CN101987455B - 夹具更换装置 - Google Patents
夹具更换装置 Download PDFInfo
- Publication number
- CN101987455B CN101987455B CN200910305042.5A CN200910305042A CN101987455B CN 101987455 B CN101987455 B CN 101987455B CN 200910305042 A CN200910305042 A CN 200910305042A CN 101987455 B CN101987455 B CN 101987455B
- Authority
- CN
- China
- Prior art keywords
- rotating part
- access division
- mechanical arm
- clamp
- replacing 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
- 238000000034 method Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 241000237509 Patinopecten sp. Species 0.000 description 2
- 235000020637 scallop Nutrition 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Classifications
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53991—Work gripper, anvil, or element
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/70—Interfitted members
- Y10T403/7005—Lugged member, rotary engagement
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/70—Interfitted members
- Y10T403/7009—Rotary binding cam or wedge
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
- Y10T74/20335—Wrist
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Clamps And Clips (AREA)
- Automatic Assembly (AREA)
Abstract
Description
Claims (9)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200910305042.5A CN101987455B (zh) | 2009-07-30 | 2009-07-30 | 夹具更换装置 |
US12/562,141 US8534154B2 (en) | 2009-07-30 | 2009-09-18 | Connecting assembly and clamp replacing apparatus using same |
JP2010160425A JP2011031389A (ja) | 2009-07-30 | 2010-07-15 | クランプ取換装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200910305042.5A CN101987455B (zh) | 2009-07-30 | 2009-07-30 | 夹具更换装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101987455A CN101987455A (zh) | 2011-03-23 |
CN101987455B true CN101987455B (zh) | 2015-04-08 |
Family
ID=43525738
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN200910305042.5A Expired - Fee Related CN101987455B (zh) | 2009-07-30 | 2009-07-30 | 夹具更换装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8534154B2 (zh) |
JP (1) | JP2011031389A (zh) |
CN (1) | CN101987455B (zh) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5802077B2 (ja) * | 2011-08-09 | 2015-10-28 | 株式会社ニチゾウテック | ナットランナー |
JP5785031B2 (ja) * | 2011-08-22 | 2015-09-24 | 株式会社松浦機械製作所 | パレット交換システム及び当該システムを備えたマシニングセンタ |
DE102011115077A1 (de) | 2011-09-28 | 2013-03-28 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Handhabungseinrichtung sowie Verfahren zum Betreiben einer Handhabungseinrichtung |
CN103085082B (zh) * | 2011-11-04 | 2015-10-14 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
FR2982186B1 (fr) * | 2011-11-08 | 2013-11-29 | Peugeot Citroen Automobiles Sa | Changeur d'outils pour robot a changement automatique d'outils |
CN103659824B (zh) * | 2012-09-20 | 2016-06-01 | 中国科学院沈阳自动化研究所 | 一种可快速拆装的空间结构被动端口 |
CN103406915B (zh) * | 2013-07-18 | 2016-02-24 | 北京航空航天大学 | 一种空间机械臂末端操作器的卡盘型快速自主更换装置 |
CN103395052B (zh) * | 2013-07-25 | 2015-04-08 | 爱佩仪中测(成都)精密仪器有限公司 | 可切换划线设备 |
CN106393147B (zh) * | 2016-11-15 | 2018-10-16 | 福建省特种设备检验研究院 | 一种用于机器人操作阀门的缓冲手爪 |
CN107471186A (zh) * | 2017-08-11 | 2017-12-15 | 爱佩仪中测(成都)精密仪器有限公司 | 快速更换划线头的划线机 |
CN107486698A (zh) * | 2017-08-31 | 2017-12-19 | 厦门理工学院 | 一种led灯自动铆接设备及其控制方法 |
US10233630B1 (en) * | 2017-11-27 | 2019-03-19 | Maestro International, Llc | Bracket assembly having a rotating locking plate |
CN110623741B (zh) * | 2018-06-22 | 2020-12-25 | 深圳市精锋医疗科技有限公司 | 操作准确的手术机器人 |
CN109483519B (zh) * | 2018-11-21 | 2022-02-18 | 大连函量科技发展有限公司 | 一种机械手臂与手爪间快速连接机构 |
CN109571534B (zh) * | 2018-12-13 | 2024-01-30 | 青岛东卡环保工程技术有限公司 | 一种主从机械手护套拆装装置及其使用方法 |
CN110539298B (zh) * | 2019-09-03 | 2021-03-26 | 亿嘉和科技股份有限公司 | 一种自动换接工具的室外带电作业机器人作业*** |
CN110978060B (zh) * | 2019-12-23 | 2023-06-27 | 南华大学 | 机器人末端工具快速换接装置及换接方法 |
CN111993456A (zh) * | 2020-07-13 | 2020-11-27 | 安徽机电职业技术学院 | 一种方便拆装的机械臂 |
CN112123335B (zh) * | 2020-09-10 | 2022-03-11 | 上海交通大学 | 一种机器人工作站多型号零件快速换型装置和方法 |
CN112192604A (zh) * | 2020-11-11 | 2021-01-08 | 广州富港万嘉智能科技有限公司 | 高稳定性的换爪机构及机械手设备 |
CN114474120A (zh) * | 2022-02-28 | 2022-05-13 | 宝钢湛江钢铁有限公司 | 一种多功能加工中心配套机器人夹具 |
CN114939882B (zh) * | 2022-07-25 | 2022-11-04 | 杭州申昊科技股份有限公司 | 一种机械臂末端工具对接机构 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2058875U (zh) * | 1989-07-11 | 1990-07-04 | 王科社 | 机器人自动换手装置 |
US6073512A (en) * | 1998-12-14 | 2000-06-13 | Delaware Capital Formation, Inc. | Manual quick change tool changer |
CN1346201A (zh) * | 2000-10-04 | 2002-04-24 | 株式会社三富康姆尼克斯 | 信号变换装置的联接结构 |
CN2841203Y (zh) * | 2005-10-18 | 2006-11-29 | 晟进科技股份有限公司 | 供夹持治夹具的联结装置 |
CN101015846A (zh) * | 2006-02-11 | 2007-08-15 | 鸿富锦精密工业(深圳)有限公司 | 夹具更换装置 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6176250A (ja) * | 1984-09-24 | 1986-04-18 | Toyoda Mach Works Ltd | ロボツトによる交換システム |
US9144909B2 (en) * | 2007-07-05 | 2015-09-29 | Re2, Inc. | Defense related robotic systems |
EP2464884B1 (en) * | 2009-08-10 | 2014-01-15 | RE2, Inc. | Automated tool change assembly for robotic arm |
-
2009
- 2009-07-30 CN CN200910305042.5A patent/CN101987455B/zh not_active Expired - Fee Related
- 2009-09-18 US US12/562,141 patent/US8534154B2/en not_active Expired - Fee Related
-
2010
- 2010-07-15 JP JP2010160425A patent/JP2011031389A/ja not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2058875U (zh) * | 1989-07-11 | 1990-07-04 | 王科社 | 机器人自动换手装置 |
US6073512A (en) * | 1998-12-14 | 2000-06-13 | Delaware Capital Formation, Inc. | Manual quick change tool changer |
CN1346201A (zh) * | 2000-10-04 | 2002-04-24 | 株式会社三富康姆尼克斯 | 信号变换装置的联接结构 |
CN2841203Y (zh) * | 2005-10-18 | 2006-11-29 | 晟进科技股份有限公司 | 供夹持治夹具的联结装置 |
CN101015846A (zh) * | 2006-02-11 | 2007-08-15 | 鸿富锦精密工业(深圳)有限公司 | 夹具更换装置 |
Also Published As
Publication number | Publication date |
---|---|
JP2011031389A (ja) | 2011-02-17 |
US8534154B2 (en) | 2013-09-17 |
CN101987455A (zh) | 2011-03-23 |
US20110023650A1 (en) | 2011-02-03 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
ASS | Succession or assignment of patent right |
Owner name: SHENZHEN BO'ERPUSEN TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: HONGFUJIN PRECISE INDUSTRY (SHENZHEN) CO., LTD. Effective date: 20150309 Owner name: NANLING PRODUCTIVITY PROMOTION CENTER Free format text: FORMER OWNER: SHENZHEN BO'ERPUSEN TECHNOLOGY CO., LTD. Effective date: 20150309 Free format text: FORMER OWNER: HONGFUJIN PRECISE INDUSTRY CO., LTD. Effective date: 20150309 |
|
C41 | Transfer of patent application or patent right or utility model | ||
C53 | Correction of patent of invention or patent application | ||
CB02 | Change of applicant information |
Address after: 241300 Anhui city of Wuhu province Nanling County Town Waterfront Ji LAN Ting 17 building 3 layer Applicant after: Nanling County Productivity Promotion Center Address before: 518109, Shenzhen, Guangdong, Baoan District, manhole street, new avenue and New Town Plaza, E building, on the third floor, 308 Applicant before: Shenzhen Bo'er Simpson Technology Co.,Ltd. |
|
CB03 | Change of inventor or designer information |
Inventor after: Wei Wei Inventor after: Guo Xiansheng Inventor before: Li Shengjun Inventor before: Xu Shouguo |
|
COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 518109 SHENZHEN, GUANGDONG PROVINCE TO: 241300 WUHU, ANHUI PROVINCE Free format text: CORRECT: INVENTOR; FROM: LI SHENGJUN XU SHOUGUO TO: WEI WEI GUO XIANSHENG Free format text: CORRECT: APPLICANT; FROM: SHENZHEN BO'ERPUSEN TECHNOLOGY CO., LTD. TO: NANLING PRODUCTIVITY PROMOTION CENTER |
|
TA01 | Transfer of patent application right |
Effective date of registration: 20150309 Address after: 241300 Anhui city of Wuhu province Nanling County Town Waterfront Ji LAN Ting 17 building 3 layer Applicant after: Nanling County Productivity Promotion Center Address before: 518109, Shenzhen, Guangdong, Baoan District, manhole street, new avenue and New Town Plaza, E building, on the third floor, 308 Applicant before: Shenzhen Bo'er Simpson Technology Co.,Ltd. Effective date of registration: 20150309 Address after: 518109, Shenzhen, Guangdong, Baoan District, manhole street, new avenue and New Town Plaza, E building, on the third floor, 308 Applicant after: Shenzhen Bo'er Simpson Technology Co.,Ltd. Address before: 518109 Guangdong city of Shenzhen province Baoan District Longhua Town Industrial Zone tabulaeformis tenth East Ring Road No. 2 two Applicant before: HONG FU JIN PRECISION INDUSTRY (SHENZHEN) Co.,Ltd. Applicant before: HON HAI PRECISION INDUSTRY Co.,Ltd. |
|
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20110323 Assignee: ANHUI DONGXUN SEALING TECHNOLOGY Co.,Ltd. Assignor: Nanling County Productivity Promotion Center Contract record no.: 2015440020124 Denomination of invention: Device for replacing grip device Granted publication date: 20150408 License type: Exclusive License Record date: 20150410 |
|
LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20201218 Address after: 241300 Nanling Industrial Park, Wuhu City, Anhui Province Patentee after: ANHUI DONGXUN SEALING TECHNOLOGY Co.,Ltd. Address before: 241300, 3 layers of 17 Lanting, Nanling, Wuhu, Anhui. Patentee before: Nanling County Productivity Promotion Center |
|
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150408 |