CN105150224A - Dual clamping mechanical catching hand device - Google Patents

Dual clamping mechanical catching hand device Download PDF

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Publication number
CN105150224A
CN105150224A CN201510574545.8A CN201510574545A CN105150224A CN 105150224 A CN105150224 A CN 105150224A CN 201510574545 A CN201510574545 A CN 201510574545A CN 105150224 A CN105150224 A CN 105150224A
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CN
China
Prior art keywords
clamping
handgrip
piston rod
rod assembly
mechanical gripper
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.)
Granted
Application number
CN201510574545.8A
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Chinese (zh)
Other versions
CN105150224B (en
Inventor
贾文友
刘莉
贾昊瑞
邓启超
王正
唐威
李旭冬
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Bengbu Geshi Intellectual Property Operations Co.,Ltd.
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Anhui Polytechnic University
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Priority to CN201510574545.8A priority Critical patent/CN105150224B/en
Publication of CN105150224A publication Critical patent/CN105150224A/en
Application granted granted Critical
Publication of CN105150224B publication Critical patent/CN105150224B/en
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Abstract

The invention discloses a dual clamping mechanical catching hand device which comprises a cylinder body, a piston rod assembly, a clamping catching hand and a tightening assembly. The cylinder body is assembled on a transfer device of a mechanical catching hand, and the clamping catching hand is assembled on the piston rod assembly through the tightening assembly. A first catching hand clamping section and a second catching hand clamping section are provided with strip-shaped grooves, and the sections of a third catching hand clamping section and a fourth catching hand clamping section are of an L-shaped structure. Primary clamping in dual clamping of the mechanical catching hand device is the clamping and capturing of an operated workpiece through the strip-shaped grooves of the first catching hand clamping section and the second catching hand clamping section, the secondary clamping is auxiliary supporting and auxiliary clamping of the operated workpiece through the L-shaped structures of the third catching hand clamping section and the fourth catching hand clamping section, and the problems that the operated workpiece is not clamped firmly, sliding and even dropping occur in the transfer process and the placing position is inaccurate are solved. The dual clamping mechanical catching hand device is simple in structure, reliable in principle and convenient to implement, and the operated workpiece is high in reliability in the clamping, capturing, transferring and placing process.

Description

A kind of mechanical gripper device of dual clamping
Art
The present invention relates to a kind of mechanical gripper device technique field of robot, specifically relate to the mechanical gripper device of a kind of dual clamping of small scale robot.
Background technology
In robot extensive use, the function of mechanical gripper is the clamping of complete operation workpiece, captures, moves and place, and it is one of critical component in robot.The mechanical gripper apparatus structure of small-sized machine people is generally a pair clamping handgrip, by handgrip gripping section relatively clamp complete operation workpiece clamping, capture, move and place.
At present, the mechanical gripper device of small-sized machine people the clamping to operation workpiece, capture, move and place time, because operated workpiece is little, handgrip gripping section contact area is little, there is mismachining tolerance causes more greatly the out-of-flatness of handgrip gripping section contact surface, and the operation workpiece had due to material problem to the situations such as clamping force size is restricted occur to operation workpiece clamp not strongly by, move in process slide even drop and placement location inaccurate.To a certain degree affecting the normal operation of this type of operation workpiece production line.
Summary of the invention
In order to the mechanical gripper device that overcomes existing small-sized machine people the clamping to operation workpiece, capture, move and place time, because operated workpiece is little, handgrip gripping section contact area is little, there is mismachining tolerance causes more greatly the out-of-flatness of handgrip gripping section contact surface, and the operation workpiece had due to material problem to the situations such as clamping force size is restricted occur to operation workpiece clamp not strongly by, move in process slide even drop and placement location inaccurate; To a certain degree affecting the defect such as normal operation of this type of operation workpiece production line, the invention provides a kind of mechanical gripper device of dual clamping newly.
The present invention specifically solves the technical solution that its technical problem adopts: the mechanical gripper device of dual clamping comprises cylinder body, connecting hole, piston rod assembly one, piston rod assembly two, piston rod assembly three, piston rod assembly four, clamping handgrip one, tightening assembly one, handgrip gripping section one, clamping handgrip two, tightening assembly two, handgrip gripping section two, clamping handgrip three, tightening assembly three, handgrip gripping section three, clamping handgrip four, tightening assembly four and handgrip gripping section four.Wherein, cylinder body is assembled on the shifting apparatus of mechanical gripper by connecting hole.Piston rod assembly one and piston rod assembly two are the synchronous piston bar assembly of cylinder body; Piston rod assembly one is identical with piston rod assembly two structure and be arranged symmetrically with; Clamping handgrip one and to clamp handgrip two structure identical and be arranged symmetrically with; Clamping handgrip one is assembled on piston rod assembly one by tightening assembly one; Clamping handgrip two-way tension locking assembly two is assembled on piston rod assembly two; Handgrip gripping section one and handgrip gripping section two are designed with striated groove, reduce holding area, overcome operation workpiece because of exist mismachining tolerance cause more greatly the out-of-flatness of handgrip gripping section contact surface occur on operation workpiece clamp not strongly by, move in process to slide and even drop and the inaccurate impact of placement location.Piston rod assembly three and piston rod assembly four are the synchronous piston bar assembly of cylinder body; Piston rod assembly three is identical with piston rod assembly four structure and be arranged symmetrically with; Clamping handgrip three and to clamp handgrip four structure identical and be arranged symmetrically with; Clamping handgrip threeway tension locking assembly three is assembled on piston rod assembly three; Clamping handgrip four-way tension locking assembly four is assembled on piston rod assembly four; Handgrip gripping section three and handgrip gripping section four are designed to cross section for " L " type structure, the upper surface, bottom of " L " type structure can hold up operation workpiece, the lower inside surface of " L " type structure is designed with striated groove, can holding area be reduced, overcome operation workpiece because of exist mismachining tolerance cause more greatly the out-of-flatness of handgrip gripping section contact surface occur on operation workpiece clamp not strongly by, move in process to slide and even drop and the inaccurate impact of placement location.First time clamping in the process of the dual clamping of mechanical gripper device is that the striated groove of clamping handgrip one and clamping handgrip two carries out clamping, capturing from operation workpiece two relative side; Second time clamping is that the upper surface, bottom of " L " type structure of clamping handgrip three and clamping handgrip four assists the lower inside of holding and " L " type structure in the face of operative employee's part auxiliary clamp to operation workpiece.In first time clamping, the clamping force that needs is greater than the clamping force needed in second time clamping, then the quantity of piston rod assembly one and piston rod assembly two is more than the quantity of piston rod assembly three and piston rod assembly four.
The invention has the beneficial effects as follows, adopt a kind of mechanical gripper device of dual clamping newly, by the enforcement of the dual clamping of mechanical gripper device, solve the mechanical gripper device of current existing small-sized machine people in the clamping to operation operation workpiece, capture, when moving and place, because operated workpiece is little, handgrip gripping section contact area is little, there is mismachining tolerance and cause more greatly the out-of-flatness of handgrip gripping section contact surface, and the operation workpiece had occurs clamping not strongly operation workpiece leaning on to situations such as clamping force size are restricted due to material problem, moving in process slides even drop and placement location inaccurate, to a certain degree affecting the problem such as normal operation of this type of operation workpiece production line.Its structure is simple, and principle is reliable, and it is convenient to implement, and improves operation Workpiece clamping, captures, moves and reliability in put procedure and accuracy.
Accompanying drawing explanation
Fig. 1 is the general structure schematic diagram of the mechanical gripper device of a kind of dual clamping of the present invention;
Fig. 2 is the plan structure schematic diagram of the mechanical gripper device of a kind of dual clamping of the present invention;
Fig. 3 be the mechanical gripper device of a kind of dual clamping of the present invention face structural representation;
Fig. 4 is the left side TV structure schematic diagram of the mechanical gripper device of a kind of dual clamping of the present invention;
Structural representation is faced when Fig. 5 is the mechanical gripper device clipping operation workpiece of a kind of dual clamping of the present invention;
Left side TV structure schematic diagram when Fig. 6 is the mechanical gripper device clipping operation workpiece of a kind of dual clamping of the present invention;
Workflow diagram when Fig. 7 is the mechanical gripper device clipping operation workpiece of a kind of dual clamping of the present invention.
In figure, 11. cylinder bodies, 111. connecting holes, 112. piston rod assemblies one, 113. piston rod assembly two, 114. piston rod assembly three, 115. piston rod assembly four, 12. clamping handgrips one, 121. tightening assembly one, 122. handgrip gripping section one, 13. clamping handgrips two, 131. tightening assembly two, 132. handgrip gripping section two, 14. clamping handgrips three, 141. tightening assembly three, 142. handgrip gripping section three, 15. clamping handgrips four, 151. tightening assembly four, 152. handgrip gripping section four, 51. operation workpiece.
Detailed description of the invention
Below in conjunction with drawings and Examples, patent of the present invention is further described.
See accompanying drawing, a kind of mechanical gripper device of dual clamping comprises cylinder body 11, connecting hole 111, piston rod assembly 1, piston rod assembly 2 113, piston rod assembly 3 114, piston rod assembly 4 115, clamping handgrip 1, tightening assembly 1, handgrip gripping section 1, clamping handgrip 2 13, tightening assembly 2 131, handgrip gripping section 2 132, clamping handgrip 3 14, tightening assembly 3 141, handgrip gripping section 3 142, clamping handgrip 4 15, tightening assembly 4 151 and handgrip gripping section 4 152.Wherein, as depicted in figs. 1 and 2, cylinder body 11 is assembled on the shifting apparatus (not marking in figure) of mechanical gripper by connecting hole 111.As shown in Figure 3, piston rod assembly 1 and piston rod assembly 2 113 are the synchronous piston bar assembly of cylinder body 11; Piston rod assembly 1 is identical with piston rod assembly 2 113 structure and be arranged symmetrically with; Clamping handgrip 1 and to clamp handgrip 2 13 structure identical and be arranged symmetrically with; Clamping handgrip 1 is assembled on piston rod assembly 1 by tightening assembly 1; Clamping handgrip 2 13 is assembled on piston rod assembly 2 113 by tightening assembly 2 131; Handgrip gripping section 1 and handgrip gripping section 2 132 are designed with striated groove, reduce holding area, overcome operation workpiece 51 because of exist mismachining tolerance cause more greatly the out-of-flatness of handgrip gripping section contact surface occur on operation workpiece 51 clamp not strongly by, move in process to slide and even drop and the inaccurate impact of placement location.As shown in Figure 4, piston rod assembly 3 114 and piston rod assembly 4 115 are the synchronous piston bar assembly of cylinder body 11; Piston rod assembly 3 114 is identical with piston rod assembly 4 115 structure and be arranged symmetrically with; Clamping handgrip 3 14 and to clamp handgrip 4 15 structure identical and be arranged symmetrically with; Clamping handgrip 3 14 is assembled on piston rod assembly 3 114 by tightening assembly 3 141; Clamping handgrip 4 15 is assembled on piston rod assembly 4 115 by tightening assembly 4 151; Handgrip gripping section 3 142 and handgrip gripping section 4 152 are designed to cross section for " L " type structure, the upper surface, bottom of " L " type structure can hold up operation workpiece 51, the lower inside surface of " L " type structure is designed with striated groove, can holding area be reduced, overcome operation workpiece 51 because of exist mismachining tolerance cause more greatly the out-of-flatness of handgrip gripping section contact surface occur on operation workpiece 51 clamp not strongly by, move in process to slide and even drop and the inaccurate impact of placement location.The process of the dual clamping of mechanical gripper device: as shown in Figure 5, first time clamping is that the striated groove of clamping handgrip 1 and clamping handgrip 2 13 carries out clamping, capturing from operation workpiece 51 two relative side; As shown in Figure 6, second time clamping is that clamping handgrip 3 14 assists the lower inside of holding and " L " type structure in the face of operative employee's part 51 auxiliary clamp with the upper surface, bottom of " L " type structure of clamping handgrip 4 15 to operation workpiece 51.In first time clamping, the clamping force that needs is greater than the clamping force needed in second time clamping, and as shown in Figure 1, then the quantity of piston rod assembly 1 and piston rod assembly 2 113 is more than the quantity of piston rod assembly 3 114 and piston rod assembly 4 115.
When operating workpiece 51 and needing to clamp, capture, move and place, as shown in Figure 7, the workflow of the mechanical gripper device clipping operation workpiece of dual clamping is the operational order accepting robot; The mechanical gripper device that the shifting apparatus of mechanical gripper implements dual clamping moves to directly over operation workpiece 51; The mechanical gripper device that the shifting apparatus of mechanical gripper implements dual clamping drops to assigned address; The mechanical gripper device of dual clamping implements first time clamping, and the striated groove namely clamping handgrip 1 and clamping handgrip 2 13 carries out clamping, capturing from operation workpiece 51 two relative side; The mechanical gripper device that the shifting apparatus of mechanical gripper implements dual clamping is promoted to specified altitude assignment; The mechanical gripper device of dual clamping implements second time clamping, namely the upper surface, bottom clamping " L " type structure of handgrip 3 14 and clamping handgrip 4 15 runs to operation workpiece 51 lower surface and carries out auxiliary holding, and the lower inside of " L " type structure is in the face of operative employee's part 51 auxiliary clamp; The mechanical gripper device that the shifting apparatus of mechanical gripper implements dual clamping is moved operation workpiece 51 and is moved to directly over the workbench of processing; The mechanical gripper device of dual clamping removes second time clamping, namely clamps handgrip 3 14 and unclamps auxiliary clamp with clamping handgrip 4 15, and the upper surface, bottom of " L " type structure of clamping handgrip 3 14 and clamping handgrip 4 15 is left from operating workpiece 51 lower surface; The mechanical gripper device that the shifting apparatus of mechanical gripper implements dual clamping drops to assigned address; The mechanical gripper device of dual clamping is removed and is clamped for the first time, and namely clamping handgrip 1 and clamping handgrip 2 13 unclamp the clamping to operating workpiece 51 two relative side, and placement operates workpiece 51; The mechanical gripper device that the shifting apparatus of mechanical gripper implements dual clamping is reset to assigned address; Complete the operational order of this robot.

Claims (4)

1. the mechanical gripper device of a dual clamping, comprise cylinder body (11), connecting hole (111), piston rod assembly one (112), piston rod assembly two (113), piston rod assembly three (114), piston rod assembly four (115), clamping handgrip one (12), tightening assembly one (121), handgrip gripping section one (122), clamping handgrip two (13), tightening assembly two (131), handgrip gripping section two (132), clamping handgrip three (14), tightening assembly three (141), handgrip gripping section three (142), clamping handgrip four (15), tightening assembly four (151) and handgrip gripping section four (152), cylinder body (11) is assembled on the shifting apparatus of mechanical gripper by connecting hole (111), it is characterized in that: described clamping handgrip one (12) is assembled on piston rod assembly one (112) by tightening assembly one (121), clamping handgrip two (13) is assembled on piston rod assembly two (113) by tightening assembly two (131), clamping handgrip three (14) is assembled on piston rod assembly three (114) by tightening assembly three (141), clamping handgrip four (15) is assembled on piston rod assembly four (115) by tightening assembly four (151), handgrip gripping section one (122) and handgrip gripping section two (132) are designed with striated groove, handgrip gripping section three (142) and handgrip gripping section four (152) are designed to cross section for " L " type structure, and the lower inside surface of " L " type structure is designed with striated groove, first time clamping in the process of the dual clamping of mechanical gripper device is that the striated groove of clamping handgrip one (12) and clamping handgrip two (13) carries out clamping, capturing from operation workpiece (51) two relative side, second time clamping is that the upper surface, bottom of " L " type structure of clamping handgrip three (14) and clamping handgrip four (15) is to operating the lower inside of the auxiliary holding of workpiece (51) and " L " type structure in the face of operative employee's part (51) auxiliary clamp.
2. the mechanical gripper device of a kind of dual clamping according to claim 1, is characterized in that the synchronous piston bar assembly that described piston rod assembly one (112) and piston rod assembly two (113) are cylinder body (11); Piston rod assembly one (112) is identical with piston rod assembly two (113) structure and be arranged symmetrically with; Clamping handgrip one (12) and to clamp handgrip two (13) structure identical and be arranged symmetrically with; The synchronous piston bar assembly that piston rod assembly three (114) and piston rod assembly four (115) are cylinder body (11); Piston rod assembly three (114) is identical with piston rod assembly four (115) structure and be arranged symmetrically with; Clamping handgrip three (14) and to clamp handgrip four (15) structure identical and be arranged symmetrically with.
3. the mechanical gripper device of a kind of dual clamping according to claim 1, is characterized in that the quantity of the quantity of described piston rod assembly one (112) and piston rod assembly two (113) more than piston rod assembly three (114) and piston rod assembly four (115).
4. the mechanical gripper device of a kind of dual clamping according to claim 1, it is characterized in that the workflow of described clipping operation workpiece is the operational order accepting robot, the mechanical gripper device of dual clamping moves to directly over operation workpiece, the mechanical gripper device of dual clamping drops to assigned address, the mechanical gripper device of dual clamping implements first time clamping, the mechanical gripper device of dual clamping is promoted to specified altitude assignment, the mechanical gripper device of dual clamping implements second time clamping, the mechanical gripper device of dual clamping is moved operation workpiece and is moved to directly over the workbench of processing, the mechanical gripper device of dual clamping removes second time clamping, the mechanical gripper device of dual clamping drops to assigned address, the mechanical gripper device of dual clamping removes first time clamping, the mechanical gripper device of dual clamping is reset to assigned address, complete the operational order of this robot.
CN201510574545.8A 2015-09-10 2015-09-10 Dual clamping mechanical catching hand device Active CN105150224B (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105856268A (en) * 2016-06-17 2016-08-17 苏州华本机电有限公司 Clamping mechanical gripper
CN105856495A (en) * 2016-06-03 2016-08-17 广东伊雪松机器人设备有限公司 High-precision injection molding manipulator and operation method thereof
CN106166755A (en) * 2016-09-09 2016-11-30 安徽工程大学 A kind of continuous self-regulating mechanical gripper device of tilting
CN108972331A (en) * 2018-06-19 2018-12-11 禹奕智能科技(上海)有限公司 Last row pipe gripper equipment for robot end
CN106211887B (en) * 2016-07-26 2019-04-30 北京工业大学 A kind of clamping device for rectangular soil matrix mass
CN110394824A (en) * 2019-07-18 2019-11-01 南京航空航天大学 A kind of double cylinder type mechanical paws grabbing irregularly shaped object
WO2020057496A1 (en) * 2018-09-17 2020-03-26 宁德时代新能源科技股份有限公司 Battery gripper and battery grasping method

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Publication number Priority date Publication date Assignee Title
JPH06238577A (en) * 1992-12-22 1994-08-30 Fuji Electric Co Ltd Work transferring device
CN201012863Y (en) * 2007-02-12 2008-01-30 常熟市三禾计量设备厂 Paw structure of intelligent mechanical arm piling machine
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CN202828979U (en) * 2012-06-26 2013-03-27 牧羊有限公司 Stacking robot gripping hand
CN203495959U (en) * 2013-08-08 2014-03-26 上海星路机械设备有限公司 Robot self-adaptive clamping hand for stacking box pieces
CN203566714U (en) * 2013-11-14 2014-04-30 上海星派自动化科技有限公司 Synchronous gripper of bag robot palletizer
CN204148947U (en) * 2014-10-10 2015-02-11 上海宏会邦智能设备有限公司 A kind of manipulator of industrial robot
CN104400791A (en) * 2014-12-05 2015-03-11 重庆朗正科技有限公司 Clamping device of manipulator
CN204622066U (en) * 2015-02-10 2015-09-09 广东长天精密设备科技有限公司 A kind of clamping device
CN205009241U (en) * 2015-09-10 2016-02-03 安徽工程大学 Mechanical tongs device of dual centre gripping

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06238577A (en) * 1992-12-22 1994-08-30 Fuji Electric Co Ltd Work transferring device
CN201012863Y (en) * 2007-02-12 2008-01-30 常熟市三禾计量设备厂 Paw structure of intelligent mechanical arm piling machine
US20120112483A1 (en) * 2010-11-04 2012-05-10 Hon Hai Precision Industry Co., Ltd. Holding device
CN202828979U (en) * 2012-06-26 2013-03-27 牧羊有限公司 Stacking robot gripping hand
CN203495959U (en) * 2013-08-08 2014-03-26 上海星路机械设备有限公司 Robot self-adaptive clamping hand for stacking box pieces
CN203566714U (en) * 2013-11-14 2014-04-30 上海星派自动化科技有限公司 Synchronous gripper of bag robot palletizer
CN204148947U (en) * 2014-10-10 2015-02-11 上海宏会邦智能设备有限公司 A kind of manipulator of industrial robot
CN104400791A (en) * 2014-12-05 2015-03-11 重庆朗正科技有限公司 Clamping device of manipulator
CN204622066U (en) * 2015-02-10 2015-09-09 广东长天精密设备科技有限公司 A kind of clamping device
CN205009241U (en) * 2015-09-10 2016-02-03 安徽工程大学 Mechanical tongs device of dual centre gripping

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105856495A (en) * 2016-06-03 2016-08-17 广东伊雪松机器人设备有限公司 High-precision injection molding manipulator and operation method thereof
CN105856268A (en) * 2016-06-17 2016-08-17 苏州华本机电有限公司 Clamping mechanical gripper
CN106211887B (en) * 2016-07-26 2019-04-30 北京工业大学 A kind of clamping device for rectangular soil matrix mass
CN106166755A (en) * 2016-09-09 2016-11-30 安徽工程大学 A kind of continuous self-regulating mechanical gripper device of tilting
CN106166755B (en) * 2016-09-09 2018-05-11 安徽工程大学 The mechanical gripper device that a kind of tilting is continuously self-regulated
CN108972331A (en) * 2018-06-19 2018-12-11 禹奕智能科技(上海)有限公司 Last row pipe gripper equipment for robot end
WO2020057496A1 (en) * 2018-09-17 2020-03-26 宁德时代新能源科技股份有限公司 Battery gripper and battery grasping method
CN110394824A (en) * 2019-07-18 2019-11-01 南京航空航天大学 A kind of double cylinder type mechanical paws grabbing irregularly shaped object

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