CN109623860B - Doughnut robot gripper - Google Patents
Doughnut robot gripper Download PDFInfo
- Publication number
- CN109623860B CN109623860B CN201910135716.5A CN201910135716A CN109623860B CN 109623860 B CN109623860 B CN 109623860B CN 201910135716 A CN201910135716 A CN 201910135716A CN 109623860 B CN109623860 B CN 109623860B
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- CN
- China
- Prior art keywords
- opening
- shaft
- closing
- clamping jaw
- assembly
- 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.)
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- 235000012489 doughnuts Nutrition 0.000 title claims abstract description 43
- 238000009434 installation Methods 0.000 claims abstract description 29
- 239000000758 substrate Substances 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000013011 mating Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 abstract 1
- 239000000463 material Substances 0.000 description 14
- 235000013305 food Nutrition 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 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
- 238000010586 diagram Methods 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 239000002344 surface layer Substances 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 235000013312 flour Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 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
The utility model provides a donut robot tongs, installs and uses on the robot cooperation, including rotatory installation component, tongs subassembly and location installation component that opens and shuts, tongs subassembly that opens and shuts is installed on rotatory installation component, and clamping jaw in the tongs subassembly that opens and shuts presss from both sides under rotatory installation component's drive and gets/release donut, and location installation component installs on tongs subassembly that opens and shuts and rotatory installation component, tongs subassembly that opens and shuts can reciprocate under location installation component location direction effect. The manipulator can cooperate visual system effectual letter sorting to adhere and the doughnut of deformation, improves doughnut letter sorting, rejects efficiency, and maneuverability is strong, avoids the danger of manual rejection.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a manipulator for grabbing soft flour food in the appearance shape of doughnuts.
Background
The automatic equipment is adopted for forming the doughnuts before baking, the yield is large, adhesion is easy to occur in the forming process due to the fact that the doughnuts are made of materials, and in the conveying process of conveying chain plates after forming, if the doughnuts encounter the fall or turn and other conditions, adhesion or deformation of certain doughnuts can occur, and the adhesion or deformation and other factors can influence the forming effect of later baking, and the doughnuts need to be removed before baking. The efficiency of manual removal is low and the operability is poor.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a doughnut robot gripper.
The technical scheme adopted for solving the technical problems is as follows: this kind of doughnut robot tongs installs and uses on the robot cooperation, including rotatory installation component, tongs subassembly and location installation component that opens and shuts, the tongs subassembly that opens and shuts is installed on rotatory installation component, and clamping jaw in the tongs subassembly that opens and shuts presss from both sides under rotatory installation component's drive and gets/release doughnut, and location installation component installs on tongs subassembly that opens and shuts and rotatory installation component, tongs subassembly that opens and shuts can reciprocate under location installation component location direction effect.
Further, the rotary mounting assembly comprises a connecting flange, a bearing and a rotary base plate, wherein the connecting flange is mounted on a rotating shaft of the robot through bolts, and the connecting flange is driven to rotate when the rotating shaft of the robot rotates; the rotary substrate is connected with the connecting flange through bolts, the connecting flange drives the rotary substrate to rotate when rotating, three groups of track-shaped strip holes are formed in the rotary substrate, the three groups of track-shaped strip holes are respectively an inner ring reducing strip hole group, a middle ring identical-diameter strip hole group and an outer ring reducing strip hole group, the middle ring identical-diameter strip hole group is matched with the gripper opening and closing assembly, the inner ring reducing strip hole group and the outer ring reducing strip hole group are guide limiting holes of the clamping jaw, the clamping jaw is matched and installed, the gripper opening and closing assembly is driven to open and close, the bearing is installed on a protruding shaft of the rotary substrate, and the axial direction is positioned through a shaft shoulder of the connecting flange and the gripper opening and closing assembly.
Further, the strip holes of the inner ring reducing strip hole group and the outer ring reducing strip hole group are opposite in trend.
Further, the gripper opening and closing assembly comprises a buckle plate, a center frame, an end plate, an opening and closing shaft, a linear bearing and clamping jaws, and the gripper opening and closing assembly is provided with three groups of opening and closing mechanisms;
the buckle plate is buckled on the outer diameter of the bearing and is connected and installed on the center frame through bolts;
the center frame is an installation base frame with three branches, and an opening and closing mechanism is respectively installed in the three branches; the opening and closing mechanism comprises an opening and closing shaft, a linear bearing, an inner clamping jaw and an outer clamping jaw;
the end plate is arranged at the end parts of the three branches of the center frame through bolts;
the opening and closing shaft is arranged on the end plate and the center frame in a matching way through the shaft hole;
the linear bearing is arranged on the opening and closing shaft and is in sliding fit with the opening and closing shaft;
the clamping jaw comprises an inner clamping jaw and an outer clamping jaw, the clamping jaw is matched with the linear bearing through an upper bearing hole and a lower bearing hole, and the clamping jaw is axially limited through a shaft clamp arranged on the linear bearing; the tops of the inner clamping jaw and the outer clamping jaw are provided with pins which are respectively embedded in an inner ring reducing strip hole group and an outer ring reducing strip hole group of the rotary substrate; the rotation of the rotary substrate pushes the inner clamping jaw and the outer clamping jaw to slide on the opening and closing shaft by the linear bearing, and the running directions of the inner clamping jaw and the outer clamping jaw are opposite.
Further, blind holes for fixing and installing the opening and closing shaft are formed in the center frame and the end plate, and the end plate is concentric with the blind holes in the center frame after being installed on the center frame.
Furthermore, two ends of the linear bearing are provided with limiting snap spring grooves for matching parts.
Further, the bottom of the center frame is provided with a baffle for bottom protection, and three identical baffles are uniformly distributed at the bottom of the center frame.
Further, the bottom of the outer jaw is designed with protruding edges which are embedded into the outer bottom of the donut when the donut is gripped.
Further, the positioning and mounting assembly consists of a guide shaft, a flange linear bearing, a mounting bearing seat and a guide shaft fixing seat;
the guide shaft is matched with the shaft hole and positioned by the pin, and is installed and fixed on the guide shaft installation seat;
the flange linear bearing is arranged on the guide shaft and can move up and down along the guide shaft;
the side surface of the mounting bearing seat is mounted on a non-rotating shaft at the execution end of the robot through bolts;
the guide shaft fixing seat is arranged on the center frame through bolts, the position of a mounting hole arranged on the center frame is the same as that of the end plate, and the guide shaft fixing seat is provided with two blind holes for mounting and matching the opening and closing shaft.
Further, the device also comprises a shield, and the shield is mounted on the connecting flange through bolts.
In summary, the technical scheme of the invention has the following beneficial effects: the doughnut before baking is softer and the inside can be more sticky, but a layer of harder protective film exists in the surface layer relatively, so that the surface layer of the doughnut is not damaged as much as possible in sorting in order to reduce the pollution of the grippers and adhere the grippers, the manipulator can be matched with a vision system to effectively sort out the adhered and deformed doughnuts, the sorting and rejecting efficiency of the doughnut is improved, the operability is strong, and the danger of manual rejection is avoided.
Drawings
Fig. 1 is a schematic diagram of the overall structure.
Fig. 2 is a schematic view of the construction with the shroud and donuts in operation.
Fig. 3 is a schematic structural view of the swivel mounting assembly.
Fig. 4 is a top view of a rotating substrate.
Fig. 5 is a schematic view of a gripper opening and closing assembly.
Fig. 6 is a cross-sectional view of the gripper opening and closing assembly.
Fig. 7 is a schematic view of the buckle plate structure.
Fig. 8 is a schematic diagram of a center frame structure.
Fig. 9 is a schematic view of an end plate structure.
Fig. 10 is a schematic view of the inner jaw structure.
Fig. 11 is a schematic view of the outer jaw structure.
Fig. 12 is a schematic view of a guide shaft structure.
Fig. 13 is a schematic view of a guide shaft fixing seat structure.
Fig. 14 is a schematic view of a positioning and mounting assembly.
Detailed Description
The features and principles of the present invention are described in detail below with reference to fig. 1-14, but the examples are illustrative only and are not intended to limit the scope of the invention.
The hand grip of fig. 1 and 2 is composed of four parts, namely a rotation mounting assembly a, a hand grip opening and closing assembly B, a positioning mounting assembly C and a shield D, and the hand grip design is described in detail below according to the parts.
As shown in fig. 3, a, swivel mount assembly
The rotary mounting assembly comprises a connecting flange 1, a bearing 2 and a rotary base plate 3, and is shown as follows.
The connecting flange 1 is made of 304 materials and is mounted on a rotating shaft of the robot through bolts to play a role in connection. The robot rotation shaft can drive the connecting flange 1 to rotate when rotating.
The bearing 2 is arranged on a convex shaft on the rotary base plate 3, and the axial direction is positioned by a shaft shoulder of the connecting flange 1 and the pinch plate 4.
The rotary base plate 3 is made of 304 materials, and is connected with the connecting flange 1 through bolts, and the rotating base plate 3 can be driven to rotate when the connecting flange rotates. Three groups of track-shaped strip holes are formed in the rotary substrate, namely an inner ring reducing strip hole group 31, a middle ring same-diameter strip hole group 32 and an outer ring reducing strip hole group 33, and each group of strip holes comprises three strip holes. The middle ring same-diameter long strip hole group is matched with a buckle plate 4 in the gripper opening and closing assembly, and the buckle plate 4 can pass through the middle ring same-diameter long strip hole. The inner ring reducing strip hole group and the outer ring reducing strip hole group are guide limiting holes of clamping jaws, the clamping jaws are matched and installed, the gripper opening and closing assembly is driven to open and close, the bearing 2 is installed on a protruding shaft of the rotary substrate 3, and the bearing is axially positioned through a shaft shoulder of the connecting flange 1 and the buckle plate 4. The strip holes of the inner ring reducing strip hole group and the outer ring reducing strip hole group are opposite in trend (shown in fig. 4), the limiting guide function is achieved for opening and closing the grippers, and the opening and closing mechanism in the gripper assembly is opened and closed in a certain range.
As shown in fig. 5 and 6, the B-type gripper opening and closing assembly
The gripper opening and closing assembly comprises a buckle plate 4, a center frame 5, an end plate 6, an opening and closing shaft 7, a linear bearing 8, a baffle 9, an inner clamping jaw 10 and an outer clamping jaw 11. The invention has three groups of opening and closing mechanisms.
As shown in fig. 7, the buckle plate 4 is made of 304 material and is buckled on the outer diameter of the bearing 2. Is mounted on the center frame 5 by bolt connection, and plays roles of bearing positioning and connection.
As shown in fig. 8, the center frame 5 is made of 304 material and is connected with the buckle plate 4 through bolts. The center frame 5 is an installation base frame of the gripper opening and closing component. The center frame 5 is an installation base frame with three branches, and an opening and closing mechanism is respectively installed in the three branches; the opening and closing mechanism comprises an opening and closing shaft 7, a linear bearing 8, an inner clamping jaw 10 and an outer clamping jaw 11.
As shown in fig. 9, the end plate 6 is made of 304 material and is mounted on the end of the central frame 5 by bolts, a blind hole is formed in the end plate 6, and the blind hole is concentric with the blind hole on the central frame 5 after being mounted on the central frame 5, and the concentric blind hole is used for fixing and mounting the shaft of the opening and closing shaft 7.
The opening and closing shaft 7 is made of GCr15 material and is installed on blind holes of the end plate 6 and the center frame 5 through shaft hole matching.
The linear bearing 8 is arranged on the opening and closing shaft 7 and can slide on the opening and closing shaft 7, and the two ends of the linear bearing are provided with snap spring grooves for limiting matched parts.
The baffle 9 is made of 304 materials, and 3 identical baffles 9 are uniformly distributed and installed on the center frame 5 through bolt connection. Mainly plays a role of bottom protection.
As shown in fig. 10, the inner jaw 10 is made of 304 material, and the surface is coated with a teflon material because of direct contact with food. The outer jaw 11 is made of 304 material, and the surface is plated with a layer of teflon material due to direct contact with food. The inner clamping jaw 10 and the outer clamping jaw 11 are designed optimally, and are matched with the linear bearing 8 through the upper bearing hole and the lower bearing hole, and the axial limiting is carried out through a shaft clamp arranged on the linear bearing 8. As shown in fig. 10 and 11, pins are provided on the top of the inner jaw 10 and the outer jaw 11, and are respectively fitted into the inner ring-diameter-variable long hole group and the outer ring-diameter-variable long hole group of the rotary substrate 3. The rotation of the rotating substrate 3 is realized through the rotation of the robot rotating shaft, and the rotating substrate 3 and the strip holes matched with the two clamping jaws have a certain track shape, so that the front and back sliding of the inner clamping jaw and the outer clamping jaw on the opening and closing shaft 7 by the linear bearing 8 is pushed, the running directions of the inner clamping jaw and the outer clamping jaw are opposite, and the opening and closing movement of the inner and outer rotating is realized through the positive and negative rotation of the robot rotating shaft. In order to achieve a better grip of the doughnut in practice, a protruding foot edge 111 is provided at the bottom of the outer jaw, which engages into the outer bottom of the doughnut just during gripping.
C, positioning and mounting Assembly as shown in FIG. 14
The positioning and mounting assembly consists of a guide shaft 12, a flange linear bearing 13, a mounting bearing seat 14 and a guide shaft fixing seat 15. The positioning and mounting assembly is shown below.
As shown in fig. 12, the guide shaft 12 is made of GCr15 material, and is mounted and fixed on the guide shaft mounting seat 15 by shaft hole matching and pin positioning, thereby playing a guiding role.
The flange linear bearing 13 is mounted on the guide shaft 12 so as to be movable up and down on the guide shaft 12.
The mounting bearing seat 14 is made of aluminum alloy, is matched with the flange linear bearing 13, and is connected with the flange linear bearing 13 through bolts. The side of the mounting bearing seat 14 can be mounted on a non-rotating shaft of the robot execution end through bolts, and the positioning and guiding functions are mainly realized in the integral gripper.
As shown in fig. 13, the guide shaft fixing seat 15 is made of an aluminum alloy material, and is mounted on the center frame 5 by bolts, so that the guide shaft fixing seat 15 is optimally designed, and the mounting hole of the guide shaft fixing seat 15 mounted on the center frame 5 is identical to the end plate 6 in position, and has the same function as the end plate 6 except for mounting and fixing the guide shaft 12. Two blind holes are formed at the left side in fig. 13 for installing and matching the opening and closing shaft 7. The pin which is perpendicular to the middle of the guide shaft 12 and is inserted through a through hole on the guide shaft 12 is used for fixing the relative position of the guide shaft 12 and the guide shaft fixing seat 15 through shaft hole matching and pin hole matching.
D. Protective cover
The guard shield adopts 304 materials, installs on flange 1 through the bolt, plays protection and pleasing to the eye effect to whole tongs.
The whole working principle of the gripper:
the connecting flange 1 and the rotary base plate 3 are connected through four bolts, and can be regarded as a whole, and in operation, the connecting flange 1 and the rotary base plate 3 are driven to rotate through the rotation of the robot rotating shaft. Because the mounting position of the C positioning and mounting assembly is relatively motionless relative to the position of the A rotating and mounting assembly, the C positioning and mounting assembly is motionless when the A rotating and mounting assembly rotates. The B gripper opening and closing component is matched with the bearing 2 in the A rotary installation component through the pinch plate 4, so that the relative position of the B gripper opening and closing component and the A rotary installation component is fixed, and the inner clamping jaw 10 and the outer clamping jaw 11 realize the front-back movement of the extending opening and closing shaft 7 under the driving of the long strip hole with the shape track of the rotary substrate 3. In practice, the inner jaw 10 is inserted into the inner hole of the donut and the outer jaw 11 is wrapped around the donut. Through the opening and closing movement, the clamping of the doughnut is realized. After the doughnut is clamped, the robot rotating shaft can move up and down in a telescopic manner, so that the doughnut is clamped to move up and down, in the moving process, only the guide shaft fixing seat 15 and the guide shaft 12 in the C positioning and mounting assembly move up and down along with the A rotating and mounting assembly and the B gripper opening and closing assembly, and the rest parts in the C positioning and mounting assembly are relatively fixed, so that the fixing and mounting are realized mainly by the up and down sliding of the guide shaft 12 and the flange linear bearing 13.
In summary, the rotation of the robot rotating shaft drives the rotation of the A rotary mounting assembly, and then the opening and closing of the B gripper opening and closing assembly is driven to clamp the doughnut, and the up-and-down movement of the whole gripper is realized through the up-and-down telescopic movement of the robot rotating shaft and the positioning guiding function of the C positioning mounting assembly, so that the up-and-down movement of the doughnut is realized. Thereby realizing the function of grabbing, moving and rejecting the doughnut.
The above examples are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements of the present invention should be extended to the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (8)
1. The manipulator for the doughnut robot is arranged on the robot for matching use and is characterized by comprising a rotary installation assembly, a manipulator opening and closing assembly and a positioning installation assembly, wherein the manipulator opening and closing assembly is arranged on the rotary installation assembly, clamping jaws in the manipulator opening and closing assembly clamp/release the doughnut under the drive of the rotary installation assembly, the positioning installation assembly is arranged on the manipulator opening and closing assembly, and the rotary installation assembly and the manipulator opening and closing assembly can move up and down under the positioning guide action of the positioning installation assembly;
the rotary mounting assembly comprises a connecting flange, a bearing and a rotary base plate, wherein the connecting flange is mounted on a rotating shaft of the robot through bolts, and the connecting flange is driven to rotate when the rotating shaft of the robot rotates; the rotary base plate is connected with the connecting flange through bolts, the connecting flange drives the rotary base plate to rotate when rotating, three groups of track-shaped strip holes are formed in the rotary base plate, the three groups of track-shaped strip holes are respectively an inner ring reducing strip hole group, a middle ring identical-diameter strip hole group and an outer ring reducing strip hole group, the middle ring identical-diameter strip hole group is matched with the gripper opening and closing assembly, the inner ring reducing strip hole group and the outer ring reducing strip hole group are guide limiting holes of the clamping jaw and are matched with the clamping jaw to drive the gripper opening and closing assembly to open and close, the bearing is arranged on a protruding shaft of the rotary base plate, and the axial direction of the bearing is positioned through a shaft shoulder of the connecting flange and the gripper opening and closing assembly;
the gripper opening and closing assembly comprises a buckle plate, a center frame, an end plate, an opening and closing shaft, a linear bearing and clamping jaws, and is provided with three groups of opening and closing mechanisms;
the buckle plate is buckled on the outer diameter of the bearing and is connected and installed on the center frame through bolts;
the center frame is an installation base frame with three branches, and an opening and closing mechanism is respectively installed in the three branches; the opening and closing mechanism comprises an opening and closing shaft, a linear bearing, an inner clamping jaw and an outer clamping jaw;
the end plate is arranged at the end parts of the three branches of the center frame through bolts;
the opening and closing shaft is arranged on the end plate and the center frame in a matching way through the shaft hole;
the linear bearing is arranged on the opening and closing shaft and is in sliding fit with the opening and closing shaft;
the clamping jaw comprises an inner clamping jaw and an outer clamping jaw, the clamping jaw is matched with the linear bearing through an upper bearing hole and a lower bearing hole, and the clamping jaw is axially limited through a shaft clamp arranged on the linear bearing; the tops of the inner clamping jaw and the outer clamping jaw are provided with pins which are respectively embedded in an inner ring reducing strip hole group and an outer ring reducing strip hole group of the rotary substrate; the rotation of the rotary substrate pushes the inner clamping jaw and the outer clamping jaw to slide on the opening and closing shaft by the linear bearing, and the running directions of the inner clamping jaw and the outer clamping jaw are opposite.
2. The donut robot hand grip of claim 1, wherein the elongated holes of the inner ring and outer ring variable diameter elongated hole sets are oppositely oriented.
3. A donut robot gripper as claimed in claim 1, wherein the central frame and the end plates are each provided with blind holes for fixing and mounting the opening and closing shaft, and the end plates are concentric with the blind holes in the central frame after being mounted thereto.
4. A donut robot gripper as claimed in claim 1, wherein the linear bearings are provided with limit snap spring grooves at both ends for mating parts therewith.
5. The doughnut robot hand grip according to claim 1, wherein the center frame bottom is provided with a bottom protective baffle, and three identical baffles are uniformly arranged at the center frame bottom.
6. A donut robot gripper according to claim 1, characterized in that the outer jaw bottom is designed with protruding foot edges which are embedded in the outer bottom of the donut when the donut is gripped.
7. The doughnut robot hand grip of claim 1, wherein said positioning mounting assembly is comprised of a guide shaft, a flanged linear bearing, a mounting bearing housing and a guide shaft mounting seat;
the guide shaft is matched with the shaft hole and positioned by the pin, and is installed and fixed on the guide shaft installation seat;
the flange linear bearing is arranged on the guide shaft and can move up and down along the guide shaft;
the side surface of the mounting bearing seat is mounted on a non-rotating shaft at the execution end of the robot through bolts;
the guide shaft fixing seat is arranged on the center frame through bolts, the position of a mounting hole arranged on the center frame is the same as that of the end plate, and the guide shaft fixing seat is provided with two blind holes for mounting and matching the opening and closing shaft.
8. The donut robot gripper of claim 1, further comprising a shroud mounted to the attachment flange by bolts.
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 CN109623860A (en) | 2019-04-16 |
| CN109623860B true 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) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117602368B (en) * | 2023-12-28 | 2024-07-05 | 重庆市祥和大宇包装有限公司 | Corrugated board sorting robot |
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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109623860A (en) | 2019-04-16 |
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