CN103350420A - Suction nozzle distance adjuster - Google Patents
Suction nozzle distance adjuster Download PDFInfo
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- CN103350420A CN103350420A CN2013102706607A CN201310270660A CN103350420A CN 103350420 A CN103350420 A CN 103350420A CN 2013102706607 A CN2013102706607 A CN 2013102706607A CN 201310270660 A CN201310270660 A CN 201310270660A CN 103350420 A CN103350420 A CN 103350420A
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- sliding
- range adjuster
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Abstract
The invention discloses a suction nozzle distance adjuster which comprises a main support, a linear driving device, a driving plate, at least two sliding supports and suction nozzles, wherein the sliding supports are arranged side by side and slide relative to the main support; the suction nozzles are fixed on the sliding supports; the driving plate slides relative to the main support and is provided with inclined surface driving parts corresponding to the sliding supports; each inclined surface driving part is provided with two inclined surfaces parallel to each other; sliding pieces are arranged on the sliding supports and glidingly arranged on the inclined surfaces; and the linear driving device pushes the driving plate to move, so that the sliding pieces are driven to slide along the inclined surface driving parts. The suction nozzle distance adjuster can automatically adjust distances among the suction nozzles, is simple in structure and convenient to control, and improves the production efficiency effectively.
Description
Technical field
The present invention relates to a kind of range adjuster, relate in particular to a kind of can automatically regulate suction nozzle between distance, simple in structure, control is convenient, and the suction nozzle range adjuster of Effective Raise production efficiency.
Background technology
Along with the day by day raising of people's energy-conserving and environment-protective consciousness, various LED lamps are used more and more widely, and LED lamp bar is exactly wherein a kind of.In the process of assembled LED lamp bar, LED lamp pearl need to be mounted on the LED lamp batten, in existing production technology, normally utilize the suction nozzle of manipulator will expect that the LED lamp pearl that the station sends sucks, and then be installed to singly on the LED lamp batten, yet a lamp batten need to be installed a large amount of LED lamp pearls, single installation can cause production efficiency very low, can not satisfy the requirement of production.
In order to enhance productivity, people are by arranging a plurality of suction nozzles, make manipulator that a plurality of LED lamp pearls once can be installed, but, because the distance between the LED lamp on the LED lamp batten is different from the spacing of the LED lamp pearl at material station, therefore, before drawing LED lamp pearl, need using an adjusting device that the spacing of suction nozzle is adjusted into the spacing of the upper LED lamp pearl of expecting to stand equates, and, before installation, need again spacing with suction nozzle to be adjusted into the installing space of lamp bar onboard led and equate, could draw smoothly and mounted LED lamp bulb like this.Yet, do not have on the existing LED production line such adjusting device for, therefore, be difficult to Effective Raise production efficiency.
Summary of the invention
The object of the present invention is to provide a kind of can automatically regulate suction nozzle between distance, simple in structure, control is convenient, and the suction nozzle range adjuster of Effective Raise production efficiency.
To achieve these goals, suction nozzle range adjuster provided by the invention comprises main support, linear drive apparatus, drive plate, at least two sliding supports and suction nozzle, described sliding support is arranged side by side and relatively described main support slides, described suction nozzle is fixed in described sliding support, the relatively described main support of described drive plate slides and is provided with the inclined-plane drive division corresponding with described sliding support, described inclined-plane drive division has two mutual parallel inclined-planes, each described sliding support is provided with sliding part, described sliding part is arranged on the described inclined-plane slidably, described linear drive apparatus promotes described drive plate and moves, and then orders about described sliding part and slide along described inclined-plane drive division.
Preferably, the slope of each described inclined-plane drive division reduces gradually or increases.Because each described inclined-plane drive division is identical along the distance that the driving direction of described linear drive apparatus moves, therefore, by utilizing the slope variation of described inclined-plane drive division, the length of the projection of described inclined-plane drive division on the glide direction of described sliding support is increased gradually, thereby make each described sliding support when sliding, can pull open each other distance, reach the purpose of adjusting distance.
Particularly, the length of each projection of described inclined-plane drive division on the glide direction of described sliding support becomes arithmetic progression.By utilizing the slope variation of described inclined-plane drive division, and then the length of each projection of described inclined-plane drive division on the glide direction of described sliding support become arithmetic progression, thereby make described sliding support when sliding, can pull open each other distance, and the distance between the two described sliding supports is equated, and then reach the purpose that described sliding support is mutually equidistant adjusting.
Particularly, the equal in length of each projection of described inclined-plane drive division on the glide direction of described drive plate.Because each described inclined-plane drive division is on same drive plate, the length of each projection of described inclined-plane drive division on the glide direction of described drive plate is arranged to equate, therefore, each described sliding part guarantees that whole process sliding under the driving of described drive plate described sliding support moves needed distance in described inclined-plane drive division.
Preferably, the glide direction of described drive plate is vertical with the glide direction of described sliding support or in the same way.
Preferably, described linear drive apparatus comprises servomotor, screw mandrel and slide block, described servomotor is fixed in described main support, one end of described screw mandrel is connected with the output of described servomotor, it is outer and be connected with described wire rod thread that described slide block set is connected to described screw mandrel, and described slide block and described drive plate are fixed.By described screw mandrel and slide block are set, owing to be threaded between described screw mandrel and the slide block, therefore, described screw mandrel can drive described slide block and move around, cooperating between described screw mandrel and the slide block described drive plate is moved and locate more precisely, in addition, utilize the described screw mandrel of described driven by servomotor, the forward, reverse or stop that can effectively control described screw mandrel end, and control very convenient.
Preferably, described linear drive apparatus is cylinder or electric pushrod.Because the moving direction of described drive plate is straight line, therefore, utilize described cylinder or electric pushrod isoline driver also can realize driving to described drive plate, and control is also very simple and convenient.
Preferably, described inclined-plane drive division is skewed slot or oblique raised line, and the two side of described skewed slot or oblique raised line is respectively two described inclined-planes.
Particularly, the sliding part quantity of each described sliding support is two, and two described sliding parts contact at respectively two described inclined-planes slidably.Drive described sliding part realization because described sliding support moves around by two described inclined-planes, therefore, described sliding part must be conflicted with described inclined-plane.But, when only using a sliding part, owing to the reason of installing, a sliding part is difficult to conflict simultaneously with two described inclined-planes, therefore, sliding part and wherein just have the gap between the inclined-plane, there is error with regard to causing in this when driving, so that the displacement of described sliding support is inaccurate, thereby can't adjust accurately distance between the described sliding support.Yet, by two described sliding parts are set, can overcome the difficulty that a sliding part is difficult to be installed in two inclined-planes on the one hand, can realize on the other hand conflicting with two inclined-planes, thereby solve the problem of the mobile accuracy of described sliding support, guarantee the accuracy of described sliding support distance adjustment.
Particularly, described sliding part is capacity eccentric bearing, eccentric wheel or cam.Use described capacity eccentric bearing on the one hand can be after described capacity eccentric bearing be installed in described skewed slot the further gap between fine setting and the described inclined-plane again, guarantee to conflict with described inclined-plane, can realize on the other hand contacting with the rolling of described inclined-plane, thereby in the process that drives, reduce and described inclined-plane between frictional resistance, make driving more smooth; And described eccentric wheel and cam also can further be finely tuned and described inclined-plane between the gap, guarantee to conflict with described inclined-plane.
Compared with prior art, because the present invention arranges described drive plate and sliding support, and offer the inclined-plane drive division on the described drive plate, described sliding support is provided with sliding part, by described sliding support is arranged on the described main support slidably, described sliding part is arranged on the described inclined-plane slidably, therefore, utilize described linear drive apparatus to drive described drive plate, the described sliding part of slope driving on the described drive plate is slided, thereby reach the purpose of mobile described sliding support, and then realize automatically regulating the distance between the suction nozzle on each described sliding support.Whole process only need to use a drive plate to regulate each suction nozzle, and structure is very simple; And only need to be got final product by a described linear drive apparatus control, control ten convenience; In addition, can control simultaneously a plurality of suction nozzle absorption workpiece by a plurality of described sliding supports are set, greatly improve production efficiency.
Description of drawings
Fig. 1 is the structural representation of suction nozzle range adjuster of the present invention.
Fig. 2 is the side view of suction nozzle range adjuster of the present invention.
Fig. 3 is the structural representation of drive plate in the suction nozzle range adjuster of the present invention.
Fig. 4 is the structural representation that drive plate cooperates with sliding part.
Fig. 5 is the view of the suction nozzle of suction nozzle range adjuster of the present invention when scattering fully.
Fig. 6 is the view of the suction nozzle of suction nozzle range adjuster of the present invention when drawing in fully.
The specific embodiment
Be the effect that describes technology contents of the present invention, structural feature in detail, realizes, below in conjunction with embodiment and cooperate that accompanying drawing is detailed to give explanation.
Such as Fig. 1, Fig. 2 and shown in Figure 3, suction nozzle range adjuster 100 of the present invention can be regulated the distance between the suction nozzle 4, makes it adapt to spacing between each workpiece, thereby effectively workpiece is drawn and shifted.Suction nozzle range adjuster 100 comprises a main support (not shown), a straight line drive unit 1, a drive plate 2, five sliding supports 3, six suction nozzles 4 and a fixed support 5.Main support is fixed, and five sliding supports 3 are arranged side by side and relatively main support slip, and five suction nozzles 4 are individually fixed in the lower end of five sliding supports 3; Drive plate 2 relative main supports slide, and the glide direction of drive plate 2 is vertical with the glide direction of sliding support 3, and the glide direction of sliding support 3 is horizontal direction among the present invention, and the glide direction of drive plate 2 is vertical direction.Drive plate 2 is provided with the inclined-plane drive division corresponding with sliding support 3, and the inclined-plane drive division is skewed slot 21, and the two side of skewed slot is respectively the first inclined-plane 21a and the second inclined-plane 21b, and the first inclined-plane 21a and the second inclined-plane 21b are parallel to each other.Utilize skewed slot 21, each sliding support 3 can draw under the driving of skewed slot 21 or scatter.Each sliding support 3 is provided with sliding part 31, and sliding part 31 is arranged on the first inclined-plane 21a and the second inclined-plane 21b slidably; Linear drive apparatus 1 promotes drive plate 2 and moves, and then orders about sliding part 31 and slide along the first inclined-plane 21a and the second inclined-plane 21b.Fixed support 5 is fixed in main support, and is arranged side by side with sliding support 3, and a suction nozzle 4 is fixed on the fixed support 5.Glide direction that it should be noted that sliding support 3 and the glide direction of drive plate 2 also can be identical or become cross-like, and at this moment, a position that only needs to adjust each skewed slot 21 gets final product.The inclined-plane drive division also can be oblique raised line, and tiltedly raised line protrudes from the outside of drive plate 2, and the two side is the first inclined-plane 21a and the second inclined-plane 21b.
In conjunction with Fig. 1 and Fig. 2, as shown in Figure 3, the slope of skewed slot 21 reduces from left to right gradually.Particularly, fixed support 5 is fixed in a side of main support, sliding support 3 is arranged side by side with main support, the slope of skewed slot 21 is from reducing gradually near a side direction of fixed support 5 side away from fixed support 5, take fixed support 5 as reference, when each sliding support 3 scattered, each sliding support 3 was away from fixed support 5, during gathering near fixed support 5.Owing to utilize the slope variation of skewed slot 21, the length of the projection of sliding part 31 on the glide direction of sliding support 3 is increased gradually, thereby make each sliding support 3 when sliding, can pull open each other distance, reach the purpose of adjusting distance.More specifically, the equal in length of each projection of skewed slot 21 on the glide direction of drive plate 2, the length of each projection of skewed slot 21 on the glide direction of sliding support 3 becomes arithmetic progression.Because each skewed slot 21 is on same drive plate 2, the length of each projection of skewed slot 21 on the glide direction of drive plate 2 is arranged to equate, therefore, each sliding part 31 can be skewed slot 21 interior omnidistance slips under the driving of drive plate 2, and after slip, distance between the sliding support 3 equates, has reached like this purpose that sliding support 3 is mutually equidistant adjusting.At this moment, suction nozzle 4 just can be equidistant arrangement, and then each workpiece that is equidistant arrangement is adsorbed simultaneously, increases work efficiency.
Certainly, the slope of skewed slot 21 of the present invention not necessarily arranges by above-mentioned mode so that its length in the projection of the glide direction of sliding support 3 becomes arithmetic progression, also the slope of each skewed slot 21 can be set according to the different spacing between each workpiece, thereby the spacing of each sliding support 3 after scattering equated with spacing between the workpiece.
Please refer to Fig. 4, particularly, sliding part 31 quantity of each sliding support 3 are two, and two sliding parts 31 contact at respectively the first inclined-plane 21a and the second inclined-plane 21b slidably.Drive sliding part 31 realizations because sliding support 3 moves around by the first inclined-plane 21a and the second inclined-plane 21b, therefore, sliding part 31 must be conflicted with the first inclined-plane 21a and the second inclined-plane 21b; But, when only using a sliding part 31, owing to the reason of installing, a sliding part 31 is difficult to reach with the first inclined-plane 21a and the second inclined-plane 21b conflicts simultaneously, therefore, sliding part 31 and wherein just have the gap between the inclined-plane, this will cause having error when driving, make the displacement of sliding support 3 inaccurate, thereby can't adjust accurately the distance between the sliding support 3.By two sliding parts 31 are set, can overcome the difficulty that a sliding part is difficult to be installed in two inclined-planes on the one hand, realize on the other hand conflicting with the first inclined-plane 21a and the second inclined-plane 21b, thereby solve the problem of the mobile accuracy of sliding support 3, thereby guarantee the accuracy of sliding support 3 distance adjustment.Certainly, if when not high to required precision, only use a sliding part also can realize driving back and forth sliding support 3.More specifically, sliding part 31 is capacity eccentric bearing, and capacity eccentric bearing is articulated on the sliding support 3.Use capacity eccentric bearing on the one hand can be after capacity eccentric bearing be installed in skewed slot 21 the further gap between fine setting and the first inclined-plane 21a and the second inclined-plane 21b again, guarantee to conflict with the first inclined-plane 21a and the second inclined-plane 21b, can realize on the other hand contacting with the first inclined-plane 21a and the second inclined-plane 21b rolling, thereby in the process that drives, reduce and the first inclined-plane 21a and the second inclined-plane 21b between frictional resistance, make driving more smooth; Sliding part 31 can also use eccentric wheel or cam, eccentric wheel or cam also can further finely tune and first, second inclined- plane 21a, 21b between the gap, guarantee to conflict with first, second inclined- plane 21a, 21b.
Please refer to again Fig. 1, linear drive apparatus 1 comprises servomotor 11, screw mandrel 12 and slide block 13, servomotor 11 is fixed on the main support, screw mandrel 12 is vertical setting and an end is connected with the output of servomotor 11, slide block 13 is socketed on outside the screw mandrel 12 and with screw mandrel 12 and is threaded, and slide block 13 is fixing with drive plate 2.By screw mandrel 12 and slide block 13 are set, owing to be threaded between screw mandrel 12 and the slide block 13, therefore, screw mandrel 12 can drive slide block 13 and move around, cooperating between screw mandrel 12 and the slide block 13 drive plate 2 is moved and locate more precisely, in addition, utilize servomotor 11 to drive screw mandrels 12, the forward, reverse or stop that can effectively control screw mandrel 12 end, and control very convenient.Certainly, linear drive apparatus 1 of the present invention also can be cylinder or electric pushrod isoline driver.Because the moving direction of drive plate 2 is straight line, therefore, utilize cylinder or electric pushrod isoline driver also can realize driving to drive plate 2, and control is also very simple and convenient.
Comprehensive above-mentioned and in conjunction with Fig. 5 and Fig. 6, the below is described in detail the operation principle of suction nozzle range adjuster 100 of the present invention, and is as follows:
When suction nozzle range adjuster 100 needs the absorption workpiece, start servomotor 11, servomotor 11 electricity drive screw mandrel 12 and rotate, screw mandrel 12 drives slide block 13 and moves down, at this moment, slide block 13 drives drive plate 2 and moves down, the first inclined-plane 21a of each skewed slot 21 of drive plate 2 moves down and promotes simultaneously each sliding part 31 horizontal slip, at this moment, each sliding part 31 scatters, when drive plate 2 is moved down into bottom, sliding part 31 is positioned at the top of skewed slot 21, sliding support 3 is in the state that scatters fully, at this moment the distance between each suction nozzle 4 equate and suction nozzle 4 between distance equate that with distance between workpiece 100 times movements of suction nozzle range adjuster utilize suction nozzle 4 to adsorb workpiece.Behind the absorption workpiece, suction nozzle range adjuster 100 can be with workpiece movable to the position that needs to install, after the installation, start servomotor 11, make servomotor 11 counter-rotatings, servomotor 11 drives screw mandrel 12 counter-rotatings, and screw mandrel 12 drives slide block 13 and moves up, at this moment, sliding part 31 band drive plates 2 move up, and the second inclined-plane 21b of each skewed slot 21 moves up and promotes simultaneously each sliding part 31 horizontal slip, at this moment, each sliding part 31 near and close up, when drive plate 2 was moved upwards up to topmost, sliding part 31 was positioned at skewed slot 21 bottom, at this moment, sliding support 3 can be drawn in, the distance between each suction nozzle 4 is minimum.Above-mentioned adjust between the suction nozzle 4 apart from the time, also can drive drive plate 2 slipper strokes, thereby the distance between the sliding support can be adjusted arbitrarily between minimum and maximum.
Because the present invention arranges drive plate 2 and sliding support 3, and offer skewed slot 21 on the drive plate 2, skewed slot 21 has the first inclined-plane 21a and the second inclined-plane 21b, sliding support 3 is provided with sliding part 31, by being arranged at slidably sliding support 3 on the main support, sliding part 31 is arranged on the first inclined-plane 21a and the second inclined-plane 21b slidably, therefore, utilize linear drive apparatus 1 to drive drive plate 2, can make the first inclined-plane 21a and the second inclined-plane 21b on the drive plate 2 promote sliding part 31 slips, thereby reach the purpose of mobile sliding support 3, and then realize automatically regulating the distance between the suction nozzle 4 of each sliding support 3.Whole process only need to use a drive plate 2 to regulate each suction nozzle 4, and structure is very simple; And only need to be got final product by a straight line drive unit 1 control, control ten convenience; In addition, can control simultaneously a plurality of suction nozzle 4 absorption workpiece by a plurality of sliding supports 3 are set, greatly improve production efficiency.
Above disclosed only is preferred embodiments of the present invention, certainly can not limit with this interest field of the present invention, and the equivalent variations of therefore doing according to the present patent application claim still belongs to the scope that the present invention is contained.
Claims (10)
1. suction nozzle range adjuster, it is characterized in that: comprise main support, linear drive apparatus, drive plate, at least two sliding supports and suction nozzle, described sliding support is arranged side by side and relatively described main support slides, described suction nozzle is fixed in described sliding support, the relatively described main support of described drive plate slides and is provided with the inclined-plane drive division corresponding with described sliding support, described inclined-plane drive division has two mutual parallel inclined-planes, each described sliding support is provided with sliding part, described sliding part is arranged on the described inclined-plane slidably, described linear drive apparatus promotes described drive plate and moves, and then orders about described sliding part and slide along described inclined-plane drive division.
2. suction nozzle range adjuster as claimed in claim 1, it is characterized in that: the slope of each described inclined-plane drive division reduces gradually or increases.
3. suction nozzle range adjuster as claimed in claim 2, it is characterized in that: the length of each projection of described inclined-plane drive division on the glide direction of described sliding support becomes arithmetic progression.
4. suction nozzle range adjuster as claimed in claim 2 is characterized in that: the equal in length of each projection of described inclined-plane drive division on the glide direction of described drive plate.
5. suction nozzle range adjuster as claimed in claim 1 is characterized in that: the glide direction of described drive plate is vertical with the glide direction of described sliding support or in the same way.
6. suction nozzle range adjuster as claimed in claim 1, it is characterized in that: described linear drive apparatus comprises servomotor, screw mandrel and slide block, described servomotor is fixed in described main support, one end of described screw mandrel is connected with the output of described servomotor, it is outer and be connected with described wire rod thread that described slide block set is connected to described screw mandrel, and described slide block and described drive plate are fixed.
7. suction nozzle range adjuster as claimed in claim 1, it is characterized in that: described linear drive apparatus is cylinder or electric pushrod.
8. suction nozzle range adjuster as claimed in claim 1 is characterized in that: described inclined-plane drive division is skewed slot or oblique raised line, described skewed slot or tiltedly the two side of raised line be respectively two described inclined-planes.
9. suction nozzle range adjuster as claimed in claim 8, it is characterized in that: the sliding part quantity of each described sliding support is two, and two described sliding parts contact at respectively two described inclined-planes slidably.
10. suction nozzle range adjuster as claimed in claim 9, it is characterized in that: described sliding part is capacity eccentric bearing, eccentric wheel or cam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310270660.7A CN103350420B (en) | 2013-06-28 | 2013-06-28 | Suction nozzle distance adjuster |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310270660.7A CN103350420B (en) | 2013-06-28 | 2013-06-28 | Suction nozzle distance adjuster |
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| CN103350420A true CN103350420A (en) | 2013-10-16 |
| CN103350420B CN103350420B (en) | 2016-01-27 |
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| CN201310270660.7A Expired - Fee Related CN103350420B (en) | 2013-06-28 | 2013-06-28 | Suction nozzle distance adjuster |
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Cited By (8)
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| CN104507268A (en) * | 2014-12-25 | 2015-04-08 | 深圳市艾迪特智能装备有限公司 | Spacing adjusting jig, spacing adjusting structure and spacing adjusting method |
| CN105223387A (en) * | 2015-10-12 | 2016-01-06 | 昆山鸿志犀自动化机电设备有限公司 | Roll adjustment module, roll adjustment are held concurrently translating device and application apparatus |
| CN107030459A (en) * | 2016-12-30 | 2017-08-11 | 昆山艾博机器人技术有限公司 | A kind of Sports water container automatic blanking device |
| CN109530367A (en) * | 2018-12-29 | 2019-03-29 | 山东力诺特种玻璃股份有限公司 | Guide rail bracket is sucked out in cillin bottle ejected wash water vacuum |
| CN110137313A (en) * | 2019-06-25 | 2019-08-16 | 无锡先导智能装备股份有限公司 | Break piece system and glass-severing method |
| CN112025746A (en) * | 2020-08-12 | 2020-12-04 | 温州职业技术学院 | Multi-finger linkage type high-precision manipulator system |
| CN112549063A (en) * | 2020-12-28 | 2021-03-26 | 珠海广浩捷科技股份有限公司 | Clamping jaw device |
| CN113878601A (en) * | 2021-09-30 | 2022-01-04 | 诸暨市润拓机械自动化科技有限公司 | Manipulator clamping jaw mechanism with multiple jaws |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104507268A (en) * | 2014-12-25 | 2015-04-08 | 深圳市艾迪特智能装备有限公司 | Spacing adjusting jig, spacing adjusting structure and spacing adjusting method |
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| CN105223387A (en) * | 2015-10-12 | 2016-01-06 | 昆山鸿志犀自动化机电设备有限公司 | Roll adjustment module, roll adjustment are held concurrently translating device and application apparatus |
| CN107030459A (en) * | 2016-12-30 | 2017-08-11 | 昆山艾博机器人技术有限公司 | A kind of Sports water container automatic blanking device |
| CN109530367A (en) * | 2018-12-29 | 2019-03-29 | 山东力诺特种玻璃股份有限公司 | Guide rail bracket is sucked out in cillin bottle ejected wash water vacuum |
| CN109530367B (en) * | 2018-12-29 | 2024-02-02 | 山东力诺特种玻璃股份有限公司 | Vacuum suction guide rail frame for cleaning water of penicillin bottle |
| CN110137313A (en) * | 2019-06-25 | 2019-08-16 | 无锡先导智能装备股份有限公司 | Break piece system and glass-severing method |
| CN112025746A (en) * | 2020-08-12 | 2020-12-04 | 温州职业技术学院 | Multi-finger linkage type high-precision manipulator system |
| CN112549063A (en) * | 2020-12-28 | 2021-03-26 | 珠海广浩捷科技股份有限公司 | Clamping jaw device |
| CN113878601A (en) * | 2021-09-30 | 2022-01-04 | 诸暨市润拓机械自动化科技有限公司 | Manipulator clamping jaw mechanism with multiple jaws |
| CN113878601B (en) * | 2021-09-30 | 2024-04-09 | 诸暨市润拓机械自动化科技有限公司 | Manipulator clamping jaw mechanism with multiple jaws |
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| CN103350420B (en) | 2016-01-27 |
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