1302 results about "Grippers" patented technology

The invention discloses microminiature needle body high-speed visual screening equipment and a screening method thereof, and belongs to the technical field of industrial automatic detection and sorting. The equipment comprises an equipment frame, a feeding module, a visual identification module, a grabbing module, a control module and a material receiving module. The feeding module is used for conveying to-be-screened needle bodies. The visual identification module performs image acquisition and model identification on the needle body; the grabbing module is provided with a plurality of grabbing clamping jaws, can move in the horizontal direction and the vertical direction under the driving of the control module, and grabs a plurality of needle bodies of the same model at the same time at a time. The material receiving module comprises a plurality of material receiving boxes and a transposition driving mechanism for driving the material receiving boxes to move so as to align the target material receiving box to the grabbing module. The equipment disclosed by the invention can be widely applied to high-efficiency sorting of micro-miniature needle bodies with the diameters ranging from 0.3 mm to 3mm and the lengths ranging from 3mm to 77mm, has high precision, high speed and high reliability, and is suitable for large-scale production and multi-variety and small-batch production requirements.

Embodiments include systems for determining one or more properties of an object. In an embodiment, a system includes a gripping element, a light source, a probe element including an optical fiber, a spectrometer, and a processor. The gripping element is configured to grasp the object. The light source is configured to illuminate the object. The probe element is operatively coupled to the gripping element. The optical fiber is configured to transmit reflected light from the object. The spectrometer configured to: (i) receive the transmitted reflected light from the optical fiber and (ii) generate spectral data based on the received transmitted reflected light. The processor is configured to: (i) receive the generated spectral data from the spectrometer and (ii) determine one or more properties of the object based on the received generated spectral data.

The invention discloses a fixing and adjusting device for automatic welding of a robot, and relates to the technical field of automatic welding of robots. The first transmission assembly and the second transmission assembly are combined with the first hydraulic cylinder and the angle adjusting assembly, flexible and accurate three-dimensional space positioning and posture adjusting capacity is provided for a welding structure, the multiple independently-driven robot clamping jaws are provided with floating pressure heads, a pressure sensor and a temperature sensor are integrated, and the welding precision is improved. The clamping state is monitored in real time, stable clamping is ensured, meanwhile, damage is avoided, three-dimensional deformation data of a workpiece are captured in real time through the laser contourgraph and the CCD camera, the controller integrates the data, a welding seam track, the pose of the robot and clamping force, displacement and temperature information fed back by the clamping jaw, and then the adjusting assembly can be driven to conduct pose compensation. Local thermal deformation caused by welding heat input is actively counteracted, and the welding precision, the joint quality and the process stability are improved.

A system that includes a workpiece and a robotic gripper apparatus. The workpiece includes a pair of opposed first retention features. Each first retention feature includes a first proximal end, a first distal end, and an outer periphery. The pair of opposed grippers are moveable between a first position in which the pair of opposed grippers engage the pair of opposed first retention features. Each gripper includes a mounting feature having a second proximal end, a second distal end, and an inner periphery. When the pair of opposed grippers are in the first position, a first portion of the inner periphery near the first proximal end engages a first portion of the outer periphery near the second proximal end and a second portion of the inner periphery near the first distal end is separated from a second portion of the outer periphery near the second distal end.

The invention provides a driving and sensing integrated soft claw, gripper and method, and belongs to the field of deep sea soft grippers. The problems that a traditional soft gripper sensor is prone to forming stress concentration and cannot achieve multi-point sensing are solved. The driving and sensing integrated soft claw comprises a sensing layer, an acoustic wave guide main flow channel extending in the length direction is arranged on the sensing layer, and an ultrasonic transducer is arranged on the side, close to the fixed end of the sensing layer, of the acoustic wave guide main flow channel. The end face of one side of the sensing layer is a grabbing face, and a plurality of evenly-arranged protrusions are arranged in the acoustic wave guide main flow channel corresponding to the end face. And the driving layer is arranged on the side, away from the grabbing face, of the sensing layer, a plurality of deformation cavities communicating with the acoustic wave guide main flow channel are formed in the driving layer, the driving layer is in a stretching state in a normal state, and when the deformation cavities are filled with liquid and pressurization continues, the deformation cavities are used for deforming to drive the sensing layer to bend. The manipulator is mainly used for grabbing actions.

The invention discloses a mechanical arm gripper and an automobile door frame grabbing method.The mechanical arm gripper comprises a frame piece and a driving piece, the driving piece is connected with a positioning unit, the driving piece is used for driving the positioning unit to move in the X direction or move on the X-Y plane, the driving piece is further connected with a plurality of clamping units capable of moving in the X direction, and in the first state, the clamping units are clamped in the X direction; in the first state, the materials are at least partially located in the space under the frame piece, the materials are integrally suspended, and in the second state, the materials are disengaged from the clamping jaw and located at the station. Through cooperation of the driving part, the positioning unit and the clamping unit, the automobile door frame can be conveyed in the mode that the automobile door frame is positioned firstly and then clamped, the positioning unit moves in the X direction or in the X-Y plane, and the clamping unit moves in the X direction, so that the automobile door frame conveying device can adapt to automobile door frames of different sizes and shapes; and compared with the mode that different types of mechanical arm grippers are replaced, the operation space is saved, and the production and manufacturing cost can also be reduced.

The invention discloses a robot disordered grabbing method and system based on 3D vision, and relates to the field of vision grabbing, and the method comprises the steps: configuring a 3D vision collection module to execute incoming material area continuous collection, executing definition of a robot base coordinate system, a camera coordinate system and an incoming material station coordinate system, and setting a tray in-place consistency constraint. Deterministic mapping of a clamp and a strategy is formed under multiple types of incoming materials, the grabbing success rate is improved, deformation and falling risks are reduced, collision safety is improved with minimum safety gap constraint and path cost selection in an unordered environment, and operation stability is maintained through action time accounting and beat conformity judgment on the beat side. And traceability is realized by a sorting accuracy target and a task log write-in mechanism, and finally, shutdown waiting and secondary faults are reduced through alarm and separate disposal rules in a static incoming material and structure separation risk scene.

The present invention provides a self-control system for a mine pipe gripper and its control method, which relates to the technical field of mine pipe grippers. The system controls the pipe gripping process by means of vision, perception, and planning. The vision recognition part uses a mine visible light and depth camera for composite image acquisition to improve the accuracy of the coordinates of the pipe to be installed. The attitude perception part is responsible for spatially positioning the attitude of the pipe gripper. Finally, the hydraulic arm motion trajectory is planned by calculating the spatial coordinates of the pipe center and the spatial coordinates of the hydraulic arm center, and the inverse solution of the spatial coordinate system is carried out according to the DH algorithm, which is decomposed into the displacement and angle transformation amounts of the telescopic oil cylinder and the slewing motor, so as to achieve the purpose of the pipe gripper autonomously and accurately gripping the pipe; greatly solving the problems of manual operation of the existing mine pipe grippers, lack of intelligent perception, poor operation quality, and large potential safety hazards.

The invention discloses a full-automatic intelligent car loader stacking method, and relates to the technical field of data analysis, and the method comprises the steps: obtaining cargo attribute information, vehicle parameter information and transportation demand information, and carrying out package arrangement strategy analysis based on the cargo attribute information, the vehicle parameter information and the transportation demand information to obtain an initial package arrangement strategy; analyzing grabbing poses of a plurality of grabbing hands in the intelligent car loader on the basis of the initial package arranging strategy; cargo stacking debugging is carried out based on the grabbing pose and the initial package arranging strategy, and the gap accumulation ratio and the height error are detected in the cargo stacking debugging process; and the initial package arranging strategy and the grabbing posture are adjusted based on the gap accumulation ratio and the height error, a target package arranging strategy and a target grabbing posture are obtained, and the intelligent car loader conducts goods stacking according to the target package arranging strategy and the target grabbing posture. According to the invention, the goods can be effectively prevented from shifting, colliding and being damaged in the transportation process, and a firm guard is provided for the safety of the goods.

A self-propelled substrate feeding and discharging system is suitable for carrying a plurality of substrates and comprises a material box and a first self-propelled vehicle. The material box comprises a material rack and a plurality of material frames. The material frame is suitable for containing the base plate. And the first self-propelled vehicle is electrically driven and is used for carrying the material box and taking and placing the substrate from the material frame. The first self-propelled vehicle comprises a vehicle body unit, a conveying unit and a robot arm. The conveying unit comprises a conveying belt set used for moving the material boxes into or out of the vehicle body unit and a pulling and placing device used for taking and using one material frame. The pulling and releasing device is provided with at least one pair of telescopic cylinder sets arranged at intervals. And the robot arm is used for taking and placing the base plate of the material frame taken by the pulling and placing device. The robot arm comprises two electric clamping jaws. And each electric clamping jaw is provided with a plurality of paws. Automatic feeding and discharging can be achieved, manual operation is not needed, manpower is saved, and the production efficiency is good.

The utility model relates to the technical field of universal grippers, and discloses a universal gripper for stud welding without a grounding electrode. Comprising a supporting block, a pressing block, a pressing arm, a cushion block, a lining, a first gasket, a first connecting piece, an SMC speed regulating valve, a second connecting piece, a powerful tightening cylinder, an air cylinder pressing arm, a third connecting piece, a fourth connecting piece, a second gasket, a fifth connecting piece, a sixth connecting piece, an octagonal pipe, a first insulating pin and a second insulating pin. And the first gasket is arranged between the pressing block and the pressing arm. According to the universal hand grab without the grounding electrode, the pressing block material is replaced, so that the space is not occupied; when in use, the pressing blocks on the grippers are better attached to a plate and a pipe, so that the conductivity is increased, the installation space of the grounding electrode is saved, more space is provided for optimizing the track, and the operation is convenient, time-saving and labor-saving.

Bagging machines include a sealing mechanism having a sealing bar and a pressure plate movable in relation to the sealing bar so that the pressure plate and the sealing bar can apply pressure to a sealing area on an envelope to form a closure seal. The bagging machines can include a high-force actuator and a low-force actuator configured to apply different levels of force to the sealing bar dependent upon the position of the sealing bar in relation to the pressure plate. The bagging machines also can include one or more grippers that separate the upper ends of the envelope walls to provide access to an interior pocket of the envelope. The grippers can be configured to disengage from their drive mechanism upon encountering an obstruction in their movement into and out of contact with the envelope walls.

The present invention discloses an adaptive industrial robot gripper based on flexible materials, which relates to the technical field of robot grippers. It comprises a main body component and a moving component arranged at the bottom of the main body component, wherein the moving component is provided with a clamping component for clamping an object, and the clamping component is provided with an expansion component for flexibly clamping the object. The present invention is implemented by filling a storage box with a flexible fluid material, the flexible fluid material enters a limit frame through a feed pipe, squeezing and expanding an expansion bag, driving a bidirectional threaded rod to rotate by a driving motor, and two moving blocks respectively driving a first clamping plate and a second clamping plate to move, clamping the object, changing the injection amount of the flexible fluid material and the movement distance of the first clamping plate and the second clamping plate, thereby achieving adaptive flexible clamping of the object, and adjusting the injection amount of the silicone fluid by a first motor, thereby achieving adaptive flexible clamping of the object.

The utility model relates to the technical field of automation equipment, in particular to a stacking manipulator which comprises a chassis, a multi-shaft transmission arm and an intelligent flexible gripper, one end of the multi-shaft transmission arm is rotatably connected to the chassis, and the other end of the multi-shaft transmission arm is detachably connected with the intelligent flexible gripper; magnetic suction panels are arranged at the joints of the intelligent flexible grippers and the multi-axis transmission arm, and the intelligent flexible grippers are symmetrically arranged on the magnetic suction panels. The intelligent flexible gripper is further provided with an integrated weighing sensor and a visual identification system, and the weighing sensor is used for monitoring the weight of the gripped aluminum sulfate powder package in real time; and the visual identification system is used for identifying the position, size and posture of the aluminum sulfate powder package in real time so as to realize accurate grabbing and stacking actions in a complex space. According to the aluminum sulfate powder packaging bag stacking machine, the multi-shaft transmission arm, the intelligent flexible gripper, the integrated weighing sensor and the visual identification system are integrated, so that safe, efficient and accurate stacking of aluminum sulfate powder packaging bags is achieved.

The invention discloses drill rod multi-mechanism cooperative type self-adaptive feeding and discharging integrated equipment and method, and relates to the technical field of drilling machinery, the drill rod multi-mechanism cooperative type self-adaptive feeding and discharging integrated equipment comprises a frame body, a driving mechanism is mounted on one side of the frame body, the drill rod multi-mechanism cooperative type self-adaptive feeding and discharging integrated equipment further comprises a clamping mechanism, the clamping mechanism comprises a mounting base, a supporting rod is fixed to the mounting base, and two grippers are rotationally connected to the mounting base; a hydraulic rod is rotationally connected between the two grippers, a connecting assembly is arranged on each gripper and comprises a hydraulic motor fixedly installed on one side of the gripper, two driving wheels are rotationally connected to the other side of the gripper, one driving wheel is fixed to a driving shaft of the hydraulic motor, and the other driving wheel is fixed to a driving shaft of the hydraulic motor. According to the device, automatic feeding and connecting and automatic dismounting and discharging of the drill rod are achieved through the driving mechanism and the clamping mechanism, the working efficiency and safety are remarkably improved, in addition, the obliquely-arranged driving wheel combines the rotating function and the axial moving function, and the working efficiency is greatly improved. And the single operation period can be further shortened.

The invention relates to the technical field of automatic equipment moving path control, in particular to an electric energy meter production line sorting gripper equipment control method applying automatic control. According to the method, after the initial motion path of the gripper is determined, the initial load can be determined according to the size and the quality of a part grabbed by the gripper, and the safety speed interval of the gripper in the actual motion process can be determined based on the initial load and motion parameters in the path. And in consideration of the set real-time speed, safe and effective path point interpolation can be realized by combining the distance between the adjacent discrete path points. And the gripper intersection point between the grippers is determined based on the final path, and the collision contact between the grippers can be prevented by reducing the real-time speed at the gripper intersection point position. Through effective safe speed setting and smooth path interpolation, the safety of the gripper during moving of the electric energy meter parts is guaranteed, potential safety hazards in the production process are eliminated, and the production efficiency is improved.

The boxing and stacking clamp comprises a rack, two clamping arm assemblies rotationally connected to the rack, a first driving mechanism driving the clamping arm assemblies to act and a second driving mechanism driving a hook claw to rotate, the first driving mechanism comprises a first driving piece and a connecting rod assembly, and each clamping arm assembly comprises a clamping frame, a swing arm, a clamping plate and the like. The second driving mechanism is composed of a rotating driving shaft, a rotating rod, a rotating chain, a second driving piece and the like. When the materials are transferred, the first driving mechanism and the second driving mechanism are sequentially driven, the clamping arm assemblies clamp the two sides of the bagged materials, and the hook claws rotate to the bottoms of the materials for supporting. The technical effects that the bagged materials can be efficiently and stably clamped and supported, and material transferring and stacking operation is facilitated are achieved.

The invention relates to the technical field of well repair equipment, in particular to a pipe rod gripper and a pipe rod transfer platform, which comprise a mounting disc, grippers and a gripper driving mechanism, a vertically through pipe rod through hole for a pipe rod to penetrate through is formed in the middle of the mounting disc, and a notch communicated with the pipe rod through hole for the pipe rod to enter or exit from the pipe rod through hole is formed in the left side of the mounting disc; at least three paws which are evenly distributed around the central axis of the pipe rod through hole in the circumferential direction are hinged to the installation disc, and the paws are driven by the paw driving mechanism to be folded or unfolded so as to grasp or release the pipe rod. The pipe rod gripper is reasonable in structure and ingenious in design, the pipe rod gripper grabs a pipe rod through the at least three grippers evenly distributed around the center line of the gripper in the circumferential direction, the center axis of the pipe rod and the center line of the gripper are collinear when the grippers are folded to grasp the pipe rod, and therefore the inclination angle of the pipe rod can be controlled only by controlling the inclination angle of the center line of the gripper of the pipe rod gripper. Therefore, the inclination angle of the pipe rod can be conveniently controlled when the pipe rod is transferred between the wellhead and the catwalk machine.

The invention discloses a double-gripping-head flexible combined gripping apparatus and a using method, and relates to the field of gripping apparatuses, the double-gripping-head flexible combined gripping apparatus comprises three clamps which are oppositely arranged, the clamps are made of flexible materials, each clamp is of an isosceles triangle frame structure, and the tip ends of the isosceles triangle frame structures are distributed downwards; a plurality of flexible partition plates are fixedly arranged in the isosceles triangle frame structure, the flexible partition plates are vertically distributed at equal intervals and divide the interior of the isosceles triangle frame structure into a plurality of ventilation grooves, and flexible blocks are fixedly arranged in the middles of the flexible partition plates. According to the invention, the three clamps are oppositely engaged to clamp the outside of an object for fixation; the three clamps are relatively far away from each other and can be supported on the inner wall of an object for tight supporting and fixing, the object grabbing modes are variable, and objects of different sizes can be conveniently adapted; and the clamp is made of a flexible material, so that the clamp can adapt to the outer surface of the object conveniently, and the object can be clamped and fixed more stably.

The invention discloses an aluminum alloy die-casting device and relates to the technical field of aluminum alloy die-casting, the aluminum alloy die-casting device comprises a supporting frame, linear motors are fixedly connected to the left end and the right end of the upper portion of the supporting frame, telescopic air cylinders are fixedly connected to the output ends of the linear motors, and electric clamping jaws are fixedly connected to the output ends of the telescopic air cylinders; a casting mold is arranged in the electric clamping jaw, a mold cavity is formed in the casting mold, a condensation channel is additionally formed in the casting mold, a round barrel is arranged below the casting mold, a crucible is arranged in the round barrel, a cover plate is arranged above the round barrel, the cover plate is in threaded connection with the round barrel, a liquid inlet pipe is arranged below the casting mold, and a liquid outlet pipe is arranged below the liquid inlet pipe. The liquid inlet pipe penetrates through the cover plate and is fixedly connected with the cover plate, a plurality of air inlets are additionally formed in the cover plate, the air inlets are communicated with an air pump through pipelines, the air pump is fixedly connected to the cover plate, and a control machine is arranged on one side of the supporting frame.

A test terminal (1) for testing electronic components (2, 2a) has at least one gripping device (3) with at least two grippers (5) which are movably mounted in an insulating body (4), wherein each of the grippers (5) comprises gripper ends (9), and the grippers (5) can be moved from a rest position (I) into a working position (II) in the longitudinal direction (LR) of the insulating body (4) by means of a pressure body (6). The test terminal (1) has a spring (7) which presses the grippers (5) of the gripping device (3) into the rest position (I), and the grippers (5) of the gripping device (3) can be moved into the working position (II) against the spring force of the spring (7). In the rest position (I), in which the gripper ends (9) lie substantially one above the other, the gripping device (3) is closed in order to be inserted into a bore (11) of a printed circuit board (2a), and the grippers (5) of the gripping device (3) are pressed into the closed rest position (I) by means of the spring force of the spring (7). In the working position (II), in which the gripper ends (9) are at least partially spread apart, the gripping device (3) is at least partially open in order to electrically contact the bore (11) from the inside by means of the gripper ends (9).

A magnetic gripper for a handling device for gripping a magnetizable and / or magnetic workpiece includes a gripper base portion with an interior space, a piston portion with a piston rod extending along a longitudinal axis with a piston at the piston rod and in the interior space, a magnetic portion with a holding magnet. The magnetic portion is displaceable with the piston portion along the longitudinal axis between upper release and lower contact positions. A stripping portion with a stripper is at the piston rod and / or at the gripper base portion for releasing a gripping connection between the magnetic portion and the workpiece when the magnetic portion is displaced. The gripper base and / or piston portions are designed so the magnetic portion, in the contact position, protrudes along the longitudinal axis relative to the stripping portion. The magnetic portion has a magnet holder for receiving the holding magnet.

A brace of wire grippers (110L, 110R) for use in wire straining is disclosed. Each gripper has four interconnected arms, one end of the first (101) and second arms (102) being pivoted to each other, one end of the third (103) and fourth arms (104) being pivoted to each other; and the other ends of the second (102) and fourth arms (104) being pivoted to each other and the other ends of the first (101) and third arms (103) being pivoted to each other. The pivoted arms (101, 102) are shaped to form a wire clamp which is closed by a spring (5). Two arms (101, 104) have elongate extensions which form handles (106, 107) which, when gripped, open the wire clamp; and one of the handles is a mirror image of the other.

The utility model provides a gantry manipulator device for automatically picking up reinforcing steel bars, which belongs to the technical field of steel processing and comprises a left gantry support, a right gantry support is arranged on the side of the left gantry support, and a first gantry and a second gantry which are arranged in parallel are arranged between the left gantry support and the right gantry support. Three groups of manipulators are hung on a cantilever beam part of the first gantry, two groups of manipulators are hung on a cantilever beam part of the second gantry, the three groups of manipulators and the two groups of manipulators respectively comprise three mechanical main bodies and two manipulator main bodies, and walking boxes are arranged at two ends of the first gantry and two ends of the second gantry. By arranging the walking box, the machined reinforcing steel bar material can be conveniently driven in a reciprocating mode between the two gantries, the mechanical arm is combined, the mechanical arm can clamp the machined material through the clamping jaw, manual hoisting is not needed, automatic mechanical hoisting is achieved, the labor input is reduced, and the machining precision is guaranteed.

The invention relates to the technical field of mechanical grippers, in particular to a pipe gripping manipulator, and aims to solve the technical problems of unstable gripping and increased pipe damage risk caused by change of the number of contact points due to the fact that the pipe gripping manipulator cannot automatically adapt to the size change of a pipe in the prior art. The pipe grabbing manipulator comprises a fixing frame, at least one clamping arm and a driving assembly, wherein the clamping arm is of a chain type structure formed by sequentially hinging a plurality of clamping sections. The driving assembly sequentially drives the clamping sections in the first direction so as to drive the chain type structure to wind the periphery of the pipe. According to the pipe grabbing manipulator, the grabbing action is achieved by winding a pipe through the multiple sequentially-hinged clamping sections, each clamping section can form a contact point with the pipe, and the total number of the contact points is constant and is not affected by the size change of the pipe. The technical problems that due to the fact that an existing pipe grabbing mechanical arm cannot automatically adapt to the size change of the pipe, the number of contact points is changed, grabbing is unstable, and the pipe damage risk is increased are solved.

The invention relates to the technical field of flexible grippers, in particular to an integrated flexible gripper based on a braided tube structure. The invention aims to provide an integrated flexible gripper based on a braided tube structure. The integrated flexible gripper has the characteristics of simple structure, safety, reliability and good universality. According to the technical scheme, the integrated flexible gripper based on the braided tube structure is characterized by comprising a gripper, an arm, a gripper driving unit and a main joint driving unit, wherein the gripper and the arm are formed by internally and externally nesting an inner-layer braided tube and an outer-layer braided tube, the gripper driving unit is used for controlling the gripper to open and close, and the main joint driving unit is used for controlling the arm to bend; the front section of the inner-layer braided tube is used as the gripper, and the rear section of the inner-layer braided tube and the outer-layer braided tube are used as the arm; the inner-layer braided tube and the outer-layer braided tube are both formed by weaving a plurality of strands of spiral fibers in a staggered mode, and the weaving angle of the inner-layer braided tube is larger than that of the outer-layer braided tube.

The utility model discloses a clamp for locking a cylindrical object. The clamp comprises a fixing frame, a clamping device and a locking device, one end of each main clamping finger is hinged to the fixing frame; the two double-thread screws are connected with the two main clamping fingers respectively, anti-falling nuts are fixed to the two ends of each double-thread screw, the positions, located between the two anti-falling nuts, of each double-thread screw are sleeved with two auxiliary clamping fingers at intervals, the two auxiliary clamping fingers are located on the two sides of the main clamping fingers respectively, and a cylindrical object is clamped among the four auxiliary clamping fingers; the locking screw rod is arranged on the fixing frame in a penetrating mode, one end of the locking screw rod is in threaded connection with a screwing cap, the other end of the locking screw rod is fixedly provided with a locking conical block, the locking conical block is located between the two main clamping fingers, and one ends of the two main clamping fingers make contact with the conical face of the outer wall of the locking conical block. According to the clamp, mechanical locking clamping is adopted, motor driving clamping is not needed, and the problem that a gripper cannot be used due to the fact that a motor breaks down is solved; according to the clamp, the four auxiliary clamping fingers are adopted, and compared with two grippers, the clamping stability is improved.

According to the intelligent assembling device and method for the check valve for petroleum pipeline conveying, an assembling robot module can rapidly and automatically switch corresponding grippers through a rapid changing device, and automatic part grabbing and valve body assembling are achieved; the automatic part conveying line module conveys a valve body to a fixed point for assembly, and the visual detection system module is mainly used for detecting whether part materials are correct or not and whether neglected assembly is conducted or not after assembly is completed. The check valve assembling efficiency and precision are improved through the clamping jaw library module; the electrical control system module can automatically control the assembling process of the check valve, and it is ensured that each step is carried out according to preset programs and parameters. The production management system module can upload production data in real time, confirm, track and check production tasks according to an on-site terminal, and form closed-loop management.

A method and system for proactively monitoring the health of a robot end-of-arm tool based on timing of response to gripping commands. A part presence or other sensor provides a signal when a robot tool successfully grips or ungrips a workpiece. The time between each grip or ungrip command and its completion is recorded by the robot controller. Timing data for all robots in a facility are collected by a data collection device and forwarded to an analytic data center, where the timing data is analyzed for each end-of-arm tool. Alerts are sent advising of issues which have been identified on grippers when grip times exceeding a threshold or a deterioration trend in grip time performance is detected, and all analytic data is provided to a web portal for customer viewing and action. Response timing for other types of end-of-arm tools besides grippers may be similarly analyzed for proactive tool repair / replacement.

The utility model belongs to the technical field of injection molding part clamps, and particularly relates to an injection molding part fixing clamp tool which comprises a disc, the lower end of the disc is fixedly connected with two first supporting plates which are arranged in a left-right corresponding mode, and a two-way threaded rod is jointly and rotationally connected between the two first supporting plates. And the two-way threaded rod is sleeved with two moving blocks which are correspondingly arranged left and right in a threaded mode, U-shaped blocks are fixedly connected to the lower ends of the two moving blocks correspondingly, first rotating rods are rotationally connected into grooves of the two U-shaped blocks correspondingly, and the two first rotating rods are fixedly sleeved with electric clamping jaws correspondingly. The device can clamp injection molding products from openings of the injection molding products such as plastic buckets, plastic cups and plastic bowls, so that damage to the injection molding products caused by force output from the two sides of the injection molding products is avoided, the device can adapt to the injection molding products with different calibers, the angle of the electric clamping jaw can be adjusted, and the injection molding products with different shapes can be clamped.