CN104071569A - Gripping device - Google Patents
Gripping device Download PDFInfo
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- CN104071569A CN104071569A CN201410317902.8A CN201410317902A CN104071569A CN 104071569 A CN104071569 A CN 104071569A CN 201410317902 A CN201410317902 A CN 201410317902A CN 104071569 A CN104071569 A CN 104071569A
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- driving disk
- grabbing device
- clamp arm
- driving
- clamping
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Abstract
The invention discloses a gripping device. The gripping device comprises at least two clamping assemblies and a driving assembly; the synchronous movement of the clamping assemblies is driven by the driving assembly; the driving assembly comprises a driving plate and a driving part; the driving plate is arranged on an installation plate in a relative rotation mode; the driving plate is driven by the driving part to rotate; each clamping assembly comprises a clamping arm and a clamping part; each clamping arm is connected with the driving plate at the position of an end portion pivot point; each clamping arm is connected with the installation plate at the position of a middle pivot point; each clamping arm is connected with the corresponding clamping part at the position of an end portion connecting point; each clamping part is driven by the driving part to abut against the surface of a part through the corresponding clamping arm when the driving plate is driven by the driving part to rotate along the clamping direction due to the relative position relation of the end portion pivot point, the middle pivot point and the end portion connecting point of the clamping part. According to the gripping device, plane structures are adopted in the driving plate and the clamping arms and accordingly the gripping device can be small in height and accordingly the gripping device can be compact in structure and meanwhile the cost is low due to the fact that only one driving part is required.
Description
Technical field
The present invention relates to technical field of conveying machinery, relate in particular to a kind of for capturing the grabbing device of accessory to corresponding station.
Background technology
At assembly shop, conventionally need to carry out the grasping manipulation of various accessories, complete the assembling of corresponding accessory the accessory grabbing is delivered to corresponding station under the operation being for example manipulator.For being for example the crawl of (this annular comprises the structure of non-closed ring) of the annular attachments such as motor tire, existing grabbing device generally includes multiple (being for example three) handgrip (can be also clamp) and control the drive configuration of each handgrip action, this drive configuration has two kinds of forms, one is to be an actuator of the each configuration of each handgrip, to drive with the action of corresponding separately handgrip and realize the clamping of accessory and loosen by controlling each actuator; Another kind is to be connected with corresponding handgrip by each connecting rod mechanism for all handgrips actuators of configuration and this actuator, with by control this actuator through each connecting rod mechanism drive each handgrip action realize to the clamping of accessory with loosen.The defect that the first drive configuration exists is: cost is high; Be difficult to ensure the synchronism between the each handgrip of card; The defect that the second drive configuration exists is: structure relative complex; The motion space of its connecting rod mechanism is solid space, and this makes whole grabbing device need to occupy larger space.
Summary of the invention
The object of the embodiment of the present invention is the above-mentioned defect that grabbing device in order to solve existing accessory exists, and provides lower and less being suitable for that take up space of a kind of cost to capture the grabbing device of accessory.
To achieve these goals, the technical solution used in the present invention is: a kind of grabbing device, comprise at least two clamp assemblies and drive the driven unit of all clamp assembly synchronization actions, described driven unit comprises the driving disk that is installed on rotatably in subpanel and the actuator for driving driving disk to rotate, described clamp assembly comprises clamp arm and clamping element, described clamp arm is in pivoting point place, end and described driving disk pivot joint, in pivoting point place, middle part and subpanel pivot joint, be connected with described clamping element at point of connection place, end, the end pivoting point of described clamp arm, the relative position relation of middle part pivoting point and end point of connection makes actuator in the time driving driving disk to rotate along clamping direction, drive the surface of clamping element and accessory inconsistent by clamp arm.
Preferably, the line between described end pivoting point and described middle part pivoting point forms the first pivoted arm, and the line between described end point of connection and described middle part pivoting point forms the second pivoted arm, and described the first pivoted arm and the second pivoted arm are V-shaped.
Preferably, described clamping element is pinch wheels, and described pinch wheels is fixedly connected with described clamp arm at point of connection place, described end.
Preferably, the wheel shaft of described pinch wheels is vertical with described clamp arm.
Preferably, between described driving disk and described subpanel, be provided with the guide frame of the rotary motion trace for limiting described driving disk.
Preferably, a part that is shaped as annulus for described driving disk.
Preferably, described guide frame comprises being installed on the inner ring track adjusting wheel that is positioned at driving disk inner ring one side in described subpanel and being installed on and is positioned at Yi Ce outer ring, driving disk outer ring track adjusting wheel in described subpanel, and the edge, outer ring of described driving disk and inner ring edge embed respectively in the race of described outer ring track adjusting wheel and in the race of described inner ring track adjusting wheel.
Preferably, described actuator is linear drives part, described driving disk is provided with and regulates slotted hole and transmission shaft, described transmission shaft and described adjusting slotted hole are along the length direction sliding connection that regulates slotted hole, the straight-line motion portion of described actuator is connected with described transmission shaft, and the sense of motion of described straight-line motion portion is different from the radial direction of length direction and the driving disk of described adjusting slotted hole.
Preferably, the clamp arm of one of them clamp assembly is in the transmission shaft pivot joint of pivoting point place, end and described driving disk.
Preferably, the length direction of described adjusting slotted hole is along the radial direction setting of driving disk.
Beneficial effect of the present invention is: the structure of grabbing device according to the present invention, its driving disk and clamp arm all can adopt planar structure, clamping element is outside or the inner side that is configured in accessory, therefore, whole grabbing device can have less height, and this makes the structure of whole grabbing device very compact; In addition, grabbing device of the present invention only needs to arrange an actuator and drives multiple clamp assembly actions, therefore obviously has lower cost.
Brief description of the drawings
Fig. 1 is according to the perspective view of a kind of embodiment of grabbing device of the present invention;
Fig. 2 is according to the birds-eye view of grabbing device shown in Fig. 1.
Description of reference numerals:
1-linear drives part; 11-straight-line motion portion;
2-armrest support; 21-armrest sheath;
3-driving disk; 31-transmission shaft;
32-regulates slotted hole; 41-outer ring track adjusting wheel;
42-inner ring track adjusting wheel; 6-accessory;
7-subpanel; 8-clamp assembly;
81-clamping element; 82-wheel shaft;
83-pad; 84-nut;
85-clamp arm; 86-clamp arm mount pad;
87-screw; 88-pad;
89-S. A.; The locking clamp of 810-.
Detailed description of the invention
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Be exemplary below by the embodiment being described with reference to the drawings, only for explaining the present invention, and can not be interpreted as limitation of the present invention.
As depicted in figs. 1 and 2, grabbing device of the present invention comprises at least two clamp assemblies 8 and drives the driven unit of all clamp assembly 8 synchronization actions, in the present invention, this driven unit comprises the driving disk 6 (this kind of statement is driving disk 6 and can be installed on rotationally in this subpanel 7 relative to subpanel 7) and the actuator for driving driving disk 6 to rotate that are installed on rotatably in subpanel 7, this actuator can be fixedly mounted in subpanel 7 by mounting bracket etc., accordingly, this clamp assembly 8 comprises clamp arm 85 and clamping element 81, clamp arm 85 is in pivoting point place, end and driving disk 6 pivot joints, be that clamp arm 85 can rotate around end pivoting point separately relative to driving disk 6, clamp arm 85 is in pivoting point place, middle part and subpanel 7 pivot joints, be that clamp arm 85 can rotate around middle part pivoting point separately relative to subpanel 7, clamp arm 85 is connected with clamping element 81 at point of connection place, end, so that clamp arm 85 can drive clamping element 81 to move, and then realize the clamping to accessory 6 and loosen, it is the part between two ends in end pivoting point and end point of connection that " middle part " in the pivoting point of above-mentioned middle part is interpreted as, and the special equidistant point midway between finger and two ends not, this end pivoting point, the relative position relation of middle part pivoting point and end point of connection requires to make actuator in the time driving driving disk 3 to rotate along clamping direction (this clamping direction can be cw or conter clockwise according to the shape of clamp arm 85), drive clamping element 81 inconsistent with the surface of accessory 6 by clamp arm 85, this inconsistent implication is to produce interaction force between clamping element 81 and accessory 6, and then the clamping of realization to accessory, the surface of this accessory 6 is generally the outside face of accessory, the particularly external peripheral surface of accessory, now, each only clamp 81 outside faces by inside extruding accessory and and between accessory 6, produce interaction force, and then the grasping manipulation of realization to accessory 6, in addition, if this accessory 6 is for being for example the annular attachment of motor tire etc., also can select grabbing device to be arranged on the inside of annular attachment, therefore, the surface of this accessory 6 can be also the inside face of accessory, now, each clamping element 81 by outwards push annular attachment inside face and and between accessory 6, produce interaction force, and then realize grasping manipulation to accessory 6.Feedway at manipulator is transferred to accessory 6 after corresponding station by grabbing device, only needs to control actuator and drives driving disk 3 to rotate the operation of loosening that can complete accessory along the direction of loosening contrary with clamping direction.
Above-mentioned clamp arm 85 can be with the pin-jointed structure of driving disk 6 pivot joints at pivoting point place, end: the S. A. 89 being fixedly connected with driving disk 6 is set on driving disk 6, clamp arm 85 is in pivoting point place, end and S. A. 89 pivot joints, this clamp arm 85 particularly be arranged in parallel with driving disk 6, even if S. A. 89 is vertical with driving disk 6, so that grabbing device can have minimum height.At this, deviate from from S. A. 89 in order to prevent clamp arm 85, can be on S. A. 89 along around S. A. axle center one circle or one section of position-limited trough being circumferentially set, and on clamp arm 85, fixedly mount a locking clamp 810 as depicted in figs. 1 and 2, locking clamp 810 has the curved edge suitable with this position-limited trough, the curved edge of this locking clamp 810 embeds in position-limited trough, to ensure that clamp arm 85 can rotate around S. A. 89.For one section but not the embodiment of a circle position-limited trough are set on S. A. 89, this locking clamp 810 also has the effect that limits clamp arm 85 rotational travel.
Above-mentioned clamp arm 85 can be in the pin-jointed structure of pivoting point place, middle part and subpanel 7 pivot joints: in subpanel 7, be installed with clamp arm mount pad 86, screw 87 forms by the installation through hole through on clamp arm 85 and clamp arm mount pad 86 screws thread fit the S. A. rotating for clamp arm 85.In order to alleviate the wearing and tearing between screw cap and clamp arm 85, a pad 88 can be set between this screw 87 and pivot arm 85.At this, those skilled in the art should know that the S. A. being formed by this screw should be parallel with S. A. 89, and the S. A. being formed by this screw should should be vertical with pivot arm with S. A. 89, otherwise clamp arm 85 cannot smooth and easyly rotate.
The principle of work of grabbing device of the present invention is: in the time that needs capture accessory 6, the action of control actuator, to drive driving disk 3 to rotate along clamping direction, now, driving disk 3 will drive the each clamp arm 85 with its pivot joint to rotate around end pivoting point separately, because the middle part pivoting point of clamp arm 85 can only rotate and can not move relative to subpanel 7 relative to subpanel 7, therefore, the end point of connection of clamp arm 85 will be followed the end pivoting point motion of itself and driving disk 3 pivot joints, like this, by suitable end pivoting point is set on clamp arm 85, middle part pivoting point and end point of connection, can make to be connected in the surface that clamping element 81 on the end point of connection of clamp arm 85 moves closer to accessory 6, and then produce above-mentioned extruding or push effect, realize the clamping of accessory 6 is captured.In the time that needs loosen accessory 6, only need to control actuator and drive driving disk 3 to rotate along loosening direction, make clamp arm 85 produce reverse action and can complete and loosen operation.At this, for making the inconsistent embodiment of clamping element 81 and accessory outside face, the end point of connection of this clamp arm 85 should rotate to the direction of the outside face that moves closer to accessory around the middle part of clamp arm 85 pivoting point in the time that driving disk 3 rotates along clamping direction, and for making the tactile embodiment of clamping element 81 and accessory contacted inner surfaces, situation should be just the opposite.
Known according to the structure of grabbing device of the present invention, its driving disk 3 all can adopt planar structure with clamp arm 85, clamping element is outside or the inner side that is configured in accessory 6, therefore, can make easily whole grabbing device have less height, this makes the structure of whole grabbing device very compact; In addition, grabbing device of the present invention only needs to arrange an actuator and drives multiple clamp assemblies 8 to move, and therefore obviously has lower cost.
In order to make the clamping element 81 can be by producing suitable interaction force between less movement travel and accessory 6; at least one in clamping element 81 and accessory 6 can adopt elastic body, and this kind of structure also has can effectively protect accessory 6 to avoid it because being held the generation of partial failure's phenomenon.
If the line between the end pivoting point of clamp arm 85 and middle part pivoting point forms the first pivoted arm, line between end point of connection and the middle part pivoting point of clamp arm 85 forms the second pivoted arm, that above-mentioned the first pivoted arm and the second pivoted arm are preferably V-shaped in the first embodiment in order to make the clamping element 81 can be by producing suitable interaction force between less movement travel and accessory 6 equally.On the basis of the first embodiment, this second pivoted arm in a second embodiment particularly relative the first pivoted arm there is longer length so that the power that driving disk 3 acts on the first pivoted arm can be passed on the clamping element 81 being connected with the second pivoted arm by amplification.On the basis of the first embodiment, in order to make driving disk 3 there is less diameter, and then make grabbing device can there is less spatial volume, the angle between this first pivoted arm and the second pivoted arm is particularly more than or equal to 90 degree, is less than 180 degree.In addition, on the basis of the first embodiment, the shape of clamp arm is and the first pivoted arm and the suitable V-type of the second pivoted arm, and as depicted in figs. 1 and 2, clamp arm comprises the first arm that forms the first pivoted arm and the second arm that forms the second pivoted arm.The various embodiments described above can mutually combine and be applied on the structure design of clamp arm 85.
The damage that may cause accessory surface in the process of clamping accessory in order to alleviate as much as possible clamping element 81, this clamping element 81 can be chosen as pinch wheels, and this pinch wheels is connected with clamp arm at point of connection place, end.At this, this pinch wheels can be chosen in point of connection place, end and be connected rotatably with clamp arm 85, also can be chosen in point of connection place, end is fixedly connected with clamp arm 85, the former has higher clamping stability and larger Clamping force to the latter relatively, and the former relative the latter can further alleviate the wearing and tearing of clamping element 81 to accessory surface.
The setting party of the wheel shaft of above-mentioned clamping element 81 is to can reasonably selecting according to the surperficial shape of accessory 6, for, the shape that the surface of accessory 6 is periphery, the wheel shaft of this clamping element 81 can produce gripping power the most uniformly in the time of arrange vertical with clamp arm 85.
Connection structure between this pinch wheels and clamp arm 85 can be: on the wheel shaft 82 of pinch wheels, locating shoulder is set, the installation through hole that the wheel shaft of pinch wheels 82 is arranged at point of connection place, end through clamp arm 85, clamp arm 85 is supported on this locating shoulder, pinch wheels is fixed on clamp arm 85 with wheel shaft 82 screws thread fit by nut 84, at this, in order to prevent that nut 84 from getting loose, can between nut 84 and clamp arm 85, pad 83 be set.
In order to increase the rotation precision of driving disk 3, can between actuator and driving disk 3, adopt on the basis of any drive configuration, between driving disk 3 and subpanel 7, be provided for the guide frame of the rotary motion trace that limits driving disk 3.For the structure of the part that is shaped as annulus or annulus of driving disk, as depicted in figs. 1 and 2, this guide frame can comprise being installed on the inner ring track adjusting wheel 42 that is positioned at driving disk 3 inner ring one sides in subpanel 7 and being installed on and be positioned at driving disk 3 Yi Ce outer ring, outer ring track adjusting wheels 41 in subpanel 7, and the edge, outer ring of driving disk 3 and inner ring edge embed respectively in the race of outer ring track adjusting wheel 41 and in the race of inner ring track adjusting wheel 42; In addition, this guide frame also can comprise the chute that the rotary motion trace with driving disk 3 that is arranged in subpanel 7 is consistent and be arranged on the slide guide post on driving disk 3, this slide guide post and chute bearing fit.
The drive configuration that above-mentioned actuator drives driving disk 3 to rotate relative to subpanel 7 can be:
Embodiment 1: driving disk is connected with subpanel 7 is relatively turnable by axle drive shaft is for example that the power take-off shaft of the actuator of drive motor is for example connected with this axle drive shaft by coupler.
Embodiment 2: be for example that the actuator of drive motor is by being connected in adapting rod or the bond structure transfer motion power between power take-off shaft and driving disk 3.
Embodiment 3: actuator be as depicted in figs. 1 and 2 be for example the linear drives part 1 of cylinder, driving disk 3 is provided with and regulates slotted hole 32 and transmission shaft 31, transmission shaft 31 and the length direction sliding connection that regulates slotted hole 32 along adjusting slotted hole 32, the straight-line motion portion 11 of actuator 1 is connected with transmission shaft 31, the sense of motion of straight-line motion portion 11 is different from and regulates the length direction of slotted hole 32 and the radial direction of driving disk 3, like this, in the time that straight-line motion portion 11 moves, to move by the rotary motion trace that regulates slotted hole 32 to drive driving disk 3 to limit along guide frame, now, because transmission shaft 31 need to do straight-line while and driving disk 3 motions with straight-line motion portion 11, therefore this transmission shaft 31 needs to slide along the length direction that regulates slotted hole 32.The relative embodiment 1 of embodiment 3 and embodiment 2 are more conducive to compress the size of grabbing device in short transverse.
In order to alleviate the weight of driving disk 3 and to be for example the parts such as actuator, armrest support for the ease of arranging in subpanel 7, for the embodiment 2 and 3 of drive configuration, the shape of this driving disk 3 can be a part for annulus or annulus, and as depicted in figs. 1 and 2, driving disk 3 is annulus when a part of, be more convenient for arranging linear drives part 1 in subpanel 7, now, regulate slotted hole 32 can be arranged on one end place of driving disk 3.
For the embodiment 3 of drive configuration, this transmission shaft 31 can arrange a position-limited trough, and the formation of driving disk 3 regulates the edge of slotted hole 32 to embed in this position-limited trough, to limit the degree of freedom of the relative driving disk 3 in the vertical direction motions of transmission shaft 31.In addition, in the case of the kinematic accuracy of linear drives part 1 is lower, accurate in order to improve the motion of transmission shaft 31, the sense of motion sliding connection of the portion 11 that also can make to move along a straight line between transmission shaft 31 and subpanel 7.The length direction of this adjusting slotted hole 32 is particularly along the radial direction setting of driving disk 3, to obtain good sense of motion conversion effect, on this basis, the sense of motion of this straight-line motion portion 11 can with regulate the length direction of slotted hole 32 orthogonal or become other angle.
Adopt at drive configuration on the basis of embodiment 3, as depicted in figs. 1 and 2, in all clamp assemblies 8, can there is the clamp arm 85 of a clamp assembly 8 in transmission shaft 31 pivot joints of pivoting point place, end and described driving disk 3, as above-mentioned S. A. 89, directly drive one of them clamp assembly 8 to move with the transmission shaft 31 by driving disk 3 by this transmission shaft 31.It should be apparent to those skilled in the art that, drive configuration adopt on the basis of embodiment 3, also can adopt all clamp assemblies 8 clamp arm 85 all with the structure of the disk body pivot joint of driving disk 3, this has essentially identical result of use, adopts structure as depicted in figs. 1 and 2 just to be more conducive to save space.
For the ease of carrying this grabbing device, as depicted in figs. 1 and 2, this grabbing device also can arrange the armrest support 2 being connected with subpanel 7, can sheathed armrest sheath 21 outside the handrail of this armrest support 2.
Grabbing device of the present invention is applicable to the crawl of the accessory that carries out various shapes, the shape need driving disk 3 of this accessory is after turning an angle, can make each clamping element all inconsistent with the surface of accessory, and this conflict application force should be can not damaging in the zone of reasonableness of accessory and grabbing device, size of the swivel arm 85 that this can be by adjusting diverse location place realizes.For this reason, it is for example the gyro-rotor accessory of motor tire that this grabbing device is particularly suitable for, and this makes all clamp assemblies have interchangeability, is convenient to design and installation.For the gyro-rotor accessory that is for example motor tire, in the situation that having consideration cost concurrently and clamping effect, can be around evenly three clamp assemblies of configuration of the center of gyration of accessory.
Describe structure of the present invention, feature and action effect in detail according to the embodiment shown in graphic above; the foregoing is only preferred embodiment of the present invention; but the present invention does not limit practical range with shown in drawing; every change of doing according to conception of the present invention; or be revised as the equivalent embodiment of equivalent variations; when not exceeding yet specification sheets and illustrating contain spiritual, all should be in protection scope of the present invention.
Claims (10)
1. a grabbing device, comprise at least two clamp assemblies and drive the driven unit of all clamp assembly synchronization actions, it is characterized in that, described driven unit comprises the driving disk that is installed on rotatably in subpanel and the actuator for driving driving disk to rotate, described clamp assembly comprises clamp arm and clamping element, described clamp arm is in pivoting point place, end and described driving disk pivot joint, in pivoting point place, middle part and subpanel pivot joint, be connected with described clamping element at point of connection place, end, the end pivoting point of described clamp arm, the relative position relation of middle part pivoting point and end point of connection makes actuator in the time driving driving disk to rotate along clamping direction, drive the surface of clamping element and accessory inconsistent by clamp arm.
2. grabbing device according to claim 1, it is characterized in that, line between described end pivoting point and described middle part pivoting point forms the first pivoted arm, and the line between described end point of connection and described middle part pivoting point forms the second pivoted arm, and described the first pivoted arm and the second pivoted arm are V-shaped.
3. grabbing device according to claim 1, is characterized in that, described clamping element is pinch wheels, and described pinch wheels is fixedly connected with described clamp arm at point of connection place, described end.
4. grabbing device according to claim 4, is characterized in that, the wheel shaft of described pinch wheels is vertical with described clamp arm.
5. according to the grabbing device described in any one in claim 1 to 4, it is characterized in that, between described driving disk and described subpanel, be provided with the guide frame of the rotary motion trace for limiting described driving disk.
6. grabbing device according to claim 5, is characterized in that, a part that is shaped as annulus or annulus for described driving disk.
7. grabbing device according to claim 6, it is characterized in that, described guide frame comprises being installed on the inner ring track adjusting wheel that is positioned at driving disk inner ring one side in described subpanel and being installed on and is positioned at Yi Ce outer ring, driving disk outer ring track adjusting wheel in described subpanel, and the edge, outer ring of described driving disk and inner ring edge embed respectively in the race of described outer ring track adjusting wheel and in the race of described inner ring track adjusting wheel.
8. grabbing device according to claim 5, it is characterized in that, described actuator is linear drives part, described driving disk is provided with and regulates slotted hole and transmission shaft, described transmission shaft and described adjusting slotted hole are along the length direction sliding connection that regulates slotted hole, the straight-line motion portion of described actuator is connected with described transmission shaft, and the sense of motion of described straight-line motion portion is different from the radial direction of length direction and the driving disk of described adjusting slotted hole.
9. grabbing device according to claim 8, is characterized in that, the clamp arm of one of them clamp assembly is in the transmission shaft pivot joint of pivoting point place, end and described driving disk.
10. grabbing device according to claim 8, is characterized in that, the length direction of described adjusting slotted hole is along the radial direction setting of driving disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410317902.8A CN104071569A (en) | 2014-07-03 | 2014-07-03 | Gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410317902.8A CN104071569A (en) | 2014-07-03 | 2014-07-03 | Gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104071569A true CN104071569A (en) | 2014-10-01 |
Family
ID=51593246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410317902.8A Pending CN104071569A (en) | 2014-07-03 | 2014-07-03 | Gripping device |
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| Country | Link |
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| CN (1) | CN104071569A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032688A (en) * | 2017-12-06 | 2018-05-15 | 重庆鼎雄商贸有限公司 | Tyre detacher special tyre grabbing device |
| CN110788832A (en) * | 2019-11-07 | 2020-02-14 | 童爱霞 | Industrial robot with automatic feeding and discharging functions |
| CN111071787A (en) * | 2020-03-10 | 2020-04-28 | 深圳市尚明精密模具有限公司 | Clamping device for material sheets |
| CN114789903A (en) * | 2022-05-06 | 2022-07-26 | 武汉诺得佳科技有限公司 | Intelligent robot snatchs handling device |
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| CN203063008U (en) * | 2013-01-24 | 2013-07-17 | 福建华橡自控技术股份有限公司 | Tire shaper vulcanizer mechanical gripper |
| CN103406913A (en) * | 2013-08-05 | 2013-11-27 | 江苏大学 | Three-jaw manipulator formed by three crank-slider mechanisms |
| CN203938178U (en) * | 2014-07-03 | 2014-11-12 | 安徽江淮汽车股份有限公司 | A kind of grabbing device |
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| JPS60144229A (en) * | 1983-12-28 | 1985-07-30 | Tsubakimoto Chain Co | Device for centering object having different length and width |
| JPH03178794A (en) * | 1989-12-04 | 1991-08-02 | Fanuc Ltd | Robot hand for holding circular body |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032688A (en) * | 2017-12-06 | 2018-05-15 | 重庆鼎雄商贸有限公司 | Tyre detacher special tyre grabbing device |
| CN110788832A (en) * | 2019-11-07 | 2020-02-14 | 童爱霞 | Industrial robot with automatic feeding and discharging functions |
| CN111071787A (en) * | 2020-03-10 | 2020-04-28 | 深圳市尚明精密模具有限公司 | Clamping device for material sheets |
| CN114789903A (en) * | 2022-05-06 | 2022-07-26 | 武汉诺得佳科技有限公司 | Intelligent robot snatchs handling device |
| CN114789903B (en) * | 2022-05-06 | 2023-06-06 | 武汉诺得佳科技有限公司 | Intelligent robot snatchs handling device |
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