CN109623860A - A kind of baked donut robot gripper - Google Patents
A kind of baked donut robot gripper Download PDFInfo
- Publication number
- CN109623860A CN109623860A CN201910135716.5A CN201910135716A CN109623860A CN 109623860 A CN109623860 A CN 109623860A CN 201910135716 A CN201910135716 A CN 201910135716A CN 109623860 A CN109623860 A CN 109623860A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- axis
- baked donut
- movable component
- installation
- 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.)
- Granted
Links
- 235000012489 doughnuts Nutrition 0.000 title claims abstract description 43
- 238000009434 installation Methods 0.000 claims abstract description 36
- 230000000694 effects Effects 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000013011 mating Effects 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
- 239000000463 material Substances 0.000 description 14
- 238000010586 diagram Methods 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 9
- 235000013305 food Nutrition 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 239000004809 Teflon Substances 0.000 description 2
- 229920006362 Teflon® Polymers 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 210000002615 epidermis Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 108060008539 Transglutaminase Proteins 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 102000003601 transglutaminase Human genes 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of baked donut robot gripper, it is mounted in robot and is used cooperatively, including rotation mounting assembly, handgrip movable component and location and installation component, handgrip movable component is installed in rotation mounting assembly, clamping jaw in handgrip movable component clamping/release baked donut under the drive of rotation mounting assembly, location and installation component is mounted in handgrip movable component and rotation mounting assembly, handgrip movable component can move up and down under the effect of location and installation component positioning and guiding.Manipulator can cooperate vision system effectively to sort out the baked donut for being adhered and deforming, and improve baked donut sorting, reject efficiency, strong operability avoids the risk manually rejected.
Description
Technical field
The present invention relates to mechanical equipment technical field, in particular to a kind of flexibility face for baked donut class face shaping
The manipulator of food crawl processed.
Background technique
Baked donut is formed before baking using automation equipment, and yield is very big, in forming process, certainly due to baked donut
Body material cause, which is easy to happen, to be adhered, and after molding in transporting chain plate transmission process, if encountering drop or turning etc.
Situation, certain baked donuts also can be adhered perhaps deformation and it is this factors such as be adhered or deform, will affect later period baking
The molding effect of roasting needs to reject before baking.The low efficiency manually rejected, and poor operability.
Summary of the invention
To overcome problems of the prior art, the present invention provides a kind of baked donut robot grippers.
The technical scheme adopted by the invention to solve the technical problem is that: this kind of baked donut robot gripper is mounted on machine
It is used cooperatively on device people, including rotation mounting assembly, handgrip movable component and location and installation component, handgrip movable component are installed on
Clamping jaw clamping/release baked donut, positioning under the drive of rotation mounting assembly in rotation mounting assembly, in handgrip movable component
Mounting assembly is mounted in handgrip movable component and rotation mounting assembly, handgrip movable component can be positioned in location and installation component and be led
It is moved up and down under to effect.
Further, the rotation mounting assembly includes connecting flange, bearing and rotary plate, and connecting flange passes through bolt
It is installed in the rotation axis of robot, connecting flange rotation is driven when revolute axis rotates；Rotary plate by bolt with
Connecting flange connection drives rotary plate rotation, the strip of three groups of trajectory shapes has been opened on rotary plate when connecting flange rotates
Hole, respectively inner ring variable diameter strip hole group, centre circle are with diameter strip hole group and outer ring variable diameter strip hole group, and centre circle is the same as diameter strip hole group
Cooperate with handgrip movable component, the guide and limit hole of inner ring variable diameter strip hole group and outer ring variable diameter strip hole group for clamping jaw, cooperation
Clamping jaw is installed, driving handgrip movable component folding, it is axially by connecting flange that bearing, which is installed in the protruding shaft of rotary plate,
The shaft shoulder and the positioning of handgrip movable component.
Further, the strip hole of the inner ring variable diameter strip hole group and outer ring variable diameter strip hole group trend is opposite.
Further, the handgrip movable component includes buckle, centre frame, end plate, opens and closes axis, linear bearing and clamping jaw,
Handgrip movable component has three groups of open-and-close mechanisms；
Buckle is snapped on the outer diameter of bearing, is bolted and is installed on the centre frame；
Centre frame is the installing base frame of the branch with there are three, is separately installed with an open-and-close mechanism in three branches；Opening-closing machine
Structure includes folding axis, linear bearing, interior clamping jaw and outer clamping jaw；
End plate is installed on the end of three branches of centre frame by bolt；
Folding axis is installed on end plate and centre frame by shaft hole matching；
Linear bearing is installed on folding axis and is slidably matched with folding axis；
Clamping jaw includes interior clamping jaw and outer clamping jaw, and clamping jaw is cooperated by upper and lower two bearing holes and linear bearing, passes through installation
Axis card axial limiting on linear bearing；There is pin at the top of interior clamping jaw and outer clamping jaw, is embedded in the inner ring of rotary plate respectively
In variable diameter strip hole group and outer ring variable diameter strip hole group；The rotation of rotary plate pushes interior clamping jaw and outer clamping jaw to exist by linear bearing
It is slided on folding axis, and the traffic direction of interior clamping jaw and outer clamping jaw is opposite.
Further, it is provided on the centre frame and end plate for opening and closing the fixed blind hole with installation of axis, and end plate is pacified
It is concentric with the blind hole on centre frame after being attached on centre frame.
Further, the linear bearing both ends have for the limit jump-ring slot with its mating parts.
Further, the centre frame bottom is equipped with the baffle of foot guard, and three identical baffles are uniformly installed
In centre frame bottom.
Further, the outer clamping jaw bottom design has foot side outstanding, and foot side is embedded in baked donut when clamping baked donut
Outer bottom.
Further, the location and installation component is fixed by guiding axis, flange linear bearing, installation bearing block and guiding axis
Seat composition；
Guiding axis is positioned by shaft hole matching and pin, is mounted in guiding axis mounting base；
Flange linear bearing is installed on guiding axis, can be moved up and down along guiding axis；
Installation bearing block bolt is connect with flange linear bearing, is installed bearing block side by bolt and is installed to robot
It executes on the non-rotating shaft of end；
Guiding axis fixing seat is installed on centre frame by bolt, the same end plate of the position of mounting hole being mounted on centre frame
Identical, guiding axis fixing seat, which is opened to cooperate there are two blind hole for installation, opens and closes axis.
It further, further include shield, shield is installed on connecting flange by bolt.
To sum up, the advantageous effects of the above technical solutions of the present invention are as follows: bake before baked donut it is relatively soft and in
Face can be relatively more glutinous, but epidermis has inside one layer of harder protective film relatively, so in order to reduce the pollution of handgrip and stick
Even handgrip does not destroy baked donut epidermis when sorting as far as possible, and manipulator can cooperate vision system effectively to sort
The baked donut for being adhered and deforming out improves baked donut sorting, rejects efficiency, and strong operability avoids the danger manually rejected
Property.
Detailed description of the invention
Fig. 1 is overall structure diagram.
Structural schematic diagram when Fig. 2 is in working condition down with shield and baked donut.
Fig. 3 is the structural schematic diagram of rotation mounting assembly.
Fig. 4 is rotary plate top view.
Fig. 5 is handgrip movable component structural schematic diagram.
Fig. 6 is handgrip movable component cross-sectional view.
Fig. 7 is buckle structure schematic diagram.
Frame structural schematic diagram centered on Fig. 8.
Fig. 9 is tip plate configurations schematic diagram.
Figure 10 is interior clamping jaw structural schematic diagram.
Figure 11 is outer clamping jaw structural schematic diagram.
Figure 12 is guiding axis structural schematic diagram.
Figure 13 is guiding axis fixed seat structure schematic diagram.
Figure 14 is location and installation component structure diagram.
Specific embodiment
Feature and principle of the invention are described in detail below in conjunction with attached drawing 1-14, illustrated embodiment is only used for explaining
The present invention is not limited the scope of protection of the present invention with this.
The handgrip as shown in Figure 1, Figure 2 is made of four parts, is rotation mounting assembly A, handgrip movable component B, positioning peace respectively
Arrangement C and shield D is below described in detail handgrip design according to part.
As shown in figure 3, A, rotation mounting assembly
Rotation mounting assembly includes that connecting flange 1, bearing 2 and rotary plate 3 form, and rotation mounting assembly figure is as follows.
Connecting flange 1 uses 304 materials, is installed in the rotation axis of robot by bolt, plays connection function.Robot
Rotation axis can drive connecting flange 1 to rotate when rotating.
Bearing 2 is installed in the protruding shaft on rotary plate 3, is positioned by 1 shaft shoulder of connecting flange and buckle 4.
Rotary plate 3 uses 304 materials, is connect by bolt with connecting flange 1, and connecting flange can drive rotation when rotating
Transglutaminase substrate 3 rotates.The strip hole of three groups of trajectory shapes, respectively inner ring variable diameter strip hole group 31, centre circle have been opened on rotary plate
With diameter strip hole group 32 and outer ring variable diameter strip hole group 33, every group of strip hole group includes that there are three strip holes.The same path length of centre circle
Buckle 4 in Kong Zuyu handgrip movable component cooperates, and buckle 4 can be by centre circle with diameter strip hole.Inner ring variable diameter strip hole group
It is the guide and limit hole of clamping jaw with outer ring variable diameter strip hole group, is coupled clamping jaw, driving handgrip movable component folding, bearing 2
It is installed in the protruding shaft of rotary plate 3, is positioned by the shaft shoulder and buckle 4 of connecting flange 1.The inner ring variable diameter is long
The strip hole of hole group and outer ring variable diameter strip hole group moves towards opposite (Fig. 4), and the work of limition orientation is played for the folding of handgrip
With realizing open-and-close mechanism in handgrip component and opened and closed in a certain range.
As shown in Figure 5, Figure 6, B, handgrip movable component
Handgrip movable component includes buckle 4, centre frame 5, end plate 6, folding axis 7, linear bearing 8, baffle 9, interior clamping jaw 10
It is formed with outer clamping jaw 11.The invention handgrip has three groups of open-and-close mechanisms.
As shown in fig. 7, buckle 4 use 304 materials, buckle with 2 outer diameter of bearing on.It is bolted and is installed on following institutes
It states on centre frame 5, plays bearing positioning and connection.
As shown in figure 8, centre frame 5 uses 304 materials, it is connect by bolt with buckle 4.Centre frame 5 is handgrip folding group
The installing base frame of part.Centre frame 5 is the installing base frame of the branch with there are three, is separately installed with an open-and-close mechanism in three branches；
Open-and-close mechanism includes folding axis 7, linear bearing 8, interior clamping jaw 10 and outer clamping jaw 11.
As shown in figure 9, end plate 6 uses 304 materials, 5 end of centre frame is installed on by bolt, is provided with blind hole on end plate 6,
Concentric with the blind hole on centre frame 5 after being installed on centre frame 5, which is used to open and close the fixation and installation of the axis of axis 7.
It opens and closes axis 7 and uses GCr15 material, be installed on by shaft hole matching in the blind hole of end plate 6 and centre frame 5.
Linear bearing 8 is installed on folding axis 7, can be slided on folding axis 7, and linear bearing both ends band jump-ring slot is used
In to the limit with its matching piece.
Baffle 9 uses 304 materials, and 3 identical baffles 9 are bolted and are uniformly installed on centre frame 5.It is main to rise
Foot guard effect.
As shown in Figure 10, interior clamping jaw 10 uses 304 materials, because with direct food contact so surface is coated with one layer of Teflon
Material.Outer clamping jaw 11 uses 304 materials, it is same because with direct food contact so surface is coated with one layer of Teflon material.Inner clip
Design is optimized in pawl 10 and outer 11 structure of clamping jaw, is all to be cooperated by upper and lower two bearing holes and linear bearing 8 first, leads to
It crosses the axis card being mounted on linear bearing 8 and carries out axial limiting.As shown in Figure 10, Figure 11, clamping jaw 10 and outer clamping jaw 11 in next
Top have pin, respectively embedded in rotary plate 3 inner ring variable diameter strip hole group and outer ring variable diameter strip hole group in.Pass through machine
The rotation of people's rotation axis realizes the rotation of rotary plate 3, since the strip hole that rotary plate 3 and two kind of clamping jaw cooperate has one
Fixed trajectory shape, to push inside and outside two clamping jaw opening and closing sliding back and forth on axis 7 by linear bearing 8, and inside and outside
The traffic direction of two clamping jaws is on the contrary, realize interior additional turn of open and close movement by the positive and negative rotation of revolute axis.It is practical raw
In order to realize preferably crawl baked donut in production, in outer clamping jaw bottom, design has foot side 111 outstanding, which is just grabbing
When be embedded in baked donut outer bottom.
As shown in figure 14, C, location and installation component
Location and installation component is by guiding axis 12, flange linear bearing 13, installation bearing block 14 and 15 groups of guiding axis fixing seat
At.The location and installation component such as following figure.
As shown in figure 12, guiding axis 12 uses GCr15 material, is positioned, is mounted on by shaft hole matching and pin
In guiding axis mounting base 15, it play the guiding role.
Flange linear bearing 13 is installed on guiding axis 12, can be moved up and down on guiding axis 12.
Bearing block 14 is installed and uses aluminum alloy material, is matched on flange linear bearing 13, passes through bolt and flange straight line
Bearing 13 connects.Installation 14 side of bearing block may be mounted to robot by bolt and execute on the non-rotating shaft of end, grab integrally
Mainly play positioning and guiding in hand.
As shown in figure 13, guiding axis fixing seat 15 uses aluminum alloy material, is installed on centre frame 5 by bolt, to leading
Design is optimized to axis fixing seat 15, the position of mounting hole being mounted on centre frame 5 is identical with end plate 6, and effect is to remove
Except installation fixed guide axis 12, effect identical with end plate 6 is also acted as.Leftward position is opened in Figure 13 is used for there are two blind hole
Installation cooperation folding axis 7.It with the cooperation of guiding axis 12 is cooperated by shaft hole matching and pin hole, perpendicular to being worn among guiding axis 12
The pin for inserting through-hole on guiding axis 12 is used for the relative position of fixed guide axis 12 and guiding axis fixing seat 15.
D, shield
Shield uses 304 materials, is installed on connecting flange 1 by bolt, plays protection and beauty to whole handgrip
Effect.
Handgrip overall work principle:
Connecting flange 1 is attached with rotary plate 3 by four bolts, and the two can be considered as one, at work, is led to
The rotation of revolute axis is crossed, connecting flange 1 is driven to be rotated with rotary plate 3.Due to C location and installation component installation position
It is motionless for setting opposite relative to A rotation mounting assembly position, so C location and installation component is not when A rotation mounting assembly rotates
It is dynamic.B handgrip movable component is cooperated by the bearing 2 in buckle 4 and A rotation mounting assembly, realizes B handgrip movable component and A
The relative position of rotation mounting assembly is fixed, so under the driving that rotary plate 3 has the strip hole of shape track, interior clamping jaw
10 realize with outer clamping jaw 11 and to prolong folding axis 7 and move forward and backward.In actual production, interior clamping jaw 10 is embedded in the inner hole of baked donut, outside
Clamping jaw 11 is then surrounded on baked donut outer ring.By open and close movement, the clamping of baked donut is realized.After baked donut is jammed,
Robot rotary shaft can upper and lower stretching motion, realize baked donut and clamped up and down motion, in this motion process, C is fixed
Only guiding axis fixing seat 15 and guiding axis 12 are in A rotation mounting assembly and B handgrip movable component in the mounting assembly of position
Lower movement, remaining part is relatively fixed motionless in C location and installation component, this is mainly by guiding axis 12 and flange linear bearing
13 cooperations slide up and down realization.
In conclusion driving the rotation of A rotation mounting assembly by the rotation of revolute axis, and then drive B handgrip
The clamping of baked donut is realized in the folding of movable component, passes through the stretching motion up and down and C location and installation component of revolute axis
Positioning and guiding effect, the up and down motion of whole handgrip is realized, to realize the up and down motion of baked donut.And then it realizes
The mobile function of rejecting of baked donut crawl.
Above-described embodiment is only the description that carries out to the preferred embodiment of the present invention, not to the scope of the present invention into
Row limits, without departing from the spirit of the design of the present invention, relevant technical staff in the field to various modifications of the invention and
It improves, should all expand in protection scope determined by claims of the present invention.
Claims (10)
1. a kind of baked donut robot gripper, is mounted in robot and is used cooperatively, which is characterized in that including rotating installation group
Part, handgrip movable component and location and installation component, handgrip movable component are installed in rotation mounting assembly, in handgrip movable component
Clamping jaw under the drive of rotation mounting assembly clamping/release baked donut, location and installation component be mounted in handgrip movable component
And rotation mounting assembly, handgrip movable component can move up and down under the effect of location and installation component positioning and guiding.
2. a kind of baked donut robot gripper according to claim 1, which is characterized in that the rotation mounting assembly includes
Connecting flange, bearing and rotary plate, connecting flange are installed in the rotation axis of robot by bolt, and revolute axis turns
Connecting flange rotation is driven when dynamic；Rotary plate is connect by bolt with connecting flange, and rotation base is driven when connecting flange rotates
Plate rotates, and the strip hole of three groups of trajectory shapes has been opened on rotary plate, respectively inner ring variable diameter strip hole group, centre circle are the same as diameter strip
Hole group and outer ring variable diameter strip hole group, centre circle cooperate with diameter strip hole group and handgrip movable component, inner ring variable diameter strip hole group and
Outer ring variable diameter strip hole group is the guide and limit hole of clamping jaw, is coupled clamping jaw, driving handgrip movable component folding, bearing installation
In being positioned by the shaft shoulder and handgrip movable component of connecting flange.
3. a kind of baked donut robot gripper according to claim 2, which is characterized in that the inner ring variable diameter strip hole group
It is opposite with the strip hole trend of outer ring variable diameter strip hole group.
4. a kind of baked donut robot gripper according to claim 1, which is characterized in that the handgrip movable component includes
Buckle, centre frame, end plate, folding axis, linear bearing and clamping jaw, handgrip movable component have three groups of open-and-close mechanisms；
Buckle is snapped on the outer diameter of bearing, is bolted and is installed on the centre frame；
Centre frame is the installing base frame of the branch with there are three, is separately installed with an open-and-close mechanism in three branches；Open-and-close mechanism packet
Include folding axis, linear bearing, interior clamping jaw and outer clamping jaw；
End plate is installed on the end of three branches of centre frame by bolt；
Folding axis is installed on end plate and centre frame by shaft hole matching；
Linear bearing is installed on folding axis and is slidably matched with folding axis；
Clamping jaw includes interior clamping jaw and outer clamping jaw, and clamping jaw is cooperated by upper and lower two bearing holes and linear bearing, straight by being mounted on
The axis card axial limiting that spool is held；There is pin at the top of interior clamping jaw and outer clamping jaw, is embedded in the inner ring variable diameter of rotary plate respectively
In strip hole group and outer ring variable diameter strip hole group；The rotation of rotary plate pushes interior clamping jaw and outer clamping jaw opening and closing by linear bearing
It is slided on axis, and the traffic direction of interior clamping jaw and outer clamping jaw is opposite.
5. a kind of baked donut robot gripper according to claim 4, which is characterized in that on the centre frame and end plate
Be provided with for opening and closing the fixed blind hole with installation of axis, and end plate be installed on centre frame after it is concentric with the blind hole on centre frame.
6. a kind of baked donut robot gripper according to claim 4, which is characterized in that the linear bearing both ends have
For to the limit jump-ring slot with its mating parts.
7. a kind of baked donut robot gripper according to claim 4, which is characterized in that the centre frame bottom is equipped with
The baffle of foot guard, three identical baffles are uniformly installed on centre frame bottom.
8. a kind of baked donut robot gripper according to claim 4, which is characterized in that the outer clamping jaw bottom design has
Foot side outstanding, foot side are embedded in the outer bottom of baked donut when clamping baked donut.
9. a kind of baked donut robot gripper according to claim 1, which is characterized in that the location and installation component is by leading
To axis, flange linear bearing, installation bearing block and guiding axis fixing seat composition；
Guiding axis is positioned by shaft hole matching and pin, is mounted in guiding axis mounting base；
Flange linear bearing is installed on guiding axis, can be moved up and down along guiding axis；
Installation bearing block bolt is connect with flange linear bearing, and installation bearing block side is installed to the execution of robot by bolt
On the non-rotating shaft of end；
Guiding axis fixing seat is installed on centre frame by bolt, is mounted on the position of mounting hole on centre frame with end plate phase
Together, guiding axis fixing seat, which is opened to cooperate there are two blind hole for installation, opens and closes axis.
10. a kind of baked donut robot gripper according to claim 2, which is characterized in that further include shield, shield passes through
Bolt is installed on connecting flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910135716.5A CN109623860B (en) | 2019-02-21 | 2019-02-21 | Doughnut robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910135716.5A CN109623860B (en) | 2019-02-21 | 2019-02-21 | Doughnut robot gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109623860A true CN109623860A (en) | 2019-04-16 |
| CN109623860B CN109623860B (en) | 2023-08-25 |
Family
ID=66065768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910135716.5A Active CN109623860B (en) | 2019-02-21 | 2019-02-21 | Doughnut robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109623860B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117602368A (en) * | 2023-12-28 | 2024-02-27 | 重庆市祥和大宇包装有限公司 | Corrugated board sorting robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4632375A (en) * | 1983-12-22 | 1986-12-30 | Yang Tai Her | Servo-clamping device |
| WO2014006680A1 (en) * | 2012-07-02 | 2014-01-09 | 株式会社安川電機 | Robot |
| CN106166754A (en) * | 2016-08-18 | 2016-11-30 | 苏州元谋智能机器人***有限公司 | A kind of band buffer can grab clamp device by self-locking material |
| CN106914912A (en) * | 2017-05-10 | 2017-07-04 | 江南大学 | A kind of robot pawl palm of variable configuration |
| WO2018120559A1 (en) * | 2016-12-29 | 2018-07-05 | 金石机器人常州股份有限公司 | Combined tongs for engine cylinder head |
| CN207578428U (en) * | 2017-11-30 | 2018-07-06 | 安徽佩吉智能科技有限公司 | The robot gripper that a kind of multistation can be switched |
| CN109093608A (en) * | 2018-10-12 | 2018-12-28 | 安徽海思达机器人有限公司 | A kind of box taking machine tool hand |
-
2019
- 2019-02-21 CN CN201910135716.5A patent/CN109623860B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4632375A (en) * | 1983-12-22 | 1986-12-30 | Yang Tai Her | Servo-clamping device |
| WO2014006680A1 (en) * | 2012-07-02 | 2014-01-09 | 株式会社安川電機 | Robot |
| CN106166754A (en) * | 2016-08-18 | 2016-11-30 | 苏州元谋智能机器人***有限公司 | A kind of band buffer can grab clamp device by self-locking material |
| WO2018120559A1 (en) * | 2016-12-29 | 2018-07-05 | 金石机器人常州股份有限公司 | Combined tongs for engine cylinder head |
| CN106914912A (en) * | 2017-05-10 | 2017-07-04 | 江南大学 | A kind of robot pawl palm of variable configuration |
| CN207578428U (en) * | 2017-11-30 | 2018-07-06 | 安徽佩吉智能科技有限公司 | The robot gripper that a kind of multistation can be switched |
| CN109093608A (en) * | 2018-10-12 | 2018-12-28 | 安徽海思达机器人有限公司 | A kind of box taking machine tool hand |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117602368A (en) * | 2023-12-28 | 2024-02-27 | 重庆市祥和大宇包装有限公司 | Corrugated board sorting robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109623860B (en) | 2023-08-25 |
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