CN104625683A - Mechanical hand clamping portion mechanism of full automatic assembly system of cabinet regulating feet - Google Patents

Mechanical hand clamping portion mechanism of full automatic assembly system of cabinet regulating feet Download PDF

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Publication number
CN104625683A
CN104625683A CN201510033199.2A CN201510033199A CN104625683A CN 104625683 A CN104625683 A CN 104625683A CN 201510033199 A CN201510033199 A CN 201510033199A CN 104625683 A CN104625683 A CN 104625683A
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CN
China
Prior art keywords
clamping
gripper arm
gas bar
fixed block
parallel air
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510033199.2A
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Chinese (zh)
Inventor
尹珅
王光
黄增辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Institute of Technology
Original Assignee
Harbin Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Institute of Technology filed Critical Harbin Institute of Technology
Priority to CN201510033199.2A priority Critical patent/CN104625683A/en
Publication of CN104625683A publication Critical patent/CN104625683A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001Article feeders for assembling machines
    • B23P19/007Picking-up and placing mechanisms

Abstract

The invention discloses a mechanical hand clamping portion mechanism of a full automatic assembly system of cabinet regulating feet, and relates to the mechanical hand clamping portion mechanism. The mechanical hand clamping portion mechanism is aimed at solving the problem that in the process of assembling a T-shaped piece of the regulating feet and a cylinder-shaped piece, the position of a shaft center of the clamped T-shaped piece can not fix a position, the T-shaped piece can generate inertia shaking due to displacement, and then the assembly efficiency between the T-shaped piece and the cylinder-shaped piece is low. A first parallel gas claw arm and a second parallel gas claw arm are located on two sides of a gas claw connecting block respectively, a plurality of first gas rods are arranged in parallel and located between the first parallel gas claw arm and the gas claw connecting block, a plurality of second gas rods are arranged in parallel and located between the second parallel gas claw arm and the gas claw connecting block, a first clamping finger shaft assembly and a second clamping finger shaft assembly are arranged oppositely, the first clamping finger shaft assembly is connected at the other end of the first parallel gas claw arm, and the second clamping finger shaft assembly is detachably connected to the other end of the second parallel gas claw arm. The mechanical hand clamping portion mechanism is used for clamping the T-shaped piece.

Description

A kind of cabinet regulates the manipulator clamping portion mechanism in the full-automatic assembly system of pin
Technical field
The present invention is specifically related to the manipulator clamping portion mechanism in the full-automatic assembly system of a kind of cabinet adjustment pin.
Background technology
Among the family life that people are daily, regulate pin to have applicability widely, regulate pin to be undertaken twisting and obtaining by T-shaped and cylindrical member, it is mainly placed on the below of furniture or machine, utilize the adjustment that the rotation degree of depth of screw thread is carried out on height, can the objects such as anti-skidding, shockproof be realized.Present stage, the assembling of pin is regulated mainly to rely on people to carry out raw material screening and assembling by hand.Because the manual operations of people is very large by the impact of the factors such as ownness's experience, there is assembly precision inadequate, many drawbacks such as inefficiency.In the full-automatic assembly system of adjustment pin, T-shaped arranges after a upper link arranges, be sent in feed mechanism, now T-shaped is being clamped and is being sent in the process of position to be assembled, its shaft core position can not fixed because of displacement by T-shaped of clamping, and cannot be parallel with the axis direction of cylindrical member, produce inertia and rock.In assembling process afterwards, because the non-compression distance that revolves of cylindrical member and T-shaped is not enough to make two pieces cannot be in stable poised state, namely cannot keeps the requirement that the axiality of two axial lines is stable, have a strong impact on efficiency of assembling between T-shaped and cylindrical member.
Summary of the invention
The invention provides the manipulator clamping portion mechanism in the full-automatic assembly system of a kind of cabinet adjustment pin, when assembling between T-shaped and cylindrical member in adjustment pin to solve, cannot fixed position by the shaft core position of T-shaped that clamps, T-shaped can produce inertia and rock, make the problem that between T-shaped and cylindrical member, efficiency of assembling is low because of displacement.
The present invention solves the problems of the technologies described above the technical scheme taked to be:
Described a kind of cabinet regulates the manipulator clamping portion mechanism in the full-automatic assembly system of pin to comprise gas pawl contiguous block, first parallel air gripper arm, second parallel air gripper arm, first clamping finger axle assembly, second clamping finger axle assembly, multiple first gas bar and multiple second gas bar, described gas pawl contiguous block is horizontally disposed with, first parallel air gripper arm and the second parallel air gripper arm lay respectively at the both sides of gas pawl contiguous block, described multiple first gas bar is arranged in parallel and between the gentle pawl contiguous block of the first parallel air gripper arm, described multiple first gas bar and gas pawl contiguous block are slidably connected, described multiple first gas bar is fixedly connected with one end of the first parallel air gripper arm, described multiple second gas bar is arranged in parallel and between the gentle pawl contiguous block of the second parallel air gripper arm, described multiple second gas bar and gas pawl contiguous block are slidably connected, described multiple second gas bar is fixedly connected with one end of the second parallel air gripper arm, described first clamping finger axle assembly and the second clamping finger axle assembly are oppositely arranged, first clamping finger axle assembly is detachably connected on the other end of the first parallel air gripper arm, and the second clamping finger axle assembly is detachably connected on the other end of the second parallel air gripper arm.
Described first clamping finger axle assembly comprises the first clamping spindle fixed block, multiple first clamping spindle and multiple first ball bearing, one end of described first clamping spindle fixed block to be fixedly connected on the first parallel air gripper arm and with multiple first gas bar homonymy, the other end of described first clamping spindle fixed block is processed with multiple first axis hole, described multiple first clamping spindle is vertical side by side, each first clamping spindle is arranged in the first axis hole of its correspondence, and each first clamping finger axle sleeve is equipped with multiple first ball bearing.
Described second clamping finger axle assembly comprises the second clamping spindle fixed block, multiple second clamping spindle and multiple second ball bearing, one end of described second clamping spindle fixed block to be fixedly connected on the second parallel air gripper arm and with multiple second gas bar homonymy, the other end of described second clamping spindle fixed block is processed with multiple second axis hole, described multiple second clamping spindle is vertical side by side, each second clamping spindle is arranged in the second axis hole of its correspondence, and each second clamping finger axle sleeve is equipped with multiple second ball bearing.
Beneficial effect of the present invention:
1, scientific structure design of the present invention is reasonable, assemble with cylindrical member for clamping T-shaped, the present invention clamps in the process of T-shaped and can ensure that the shaft core position of T-shaped by clamping is in a fixed position always, and parallel with the axis direction of cylindrical member, and in the process being transported to position to be assembled, ensure that T-shaped noninertia rocks.
2, the present invention synchronously to be made in the both sides of gas pawl contiguous block by multiple first gas bar and multiple second gas bar and stretching out and contractive action, thus move by the first parallel air gripper arm straps the movement that horizontal direction synchronously made by the first clamping finger axle assembly and multiple first gas bar, in like manner, the movement that horizontal direction synchronously made by the second clamping finger axle assembly and multiple second gas bar is moved by the second parallel air gripper arm straps, thus the horizontal range realized between the first clamping finger axle assembly and the second clamping finger axle assembly is adjustable, reaches gripping and loosen the effect of T-shaped.
3, the present invention clamps T-shaped and is in the process of carrying out assembling directly over cylindrical member, first clamping finger axle assembly and the second clamping finger axle assembly can clamp T-shaped and keep certain hour, allow T-shaped and do dead axle screw, when after the 5mm degree of depth in T-shaped screw-in cylindrical member, in the present invention, multiple first gas bar and multiple second gas bar stretch out along gas pawl contiguous block both sides respectively, thus control the first clamping finger axle assembly and the second clamping finger axle assembly respectively to outer movement by the first parallel air gripper arm and the second parallel air gripper arm, reach and unclamp T-shaped effect, under auxiliary clamping of the present invention, make to assemble under stable poised state between cylindrical member and T-shaped, make cylindrical member and T-shaped have enough screw-in depths to assemble, namely the requirement that T-shaped stable with cylindrical member axiality is kept.
4, the present invention can continuous operation, processes large batch of T-shaped clamping work.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention, and Fig. 2 is the using state figure of the present invention when clamping T-shaped 8.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 and Fig. 2 illustrate present embodiment, a kind of cabinet described in present embodiment regulates the manipulator clamping portion mechanism in the full-automatic assembly system of pin to comprise gas pawl contiguous block 15, first parallel air gripper arm 16, second parallel air gripper arm 17, first clamping finger axle assembly 20, second clamping finger axle assembly 21, multiple first gas bar 18 and multiple second gas bar 19, described gas pawl contiguous block 15 is horizontally disposed with, first parallel air gripper arm 16 and the second parallel air gripper arm 17 lay respectively at the both sides of gas pawl contiguous block 15, described multiple first gas bar 18 is arranged in parallel and between the gentle pawl contiguous block 15 of the first parallel air gripper arm 16, described multiple first gas bar 18 is slidably connected with gas pawl contiguous block 15, described multiple first gas bar 18 is fixedly connected with one end of the first parallel air gripper arm 16, described multiple second gas bar 19 is arranged in parallel and between the gentle pawl contiguous block 15 of the second parallel air gripper arm 17, described multiple second gas bar 19 is slidably connected with gas pawl contiguous block 15, described multiple second gas bar 19 is fixedly connected with one end of the second parallel air gripper arm 17, described first clamping finger axle assembly 20 and the second clamping finger axle assembly 21 are oppositely arranged, first clamping finger axle assembly 20 is detachably connected on the other end of the first parallel air gripper arm 16, and the second clamping finger axle assembly 21 is detachably connected on the other end of the second parallel air gripper arm 17.
The present invention is connected on cross slid platform by gas pawl contiguous block 15, does plane motion with cross slid platform.The present invention when mounted, guarantee the centre of location of the motion path in axle center of the present invention by feed mechanism and the centre of location of position to be assembled.
Detailed description of the invention two: composition graphs 1 and Fig. 2 illustrate present embodiment, the horizontal range described in present embodiment between the first clamping finger axle assembly 20 and the second clamping finger axle assembly 21 is L, and the span of described horizontal range L is 20mm ~ 60mm.
In present embodiment, T-shaped 8 is be fixedly connected with to be made as with a disc by a cylinder to be integrally formed, disc is positioned at cylindrical top, horizontal range L between described first clamping finger axle assembly 20 and the second clamping finger axle assembly 21 determines according to external diameter cylindrical in T-shaped 8, when horizontal range L between the first clamping finger axle assembly 20 and the second clamping finger axle assembly 21 is minimum, it is in the state clamping T-shaped 8, T-shaped 8 is equal with the cylindrical external diameter in T-shaped 8 by described horizontal range L, after going deep into reaching the 5mm degree of depth in cylindrical member when T-shaped 8, horizontal range L between first clamping finger axle assembly 20 and the second clamping finger axle assembly 21 increases gradually, the present invention will unclamp T-shaped 8.In present embodiment the structure of NM component and detailed description of the invention one and annexation identical.
Detailed description of the invention three: composition graphs 1 and Fig. 2 illustrate present embodiment, described in present embodiment, the number of multiple first gas bar 18 and multiple second gas bar 19 is equal, and the number scope of the first gas bar 18 is 2 ~ 6.Specifically set the number of the first gas bar 18 and the second gas bar 19 according to practical condition, in sampling test, the number of the first gas bar 18 and the second gas bar 19 is all set to 4.In present embodiment NM component and detailed description of the invention one with two structure and annexation identical.
Detailed description of the invention four: composition graphs 1 and Fig. 2 illustrate present embodiment, first clamping finger axle assembly 20 described in present embodiment comprises the first clamping spindle fixed block 20-1, multiple first clamping spindle 20-3 and multiple first ball bearing 20-4, one end of described first clamping spindle fixed block 20-1 to be fixedly connected on the first parallel air gripper arm 16 and with multiple first gas bar 18 homonymy, the other end of described first clamping spindle fixed block 20-1 is processed with multiple first axis hole 20-2, described multiple first clamping spindle 20-3 is vertical side by side, each first clamping spindle 20-3 is arranged in the first axis hole 20-2 of its correspondence, each first clamping spindle 20-3 is set with multiple first ball bearing 20-4.
In present embodiment, the first clamping spindle fixed block 20-1 comprises on first and clamps spindle fixed block and first time clamping spindle fixed block, clamp spindle fixed block on described first and be processed with multiple first upper shaft hole, first time clamping spindle fixed block is processed with multiple first lower shaft hole, clamp on first between spindle fixed block and first time clamping spindle fixed block and removably connect, so arranging is for the ease of handling of the present invention.In sampling test, by installation two first clamping spindle 20-3 on the first clamping spindle fixed block 20-1, each first clamping spindle 20-3 is provided with two the first ball bearing 20-4 one on the other.In present embodiment the structure of NM component and detailed description of the invention three and annexation identical.
Detailed description of the invention five: composition graphs 1 and Fig. 2 illustrate present embodiment, second clamping finger axle assembly 21 described in present embodiment comprises the second clamping spindle fixed block 21-1, multiple second clamping spindle 21-3 and multiple second ball bearing 21-4, one end of described second clamping spindle fixed block 21-1 to be fixedly connected on the second parallel air gripper arm 17 and with multiple second gas bar 19 homonymy, the other end of described second clamping spindle fixed block 21-1 is processed with multiple second axis hole 21-2, described multiple second clamping spindle 21-3 is vertical side by side, each second clamping spindle 21-3 is arranged in the second axis hole 21-2 of its correspondence, each second clamping spindle 21-3 is set with multiple second ball bearing 21-4.
In present embodiment, the second clamping spindle fixed block 21-1 comprises on second and clamps spindle fixed block and second time clamping spindle fixed block, clamp on second between spindle fixed block and second time clamping spindle fixed block and removably connect, so arranging is for the ease of handling of the present invention.In sampling test, by installation two second clamping spindle 21-3 on the second clamping spindle fixed block 21-1, each second clamping spindle 21-3 is provided with two the second ball bearing 21-4 one on the other.In present embodiment the structure of NM component and detailed description of the invention four and annexation identical.
Detailed description of the invention six: composition graphs 1 and Fig. 2 illustrate present embodiment, described in present embodiment, the first clamping spindle fixed block 20-1 and second clamping spindle fixed block 21-1 is aluminium alloy fixed block.The first clamping spindle fixed block 20-1 and second clamping spindle fixed block 21-1 that aluminium alloy is made is conducive to reducing weight of the present invention, makes it carry out clamping the work of T-shaped 8 more flexibly.In present embodiment the structure of NM component and detailed description of the invention five and annexation identical.
Detailed description of the invention seven: composition graphs 1 and Fig. 2 illustrate present embodiment, multiple first ball bearing 20-4 described in present embodiment and multiple second ball bearing 21-4 is deep groove ball bearing and number is equal, the number that each first clamping spindle 20-3 is set with the first ball bearing 20-4 is 2 ~ 6, and the number that each second clamping spindle 21-3 is set with the second ball bearing 21-4 is 2 ~ 6.In present embodiment the structure of NM component and detailed description of the invention six and annexation identical.
In conjunction with detailed description of the invention one to seven, assembling process of the present invention is described:
First the sliding end of the first parallel air gripper arm 16 with four the first gas bars 18 is connected, secondly connect together clamping spindle fixed block on first with the first parallel air gripper arm 16, clamp on first again on the first upper shaft hole on spindle fixed block and two first clamping spindle 20-3 are installed respectively, then four the first ball bearing 20-4 are installed on two first clamping spindle 20-3, the the first clamping spindle 20-3 being provided with the first ball bearing 20-4 is installed in the first lower shaft hole of first time clamping spindle fixed block, finally will clamp together with spindle fixed block is bolted with first time clamping spindle fixed block on first, in like manner by the second clamping finger axle assembly 21 and the second parallel air gripper arm 17, gas pawl contiguous block 15, multiple second gas bar 19 assembles.
In conjunction with detailed description of the invention one to seven, the course of work of the present invention is described:
First, position of the present invention is transported to for T-shaped 8 by the feed mechanism of a upper link, the present invention moves to gripping position under the drive of cross slid platform, clamp bottom T-shaped 8, for ensureing the smoothness of feeding in this process, T-shaped 8 in feed mechanism has motional inertia, its axial location can fluctuate within the specific limits, coordinate by the first clamping finger axle assembly 20 and the second clamping finger axle assembly 21 in the present invention the holding action carried out, the axle center of T-shaped 8 can be made to be classified as a position determined.Follow the present invention for T-shaped 8 afterwards and do plane motion together, move to position to be assembled, namely directly over cylindrical member.The screw device coordinated with the present invention is descending and rotate, by in T-shaped 8 press-in cylindrical member, this process is the axiality ensureing cylindrical member and T-shaped 8, multiple first gas bar 18, carry out pressure release between multiple second gas bar 19 and gas pawl contiguous block 15 and maintain original position, therefore T-shaped 8 screws can drive multiple first ball bearing 20-4 of described first clamping finger axle assembly 20 and multiple second ball bearing 21-4 of the second clamping finger axle assembly 21 to do fixed-axis rotation, namely ensure that the realization of the screw of T-shaped 8 also ensure that the axiality of two parts.

Claims (7)

1. the manipulator clamping portion mechanism in the full-automatic assembly system of cabinet adjustment pin, it is characterized in that: described a kind of cabinet regulates the manipulator clamping portion mechanism in the full-automatic assembly system of pin to comprise gas pawl contiguous block (15), first parallel air gripper arm (16), second parallel air gripper arm (17), first clamping finger axle assembly (20), second clamping finger axle assembly (21), multiple first gas bar (18) and multiple second gas bar (19), described gas pawl contiguous block (15) is horizontally disposed with, first parallel air gripper arm (16) and the second parallel air gripper arm (17) lay respectively at the both sides of gas pawl contiguous block (15), described multiple first gas bar (18) is arranged in parallel and be positioned between the gentle pawl contiguous block (15) of the first parallel air gripper arm (16), described multiple first gas bar (18) and gas pawl contiguous block (15) are slidably connected, described multiple first gas bar (18) is fixedly connected with one end of the first parallel air gripper arm (16), described multiple second gas bar (19) is arranged in parallel and be positioned between the gentle pawl contiguous block (15) of the second parallel air gripper arm (17), described multiple second gas bar (19) and gas pawl contiguous block (15) are slidably connected, described multiple second gas bar (19) is fixedly connected with one end of the second parallel air gripper arm (17), described first clamping finger axle assembly (20) and the second clamping finger axle assembly (21) are oppositely arranged, first clamping finger axle assembly (20) is detachably connected on the other end of the first parallel air gripper arm (16), second clamping finger axle assembly (21) is detachably connected on the other end of the second parallel air gripper arm (17).
2. a kind of cabinet according to claim 1 regulates the manipulator clamping portion mechanism in the full-automatic assembly system of pin, it is characterized in that: the horizontal range between described first clamping finger axle assembly (20) and the second clamping finger axle assembly (21) is L, and the span of described horizontal range L is 20mm ~ 60mm.
3. a kind of cabinet according to claim 1 and 2 regulates the manipulator clamping portion mechanism in the full-automatic assembly system of pin, it is characterized in that: the number of described multiple first gas bar (18) and multiple second gas bar (19) is equal, and the number scope of the first gas bar (18) is 2 ~ 6.
4. a kind of cabinet according to claim 3 regulates the manipulator clamping portion mechanism in the full-automatic assembly system of pin, it is characterized in that: described first clamping finger axle assembly (20) comprises the first clamping spindle fixed block (20-1), multiple first clamping spindle (20-3) and multiple first ball bearing (20-4), one end of described first clamping spindle fixed block (20-1) be fixedly connected on the first parallel air gripper arm (16) upper and with multiple first gas bar (18) homonymy, the other end of described first clamping spindle fixed block (20-1) is processed with multiple first axis hole (20-2), described multiple first clamping spindle (20-3) is vertical side by side, each first clamping spindle (20-3) is arranged in first axis hole (20-2) of its correspondence, each first clamping spindle (20-3) is set with multiple first ball bearing (20-4).
5. a kind of cabinet according to claim 4 regulates the manipulator clamping portion mechanism in the full-automatic assembly system of pin, it is characterized in that: described second clamping finger axle assembly (21) comprises the second clamping spindle fixed block (21-1), multiple second clamping spindle (21-3) and multiple second ball bearing (21-4), one end of described second clamping spindle fixed block (21-1) be fixedly connected on the second parallel air gripper arm (17) upper and with multiple second gas bar (19) homonymy, the other end of described second clamping spindle fixed block (21-1) is processed with multiple second axis hole (21-2), described multiple second clamping spindle (21-3) is vertical side by side, each second clamping spindle (21-3) is arranged in second axis hole (21-2) of its correspondence, each second clamping spindle (21-3) is set with multiple second ball bearing (21-4).
6. a kind of cabinet according to claim 5 regulates the manipulator clamping portion mechanism in the full-automatic assembly system of pin, it is characterized in that: described first clamping spindle fixed block (20-1) and the second clamping spindle fixed block (21-1) are aluminium alloy fixed block.
7. a kind of cabinet according to claim 6 regulates the manipulator clamping portion mechanism in the full-automatic assembly system of pin, it is characterized in that: described multiple first ball bearing (20-4) and multiple second ball bearing (21-4) is deep groove ball bearing and number is equal, the number that each first clamping spindle (20-3) is set with the first ball bearing (20-4) is 2 ~ 6, and the number that each second clamping spindle (21-3) is set with the second ball bearing (21-4) is 2 ~ 6.
CN201510033199.2A 2015-01-22 2015-01-22 Mechanical hand clamping portion mechanism of full automatic assembly system of cabinet regulating feet Pending CN104625683A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510033199.2A CN104625683A (en) 2015-01-22 2015-01-22 Mechanical hand clamping portion mechanism of full automatic assembly system of cabinet regulating feet

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510033199.2A CN104625683A (en) 2015-01-22 2015-01-22 Mechanical hand clamping portion mechanism of full automatic assembly system of cabinet regulating feet

Publications (1)

Publication Number Publication Date
CN104625683A true CN104625683A (en) 2015-05-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510033199.2A Pending CN104625683A (en) 2015-01-22 2015-01-22 Mechanical hand clamping portion mechanism of full automatic assembly system of cabinet regulating feet

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6215052A (en) * 1985-07-12 1987-01-23 Toa Kogyo Kk Zooming robot chuck
JPH0326485A (en) * 1989-06-20 1991-02-05 Konica Corp Gripping device for cross section circular body
JPH0847884A (en) * 1994-08-03 1996-02-20 Topy Ind Ltd Mechanism for preventing unexpected unclamping of grip hand
EP1862424A1 (en) * 2006-05-31 2007-12-05 Ibiden Co., Ltd. Holding apparatus and method for manufacturing honeycomb structured body
CN202155887U (en) * 2011-06-15 2012-03-07 广州市傲派自动化设备有限公司 Intelligentized robot tong clamp

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6215052A (en) * 1985-07-12 1987-01-23 Toa Kogyo Kk Zooming robot chuck
JPH0326485A (en) * 1989-06-20 1991-02-05 Konica Corp Gripping device for cross section circular body
JPH0847884A (en) * 1994-08-03 1996-02-20 Topy Ind Ltd Mechanism for preventing unexpected unclamping of grip hand
EP1862424A1 (en) * 2006-05-31 2007-12-05 Ibiden Co., Ltd. Holding apparatus and method for manufacturing honeycomb structured body
CN202155887U (en) * 2011-06-15 2012-03-07 广州市傲派自动化设备有限公司 Intelligentized robot tong clamp

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Application publication date: 20150520

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