CN112318546A - Clamp arm fixing mechanism of robot - Google Patents
Clamp arm fixing mechanism of robot Download PDFInfo
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- CN112318546A CN112318546A CN202011136003.XA CN202011136003A CN112318546A CN 112318546 A CN112318546 A CN 112318546A CN 202011136003 A CN202011136003 A CN 202011136003A CN 112318546 A CN112318546 A CN 112318546A
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- plate
- sliding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention relates to the technical field of robots and discloses a clamp arm fixing mechanism of a robot, which comprises a fixing frame, wherein one end of the fixing frame is fixedly connected with a supporting plate, one end of the supporting plate is connected with a sliding plate in a sliding manner, a motor is arranged below the sliding plate at the inner side of one end of the supporting plate, an output shaft of the motor is connected with a lead screw, the upper end of the lead screw is provided with a hand-operated mechanism, one end of the sliding plate is provided with a fastening device, and one side of the motor at the lower end of the fastening device is provided with a clamping mechanism; hand mechanism includes the hexagonal pole, interior hexagonal pipe has been cup jointed in the upper end outside of hexagonal pole, the top one end of interior hexagonal pipe is provided with hand handle, fastener includes electronic jar, fixed plate. The clamp arm fixing mechanism of the robot can be used for processing products of different sizes, is wide in application range, can increase the grabbing force of the clamping mechanism, prevents the products from falling, and can increase the use safety.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a clamp arm fixing mechanism of a robot.
Background
Robots are machine devices that perform work automatically, that can accept human commands, run preprogrammed programs, or outline actions based on principles formulated with artificial intelligence techniques, and whose task is to assist or replace human work, such as manufacturing, construction, or dangerous work.
The concept of a robot has gradually approached to the same world, and generally, people can accept the statement that the robot is a machine which realizes various functions by means of self power and control capability. The united nations standardization organization adopted the definition given by the american society for robotics to be: "a programmable and multifunctional manipulator; or a specialized system with computer-alterable and programmable acts for performing different tasks. "it can bring many conveniences to human beings.
The jawarms of the robot are automatic operating devices which imitate certain action functions of human hands and arms and are used for grabbing, carrying objects or operating tools according to fixed procedures.
The tong arm is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
Can be used for installing the tong arm through fixed establishment to control the tong arm operation, current tong arm fixed establishment has some shortcomings, and at first, the open angle of tong arm is limited, can not adjust the contained angle between the tong arm according to the size of product, and the product clamp is got insecurely, and in addition, the tong arm can't continue to promote after motor trouble, leads to the product of getting to hang aloft, and is very dangerous, for this reason, we propose the tong arm fixed establishment of robot.
Disclosure of Invention
Solves the technical problem
Aiming at the defects of the prior art, the invention provides a clamp arm fixing mechanism of a robot, which can be used for processing products with different sizes, has wider application range, can increase the grabbing force of a clamping mechanism, prevent the products from falling off, can increase the use safety, and solves the problems that the traditional clamp arm has a limited opening angle, can not adjust the included angle between the clamp arms according to the sizes of the products, is not firm in product clamping, and is very dangerous to use because the clamped products are suspended in the air due to the damage of a motor.
Technical scheme
In order to realize the purposes that the supporting structure can reinforce foundation holes with different apertures, can be used for processing products with different sizes, has wider application range, can increase the grabbing force of the clamping mechanism, prevent the products from falling and increase the use safety, the invention provides the following technical scheme: a clamp arm fixing mechanism of a robot comprises a fixing frame, wherein one end of the fixing frame is fixedly connected with a supporting plate, one end of the supporting plate is connected with a sliding plate in a sliding mode, a motor is arranged below the sliding plate on the inner side of one end of the supporting plate, an output shaft of the motor is connected with a lead screw, a hand-operated mechanism is arranged at the upper end of the lead screw, a fastening device is arranged at one end of the sliding plate, and a clamping mechanism is arranged on one side of the motor at the lower end of the fastening device;
the hand-operated mechanism comprises a hexagonal rod, an inner hexagonal pipe is sleeved on the outer side of the upper end of the hexagonal rod, and a hand-operated handle is arranged at one end of the top of the inner hexagonal pipe;
the fastening device comprises an electric cylinder and a fixed plate, wherein an output shaft of the electric cylinder is connected with a pulling plate, the fixed plate is positioned below the pulling plate, a transmission mechanism is arranged between the pulling plate and the fixed plate, and the fixed plate is slidably mounted at one end of a sliding plate;
the clamping mechanism comprises a connecting rod, the lower end of the connecting rod is rotatably connected with the clamp arm, one side, close to the motor, of one end of the connecting rod is provided with a cylinder, the lower end of the cylinder is connected with a connecting block, and the lower end of the connecting block is connected with the upper end of the clamp arm.
Preferably, the welding of hexagonal pole is in the upper end of lead screw, the internal dimension and the hexagonal pole looks adaptation of hexagon socket head cap pipe, mutually perpendicular between hand handle and the hexagon socket head cap pipe, with hexagon socket head cap pipe cover in the outside of hexagonal pole, can rotate the lead screw through hand handle, and then drive the slide and reciprocate, can change the position of product, avoid motor stop work to lead to the product to hang and break in the sky, increase the security of using.
Preferably, electronic jar is installed at the lower extreme of the extension board at slide top, arm-tie fixed connection is on electronic jar's output shaft, the fixed plate passes through drive mechanism and arm-tie swing joint, the fixed plate is the T font, the quantity of drive mechanism, fixed plate is two sets of, through electronic jar pull-up arm-tie, can make the turning of connecting plate and the junction of arm-tie shift up.
Preferably, the transmission mechanism comprises a connecting plate, a first connecting rotating shaft is arranged between one corner at the top of the connecting plate and the sliding plate, a second connecting rotating shaft is arranged between the other corner at the top of the connecting plate and the pulling plate, a third connecting rotating shaft is arranged at the joint of the lower end of the connecting plate and the fixed plate, the corner at the joint of the connecting plate and the pulling plate can move upwards when the pulling plate moves upwards, and meanwhile, the other corner at the upper end of the connecting plate rotates under the action of the first connecting rotating shaft, so that the lower end of the connecting plate can be driven to slide to one side.
Preferably, one end of the fixing plate is fixedly connected with a sliding block, a guide rail is arranged on the inner side of the sliding block at one end of the sliding plate, the inner surface of the sliding block is connected with the outer surface of the guide rail in a sliding mode, the fixing plate is connected with the sliding plate in a sliding mode through the sliding block and the guide rail, the fixing plate can be pushed through the connecting plate to enable the sliding block to slide on the outer side of the guide rail, and the two fixing plates can be.
Preferably, the connecting rod passes through the screw fixation at the lower extreme of fixed plate, the junction of a turning and the connecting rod in tong arm upper end is provided with the fourth and connects the pivot, and another turning and the junction of linking piece in tong arm upper end are provided with the fifth and connect the pivot, the tong arm rotates through fourth connection pivot, fifth connection pivot and connecting rod, linking piece to be connected, link up piece fixed connection on the output shaft of cylinder, clamping mechanism's quantity is two sets ofly, and two sets of clamping mechanism is about the central line axis symmetry of backup pad, can rotate tong arm and linking piece through linking piece and be connected, can drive the one end of tong arm through the cylinder and move down, can make the tong arm rotatory under the effect of fourth connection pivot, and two tong arms are minimum after rotatory 90 degrees, can press from both sides the product through the tong arm, and fixed more firm.
Preferably, the motor is fixed at the bottom end of the inner side of the support plate through a bolt, and the screw rod penetrates through the inside of the sliding plate.
Preferably, the fixed block is arranged on the outer side of a screw rod at one end of the top of the supporting plate and welded at one end of the supporting plate, the screw rod is connected with the sliding plate and the fixed block through threads, and the sliding plate is connected with the supporting plate in a sliding mode through the screw rod.
Advantageous effects
Compared with the prior art, the invention provides a clamp arm fixing mechanism of a robot, which has the following beneficial effects:
1. the clamp arm fixing mechanism of the robot can rotationally connect a clamp arm with a connecting block through the connecting block, one end of the clamp arm can be driven to move downwards through an air cylinder, the clamp arm can be enabled to rotate under the action of a fourth connecting rotating shaft, the distance between the two clamp arms is the minimum after the two clamp arms rotate 90 degrees, products can be clamped through the clamp arms, the fixing is firm, the corner at the joint of a connecting plate and a pulling plate can move upwards through the pulling plate pulled upwards by an electric cylinder, meanwhile, the other corner at the upper end of the connecting plate rotates under the action of a first connecting rotating shaft, the lower end of the connecting plate can be driven to slide towards one side, the fixing plate can be connected with the lower end of the connecting plate through a third connecting rotating shaft, and then the fixing plate can be pushed to slide outside a guide rail, so that the two fixing plates can be mutually closed, the distance between the two clamping mechanisms can be changed, and the distance adjusting range between the, the clamping mechanism can be used for processing products of different sizes, is wide in application range, and can increase the grabbing force of the clamping mechanism by adjusting the fastening device after the clamping mechanism grabs the products, so that the products are prevented from falling.
2. This tong arm fixed establishment of robot can drive the lead screw at the inside rotation of slide through the motor, and the surface of backup pad is hugged closely to the slide, can make the slide shift up, can promote the product, and after the motor trouble, with hexagon socket head cap pipe box in the outside of hexagonal pole, can rotate the lead screw through the hand crank, and then drive the slide and reciprocate, can change the position of product, leads to the product to hang and fall apart in the half space after avoiding the motor stop work and break, increases the security of using.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a partial schematic view of the present invention;
FIG. 3 is an enlarged schematic view of the hand-operated mechanism of the present invention;
FIG. 4 is a schematic structural view of the fastening device of the present invention;
FIG. 5 is a schematic structural view of the transmission mechanism of the present invention;
fig. 6 is a schematic structural view of the clamping mechanism of the present invention.
In the figure: 1. a fixed mount; 2. a support plate; 3. a slide plate; 4. an electric motor; 5. a screw rod; 6. a fixed block; 7. a hand-operated mechanism; 71. a hexagonal bar; 72. an inner hexagonal tube; 73. a hand-cranking handle; 8. a fastening device; 81. an electric cylinder; 82. pulling a plate; 83. a transmission mechanism; 831. a connecting plate; 832. a first connecting rotating shaft; 833. a second connecting rotating shaft; 834. the third connecting rotating shaft; 84. a fixing plate; 85. a slider; 86. a guide rail; 9. a clamping mechanism; 91. a connecting rod; 92. a clamp arm; 93. the fourth connecting rotating shaft; 94. a cylinder; 95. a joining block; 96. and the fifth is connected with the rotating shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1-6, a clamp arm fixing mechanism of a robot includes a fixing frame 1, one end of the fixing frame 1 is fixedly connected with a support plate 2, one end of the support plate 2 is slidably connected with a sliding plate 3, a motor 4 is arranged below the sliding plate 3 inside one end of the support plate 2, an output shaft of the motor 4 is connected with a lead screw 5, the upper end of the lead screw 5 is provided with a hand-operated mechanism 7, one end of the sliding plate 3 is provided with a fastening device 8, and one side of the lower end of the fastening device 8, which is provided with a clamping mechanism 9, of the motor;
the hand-operated mechanism 7 comprises a hexagonal rod 71, an inner hexagonal pipe 72 is sleeved on the outer side of the upper end of the hexagonal rod 71, and a hand-operated handle 73 is arranged at one end of the top of the inner hexagonal pipe 72;
the fastening device 8 comprises an electric cylinder 81 and a fixing plate 84, wherein an output shaft of the electric cylinder 81 is connected with a pulling plate 82, the fixing plate 84 is positioned below the pulling plate 82, a transmission mechanism 83 is arranged between the pulling plate 82 and the fixing plate 84, and the fixing plate 84 is slidably mounted at one end of the sliding plate 3;
the clamping mechanism 9 comprises a connecting rod 91, the lower end of the connecting rod 91 is rotatably connected with a tong arm 92, one end of the connecting rod 91 close to the motor 4 is provided with a cylinder 94, the lower end of the cylinder 94 is connected with a connecting block 95, and the lower end of the connecting block 95 is connected with the upper end of the tong arm 92.
In this embodiment, the hexagonal rod 71 is welded to the upper end of the screw rod 5, the inner size of the inner hexagonal tube 72 is matched with the hexagonal rod 71, and the hand handle 73 is perpendicular to the inner hexagonal tube 72.
Specifically, after motor 4 trouble, with hexagonal pipe 72 cover in hexagonal pole 71's the outside, can rotate lead screw 5 through hand handle 73, and then drive slide 3 and reciprocate, can change the position of product, avoid motor 4 stop work to lead to the product to hang and break in the sky, increase the security of using.
In this embodiment, the transmission mechanism 83 includes a connecting plate 831, a first connecting rotation shaft 832 is disposed between one corner of the top of the connecting plate 831 and the sliding plate 3, a second connecting rotation shaft 833 is disposed between the other corner of the top of the connecting plate 831 and the pulling plate 82, and a third connecting rotation shaft 834 is disposed at a connection position between the lower end of the connecting plate 831 and the fixing plate 84.
The electric cylinder 81 is arranged at the lower end of the extension plate at the top of the sliding plate 3, the pulling plate 82 is fixedly connected to an output shaft of the electric cylinder 81, the fixing plate 84 is movably connected with the pulling plate 82 through a transmission mechanism 83, the fixing plate 84 is T-shaped, and the transmission mechanism 83 and the fixing plate 84 are respectively two in number.
One end of the fixed plate 84 is fixedly connected with a slide block 85, the inner side of the slide block 85 at one end of the sliding plate 3 is provided with a guide rail 86, the inner surface of the slide block 85 is in sliding connection with the outer surface of the guide rail 86, and the fixed plate 84 is in sliding connection with the sliding plate 3 through the slide block 85 and the guide rail 86.
Specifically, pull plate 82 is pulled up through electric cylinder 81, can make the corner of connecting plate 831 and pull plate 82's junction shift up, simultaneously, another corner in connecting plate 831 upper end is rotatory under the effect of first connection pivot 832, can drive the lower extreme of connecting plate 831 and slide to one side, can be connected fixed plate 84 with the lower extreme of connecting plate 831 through third connection pivot 834, and then can promote fixed plate 84 and make slider 85 slide in the guide rail 86 outside, it draws together each other to enable two fixed plates 84, thereby can change the distance between two clamping mechanism 9, distance control range between two clamping mechanism 9 is great, can be used for the processing of different size products, application scope is wider, and can increase the dynamics that clamping mechanism 9 snatched through adjusting fastener 8 after clamping mechanism 9 snatchs the product, prevent that the product from dropping.
In this embodiment, the connecting rod 91 is fixed at the lower end of the fixing plate 84 through a screw, a fourth connecting rotating shaft 93 is arranged at the joint of one corner of the upper end of the clamp arm 92 and the connecting rod 91, a fifth connecting rotating shaft 96 is arranged at the joint of the other corner of the upper end of the clamp arm 92 and the connecting block 95, the clamp arm 92 is rotatably connected with the connecting rod 91 and the connecting block 95 through the fourth connecting rotating shaft 93 and the fifth connecting rotating shaft 96, the connecting block 95 is fixedly connected to the output shaft of the air cylinder 94, the number of the clamping mechanisms 9 is two, and the two sets of clamping mechanisms 9 are axisymmetric with respect to the center line of.
Specifically, the clamp arm 92 and the connecting block 95 can be rotatably connected through the connecting block 95, one end of the clamp arm 92 can be driven to move downwards through the air cylinder 94, the clamp arm 92 can be rotated under the action of the fourth connecting rotating shaft 93, the distance between the two clamp arms 92 is the minimum after the two clamp arms 92 rotate for 90 degrees, products can be clamped through the clamp arm 92, and the fixing is firm.
In this embodiment, the motor 4 is fixed to the inner bottom end of the support plate 2 by bolts, and the screw 5 penetrates the slide plate 3.
The outside of the top one end lead screw 5 of backup pad 2 is provided with fixed block 6, and the welding of fixed block 6 is in the one end of backup pad 2, and lead screw 5 all passes through threaded connection with slide 3, fixed block 6, and slide 3 passes through lead screw 5 and backup pad 2 sliding connection.
Specifically, the motor 4 drives the screw rod 5 to rotate inside the sliding plate 3, and the sliding plate 3 is tightly attached to the surface of the supporting plate 2, so that the sliding plate 3 can move upwards, and a product can be lifted.
When the clamping device works, the clamping arms 92 are rotatably connected with the connecting block 95 through the connecting block 95, one end of each clamping arm 92 is driven to move downwards through the air cylinder 94, the clamping arms 92 can rotate under the action of the fourth connecting rotating shaft 93, the distance between the two clamping arms 92 is the minimum after the two clamping arms 92 rotate 90 degrees, products can be clamped through the clamping arms 92, the pulling plate 82 is pulled upwards through the electric cylinder 81, the corner at the connecting part of the connecting plate 831 and the pulling plate 82 can move upwards, meanwhile, the other corner at the upper end of the connecting plate 831 rotates under the action of the first connecting rotating shaft 832, the lower end of the connecting plate 831 can be driven to slide to one side, the fixing plate 84 can be connected with the lower end of the connecting plate 831 through the third connecting rotating shaft 834, the fixing plate 84 can be further pushed to enable the sliding block 85 to slide outside the guide rail 86, the two fixing plates 84 can be mutually closed, the distance between the two clamping mechanisms 9 can be changed, and the distance adjusting, can be used for the processing of equidimension not product, get the product back at clamping mechanism 9 clamp, drive lead screw 5 at slide 3 inside rotation through motor 4, and slide 3 hugs closely the surface of backup pad 2, can make slide 3 move up, can promote the product, behind motor 4 trouble, overlap hexagon socket head cap 72 in the outside of hexagonal pole 71, can rotate lead screw 5 through hand handle 73, and then drive slide 3 and reciprocate, can change the position of product, avoid motor 4 stop work to lead to the product to hang and break in the sky, increase the security of using.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a tong arm fixed establishment of robot, includes mount (1), its characterized in that: one end of the fixing frame (1) is fixedly connected with a supporting plate (2), one end of the supporting plate (2) is connected with a sliding plate (3) in a sliding mode, a motor (4) is arranged below the sliding plate (3) on the inner side of one end of the supporting plate (2), an output shaft of the motor (4) is connected with a lead screw (5), the upper end of the lead screw (5) is provided with a hand-operated mechanism (7), one end of the sliding plate (3) is provided with a fastening device (8), and one side of the motor (4) at the lower end of the fastening device (8) is provided with a clamping mechanism (9);
the hand-operated mechanism (7) comprises a hexagonal rod (71), an inner hexagonal pipe (72) is sleeved on the outer side of the upper end of the hexagonal rod (71), and a hand-operated handle (73) is arranged at one end of the top of the inner hexagonal pipe (72);
the fastening device (8) comprises an electric cylinder (81) and a fixing plate (84), an output shaft of the electric cylinder (81) is connected with a pulling plate (82), the fixing plate (84) is located below the pulling plate (82), a transmission mechanism (83) is arranged between the pulling plate (82) and the fixing plate (84), and the fixing plate (84) is slidably mounted at one end of the sliding plate (3);
clamping mechanism (9) are including connecting rod (91), the lower extreme of connecting rod (91) rotates and is connected with tong arm (92), one side that one end of connecting rod (91) is close to motor (4) is provided with cylinder (94), the lower extreme of cylinder (94) is connected with links up piece (95), the lower extreme that links up piece (95) is connected with the upper end of tong arm (92).
2. The robot jawarm fixing mechanism according to claim 1, characterized in that: the hexagonal rod (71) is welded at the upper end of the screw rod (5), the inner size of the inner hexagonal pipe (72) is matched with the hexagonal rod (71), and the hand-cranking handle (73) and the inner hexagonal pipe (72) are perpendicular to each other.
3. The robot jawarm fixing mechanism according to claim 1, wherein: drive mechanism (83) are including connecting plate (831), be provided with first connection pivot (832) between a corner of top of connecting plate (831) and slide (3), and be provided with second connection pivot (833) between another corner of top of connecting plate (831) and arm-tie (82), the junction of connecting plate (831) lower extreme and fixed plate (84) is provided with third connection pivot (834).
4. The robot jawarm fixing mechanism according to claim 1, wherein: electronic jar (81) are installed at the lower extreme of the extension board at slide (3) top, arm-tie (82) fixed connection is on the output shaft of electronic jar (81), fixed plate (84) are through drive mechanism (83) and arm-tie (82) swing joint, fixed plate (84) are the T font, drive mechanism (83), the quantity of fixed plate (84) are two sets of.
5. The robot jawarm fixing mechanism according to claim 1, wherein: one end of the fixing plate (84) is fixedly connected with a sliding block (85), a guide rail (86) is arranged on the inner side of the sliding block (85) at one end of the sliding plate (3), the inner surface of the sliding block (85) is in sliding connection with the outer surface of the guide rail (86), and the fixing plate (84) is in sliding connection with the sliding plate (3) through the sliding block (85) and the guide rail (86).
6. The robot jawarm fixing mechanism according to claim 1, wherein: the utility model discloses a clamping device, including fixed plate (84), connecting rod (91), tong arm (92) upper end corner and the junction of connecting rod (91) are provided with fourth connection pivot (93), and tong arm (92) upper end another corner and the junction of linking up piece (95) are provided with fifth connection pivot (96), tong arm (92) are connected pivot (93), fifth connection pivot (96) and connecting rod (91), linking piece (95) rotation through fourth and are connected, link up piece (95) fixed connection on the output shaft of cylinder (94), the quantity of clamping mechanism (9) is two sets of, two sets of clamping mechanism (9) are about the central line axis symmetry of backup pad (2).
7. The robot jawarm fixing mechanism according to claim 1, wherein: the motor (4) is fixed at the bottom end of the inner side of the supporting plate (2) through a bolt, and the screw rod (5) penetrates through the inside of the sliding plate (3).
8. The robot jawarm fixing mechanism according to claim 1, wherein: the outer side of top one end lead screw (5) of backup pad (2) is provided with fixed block (6), the one end in backup pad (2) is welded in fixed block (6), lead screw (5) all pass through threaded connection with slide (3), fixed block (6), slide (3) pass through lead screw (5) and backup pad (2) sliding connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011136003.XA CN112318546A (en) | 2020-10-22 | 2020-10-22 | Clamp arm fixing mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011136003.XA CN112318546A (en) | 2020-10-22 | 2020-10-22 | Clamp arm fixing mechanism of robot |
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| CN112318546A true CN112318546A (en) | 2021-02-05 |
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| CN202011136003.XA Withdrawn CN112318546A (en) | 2020-10-22 | 2020-10-22 | Clamp arm fixing mechanism of robot |
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| CN109562903A (en) * | 2016-07-08 | 2019-04-02 | 诺登机械公司 | Clamping device, loading depot and the method for clamping stack |
| CN107598948A (en) * | 2017-09-13 | 2018-01-19 | 兔皇羊绒有限公司 | A kind of reach spool clamp device |
| CN108555887A (en) * | 2018-06-20 | 2018-09-21 | 湖州金辰机械有限公司 | A kind of automatic mechanical hand is convenient for the fixing device of adjusting |
| CN208497036U (en) * | 2018-07-18 | 2019-02-15 | 成都云奥智能科技有限公司 | A kind of crawl fixture applied to robot arm |
| CN109015622A (en) * | 2018-07-19 | 2018-12-18 | 深圳兆鼎科技有限公司 | A kind of pneumatic electro double-purpose clamping jaw device |
| CN109249416A (en) * | 2018-09-30 | 2019-01-22 | 重庆大学 | Clamping jaw be fiber bragg grating and can chucking power from sensing micro-clamp |
| CN110524567A (en) * | 2019-07-03 | 2019-12-03 | 珠海格力电器股份有限公司 | A kind of manipulator and robot |
| CN210635407U (en) * | 2019-07-18 | 2020-05-29 | 技善自动化科技(上海)有限公司 | Stacking robot device |
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Application publication date: 20210205 |