least one guiding mechanism are set respectively
In the fixed plate.
Preferably, the tumbler includes outer shaft bolster, interior axle bolster, thrust bearing and two bulb plungers, described outer
Bearing bracket stand is disposed therein on a side installing plate, the inner bearing frame be arranged in the outer shaft bolster and part from
The top of the outer shaft bolster is stretched out, and the thrust bearing is set on the interior axle bolster, and both ends support outside described respectively
On bearing bracket stand and the interior axle bolster, described two bulb plungers are located in the side wall of the outer shaft bolster and supported respectively
On the outer wall of the interior axle bolster.
Preferably, the outer shaft bolster includes accepting hole and is arranged on the first through hole of described accepting hole one end, the receipts
First through hole described in Rong Kongyu communicates setting, and the diameter of the accepting hole is more than the diameter of the first through hole, the inner bearing
Frame includes first end and is more than the straight of second end positioned at the second end of the first end side, the diameter of the first end
Footpath, the first end of the interior axle bolster are arranged in the accepting hole, and the second end of the interior axle bolster is logical through described first
First through hole described in Kong Bingcong is stretched out, and the thrust bearing is set on second end, and the both ends of the thrust bearing point
Do not support on the inwall of the first end and the accepting hole.
Preferably, the both sides of the first end are respectively arranged with support division, and each bulb plunger passes through the outer shaft
The side wall of bolster simultaneously supports wherein on a support division respectively.
Preferably, the second through hole, two third through-holes and two slots to make way are provided with the fixed plate, described second is logical
For hole position on the center of the fixed plate, described two third through-holes are arranged on the fixation in a manner of center line is symmetrical
On the both ends of plate, described two slots to make way are arranged in a manner of central point on the both sides of the fixed plate, the clamping
Mechanism and the quantity of the guiding mechanism are respectively two, described two clamp systems be separately positioned in the fixed plate and
Stretched out respectively from described two slots to make way, described two guiding mechanisms are separately positioned in described two third through-holes.
Preferably, each clamp system includes air cylinder fixed plate and is arranged on the cylinder by the flat of fixed plate side
Row clamping cylinder, the clamping jaw of the parallel clamping cylinder stretch out from the slot to make way, for clamping on first workpiece
Raised line.
Preferably, each guiding mechanism includes sleeve, guide pillar and dynamic clamping head and quiet clamping head, and the sleeve is arranged on described solid
The lower section of fixed board, each sleeve are coaxially disposed with third through-hole one of them described, and the guide pillar is arranged on the sleeve
It is interior, convex shoulder is provided with the guide pillar, the guide pillar has the inside that one end of convex shoulder is arranged on the sleeve, the guide pillar
The other end stretches out the sleeve, and is stretched out from the third through-hole, and the guide pillar stretches out one end of the third through-hole in cone
Shape openning shape, the dynamic clamping head and quiet clamping head are located in the sleeve and are enclosed on the guide pillar and support on the convex shoulder.
Mechanical paw of the present utility model can realize that multiplexing interdigit automates loading and unloading, and manpower demand is few, production cost
Reduce, labor intensity reduces, and production efficiency is high, and avoid artificial loading and unloading easily cause workpiece damage, scratch etc. the problem of.
Brief description of the drawings
Fig. 1 is mechanical paw in the embodiment of the utility model one, the dimensional structure diagram of workpiece and cover plate.
Fig. 2 disassembles schematic diagram for the part of the mechanical paw shown in Fig. 1, workpiece and cover plate.
Fig. 3 is that the part of mechanical paw and cover plate in the other directions shown in Fig. 2 disassembles schematic diagram.
Fig. 4 is that mechanical paw shown in Fig. 2 and cover plate further disassemble schematic diagram.
Fig. 5 be Fig. 2 shown in mechanical paw and workpiece in the other directions further disassemble schematic diagram.
Fig. 6 is diagrammatic cross-sections of the Fig. 3 on VI-VI directions.
Fig. 7 further disassembles schematic diagram for the mechanical paw shown in Fig. 5.
Main element symbol description
Following embodiment will further illustrate the utility model with reference to above-mentioned accompanying drawing.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, to the technical scheme in the utility model embodiment
It is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the utility model, rather than
Whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creativeness
The all other embodiment obtained under the premise of work, belong to the scope of the utility model protection.
It should be noted that when an element is considered as " connection " another element, it can be directly to separately
One element may be simultaneously present centering elements.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.It is simply in term used in the description of the present utility model herein
The purpose of description embodiment, it is not intended that limitation the utility model.Term as used herein " and/or " include one
The arbitrary and all combination of individual or multiple related Listed Items.
Fig. 1 is refer to, Fig. 1 is the structural representation of mechanical paw 100.The mechanical paw 100 includes mechanically connecting handle
10th, mounting head 30, adsorbing mechanism 40, the first clamping device 50, the second clamping device 60 and adjustment mechanism 70.The mounting head 30
It is arranged on one end of the mechanical connection handle 10.The adsorbing mechanism 40, the first clamping device 50, the and of the second clamping device 60
Adjustment mechanism 70 is successively set in the mounting head 30 respectively.
Specifically, four side installing plates 31 and a main installing plate 33 are included please also refer to Fig. 2, the mounting head 30.
Four side installing plates 31 are sequentially connected to form " mouth " shape framework.The main installing plate 33 is simultaneously installed in described four
On the side of side installing plate 31.The adsorbing mechanism 40, the first clamping device 50, the second clamping device 60 and adjustment mechanism 70 divide
It is not arranged on four side installing plates 31.The mechanical connection handle 10 is arranged on the main installing plate 33.
Specifically, please also refer to Fig. 3 and Fig. 4, at least one adsorption hole 401 is provided with the adsorbing mechanism 40.Institute
Adsorbing mechanism 40 is stated to be used to be connected with an external air source and produce vacuum for the cover plate 200 of a tool (not shown) is taken off
Open.It is understood that resettlement section (not shown) is provided with the tool.The resettlement section, which is used for collecting one, need to carry out high glossy surface
The workpiece 300 of processing.The cover plate 200 covers the opening in the resettlement section.
First clamping device 50 is identical with the structure of the second clamping device 60, herein only with first clamping machine
Illustrate its thin portion structure exemplified by structure 50.
Specifically, tumbler 51, fixed plate are included please also refer to Fig. 5, Fig. 6 and Fig. 7, first clamping device 50
53rd, two clamp systems 55 and two guiding mechanisms 57.The tumbler 51 is arranged on the fixed plate 53 and one of institute
State between side installing plate 31.Described two clamp systems 55 are arranged on the both sides of the fixed plate 53 in a manner of central point
On.Described two guiding mechanisms 57 are arranged in a manner of center line is symmetrical on the both ends of the fixed plate 53.
The tumbler 51 includes outer shaft bolster 511, interior axle bolster 513, thrust bearing 515 and two bulb plungers 517.
The outer shaft bolster 511 is disposed therein on a side installing plate 31.The interior axle bolster 513 is arranged on the outer bearing
In frame 511 and part is stretched out from the top of the outer shaft bolster 511.The thrust bearing 515 is set in the interior axle bolster
On 513, and both ends support on the outer shaft bolster 511 and the interior axle bolster 513 respectively.Described two bulb plungers 517 are divided
It is not located on the side installing plate of the outer shaft bolster 511 and supports on the outer wall of the interior axle bolster 513.
Specifically, the 511 generally cylindrical shape of outer shaft bolster.The outer shaft bolster 511 includes accepting hole 5111 and set
Put the first through hole 5113 in described one end of accepting hole 5111.The accepting hole 5111 is communicated with the first through hole 5113 and set
Put, and through the upper and lower surface of the outer shaft bolster 511, also, the diameter of the accepting hole 5111 is more than the first through hole
5113 diameter.
Specifically, the 513 substantially t-shaped shape of interior axle bolster.The interior axle bolster 513 includes first end 5131 and is located at
Second end 5133 of described one end of first end 5131.The diameter of the first end 5131 is more than the diameter at second end 5133.
The diameter of the first end 5131 is more than the diameter of the first through hole 5113 and less than or equal to the diameter of the accepting hole 5111.
The both sides of the first end 5131 are respectively arranged with support division 5135.The diameter at second end 5133 is less than the first through hole
5113 diameter.The first end 5131 of the interior axle bolster 513 is arranged in the accepting hole 5111, and the interior axle bolster
513 the second end 5133 is stretched out through the first through hole 5113 and from the first through hole 5113.
The thrust bearing 515 is set on second end 5133, and the both ends of the thrust bearing 515 support respectively
On the inwall of the first end 5131 and the accepting hole 5111.
531, two third through-holes 533 of the second through hole and two slots to make way 535 are provided with the fixed plate 53.Described
Two through holes 531 are located on the approximate centre position of the fixed plate 53.Described two third through-holes 533 are symmetrically square with center line
Formula is arranged on the both ends of the fixed plate 53.Described two slots to make way 535 are arranged on described solid in a manner of central point
On the both sides of fixed board 53, moreover, each third through-hole 533 is located at second through hole 531 and one of them described resigning
Between groove 535.
Described two clamp systems 55 are separately positioned on described two slots to make way 535.Specifically, each clamping machine
Structure 55 includes air cylinder fixed plate 551 and the parallel clamping cylinder 553 for being arranged on the side of air cylinder fixed plate 551.It is described parallel
The clamping jaw of clamping cylinder 553 stretches out from the position of the slot to make way 535, with the raised line 310 in clamping workpiece 300.
Described two guiding mechanisms 57 are separately positioned in described two third through-holes 533.Specifically, each guiding
Mechanism 57 includes sleeve 571, guide pillar 573 and dynamic clamping head and quiet clamping head 575.The sleeve 571 is arranged on the lower section of the fixed plate 53.
Each sleeve 571 is also coaxially disposed with third through-hole one of them described 533.The guide pillar 573 is arranged on the sleeve
In 571.The guide pillar 573 substantially in " in " shape.Convex shoulder 5731 is provided with the approximate mid-section position of the guide pillar 573.Institute
State the inside that the one end of guide pillar 573 with convex shoulder 5731 is arranged on the sleeve 571.The other end of the guide pillar 573 stretches out institute
Sleeve 571 is stated, and is stretched out from the third through-hole 533.Specifically, the guide pillar 573 is in hollow form, and it stretches out described the
The tapered openning shape in one end of three through holes 533.The dynamic clamping head and quiet clamping head 575 is enclosed on the guide pillar 573 and supported described convex
On shoulder 5731.
The adjustment mechanism 70 includes at least one lead 71, at least one elastic component 73 and pressing plate 75.It is described at least
One end of one lead 71 is movably disposed on one of them described side installing plate 31, and the other end is fixed on the pressing plate
On 75.Each elastic component 73 is set on one of them described lead 71, and the both ends of the elastic component 73 are supported respectively
Wherein on the side installing plate 31 and the pressing plate 75.Specifically, in present embodiment, the quantity of the lead 71
For two, the quantity of the elastic component 73 is also two.It is understood that the pressing plate 75 is flexible adjustment pressure plare, prevent from adjusting
Weigh the workpiece 300 during the position of the workpiece 300 in the whole tool wounded.
Mechanical paw 100 of the present utility model can realize Multi-station automatic loading and unloading, specifically include by its absorption
The cover plate 200 of tool is opened by mechanism 40, and the first clamping device 50 takes out from the tool has already passed through the of high bright processing
One workpiece 300, the second clamping device 60 take out second workpiece 300 from another material loading platform and are placed in the tool, adjust
Complete machine structure 70 adjusts position of the second workpiece 300 in the tool so that the second workpiece is attached to described completely
On the bottom surface of tool.The tool cover plate 200 lid is located on the tool to carry out described second by the adsorbing mechanism 40 again
The bright processing of height of workpiece.
Second clamping device 60 takes out second workpiece 300 from another material loading platform and is placed on specific in the tool
Process is：The tumbler 51 is connected between the side installing plate 31 and fixed plate 53, described two clamp systems 55 and two
Individual guiding mechanism 57 is arranged in the fixed plate 53, described two tapered openning shapes of guide pillar 573, and is symmetricly set on
In the fixed plate 53.Two latches are provided with material loading platform (not shown) corresponding with first clamping device 50.Institute
State position difference corresponding setting of two latches with described two guiding mechanisms 57.So, it is actual by the material loading platform
During material, deviation be present between the position of described two guiding mechanisms 57 and the position of described two latches, it is now, described two to insert
Pin is respectively inserted in the guide pillar 573 of described two guiding mechanisms 57, and applies pressure to the tapered slope of the guide pillar 573 respectively
Power, the tumbler 51 thus be driven in certain limit around and axis rotate slightly so that the fixed plate 53, be located at
Described two clamp systems 55 and two guiding mechanisms 57 together pico- rotation, and then cause described two in the fixed plate 53
Individual guide pillar 573 is completely corresponding with the position of the corresponding latch respectively so that two latches are respectively inserted in described two
In guide pillar 573.Now, two clamping jaw move toward one anothers of the parallel clamping cylinder 553 of each clamp system 55 and clamp positioned at institute
The raised line 310 of the workpiece 300 on material loading platform is stated, to complete feeding action.
Mechanical paw of the present utility model realizes automation multistation feeding, and solves existing first clamping device
Guide pillar the problem of be able to not can not coordinating with the latch on material loading platform, offered convenience for actual production, reduce human cost, carry
High production efficiency.
It is understood that in other embodiments, the quantity of the clamp system 55 and guiding mechanism 57 is individually not limited to two
It is individual, it can specifically be set according to being actually needed.
It is understood that in other embodiments, at least one lead 71, at least one elastic component 73 quantity not
It is limited to two, can be specifically set according to being actually needed.
It is understood that in other embodiments, the adjustment mechanism 70 can omit.
It is understood that in other embodiments, the mechanical paw 100 is not limited to four stations, can also be three stations,
Five stations etc., can specifically be set according to being actually needed, the quantity of the side installing plate 31 can relative set be three, five etc..
It is understood that in other embodiments, the quantity of the third through-hole 533 and the guiding mechanism 57 is corresponding to be set
Put, and be not limited to two, can specifically be set according to being actually needed.
It is understood that in other embodiments, the quantity of the slot to make way 535 and described two clamp systems 55 is corresponding
Set, and be not limited to two, can specifically be set according to being actually needed.
We are it should be appreciated that the embodiment of the above is intended merely to illustrate the utility model, and is not used as to this
The restriction of utility model, as long as within spirit of the present utility model, what embodiment of above was made suitably changes
Become and change all falls within the scope of the requires of the utility model protection.
Claims (10)
1. a kind of mechanical paw, including mechanically connect handle and be arranged on the mounting head of described mechanical connection handle one end, its feature exists
In the mounting head includes at least three side installing plates being sequentially connected, and the mechanical paw is also described including being separately positioned on
Adsorbing mechanism, the first clamping device and the second clamping device on three side installing plates, the adsorbing mechanism are used for absorption one and controlled
For the cover plate of tool to open tool, first clamping device is used to taking out one first workpiece in the tool, and described the
Two clamping devices are used to grip a second workpiece and are placed in the tool.
2. mechanical paw as claimed in claim 1, it is characterised in that：The quantity of at least three side installing plate is four,
The mechanical paw also includes adjustment mechanism, the adsorbing mechanism, the first clamping device, the second clamping device and adjustment mechanism point
It is not arranged on four side installing plates, the adjustment mechanism is used to adjust position of the second workpiece in the tool
Put.
3. mechanical paw as claimed in claim 2, it is characterised in that：The adjustment mechanism includes at least one lead, extremely
A few elastic component and pressing plate, one end of at least one lead are movably disposed in one of them described side installing plate
On, the other end is fixed on the pressing plate, and each elastic component is set on one of them described lead, and the elasticity
The both ends of part are against on one of them side installing plate and the pressing plate respectively.
4. the mechanical paw as described in any one of claim 1 or 2, it is characterised in that：First clamping device and described the
Two clamping device structures are identical, and first clamping device includes tumbler, fixed plate, at least one clamp system and at least one
Individual guiding mechanism, the tumbler is arranged between the fixed plate and one of them described side installing plate, described at least one
Clamp system and at least one guiding mechanism are separately positioned in the fixed plate.
5. mechanical paw as claimed in claim 4, it is characterised in that：The tumbler includes outer shaft bolster, interior axle bolster, stopped
Thrust bearing and two bulb plungers, the outer bearing frame are disposed therein on a side installing plate, and the inner bearing is set up
Put in the outer shaft bolster and part is stretched out from the top of the outer shaft bolster, the thrust bearing is set in the interior axle
On bolster, and both ends are supported on the outer shaft bolster and the interior axle bolster respectively, and described two bulb plungers are located in respectively
In the side wall of the outer shaft bolster and support on the outer wall of the interior axle bolster.
6. mechanical paw as claimed in claim 5, it is characterised in that：The outer shaft bolster includes accepting hole and is arranged on described
The first through hole of accepting hole one end, the accepting hole communicate setting with the first through hole, and the diameter of the accepting hole is more than institute
State the diameter of first through hole, the interior axle bolster includes first end and positioned at the second end of the first end side, and described first
The diameter at end is more than the diameter at second end, and the first end of the interior axle bolster is arranged in the accepting hole, the interior axle
Second end of bolster is stretched out through the first through hole and from the first through hole, and the thrust bearing is set in second end
On, and the both ends of the thrust bearing support on the inwall of the first end and the accepting hole respectively.
7. mechanical paw as claimed in claim 6, it is characterised in that：The both sides of the first end are respectively arranged with support division,
Each bulb plunger passes through the side wall of the outer shaft bolster and supported respectively wherein on a support division.
8. mechanical paw as claimed in claim 4, it is characterised in that：Be provided with the fixed plate the second through hole, two
Three through holes and two slots to make way, second through hole are located on the center of the fixed plate, described two third through-holes with
The symmetrical mode of center line is arranged on the both ends of the fixed plate, and described two slots to make way are set in a manner of central point
On the both sides of the fixed plate, the quantity of the clamp system and the guiding mechanism is respectively two, described two clampings
Mechanism, which is separately positioned in the fixed plate and respectively from described two slots to make way, stretches out, described two guiding mechanism difference
It is arranged in described two third through-holes.
9. mechanical paw as claimed in claim 8, it is characterised in that：Each clamp system includes air cylinder fixed plate and set
The parallel clamping cylinder by fixed plate side in the cylinder is put, the clamping jaw of the parallel clamping cylinder is stretched from the slot to make way
Go out, for clamping the raised line on first workpiece.
10. mechanical paw as claimed in claim 8, it is characterised in that：Each guiding mechanism includes sleeve, guide pillar and bullet
Property return unit, the sleeve are arranged on the fixed plate
Lower section, each sleeve is coaxially disposed with third through-hole one of them described, and the guide pillar is arranged on the sleeve
It is interior, convex shoulder is provided with the guide pillar, the guide pillar has the inside that one end of convex shoulder is arranged on the sleeve, the guide pillar
The other end stretches out the sleeve, and is stretched out from the third through-hole, and the guide pillar stretches out one end of the third through-hole in cone
Shape openning shape, the dynamic clamping head and quiet clamping head are located in the sleeve and are enclosed on the guide pillar and support on the convex shoulder.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721231351.9U CN206936927U (en) | 2017-09-22 | 2017-09-22 | Mechanical paw |
| PCT/CN2017/106159 WO2019056420A1 (en) | 2017-09-22 | 2017-10-13 | Mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721231351.9U CN206936927U (en) | 2017-09-22 | 2017-09-22 | Mechanical paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206936927U true CN206936927U (en) | 2018-01-30 |
Family
ID=61372153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721231351.9U Expired - Fee Related CN206936927U (en) | 2017-09-22 | 2017-09-22 | Mechanical paw |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN206936927U (en) |
| WO (1) | WO2019056420A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108907847A (en) * | 2018-06-15 | 2018-11-30 | 昆山科森科技股份有限公司 | Integration apparatus with automatic loading/unloading function |
| CN112109101A (en) * | 2020-09-25 | 2020-12-22 | 苏州富强科技有限公司 | Battery clamping mechanism and clamping method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5173378B2 (en) * | 2007-11-28 | 2013-04-03 | 株式会社アマダ | Work transfer robot |
| WO2012025641A1 (en) * | 2010-08-24 | 2012-03-01 | Ediciones Informatizadas, S.A. | Multifunctional mechanical gripper and system and method for the automatic supply of sheets of paper for bookbinding lines that use said gripper. |
| CN104772838A (en) * | 2014-01-13 | 2015-07-15 | 深圳富泰宏精密工业有限公司 | Material feeding mechanism |
| CN103950036B (en) * | 2014-05-15 | 2015-12-09 | 苏州博众精工科技有限公司 | A kind of jaw module with sucker |
| CN204700891U (en) * | 2015-04-20 | 2015-10-14 | 鸿富锦精密工业（深圳）有限公司 | Robot hand |
| CN106272498B (en) * | 2016-09-22 | 2019-04-02 | 佛山华数机器人有限公司 | The multi-functional composite fixture of industrial robot |
| CN206493609U (en) * | 2017-02-21 | 2017-09-15 | 广州市天锐机械科技有限公司 | A kind of manipulator fixture of automatic loading/unloading |
-
2017
- 2017-09-22 CN CN201721231351.9U patent/CN206936927U/en not_active Expired - Fee Related
- 2017-10-13 WO PCT/CN2017/106159 patent/WO2019056420A1/en active Application Filing
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108907847A (en) * | 2018-06-15 | 2018-11-30 | 昆山科森科技股份有限公司 | Integration apparatus with automatic loading/unloading function |
| CN108907847B (en) * | 2018-06-15 | 2020-05-08 | 昆山科森科技股份有限公司 | Integrated equipment with automatic feeding and discharging functions |
| CN112109101A (en) * | 2020-09-25 | 2020-12-22 | 苏州富强科技有限公司 | Battery clamping mechanism and clamping method |
| CN112109101B (en) * | 2020-09-25 | 2022-04-15 | 苏州富强科技有限公司 | Battery clamping mechanism and clamping method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019056420A1 (en) | 2019-03-28 |
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Granted publication date: 20180130 |