CN207578428U - The robot gripper that a kind of multistation can be switched - Google Patents
The robot gripper that a kind of multistation can be switched Download PDFInfo
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- CN207578428U CN207578428U CN201721645670.4U CN201721645670U CN207578428U CN 207578428 U CN207578428 U CN 207578428U CN 201721645670 U CN201721645670 U CN 201721645670U CN 207578428 U CN207578428 U CN 207578428U
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- handgrip
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Abstract
The utility model discloses the robot grippers that a kind of multistation can be switched, and belong to robot clamp field.It is including fixed seat, be screwed on component and multiple handgrip components；The multiple handgrip component is along the circumferential direction distributed in the different station in fixed seat, and for gripping workpiece, handgrip component includes pneumatic-finger and handgrip, and pneumatic-finger is mounted on connecting plate, handgrip connection pneumatic-finger；Described is screwed on component at the rotation center of multiple handgrip components in fixed seat, for connecting robot body.The robot gripper of the utility model can flexibly switch by by different type fixture combination to same handgrip, so as to greatly improve its adaptability to different gripping operating modes.
Description
Technical field
The utility model belongs to robot clamp field, the robot that can be switched more specifically to a kind of multistation
Handgrip.
Background technology
The handgrip of robot is driven by motor, realizes tightening and relieving that pawl refers to, anchor point position is controllable, and chucking power can
Control, by PC controls such as PLC, Industrial PC Computer, microcontroller and motion controllers, realizes the functions such as crawl, the positioning of object,
It is the flexibly direct writing terminal of mechanical equipment.
Existing routine handgrip is typically only capable to grip single workpiece, no generally according to the specification for the workpiece of being gripped and shape
Meet the nonstandard industrial automation operation of the more specifications of part or shape need；Meanwhile also require handgrip speed, position, chucking power
Etc. parameters it is controllable.So a robot performs multi-mode operation, the function diversification of robot can be realized, shorten operation and prepare
Time makes contributions for Multi-varieties and Small-batch Production.
Existing handgrip needs replacing different handgrips when capturing different workpieces, and generally use quick change construction is completed, machine
Artificial tool quick change is mainly made of two parts, is referred to as master and tool shelf, and two-part design can be connected with auto lock,
It can connect and transmit such as electric signal, gas, water etc. medium simultaneously.Robot tool fast replacing device is automatic tool exchange
And it connects various media and provides great flexibility.
For example, Chinese Patent Application No. is：201310466106.6 publication date is：The patent text on January 15th, 2014
Offer, disclose a kind of planting pot robot gripper, including servo motor, motor mount, installing plate, shaft coupling, feed screw nut,
Screw, slide plate, at least a linear guide, two clamping bars, two spherical plain bearing rod ends, two connecting rods, it is characterised in that：Motor
Mounting base, the linear guide, two connecting rods are separately mounted on installing plate, and servo motor is mounted on motor mount, slide plate peace
Can slide in the linear guide and in the linear guide, feed screw nut is fixed on slide plate, servo motor by shaft coupling with
Screw is connected, and screw is fixed together with feed screw nut；One end of every connecting rod is fixed on slide plate, and the other end passes through one
Spherical plain bearing rod end is connected with a clamping bar.The robot handgrip of the program can accurately and efficiently carry out Rice Cropping basin
Crawl, transport operation.
For another example, Chinese Patent Application No. is：201710256873.2 publication date is：The patent text on July 14th, 2017
Offer, disclose a kind of feeding robot handgrip of bar, it include pedestal, slide block assembly, the first handgrip finger, first connecting rod,
Second handgrip finger and second connecting rod, for the slide block assembly slide fit on pedestal, portion is grabbed in the forepart of the first handgrip finger for first,
It is hinged on pedestal in the middle part of first handgrip finger, one end and the slide block assembly of first connecting rod are hinged, the other end of first connecting rod
It is hinged with the rear portion of the first handgrip finger, portion is grabbed in the forepart of the second handgrip finger for second, and the middle part of the second handgrip finger is hinged
On pedestal, one end and the slide block assembly of second connecting rod are hinged, the rear portion hinge of the other end of second connecting rod and the second handgrip finger
It connects, wherein, by acting the slide block assembly on pedestal, make the first of the first handgrip finger to grab portion and the second handgrip finger
Second portion of grabbing moves toward one another or backwards to movement.The handgrip of the program is primarily adapted for use in the crawl of bar.
Above two scheme acts on relatively special both for the specific robotic handgrip of special work task design
One, versatility is relatively weak, can be only done single crawl work, is further improved.
Invention content
1st, it to solve the problems, such as
The utility model provides the robot gripper that a kind of multistation can be switched, general its object is to solve existing handgrip
Single workpiece can only be gripped, the requirement of the nonstandard industrial automation operation of the more specifications of part or shape need is unsatisfactory for, so as to lead
The problem of causing adaptability relatively poor.The robot gripper of the utility model is by the way that different type fixture combination is grabbed to same
On hand, and can flexibly switch, so as to greatly improve its adaptability to different gripping operating modes.
2nd, technical solution
To solve the above problems, the utility model adopts the following technical scheme.
The robot gripper that a kind of multistation can be switched, including fixed seat, be screwed on component and multiple handgrip components；It is described more
A handgrip component is along the circumferential direction distributed in the different station in fixed seat, for gripping workpiece；The component installation that is screwed on
In fixed seat at the rotation center of multiple handgrip components, for connecting robot body.
As a further improvement, in the connecting plates of 90 ° of arrangements, each connecting plate between adjacent there are four the fixed seat tools
One handgrip component of upper installation.
As a further improvement, the handgrip component includes pneumatic-finger and handgrip, pneumatic-finger is mounted on connecting plate,
Handgrip connects pneumatic-finger.
As a further improvement, installing link block on the finger of the pneumatic-finger, it is correspondingly provided on link block and handgrip
Location hole and pin hole, and pass through in location hole and pin hole respectively that detachably handgrip is installed to company by installation positioning pin and bolt
It connects on block.
As a further improvement, four handgrips in four handgrip components be respectively it is big embrace grab, small armful grab, uncap and grab
Hand and clamping jaw；Grab for described big armful has round gripping space with small armful of gripping apparatus, for gripping barrel workpiece, the small armful of gripping grabbed half
Diameter is less than big embrace and grabs gripping radius；The front end of the handgrip of uncapping is equipped with V-type collet, and the corresponding link block of handgrip of uncapping is equipped with
Plug；The front end of the clamping jaw is equipped with V-groove and U-type groove.
As a further improvement, the component that is screwed on includes the seat that is screwed on, the seat that is screwed on is mounted in fixed seat, the seat that is screwed on connection
Ring flange.
As a further improvement, the ring flange is connect with the rotary cylinder on robot body.
3rd, advantageous effect
Compared with the prior art, the beneficial effects of the utility model are：
(1) robot gripper that the utility model multistation can be switched, by installing multiple handgrip components in fixed seat,
Can be by different type fixture combination to same handgrip, and fixed seat can be quickly connected to by robot by the component that is screwed on
In main body, robot body flexibly switches between can driving multiple handgrip components, the replacement being also convenient between different handgrips, machine
Such handgrip is installed to be suitable for operating without the workpiece grabbing of shape specification on people, reduces the frequency of handgrip replacement, improves
Its adaptability to different gripping operating modes, improves working efficiency, reduces the inventory of handgrip.
(2) robot gripper that the utility model multistation can be switched, handgrip component be mounted on four of fixed seat it is adjacent
In on 90 ° of connecting plates, that is, four kinds of handgrip components can be installed, tool is there are four gripping station, according to different workpieces, by machine
Human agent's driving is switched to corresponding station gripping workpiece.
(3) robot gripper that the utility model multistation can be switched, handgrip component drive handgrip to open by pneumatic-finger
The crawl for carrying out workpiece is closed, meanwhile, positioning pin is first passed through between handgrip and link block and is accurately positioned, then fixed by bolt, no
Only positioning accuracy is high, and Ke Kuaisugenghuan handgrip.
(4) robot gripper that the utility model multistation can be switched, four handgrips in four handgrip components are right respectively
Should be it is big embrace grab, small armful grab, uncap handgrip and clamping jaw, be suitable for the grasping manipulation of at least four workpiece, it is big embrace to grab grabbed with small armful
The barrel workpiece of different-diameter size can be captured with circle gripping space；Uncap handgrip V-type collet cooperation core
Stick can grip disc type work, i.e. plug is inserted into the interstitial hole of disc type work, and V-type collet clamps outer rim, carries out reliable retention；And
The workpiece holding operation that can complete other shapes specification is applied in combination in the V-groove and U-type groove of clamping jaw.
(5) robot gripper that the utility model multistation can be switched, the seat that is screwed on of being screwed in component are connected by ring flange
Rotary cylinder on robot body, so as to which rotary cylinder can drive handgrip rotation to carry out the switching between each station.
Description of the drawings
Fig. 1 is the dimensional structure diagram of robot gripper that the utility model multistation can be switched；
Fig. 2 is the main structure diagram of robot gripper that the utility model multistation can be switched；
Fig. 3 is the sectional view of A-A in Fig. 2；
Being screwed on of Fig. 4 the utility model robot grippers is screwed on the dimensional structure diagram of body in component；
Fig. 5 is the dimensional structure diagram of seat of being screwed in component that is screwed on of the utility model robot gripper；
Fig. 6 is the dimensional structure diagram of the connecting shaft in component of being screwed on of the utility model robot gripper.
Label in attached drawing is expressed as：
100th, fixed seat；
200th, be screwed on component；210th, be screwed on body；211st, axis hole；212nd, locking hole；213rd, positioning convex platform；220th, be screwed on seat；
221st, axis card slot；230th, connecting shaft；231st, flat axis body；232nd, block card slot；233rd, pin hole；234th, limiting slot；240th, baffle ring；
250th, block；260th, backing pin；270th, ring flange；
300th, handgrip component；310th, pneumatic-finger；320th, link block；330th, bolt；340th, positioning pin；350th, big embrace is grabbed；
360th, it grabs for small armful；370th, it uncaps handgrip；371st, plug；372nd, V-type collet；380th, clamping jaw；381st, V-groove；382nd, U-type groove.
Specific embodiment
The utility model is further described below with reference to specific embodiments and the drawings.
Embodiment 1
As shown in Figure 1 and Figure 2, the robot gripper that a kind of multistation of the present embodiment can be switched, mainly by fixed seat
100th, it is screwed on component 200 and multiple handgrip components 300 forms；Wherein, fixed seat 100 is matrix, is screwed on and component 200 and multiple grabs
Hand component 300 is all mounted in fixed seat 100, and the component 200 that is screwed on is for connecting robot body, it is general it be and robot
Rotary cylinder connection in main body, so as to handgrip be driven to rotate by rotary cylinder, adjusts the work of different handgrip components 300
Position；Then for gripping workpiece, the present embodiment uses multiple handgrip components 300, can carry out different shape or rule handgrip component 300
The gripping operation of the workpiece of lattice.Each section is described in detail below.
Multiple handgrip components 300 are along the circumferential direction distributed in the different station in fixed seat 100, specific to the present embodiment
In, fixed seat 100 is in cross-shaped configuration, tool there are four between adjacent in the connecting plates of 90 ° of arrangements, the end of each connecting plate
One handgrip component 300, that is, tool are installed there are four handgrip component 300, tool is there are four gripping station, according to different workpieces,
Corresponding station gripping workpiece is switched to by robot body's driving.Handgrip component 300 includes pneumatic-finger 310 and handgrip, gas
Start to refer to 310 on connecting plate, a pair of of claw connection pneumatic-finger 310 of handgrip.Specifically, the hand of pneumatic-finger 310
Link block 320 on finger is installed, location hole and pin hole are correspondingly provided with, and pass through location hole and bolt on link block 320 and handgrip
Detachably handgrip is installed on link block 320 by installation positioning pin 340 and bolt 330 respectively in hole, and positioning pin 340 can ensure to grab
Hand is accurately positioned, and bolt 330 can fix handgrip, so as to fulfill high accuracy positioning and the quick-replaceable of handgrip.
It should be strongly noted that four handgrips in four handgrip components 300 be respectively it is big embrace grab 350, small armful grab
360th, it uncaps handgrip 370 and clamping jaw 380；It is big embrace grab 350 and small armful grab 360 and there is round gripping space, for gripping cylinder class
Workpiece grabs 360 gripping radius for small armful and is less than big embrace and grabs 350 gripping radiuses；Uncap handgrip 370 front end be equipped with V-type collet
372,370 corresponding link block 320 of handgrip of uncapping is equipped with plug 371；The front end of clamping jaw 380 is equipped with V-groove 381 and U-type groove
382.Such structure, four handgrips in four handgrip components 300 are suitable for the grasping manipulations of at least four workpiece, and big embrace is grabbed
350 and small armful grab 360 and there is round gripping space the barrel workpiece of different-diameter size can be captured, big embrace grabs 350
The section for taking and unclamping is embraced in 175~215cm, small armful is grabbed 360 armfuls of sections for taking and unclamping in 55~110cm；It uncaps handgrip 370
V-type collet 372 coordinate plug 371, disc type work can be gripped, i.e., plug 371 is inserted into the interstitial hole of disc type work, V-type collet
372 clamp outer rim, carry out reliable retention；And the V-groove 381 and U-type groove 382 of clamping jaw 380 are applied in combination can complete other shapes
The workpiece holding operation of specification.
In the present embodiment, the component 200 that is screwed on is mounted in fixed seat 100 at the rotation center of four handgrip components 300, is used
In connection robot body.Specifically, the component 200 that is screwed on includes the seat 220 that is screwed on, and the seat 220 that is screwed on is mounted in fixed seat 100,
Be screwed on the top mounting flange 270 of seat 220, and ring flange 270 is connect with the rotary cylinder on robot body, so as to should
Robot gripper is connected on robot body, and is passed through rotary cylinder and can be driven the switching of station between each handgrip.
From the foregoing, it will be observed that the robot gripper that the multistation of the present embodiment can be switched, multiple by being installed in fixed seat 100
Handgrip component 300, can be by different type fixture combination to same handgrip, and can be by fixed seat by the component 200 that is screwed on
100 are quickly connected on robot body, and robot body flexibly switches between can driving multiple handgrip components 300, is also convenient for
Replacement between different handgrips installs such handgrip in robot and is suitable for operating without the workpiece grabbing of shape specification, subtracts
The frequency of handgrip replacement is lacked, has improved its adaptability to different gripping operating modes, improve working efficiency, reduce the spare number of handgrip
Amount.The design of this handgrip allows the robot to exchange using different end effectors to increase during manufacturing and equipping
Flexibility substitutes the multi-functional tooling actuator of original bulky complex, there is production replacement quickly, effectively to reduce downtime etc. more
Kind advantage.
Embodiment 2
The robot gripper that a kind of multistation of the present embodiment can be switched, basic structure is substantially the same manner as Example 1, institute
The difference is that improvement is optimized to the structure for the component 200 that is screwed on, not using in embodiment 1 that ring flange 270 is direct
Robot body is connected in fixed seat 100, then by ring flange 270, such structure, the replacement of robot gripper not side
Just, it replaces every time and is required for dismounting ring flange 270, it is time-consuming and laborious.
With reference to shown in Fig. 2 and Fig. 3, in the present embodiment, the component 200 that is screwed on includes be screwed on body 210 and the seat 220 that is screwed on；Wherein,
The seat 220 that is screwed on is cylinder-like structure, and lower end is mounted on by bolt in fixed seat 100, and the body 210 that is screwed on also is barreled structure,
The body 210 that is screwed on is sleeved on the outside for the seat 220 that is screwed on, and passes through connecting shaft 230 and connect with the seat 220 that is screwed on；And the upper end for the body 210 that is screwed on
By bolt mounting flange 270, and 210 upper end of body that is screwed on is equipped with circular positioning convex platform 213, and correspondence is set on ring flange 270
There is location hole, positioning convex platform 213 is inserted into the location hole of ring flange 270 and is positioned, then ring flange 270 is connected to robot
On the rotary cylinder of main body.Such structure, can be quickly by robot gripper from robot body by plugging connecting shaft 230
Handling, substantially increase replacement speed, and a set of unified connection structure standard is used convenient for a variety of robot clamps.
With reference to shown in Fig. 4, Fig. 5 and Fig. 6, a pair of of axis card slot 221 is opened up on the seat 220 that is screwed on, axis card slot 221 is narrow for upper end
Seam, lower end round slot bore, circular groove hole width are more than the width of slit；Corresponding to axis card slot 221, axis hole is offered on the body 210 that is screwed on
211.230 middle section of connecting shaft is flat axis body 231, and the minimum widith of flat axis body 231 is less than the slit width of axis card slot 221,
The maximum width of flat axis body 231 is more than the slit width of axis card slot 221, and less than circular groove hole width, so as to which flat axis body 231 can be from
The upper end slit of axis card slot 221 is tucked into the round slot bore of lower end, across axis hole 211 and is caught in axis card slot 221 body 210 that will be screwed on
Seat 220 connects with being screwed on.
For 230 fixed structure of connecting shaft, as shown in fig. 6, the both ends of connecting shaft 230 offer block card slot 232, gear
The both sides of block card slot 232 are provided through the pin hole 233 of connecting shaft 230；The both ends of connecting shaft 230 pass through 210 rear enclosure of body that is screwed on
There is baffle ring 240, block 250 is installed in block card slot 232, block 250 is by passing through the backing pin 260 of pin hole 233 to fix；So as to limit
The axial movement of connecting shaft 230 processed.Meanwhile open up limiting slot 234 in the connecting shaft 230 of 232 opposite sides of block card slot；Axis hole
The locking hole 212 of connection axis hole 211 is opened up on the body 210 that is screwed on of 211 both sides, ripple pearl screw, ripple pearl spiral shell are set in locking hole 212
The head end of silk is headed into limiting slot 234, so as to limit the rotation of connecting shaft 230, prevents axis from the axis card slot for the seat 220 that is screwed on
It is slipped in 221.
It can be seen that be screwed on body 210 and detachable connection structure of the seat 220 by connecting shaft 230 that be screwed on, design are simple
It is ingenious, the dismounting of robot gripper can be facilitated, and connection is reliable, stablizes, safety is relatively high, can form unified centre
Quick change connection structure standard.
Schematically the utility model and embodiments thereof are described above, this describes no restricted, attached drawing
Shown in be also the utility model one of embodiment, practical structure is not limited thereto.So if this field
Those of ordinary skill enlightened by it, without deviating from the purpose of the present invention, not inventively design
The frame mode similar to the technical solution and embodiment, all should belong to the protection range of the utility model.
Claims (7)
1. a kind of robot gripper that multistation can be switched, including fixed seat (100), it is characterised in that：Further include the component that is screwed on
(200) and multiple handgrip components (300)；The multiple handgrip component (300) is along the circumferential direction distributed in fixed seat (100)
Different station, for gripping workpiece；The component that is screwed on (200) multiple handgrip components (300) in fixed seat (100)
Rotation center at, for connecting robot body.
2. the robot gripper that a kind of multistation according to claim 1 can be switched, it is characterised in that：The fixed seat
(100) there are four in the connecting plates of 90 ° of arrangements, a handgrip component (300) is installed on each connecting plate between adjacent for tool.
3. the robot gripper that a kind of multistation according to claim 2 can be switched, it is characterised in that：The handgrip component
(300) including pneumatic-finger (310) and handgrip, pneumatic-finger (310) is on connecting plate, handgrip connection pneumatic-finger
(310)。
4. the robot gripper that a kind of multistation according to claim 3 can be switched, it is characterised in that：The pneumatic-finger
(310) link block (320) on finger is installed, location hole and pin hole are correspondingly provided with, and pass through on link block (320) and handgrip
Handgrip is installed to link block (320) by detachable installation positioning pin (340) and bolt (330) respectively in location hole and pin hole
On.
5. the robot gripper that a kind of multistation according to claim 4 can be switched, it is characterised in that：Four handgrips
Four handgrips in component (300) be respectively it is big embrace grab (350), small armful grab (360), handgrip of uncapping (370) and clamping jaw (380)；
It is described it is big embrace grab (350) and small armful grab (360) have it is round grip space, for gripping barrel workpiece, small armful is grabbed (360)
Gripping radius is less than big embrace and grabs (350) gripping radius；The front end of the handgrip of uncapping (370) is equipped with V-type collet (372), uncaps
The corresponding link block (320) of handgrip (370) is equipped with plug (371)；The front end of the clamping jaw (380) be equipped with V-groove (381) and
U-type groove (382).
6. the robot gripper that a kind of multistation according to claim 1 or 2 can be switched, it is characterised in that：It is described to be screwed on
Component (200) is including the seat that is screwed on (220), and the seat that is screwed on (220) is in fixed seat (100), the seat that is screwed on (220) mounting flange
(270)。
7. the robot gripper that a kind of multistation according to claim 6 can be switched, it is characterised in that：The ring flange
(270) it is connect with the rotary cylinder on robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721645670.4U CN207578428U (en) | 2017-11-30 | 2017-11-30 | The robot gripper that a kind of multistation can be switched |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721645670.4U CN207578428U (en) | 2017-11-30 | 2017-11-30 | The robot gripper that a kind of multistation can be switched |
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| Publication Number | Publication Date |
|---|---|
| CN207578428U true CN207578428U (en) | 2018-07-06 |
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ID=62734669
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|---|---|---|---|
| CN201721645670.4U Expired - Fee Related CN207578428U (en) | 2017-11-30 | 2017-11-30 | The robot gripper that a kind of multistation can be switched |
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Cited By (15)
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| CN109396863A (en) * | 2018-09-18 | 2019-03-01 | 武汉华中数控股份有限公司 | Machining intelligence manufacture production line and its working method |
| CN109623860A (en) * | 2019-02-21 | 2019-04-16 | 济南翼菲自动化科技有限公司 | A kind of baked donut robot gripper |
| CN110681885A (en) * | 2019-10-12 | 2020-01-14 | 谈荣赋 | Section steel processing drilling machine |
| CN111113393A (en) * | 2019-12-31 | 2020-05-08 | 北京猎户星空科技有限公司 | Actuator, mechanical arm, control method and intelligent catering preparation system |
| CN111115235A (en) * | 2019-12-31 | 2020-05-08 | 宁波开浦智能科技有限公司 | Rotary grabbing device and processing equipment |
| CN111318915A (en) * | 2020-04-07 | 2020-06-23 | 广东顺德马元机器人科技有限公司 | Feeding and discharging production line for numerical control processing of handles |
| CN111496489A (en) * | 2020-04-03 | 2020-08-07 | 芜湖安普机器人产业技术研究院有限公司 | Robot assembly workstation |
| CN112338955A (en) * | 2020-11-16 | 2021-02-09 | 宁波奉化腾菲工艺品厂 | Multi-clamping-jaw automatic switching system for mechanical arm |
| CN112606025A (en) * | 2020-11-19 | 2021-04-06 | 芜湖安普机器人产业技术研究院有限公司 | Education-oriented multipurpose robot clamp |
| CN112828871A (en) * | 2021-01-18 | 2021-05-25 | 玉林师范学院 | Multi-station logistics manipulator device |
| CN112959063A (en) * | 2021-04-19 | 2021-06-15 | 苏州博古特智造有限公司 | Mobile phone assembly production line jig and workpiece auxiliary carrying device |
| CN114083558A (en) * | 2022-01-19 | 2022-02-25 | 新乡职业技术学院 | Clamping device that arm was used |
| CN114633275A (en) * | 2022-04-12 | 2022-06-17 | 浙江工业大学 | Grabbing disc type end effector for agricultural automatic picking |
| CN115122387A (en) * | 2022-08-29 | 2022-09-30 | 沈阳工业大学 | Soft gripper system capable of automatically switching and grabbing soft and fragile objects |
| CN115339884A (en) * | 2022-07-08 | 2022-11-15 | 山东瑞泰玻璃绝缘子有限公司 | Discharging and grabbing equipment for glass electric insulator and working method of discharging and grabbing equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109396863A (en) * | 2018-09-18 | 2019-03-01 | 武汉华中数控股份有限公司 | Machining intelligence manufacture production line and its working method |
| CN109623860B (en) * | 2019-02-21 | 2023-08-25 | 济南翼菲智能科技股份有限公司 | Doughnut robot gripper |
| CN109623860A (en) * | 2019-02-21 | 2019-04-16 | 济南翼菲自动化科技有限公司 | A kind of baked donut robot gripper |
| CN110681885A (en) * | 2019-10-12 | 2020-01-14 | 谈荣赋 | Section steel processing drilling machine |
| CN111113393A (en) * | 2019-12-31 | 2020-05-08 | 北京猎户星空科技有限公司 | Actuator, mechanical arm, control method and intelligent catering preparation system |
| CN111115235A (en) * | 2019-12-31 | 2020-05-08 | 宁波开浦智能科技有限公司 | Rotary grabbing device and processing equipment |
| CN111496489A (en) * | 2020-04-03 | 2020-08-07 | 芜湖安普机器人产业技术研究院有限公司 | Robot assembly workstation |
| CN111318915A (en) * | 2020-04-07 | 2020-06-23 | 广东顺德马元机器人科技有限公司 | Feeding and discharging production line for numerical control processing of handles |
| CN112338955A (en) * | 2020-11-16 | 2021-02-09 | 宁波奉化腾菲工艺品厂 | Multi-clamping-jaw automatic switching system for mechanical arm |
| CN112606025A (en) * | 2020-11-19 | 2021-04-06 | 芜湖安普机器人产业技术研究院有限公司 | Education-oriented multipurpose robot clamp |
| CN112828871A (en) * | 2021-01-18 | 2021-05-25 | 玉林师范学院 | Multi-station logistics manipulator device |
| CN112959063A (en) * | 2021-04-19 | 2021-06-15 | 苏州博古特智造有限公司 | Mobile phone assembly production line jig and workpiece auxiliary carrying device |
| CN114083558A (en) * | 2022-01-19 | 2022-02-25 | 新乡职业技术学院 | Clamping device that arm was used |
| CN114633275A (en) * | 2022-04-12 | 2022-06-17 | 浙江工业大学 | Grabbing disc type end effector for agricultural automatic picking |
| CN115339884A (en) * | 2022-07-08 | 2022-11-15 | 山东瑞泰玻璃绝缘子有限公司 | Discharging and grabbing equipment for glass electric insulator and working method of discharging and grabbing equipment |
| CN115122387A (en) * | 2022-08-29 | 2022-09-30 | 沈阳工业大学 | Soft gripper system capable of automatically switching and grabbing soft and fragile objects |
| CN115122387B (en) * | 2022-08-29 | 2022-11-29 | 沈阳工业大学 | Soft gripper system capable of automatically switching and grabbing soft and fragile objects |
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