CN104924318A - Vacuum chuck manipulator paw - Google Patents

Vacuum chuck manipulator paw Download PDF

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Publication number
CN104924318A
CN104924318A CN201510310750.3A CN201510310750A CN104924318A CN 104924318 A CN104924318 A CN 104924318A CN 201510310750 A CN201510310750 A CN 201510310750A CN 104924318 A CN104924318 A CN 104924318A
Authority
CN
China
Prior art keywords
sleeve
piston
spring
rod
cylinder barrel
Prior art date
Application number
CN201510310750.3A
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Chinese (zh)
Other versions
CN104924318B (en
Inventor
王学军
朱登磊
范景伟
杨杰
董鑫
Original Assignee
昆明理工大学
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 昆明理工大学 filed Critical 昆明理工大学
Priority to CN201510310750.3A priority Critical patent/CN104924318B/en
Publication of CN104924318A publication Critical patent/CN104924318A/en
Application granted granted Critical
Publication of CN104924318B publication Critical patent/CN104924318B/en

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Abstract

The invention discloses a vacuum chuck manipulator paw which comprises a piston, a piston rod, a pipe connector I, a front cylinder cover, a sleeve, a push-pull rod, a push-pull rod head, more than three knuckles, a connecting rod, a chuck sliding groove, a rear cylinder cover, a cylinder, a relaxation spring, a connecting seat, a hinge, a hinge shaft, a knuckle shaft, a mounting seat, a movable hand rack, a vacuum chuck, a return spring, a spring, a connecting ring, a sleeve connecting seat, a piston rod fixing plate, a piston pin, a disc spring slice group, a friction plate, a movable hand rack pin, a spring stopper, a stopper locking nut, a piston nut, a pressing plate, a sealing ring, a seal ring, a connecting rod fixing plate and a pipe connector II. When the cylinder charges air or discharges air, the push-pull rod is driven to move downwards or upwards, the manipulator paw opens or shrinks, the return spring is compressed or rebounds along with the manipulator paw, so that the chuck horizontally slides on an X plane and a Y plane and vertically moves in a Z direction and is matched with an external big arm to move, blocks with different sizes can be caught and taken, and the requirements of actual production are met.

Description

A kind of vacuum cup machinery paw
Technical field
The present invention relates to a kind of vacuum cup machinery paw, belong to mechanical equipment technical field, be mainly used in industry manufacture field.
Background technology
Chinese patent CN104002304A discloses one " Novel pneumatic manipulator ", its gripper part, and dactylus is directly arranged on paw mount pad by hinge, compared with traditional gripper, has delicate structure, and the advantage such as be quick on the draw.But this paw opening angle is limited, and institute's object volume of grabbing is comparatively large by the size impact of paw own, so when crawled object volume is comparatively large or in flat, this gripper then can not play useful effect.
Vacuum chuck type manipulator has used vavuum pump to inhale work principle, and utilize manipulator to replace artificial feeding, safe and reliable, efficiency is high, and cost is low, and practicality is good.
Summary of the invention
The object of the invention overcomes the deficiency by crawled workpiece shapes size-dependence in background technology, provides a kind of simple and reasonable, is applicable to capture the mechanical paw of volume vacuum cup that is comparatively large or flat articles.
The present invention, on the basis of original manipulator paw, with the addition of vacuum cup, and easy and simple to handle, cost is low, and is applicable to capture glass, the flat and object that surface area is larger such as paper.
The present invention includes piston 1, piston rod 2, pipe joint I 3, front end housing 4, sleeve 5, pull bar 6, push-and-pull 7, more than three dactylus 8, connecting rod 9, sucker chute 10, back cylinder cover 11, cylinder barrel 12, lax spring 13, Connection Block 14, hinge 15, hinge axis 16, dactylus axle 17, mount pad 18, activity hand cradle 19, vacuum cup 20, Return spring 22, spring 23, connecting ring 24, sleeve connection seat 25, piston rod fixed head 26, piston pin 27, disc spring sheet group, friction plate 29, activity hand cradle pin 30, spring block 31, block screw 32, locking nut 33, piston unt 34, pressing plate 35, sealing ring 36, sealing ring 37, connecting rod fixed head 40, pipe joint II 41, hinge pin 42, wherein cylinder barrel 12 is connected with it by the external screw thread of front end housing 4 upper end, back cylinder cover 11 is connected with it by the internal thread of cylinder barrel 12 upper end, piston 1 in cylinder barrel 12 is connected with piston rod 2 by piston unt 34, sealing ring 36 is contained in piston 1 formed with cylinder barrel 12 and is sealed and matched, sealing ring 37 is contained in front end housing 4 formed with piston rod 2 and is sealed and matched, pipe joint I 3 is arranged on and cylinder barrel 12 is close to back cylinder cover 11 and is communicated with cylinder barrel 12 epicoele, pipe joint II 41 is arranged on cylinder barrel 12 and is close to front end housing 4, Connection Block 14 is connected with it by the external screw thread of front end housing 4 lower end, sleeve connection seat 25 is connected with it by the external screw thread of front end housing 4 lower end, sleeve 5 is arranged in sleeve connection seat 25, piston rod 2 lower end is stretched in sleeve 5, piston rod fixed head 26 is connected with piston rod 2 lower end by piston pin 27, axially disc spring sheet group is installed successively below sleeve 5 inner piston rod fixed head 26, one with upper friction plate 29, disc spring sheet group, pull bar 6, lax spring 13 pull bar 6 is equipped with, push-and-pull 7 is fixedly mounted on pull bar 6 lower end by locking nut 33, and hinge 15 one end is hinged by hinge axis and push-and-pull 7, and the other end is hinged by hinge axis 16 and dactylus 8, and dactylus 8 is hinged by dactylus axle 17 and mount pad 18 simultaneously, connecting rod fixed head 40 connects firmly on mount pad 18 by screw 38, connecting rod 9 is arranged on connecting rod fixed head 40 center and carries out axial location by pressing plate 35, spring 23 is sleeved on connecting rod 9, connecting ring 24 is sleeved on connecting rod 9 lower end and carries out axial location to spring 23, sucker chute 10 be welded on connecting ring 24 and the quantity of its quantity and installation site and dactylus 8 and installation site corresponding, it is hinged by activity hand cradle pin 30 and dactylus 8 that activity hand cradle 19 is arranged on sucker chute 10 and its one end by guide chute, spring block 31 is fixed in activity hand cradle 19 by block screw 32, at the chute of sucker chute 10 built with Return spring 22, Return spring 22 two ends are connected with sucker chute 10 end face with spring block 31 respectively, vacuum cup 20 is arranged in activity hand cradle 19 by hinge pin 42.
Wherein said sleeve 5 is made up of left half sleeve 5-1, right half sleeve 5-2, and left half sleeve 5-1 is connected with sleeve connection seat 25 respectively by sleeve pin 39 with right half sleeve 5-2.
Described disc spring sheet group by two panels disc spring sheet 28 to dressing up one group.
Described friction plate 29 is the lamellar body of surface with small wavy bulge, to increase contact force;
Lax spring 13 is for regulating contact force size.
The quantity of described dactylus 8 more than three, it is angularly distributed in circumference range.
Described vacuum cup 20 is arranged in activity hand cradle 19 by hinge pin 42, and vacuum cup can according to thing 21 type selection standard sucker to be hoisted.
Change according to thing 21 size to be hoisted can arrange one or more activity hand cradle 19 on each sucker chute 10, and correspondingly vacuum cup 20 quantity and activity hand cradle 19 quantity are consistent.
The course of work of the present invention is:
Air-flow enters cylinder barrel 12 epicoele by pipe joint I 3, promote piston 1 to move downward along cylinder barrel 12 axis vertical, promote piston rod 2 to move straight down vertically, thus drive piston rod fixed head 26 to move down compression disc spring sheet group successively, friction plate 29, disc spring sheet group and pull bar 6, pull bar 6 passes motion to push-and-pull 7, thus manipulator dactylus 8 is rotated counterclockwise around dactylus axle 17, driving mechanical hand activity hand cradle 19 is outwards upheld, thus promote Return spring 22 and shrink and drive in activity hand cradle 19 three vacuum cups 20 to prolong sucker chute 10 and move horizontally outward, now manipulator can draw larger object, when air-flow enters cylinder barrel 12 cavity of resorption by pipe joint II 41, when driving cylinder to shrink, driving mechanical finger segments 8 turns clockwise around dactylus axle 17, driving mechanical hand activity hand cradle 19 inward collapsible, Return spring 22 restores elongation promotion vacuum cup 20 and gets back to original position, and now gripper can draw less object.After adjusting dactylus 8 opening angle, vacuum cup machinery paw drives vacuum cup 20 to crawled body surface by external drive, start vavuum pump, make to produce negative pressure in sucker 20, thing 21 to be hoisted is adsorbed, when external drive drives vacuum cup machinery paw to precalculated position, converts external vacuum switch, cuts out vacuum and oppositely blows, and makes to become zero air pressure or polarization air pressure by negative pressure in vacuum cup 20, then thing to be hoisted and vacuum cup 20 depart from, and carrying task completes.
The invention has the beneficial effects as follows:
(1) can the flat or larger thing block of adsorption surface, as glass etc.;
(2) vacuum chuck type manipulator has used vavuum pump to inhale work principle, and utilize manipulator to replace artificial feeding, safe and reliable, efficiency is high, and cost is low, and practicality is good;
(3) position and quantity by adjusting sucker capture the object of different size, convenient and practical;
Apparatus of the present invention realize the horizontal slip of sucker in X, Y plane and the vertical motion of Z-direction, coordinate the motion of external large arm simultaneously, realize the carrying to workpiece, the present invention designs ingenious, easy and simple to handle, can realize carrying out pick-and-place to the thing block of different size, meet the needs of actual production.
Accompanying drawing explanation
Fig. 1 is the structural representation of apparatus of the present invention;
Fig. 2 is sleeve inner syndeton partial enlarged drawing of the present invention;
Fig. 3 is that apparatus of the present invention axis of no-feathering measures intention;
Fig. 4 is sucker chute of the present invention and vacuum cup top view;
Fig. 5 is vacuum cup of the present invention and sucker chute connection diagram;
Fig. 6 is apparatus of the present invention plan structure schematic diagram;
Fig. 7 is that Fig. 6 A-A is to revolved sectional view;
Fig. 8 is the cross-sectional schematic of travel(l)ing rest part of the present invention;
Fig. 9 is tube-in-tube structure schematic diagram of the present invention;
Figure 10 is disc spring chip architecture schematic diagram of the present invention
Figure 11 is friction plate structure schematic diagram of the present invention;
In figure: 1-piston; 2-piston rod; 3-pipe joint; 4-front end housing; 5-sleeve; Left half sleeve of 5-1-; Right half sleeve of 5-2-; 6-pull bar; 7-push-and-pull head; 8-dactylus; 9-connecting rod; 10-sucker chute; 11-back cylinder cover; 12-cylinder barrel; 13-relaxes spring; 14-Connection Block; 15-hinge; 16-hinge axis; 17-dactylus axle; 18-mount pad; 19-activity hand cradle; 20-vacuum cup; 21-thing to be hoisted; 22-Return spring; 23-spring; 24-connecting ring; 25-sleeve connection seat; 26-piston rod fixed head; 27-piston pin; 28-disc spring sheet; 29-friction plate; 30 activity hand cradle pins; 31-spring block; 32-block screw; 33-locking nut; 34-piston unt; 35-pressing plate; 36-sealing ring; 37-sealing ring; 38-screw; 39-sleeve pin; 40-connecting rod fixed head; 41-pipe joint II; 42-hinge pin.
Specific embodiments
Below by drawings and Examples, the present invention is described in further detail, but scope is not limited to described content.
embodiment 1:as shown in figs. 1-11, this vacuum cup mechanical paw comprises piston 1, piston rod 2, pipe joint I 3, front end housing 4, sleeve 5, pull bar 6, push-and-pull 7, three dactylus 8, connecting rod 9, sucker chute 10, back cylinder cover 11, cylinder barrel 12, lax spring 13, Connection Block 14, hinge 15, hinge axis 16, dactylus axle 17, mount pad 18, activity hand cradle 19, vacuum cup 20, Return spring 22, spring 23, connecting ring 24, sleeve connection seat 25, piston rod fixed head 26, piston pin 27, disc spring sheet group, friction plate 29, activity hand cradle pin 30, spring block 31, block screw 32, locking nut 33, piston unt 34, pressing plate 35, sealing ring 36, sealing ring 37, connecting rod fixed head 40, pipe joint II 41, hinge pin 42, wherein cylinder barrel 12 is connected with it by the external screw thread of front end housing 4 upper end, back cylinder cover 11 is connected with it by the internal thread of cylinder barrel 12 upper end, piston 1 in cylinder barrel 12 is connected with piston rod 2 by piston unt 34, sealing ring 36 is contained in piston 1 formed with cylinder barrel 12 and is sealed and matched, sealing ring 37 is contained in front end housing 4 formed with piston rod 2 and is sealed and matched, pipe joint I 3 is arranged on and cylinder barrel 12 is close to back cylinder cover 11 and is communicated with cylinder barrel 12 epicoele, pipe joint II 41 is arranged on cylinder barrel 12 and is close to front end housing 4, Connection Block 14 is connected with it by the external screw thread of front end housing 4 lower end, sleeve connection seat 25 is connected with it by the external screw thread of front end housing 4 lower end, sleeve 5 is arranged in sleeve connection seat 25, piston rod 2 lower end is stretched in sleeve 5, piston rod fixed head 26 is connected with piston rod 2 lower end by piston pin 27, axially disc spring sheet group is installed successively below sleeve 5 inner piston rod fixed head 26, 5 friction plates 29, disc spring sheet group, pull bar 6, lax spring 13 pull bar 6 is equipped with, push-and-pull 7 is fixedly mounted on pull bar 6 lower end by locking nut 33, and hinge 15 one end is hinged by hinge axis and push-and-pull 7, and the other end is hinged by hinge axis 16 and dactylus 8, and dactylus 8 is hinged by dactylus axle 17 and mount pad 18 simultaneously, connecting rod fixed head 40 connects firmly on mount pad 18 by screw 38, connecting rod 9 is arranged on connecting rod fixed head 40 center and carries out axial location by pressing plate 35, spring 23 is sleeved on connecting rod 9, connecting ring 24 is sleeved on connecting rod 9 lower end and carries out axial location to spring 23,3 sucker chutes 10 be welded on connecting ring 24 and the quantity of its quantity and installation site and dactylus 8 and installation site corresponding, it is hinged by activity hand cradle pin 30 and dactylus 8 that activity hand cradle 19 is arranged on sucker chute 10 and its one end by guide chute, spring block 31 is fixed in activity hand cradle 19 by block screw 32, at the chute of sucker chute 10 built with Return spring 22, Return spring 22 two ends are connected with sucker chute 10 end face with spring block 31 respectively, vacuum cup 20 is arranged in activity hand cradle 19 by hinge pin 42.
Wherein said sleeve 5 is made up of left half sleeve 5-1, right half sleeve 5-2, and left half sleeve 5-1 is connected with sleeve connection seat 25 respectively by sleeve pin 39 with right half sleeve 5-2.
Described disc spring sheet group by two panels disc spring sheet 28 to dressing up one group.
Described friction plate 29 is the lamellar body of surface with small wavy bulge, to increase contact force;
Three dactylus 8 are set, are distributed in circumference range by hexagonal angle degree;
1 activity hand cradle 19 arranged by each sucker chute 10.
Embodiment 2: the present embodiment structure is with embodiment 1, and difference is to arrange four dactylus 8, by 90 ° of angular distribution in circumference range; It is corresponding with dactylus 8 installation site that 4 sucker chutes 10 are welded on connecting ring 24 and installation site;
Described vacuum cup 20 is arranged in activity hand cradle 19 by hinge pin 42, and vacuum cup can according to thing 21 type selection standard sucker to be hoisted; 2 or multiple activity hand cradle 19 arranged by each sucker chute 10, and between activity hand cradle, series connection is consolidated, and correspondingly vacuum cup 20 quantity and activity hand cradle 19 quantity are consistent.
This scheme is by increasing vacuum cup 20 quantity and the mode changing its layout obtains more greatly, more stable absorption affinity, and size and the weight of thing 21 to be hoisted are multiplied.
By reference to the accompanying drawings the specific embodiment of the present invention is explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, various change can also be made under the prerequisite not departing from present inventive concept.

Claims (5)

1. a vacuum cup machinery paw, is characterized in that: comprise piston (1), piston rod (2), pipe joint I (3), front end housing (4), sleeve (5), pull bar (6), push-and-pull head (7), more than three dactylus (8), connecting rod (9), sucker chute (10), back cylinder cover (11), cylinder barrel (12), lax spring (13), Connection Block (14), hinge (15), hinge axis (16), dactylus axle (17), mount pad (18), activity hand cradle (19), vacuum cup (20), Return spring (22), spring (23), connecting ring (24), sleeve connection seat (25), piston rod fixed head (26), piston pin (27), disc spring sheet group, friction plate (29), activity hand cradle pin (30), spring block (31), block screw (32), locking nut (33), piston unt (34), pressing plate (35), sealing ring (36), sealing ring (37), connecting rod fixed head (40), pipe joint II (41), hinge pin (42), wherein cylinder barrel (12) is connected with it by the external screw thread of front end housing (4) upper end, back cylinder cover (11) is connected with it by the internal thread of cylinder barrel (12) upper end, piston (1) in cylinder barrel (12) is connected with piston rod (2) by piston unt (34), sealing ring (36) is contained in the upper and cylinder barrel (12) of piston (1) and is formed and be sealed and matched, sealing ring (37) is contained in the upper and piston rod (2) of front end housing (4) and is formed and be sealed and matched, pipe joint I (3) is arranged on and cylinder barrel (12) is close to back cylinder cover (11) and is communicated with cylinder barrel (12) epicoele, pipe joint II (41) is arranged on and cylinder barrel (12) is close to front end housing (4) and is communicated with cylinder barrel (12) cavity of resorption, Connection Block (14) is connected with it by the external screw thread of front end housing (4) lower end, sleeve connection seat (25) is connected with it by the external screw thread of front end housing (4) lower end, sleeve (5) is arranged in sleeve connection seat (25), piston rod (2) lower end is stretched in sleeve (5), piston rod fixed head (26) is connected with piston rod (2) lower end by piston pin (27), disc spring sheet group is axially installed successively in sleeve (5) inner piston rod fixed head (26) below, one with upper friction plate (29), disc spring sheet group, pull bar (6), lax spring (13) pull bar (6) is equipped with, push-and-pull head (7) is fixedly mounted on pull bar (6) lower end by locking nut (33), hinge (15) one end by hinge axis and push-and-pull head (7) hinged, the other end is hinged by hinge axis (16) and dactylus (8), and dactylus (8) is hinged by dactylus axle (17) and mount pad (18) simultaneously, connecting rod fixed head (40) connects firmly on mount pad (18) by screw (38), connecting rod (9) is arranged on connecting rod fixed head (40) center and carries out axial location by pressing plate (35), spring (23) is sleeved on connecting rod (9), connecting ring (24) is sleeved on connecting rod (9) lower end and carries out axial location to spring (23), sucker chute (10) be welded on connecting ring (24) and the quantity of its quantity and installation site and dactylus (8) and installation site corresponding, activity hand cradle (19) is arranged on that sucker chute (10) is upper by guide chute and its one end is hinged by activity hand cradle pin (30) and dactylus (8), spring block (31) is fixed in activity hand cradle (19) by block screw (32), at the chute of sucker chute (10) built with Return spring (22), Return spring (22) two ends are connected with sucker chute (10) end face with spring block (31) respectively, vacuum cup (20) is arranged in activity hand cradle (19) by hinge pin (42).
2. according to claim 1 vacuum cup machinery paw, it is characterized in that: sleeve (5) is made up of left half sleeve (5-1), right half sleeve (5-2), left half sleeve (5-1) is connected with sleeve connection seat (25) respectively by sleeve pin (39) with right half sleeve (5-2).
3. according to claim 1 or 2 vacuum cup machinery paw, it is characterized in that: disc spring sheet group by two panels disc spring sheet (28) to dressing up one group.
4. vacuum cup machinery paw according to claim 3, is characterized in that: friction plate (29) be the surperficial lamellar body with small wavy bulge.
5. vacuum cup machinery paw according to claim 4, it is characterized in that: upper layout more than 2 the activity hand cradle (19) of each sucker chute (10), and vacuum cup (20) quantity is consistent with activity hand cradle (19) quantity.
CN201510310750.3A 2015-06-09 2015-06-09 A kind of vacuum cup machinery paw CN104924318B (en)

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CN201510310750.3A CN104924318B (en) 2015-06-09 2015-06-09 A kind of vacuum cup machinery paw

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Application Number Priority Date Filing Date Title
CN201510310750.3A CN104924318B (en) 2015-06-09 2015-06-09 A kind of vacuum cup machinery paw

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CN104924318B CN104924318B (en) 2016-06-22

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105328746A (en) * 2015-11-10 2016-02-17 东莞市南兴家具装备制造股份有限公司 Independently moving type vacuum sucker provided with airlock and board suction device
CN105563219A (en) * 2016-03-09 2016-05-11 宁夏机械研究院股份有限公司 Workpiece gripping device
CN106050789A (en) * 2016-06-30 2016-10-26 浙江博雷重型机床制造有限公司 Drive mechanism and clamping device thereof
CN107178617A (en) * 2017-05-11 2017-09-19 浙江亚太机电股份有限公司 Automobile brake clamps the automatic constriction device of rectangular seal
CN107414796A (en) * 2017-08-17 2017-12-01 柳州福能机器人开发有限公司 Industrial machine arm
CN107433583A (en) * 2017-08-17 2017-12-05 柳州福能机器人开发有限公司 Pinpoint mechanical arm
CN107443361A (en) * 2017-08-17 2017-12-08 柳州福能机器人开发有限公司 Multivariant mechanical arm
CN108502817A (en) * 2018-04-02 2018-09-07 岳莉 Cladding glass debris colleting device
CN110236457A (en) * 2019-06-17 2019-09-17 温州大学 Three-dimensional environmental sanitation cleaning plant

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1437218A2 (en) * 1987-01-26 1988-11-15 Предприятие П/Я А-1944 Gripping device
US6431624B1 (en) * 1999-08-21 2002-08-13 Man Roland Druckmaschinen Ag Suction gripper
JP2005230944A (en) * 2004-02-18 2005-09-02 Calsonic Kansei Corp Substrate suction device
CN203380893U (en) * 2013-06-21 2014-01-08 厦门赛恩机电科技有限公司 Mechanical arm vacuum absorption clamping head
CN204772573U (en) * 2015-06-09 2015-11-18 昆明理工大学 Vacuum chuck mechanical gripper

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1437218A2 (en) * 1987-01-26 1988-11-15 Предприятие П/Я А-1944 Gripping device
US6431624B1 (en) * 1999-08-21 2002-08-13 Man Roland Druckmaschinen Ag Suction gripper
JP2005230944A (en) * 2004-02-18 2005-09-02 Calsonic Kansei Corp Substrate suction device
CN203380893U (en) * 2013-06-21 2014-01-08 厦门赛恩机电科技有限公司 Mechanical arm vacuum absorption clamping head
CN204772573U (en) * 2015-06-09 2015-11-18 昆明理工大学 Vacuum chuck mechanical gripper

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105328746A (en) * 2015-11-10 2016-02-17 东莞市南兴家具装备制造股份有限公司 Independently moving type vacuum sucker provided with airlock and board suction device
CN105563219A (en) * 2016-03-09 2016-05-11 宁夏机械研究院股份有限公司 Workpiece gripping device
CN106050789A (en) * 2016-06-30 2016-10-26 浙江博雷重型机床制造有限公司 Drive mechanism and clamping device thereof
CN107178617A (en) * 2017-05-11 2017-09-19 浙江亚太机电股份有限公司 Automobile brake clamps the automatic constriction device of rectangular seal
CN107414796A (en) * 2017-08-17 2017-12-01 柳州福能机器人开发有限公司 Industrial machine arm
CN107433583A (en) * 2017-08-17 2017-12-05 柳州福能机器人开发有限公司 Pinpoint mechanical arm
CN107443361A (en) * 2017-08-17 2017-12-08 柳州福能机器人开发有限公司 Multivariant mechanical arm
CN108502817A (en) * 2018-04-02 2018-09-07 岳莉 Cladding glass debris colleting device
CN110236457A (en) * 2019-06-17 2019-09-17 温州大学 Three-dimensional environmental sanitation cleaning plant

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