CN110587643A - Clamp and transfer robot - Google Patents
Clamp and transfer robot Download PDFInfo
- Publication number
- CN110587643A CN110587643A CN201910995473.2A CN201910995473A CN110587643A CN 110587643 A CN110587643 A CN 110587643A CN 201910995473 A CN201910995473 A CN 201910995473A CN 110587643 A CN110587643 A CN 110587643A
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- CN
- China
- Prior art keywords
- clamping part
- clamping
- clamp
- product
- driving
- 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.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000003014 reinforcing effect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003825 pressing Methods 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a clamp and a transfer robot, wherein the clamp comprises a bracket, a first clamping part, a second clamping part, a driving mechanism and a supporting part, wherein the first clamping part and the second clamping part are movably arranged on the bracket, and the second clamping part and the first clamping part can be arranged close to or far away from each other so as to clamp two side surfaces of a product or loosen the product; the driving mechanism is arranged on the bracket and is in driving connection with the first clamping part and the second clamping part so as to drive the first clamping part and the second clamping part to move; the holding part is arranged on the first clamping part, and at least one part of the holding part is movably arranged, so that at least one part of the holding part moves to the area between the first clamping part and the second clamping part, and the bottom of a product between the first clamping part and the second clamping part is held. When the clamp is used for clamping a product, the bottom of the product can be supported by the supporting part while two side faces of the product are clamped, the product is prevented from falling off, and the reliability is improved.
Description
Technical Field
The invention relates to the technical field of product conveying equipment, in particular to a clamp and a carrying robot.
Background
Many current anchor clamps generally use the mode of embracing the both sides of pressing from both sides the product, through the frictional force with between the product grasp the product, like this in the in-process of removing the product, or to heavier product, have the risk that the product drops.
Disclosure of Invention
The invention provides a clamp and a transfer robot, which are used for improving the reliability of the clamp in the prior art when a product is clamped.
In order to achieve the above object, according to one aspect of the present invention, there is provided a clip comprising: a support; the first clamping part is movably arranged on the bracket; the second clamping part is movably arranged on the bracket, and the second clamping part and the first clamping part can be arranged close to or far away from each other so as to clamp two side surfaces of a product or release the product in a one-to-one correspondence mode; the driving mechanism is arranged on the bracket and is in driving connection with the first clamping part and the second clamping part so as to drive the first clamping part and the second clamping part to synchronously move; and the supporting part is arranged on the first clamping part, and at least one part of the supporting part is movably arranged so that at least one part of the supporting part moves to the area between the first clamping part and the second clamping part to support the bottom of the product between the first clamping part and the second clamping part.
Further, the drive mechanism includes: the screw rod is rotatably arranged on the bracket and is provided with a first external thread and a second external thread, the rotating direction of the first external thread is opposite to that of the second external thread, the first external thread is in driving connection with the first clamping part, and the second external thread is in driving connection with the second clamping part; the first driving part is arranged on the support and is in driving connection with the screw rod so as to drive the screw rod to rotate forwards and backwards.
Further, the first driving part is a motor, and the driving mechanism further includes: the driving wheel is arranged on a driving shaft of the motor; the driven wheel is arranged at the end part of the screw rod; the driving wheel is in driving connection with the transmission belt, and the transmission belt is in driving connection with the driven wheel.
Further, the driving shaft is arranged along the length direction of the support, and the shell of the motor is positioned on one side of the driving wheel, which faces the support.
Further, the bracket includes: the screw rod is positioned between the two cross beams; the two cross beams are connected with the end plate, and the screw rod is rotatably arranged on the end plate; and the two cross beams are connected with the flange, and the flange is used for connecting the mechanical arm.
Further, the first clamping part comprises a first seat body and a first clamping plate arranged on the first seat body, the first seat body is movably arranged on the bracket, the first seat body is provided with a first internal thread, and the first external thread is in fit connection with the first internal thread; the second clamping part comprises a second seat body and a second clamping plate arranged on the second seat body, the second seat body is movably arranged on the support, the second seat body is provided with a second internal thread, and the second external thread is matched and connected with the second internal thread.
Further, the jig further includes: a guide portion for guiding movement of the first clamping portion and the second clamping portion.
Further, the guide portion includes: the guide rail is arranged on the bracket; the first sliding seat is movably arranged on the guide rail and is connected with the first clamping part so as to guide the first clamping part; and the second sliding seat is movably arranged on the guide rail and is connected with the second clamping part so as to guide the second clamping part.
Further, the holder includes: the supporting piece is rotatably arranged on the first clamping part and is provided with a supporting position and an avoiding position; when the supporting piece is in the supporting position, at least one part of the supporting piece is positioned between the first clamping part and the second clamping part so as to support the bottom of the product; and under the condition that the supporting piece is positioned at the avoiding position, the supporting piece is completely positioned on one side of the first clamping part, which is deviated from the second clamping part, so as to avoid the product.
According to another aspect of the present invention, there is provided a transfer robot including a robot arm on which a gripper is provided, the robot arm being configured to drive the gripper to move, and the gripper being the above-provided gripper.
The technical scheme of the invention is applied, and the fixture is provided with a support, a first clamping part, a second clamping part, a driving mechanism and a supporting part, wherein the first clamping part and the second clamping part are movably arranged on the support, and the second clamping part and the first clamping part can be arranged close to or far away from each other so as to respectively clamp two side surfaces of a product in a one-to-one correspondence manner or loosen the product; the driving mechanism is arranged on the bracket and is in driving connection with the first clamping part and the second clamping part so as to drive the first clamping part and the second clamping part to move synchronously; the holding part is arranged on the first clamping part, and at least one part of the holding part is movably arranged, so that at least one part of the holding part moves to the area between the first clamping part and the second clamping part, and the bottom of a product between the first clamping part and the second clamping part is held. When the clamp is used for clamping a product, the bottom of the product can be supported by the supporting part while two side faces of the product are clamped, so that the product is prevented from falling off, and the reliability is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a clamp according to an embodiment of the present invention;
FIG. 2 shows a front view of the clamp of FIG. 1;
FIG. 3 shows a top view of the clamp of FIG. 2;
fig. 4 shows a side view of the clamp of fig. 2.
Wherein the figures include the following reference numerals:
10. a support; 11. a cross beam; 12. an end plate; 13. a flange; 20. a first clamping portion; 21. a first seat body; 22. a first splint; 23. reinforcing ribs; 30. a second clamping portion; 31. a second seat body; 32. a second splint; 40. a drive mechanism; 41. a screw rod; 42. a first driving section; 50. a holding section; 51. a holder; 52. a second driving section; 53. a rotating shaft; 54. a bearing seat; 60. a guide portion; 61. a guide rail; 62. a first slider; 63. a second carriage.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in the drawings, embodiments of the present invention provide a jig comprising: a support 10; a first clamping portion 20 movably disposed on the bracket 10; a second clamping part 30 movably disposed on the bracket 10, wherein the second clamping part 30 and the first clamping part 20 can be disposed close to or far away from each other to clamp two sides of the product or release the product, respectively, in a one-to-one correspondence; the driving mechanism 40 is arranged on the bracket 10, and the driving mechanism 40 is in driving connection with the first clamping part 20 and the second clamping part 30 so as to drive the first clamping part 20 and the second clamping part 30 to move synchronously; and a holding part 50 disposed on the first clamping part 20, at least a portion of the holding part 50 being movably disposed so that at least a portion of the holding part 50 moves to an area between the first clamping part 20 and the second clamping part 30 to hold a bottom of a product between the first clamping part 20 and the second clamping part 30.
The technical scheme of the invention is applied, and the fixture is provided with a bracket 10, a first clamping part 20, a second clamping part 30, a driving mechanism 40 and a supporting part 50, wherein the first clamping part 20 and the second clamping part 30 are movably arranged on the bracket 10, and the second clamping part 30 and the first clamping part 20 can be arranged close to or far away from each other to respectively clamp two side surfaces of a product in a one-to-one correspondence manner or loosen the product; the driving mechanism 40 is arranged on the bracket 10, and the driving mechanism 40 is in driving connection with both the first clamping part 20 and the second clamping part 30 so as to drive the first clamping part 20 and the second clamping part 30 to move synchronously; the holder 50 is disposed on the first clamping portion 20, and at least a portion of the holder 50 is movably disposed so that at least a portion of the holder 50 moves to an area between the first clamping portion 20 and the second clamping portion 30 to hold a bottom of a product between the first clamping portion 20 and the second clamping portion 30. When the clamp is used for clamping a product, the bottom of the product can be supported by the supporting part 50 while two side surfaces of the product are clamped, so that the product is prevented from falling off, and the reliability is improved. Moreover, the first clamping part 20 and the second clamping part 30 are driven to move synchronously by one driving mechanism 40, so that the structure of the clamp can be simplified, and the manufacturing cost can be reduced.
In the present embodiment, the drive mechanism 40 includes: the screw rod 41 is rotatably arranged on the bracket 10, and the screw rod 41 is provided with a first external thread and a second external thread, wherein the rotating direction of the first external thread is opposite to that of the second external thread, the first external thread is in driving connection with the first clamping part 20, and the second external thread is in driving connection with the second clamping part 30; and the first driving part 42 is arranged on the bracket 10, and the first driving part 42 is in driving connection with the screw rod 41 so as to drive the screw rod 41 to rotate forwards and backwards. With the above arrangement, the first clamping portion 20 and the second clamping portion 30 can be driven to approach and separate from each other by rotation of the screw rod 41, so that the device structure can be simplified, the manufacturing cost can be reduced, and the assembly difficulty can be reduced.
In this embodiment, the first driving part 42 is a motor, and the driving mechanism 40 further includes: the driving wheel is arranged on a driving shaft of the motor; a driven wheel provided at an end of the screw rod 41; the driving wheel is in driving connection with the transmission belt, and the transmission belt is in driving connection with the driven wheel. Therefore, the motor can drive the driving wheel, the transmission belt and the driven wheel to rotate in sequence, so that the forward rotation and the reverse rotation of the screw rod 41 are realized.
Optionally, the driving wheel and the driven wheel are both synchronous wheels, and the transmission belt is a synchronous belt, or the driving wheel and the driven wheel are both chain wheels and the transmission belt is a chain. The structure can realize reliable transmission and avoid skidding.
In the present embodiment, the driving shaft is disposed along the length direction of the support 10, and the housing of the motor is located on the side of the driving wheel facing the support 10. Through the arrangement, the whole size and the occupied space of the clamp can be reduced, and the clamp is prevented from interfering with other objects when moving.
In the present embodiment, the stent 10 includes: two beams 11 arranged side by side, and a screw rod 41 is positioned between the two beams 11; the two cross beams 11 are connected with the end plate 12, and the screw rod 41 is rotatably arranged on the end plate 12; and the flange 13 and the two cross beams 11 are connected with the flange 13, and the flange 13 is used for connecting a mechanical arm. Through the arrangement, the screw rod 41 can be protected, and the support 10 is simple in structure and high in strength. The mounting of the clamp to the robot arm is facilitated by the provision of the flange 13.
In this embodiment, the first clamping portion 20 includes a first seat 21 and a first clamping plate 22 disposed on the first seat 21, the first seat 21 is movably disposed on the bracket 10, the first seat 21 has a first internal thread, and the first external thread is connected to the first internal thread in a matching manner; the second clamping portion 30 includes a second seat 31 and a second clamping plate 32 disposed on the second seat 31, the second seat 31 is movably disposed on the bracket 10, the second seat 31 has a second internal thread, and the second external thread is in fit connection with the second internal thread. When the screw rod 41 rotates, the first base 21 can be driven to move through the matching of the first internal thread and the first external thread, so that the first clamping plate 22 can move, and meanwhile, the second base 31 can be driven to move through the matching of the second internal thread and the second external thread, so that the second clamping plate 32 can move, so that the product can be clamped through the first clamping plate 22 and the second clamping plate 32.
Optionally, the first clamping portion further includes a reinforcing rib 23, and the first clamping plate 22 and the first seat 21 are connected to the reinforcing rib 23 to improve the structural strength of the first clamping portion 20. In the present embodiment, the first clamping plate 22 and the second clamping plate 32 are provided with lightening holes to lighten the weight of the clamp.
In this embodiment, the jig further includes: and a guide portion 60, the guide portion 60 guiding movement of the first clamping portion 20 and the second clamping portion 30. Through setting up guide part 60, can make the removal of first clamping part 20 and second clamping part 30 more steady, avoid the card pause, guarantee the reliability of anchor clamps. Further, the first clamping portion 20 and the second clamping portion 30 are guided by the same guide portion 60, so that the structure of the jig can be simplified.
Specifically, the guide portion 60 includes: a guide rail 61 provided on the bracket 10; a first slide 62 movably disposed on the guide rail 61, the first slide 62 being connected to the first clamping portion 20 to guide the first clamping portion 20; and a second slider 63 movably disposed on the guide rail 61, the second slider 63 being connected to the second clamping portion 30 to guide the second clamping portion 30. In this way, the first clamping portion 20 can be guided by the sliding of the first slide 62 on the guide rail 61, and the second clamping portion 30 can be guided by the sliding of the second slide 63 on the guide rail 61.
In the present embodiment, the holder 50 includes: a holder 51 rotatably provided on the first clamping portion 20, the holder 51 having a holding position and a retreat position; when the holding member 51 is in the holding position, at least a part of the holding member 51 is positioned between the first clamping part 20 and the second clamping part 30 to hold the bottom of the product; with the holder 51 in the retracted position, the holder 51 is entirely located on the side of the first clamping section 20 facing away from the second clamping section 30 to retract the product. This allows the bottom of the product to be held or the product to be dispensed by changing the position of the holder 51.
Optionally, the holder 50 further includes: and the second driving part 52 is arranged on one side of the first clamping part 20, which is far away from the second clamping part 30, and the second driving part 52 is in driving connection with the holding piece 51 so as to drive the holding piece 51 to rotate. The second driving part 52 may be provided as a cylinder, and the holder 51 is hinged with a lever of the cylinder.
Optionally, the holder 50 further includes a rotating shaft 53 and a bearing seat 54, the bearing seat 54 is disposed on the first clamping portion 20, the rotating shaft 53 is rotatably disposed on the bearing seat 54, and the holder 51 is connected to the rotating shaft 53, so that the holder 51 is convenient to rotate.
Optionally, the supporting member 51 includes a first plate and a second plate connected to each other, an included angle is formed between the first plate and the second plate, the first plate is in driving connection with the second driving portion 52, a plurality of supporting plates are arranged at intervals at the end of the second plate, the supporting plates are used for supporting the bottom of the product, and an included angle is formed between the supporting plates and the second plate. This allows the bottom of the product to be held by a plurality of pallets. The arrangement makes the holding member 51 simple in structure and high in bearing capacity.
Another embodiment of the present invention provides a transfer robot, including a robot arm and a clamp, where the clamp is disposed on the robot arm, the robot arm is used to drive the clamp to move, and the clamp is the above-mentioned clamp. The clamp is provided with a support 10, a first clamping part 20, a second clamping part 30, a driving mechanism 40 and a supporting part 50, wherein the first clamping part 20 and the second clamping part 30 are movably arranged on the support 10, and the second clamping part 30 and the first clamping part 20 can be arranged close to or far away from each other so as to clamp two side surfaces of a product or loosen the product in a one-to-one correspondence manner; the driving mechanism 40 is arranged on the bracket 10, and the driving mechanism 40 is in driving connection with both the first clamping part 20 and the second clamping part 30 so as to drive the first clamping part 20 and the second clamping part 30 to move synchronously; the holder 50 is disposed on the first clamping portion 20, and at least a portion of the holder 50 is movably disposed so that at least a portion of the holder 50 moves to an area between the first clamping portion 20 and the second clamping portion 30 to hold a bottom of a product between the first clamping portion 20 and the second clamping portion 30. When the clamp is used for clamping a product, the bottom of the product can be supported by the supporting part 50 while two side surfaces of the product are clamped, so that the product is prevented from falling off, and the reliability is improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A clamp, comprising:
a support (10);
a first clamping portion (20) movably arranged on the bracket (10);
the second clamping part (30) is movably arranged on the bracket (10), and the second clamping part (30) and the first clamping part (20) can be arranged close to or far away from each other so as to clamp two side surfaces of a product or release the product in a one-to-one correspondence mode respectively;
the driving mechanism (40) is arranged on the bracket (10), and the driving mechanism (40) is in driving connection with the first clamping part (20) and the second clamping part (30) so as to drive the first clamping part (20) and the second clamping part (30) to move synchronously;
a holding part (50) disposed on the first clamping part (20), at least a portion of the holding part (50) being movably disposed so that at least a portion of the holding part (50) moves to an area between the first clamping part (20) and the second clamping part (30) to hold a bottom of the product between the first clamping part (20) and the second clamping part (30).
2. The clamp according to claim 1, characterized in that said drive mechanism (40) comprises:
the screw rod (41) is rotatably arranged on the bracket (10), and a first external thread and a second external thread are arranged on the screw rod (41), the rotating direction of the first external thread is opposite to that of the second external thread, wherein the first external thread is in driving connection with the first clamping part (20), and the second external thread is in driving connection with the second clamping part (30);
the first driving part (42) is arranged on the bracket (10), and the first driving part (42) is in driving connection with the screw rod (41) so as to drive the screw rod (41) to rotate forwards and backwards.
3. The clamp of claim 2, wherein the first drive portion (42) is a motor, the drive mechanism (40) further comprising:
the driving wheel is arranged on a driving shaft of the motor;
a driven wheel arranged at the end of the screw rod (41);
the driving wheel is in driving connection with the transmission belt, and the transmission belt is in driving connection with the driven wheel.
4. A clamp according to claim 3, characterized in that the drive shaft is arranged in the length direction of the holder (10), and the housing of the motor is located on the side of the drive wheel facing the holder (10).
5. The clamp according to claim 2, characterized in that said support (10) comprises:
the screw rod (41) is positioned between the two cross beams (11);
the two cross beams (11) are connected with the end plate (12), and the screw rod (41) is rotatably arranged on the end plate (12);
the two cross beams (11) are connected with the flange (13), and the flange (13) is used for connecting a mechanical arm.
6. The clamp of claim 2,
the first clamping part (20) comprises a first seat body (21) and a first clamping plate (22) arranged on the first seat body (21), the first seat body (21) is movably arranged on the support (10), the first seat body (21) is provided with a first internal thread, and the first external thread is in fit connection with the first internal thread;
the second clamping portion (30) comprises a second seat body (31) and a second clamping plate (32) arranged on the second seat body (31), the second seat body (31) is movably arranged on the support (10), the second seat body (31) is provided with a second internal thread, and the second external thread is in fit connection with the second internal thread.
7. The clamp of claim 1, further comprising:
a guide portion (60), the guide portion (60) being for guiding movement of the first clamping portion (20) and the second clamping portion (30).
8. The clamp according to claim 7, characterized in that said guide (60) comprises:
a guide rail (61) provided on the bracket (10);
a first slide (62) movably arranged on the guide rail (61), the first slide (62) being connected with the first clamping part (20) to guide the first clamping part (20);
a second slide (63) movably arranged on the guide rail (61), the second slide (63) being connected with the second clamping portion (30) for guiding the second clamping portion (30).
9. The clamp according to claim 1, characterized in that said holding portion (50) comprises:
the supporting piece (51) is rotatably arranged on the first clamping part (20), and the supporting piece (51) is provided with a supporting position and an avoiding position;
with the holder (51) in the holding position, at least a portion of the holder (51) is located between the first clamping portion (20) and the second clamping portion (30) to hold the bottom of the product;
when the holding piece (51) is at the avoiding position, the holding piece (51) is entirely positioned on one side of the first clamping part (20) departing from the second clamping part (30) so as to avoid the product.
10. A transfer robot comprising a robot arm on which a gripper is provided, the robot arm being configured to drive the gripper to move, and a gripper according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910995473.2A CN110587643A (en) | 2019-10-18 | 2019-10-18 | Clamp and transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910995473.2A CN110587643A (en) | 2019-10-18 | 2019-10-18 | Clamp and transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110587643A true CN110587643A (en) | 2019-12-20 |
Family
ID=68850939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910995473.2A Pending CN110587643A (en) | 2019-10-18 | 2019-10-18 | Clamp and transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110587643A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112978281A (en) * | 2021-03-15 | 2021-06-18 | 广东金玛印刷机械有限公司 | Cooling equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2431308A1 (en) * | 2007-10-15 | 2012-03-21 | Delaware Capital Formation, Inc. | Articulating package palletizing system |
| CN107381078A (en) * | 2017-08-26 | 2017-11-24 | 广东利迅达机器人系统股份有限公司 | A kind of composite fixture of Palletised carry robot |
| CN108502551A (en) * | 2018-05-30 | 2018-09-07 | 珠海格力智能装备有限公司 | Transport anchor clamps and have its hacking machine |
| CN109079838A (en) * | 2018-09-12 | 2018-12-25 | 珠海格力智能装备有限公司 | Clamp and transfer robot with same |
| CN109132566A (en) * | 2018-09-27 | 2019-01-04 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN109877867A (en) * | 2019-04-23 | 2019-06-14 | 珠海格力智能装备有限公司 | Clamp and robot with same |
-
2019
- 2019-10-18 CN CN201910995473.2A patent/CN110587643A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2431308A1 (en) * | 2007-10-15 | 2012-03-21 | Delaware Capital Formation, Inc. | Articulating package palletizing system |
| CN107381078A (en) * | 2017-08-26 | 2017-11-24 | 广东利迅达机器人系统股份有限公司 | A kind of composite fixture of Palletised carry robot |
| CN108502551A (en) * | 2018-05-30 | 2018-09-07 | 珠海格力智能装备有限公司 | Transport anchor clamps and have its hacking machine |
| CN109079838A (en) * | 2018-09-12 | 2018-12-25 | 珠海格力智能装备有限公司 | Clamp and transfer robot with same |
| CN109132566A (en) * | 2018-09-27 | 2019-01-04 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN109877867A (en) * | 2019-04-23 | 2019-06-14 | 珠海格力智能装备有限公司 | Clamp and robot with same |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112978281A (en) * | 2021-03-15 | 2021-06-18 | 广东金玛印刷机械有限公司 | Cooling equipment |
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Application publication date: 20191220 |