CN106808495A - A kind of manipulator clamping jaw with overvoltage detection function - Google Patents
A kind of manipulator clamping jaw with overvoltage detection function Download PDFInfo
- Publication number
- CN106808495A CN106808495A CN201710102782.3A CN201710102782A CN106808495A CN 106808495 A CN106808495 A CN 106808495A CN 201710102782 A CN201710102782 A CN 201710102782A CN 106808495 A CN106808495 A CN 106808495A
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- CN
- China
- Prior art keywords
- clamping jaw
- guide
- detection
- fairlead
- axis
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
Abstract
The invention provides a kind of manipulator clamping jaw with overvoltage detection function, including column, substrate, synchronising (connecting) rod clamp structure and detection structure；Wherein, synchronising (connecting) rod clamp structure, including hold assembly and power part；Detection structure, the device of the barrier run into during declining for inspecting manipuator clamping jaw.Thus, the manipulator clamping jaw with overvoltage detection function that the present invention is provided solves traditional clamping jaw without hidden danger such as colliding of occurring of detection by floating testing agency；The floating testing agency has floatability relative to clamping jaw, it is still simultaneously to be rigidly connected between clamping jaw and column, avoid whole clamping jaw floating and cause clamping jaw rigidity deficiency, the problem of bad stability, so the increase of relocation mechanism does not reduce the rigidity and stability of conventional mechanism, with realistic meaning very high；Meanwhile, device is accommodated the invention provides a kind of synchronising (connecting) rod, clever structure, bearing capacity is strong, accommodates power big, reliable and stable.
Description
Technical field
The present invention relates to clamping jaw device field, more particularly to realize the loading and unloading of part using manipulator clamping jaw, carry neck
Domain.
Background technology
Clamping jaw is widely used in manipulator as the important component of part clamping position, but traditional structure is logical
The position that column drops to reservation is crossed, is directly clamped.But, there is certain potential safety hazard, ratio in such method of clamping
Barrier is run into during declining such as column, manipulator can't stop immediately, but continued to move to according to the path subscribed, made
Into colliding, and then damage the precision parts of truss manipulator such as：Gear, tooth bar, motor etc., have a strong impact on whole mechanism is
The system life-span.In the patent of application number 201420230006.3, inventor is to carry out floating connection by clamping jaw and column, and
By the judgement of detection switch, realization runs into the alarm of barrier, shuts down.Although such structure setting can avoid what is collided
Occur, but the problem brought but is whole clamping jaw floating connection, and rigidity is not enough, and less stable, structure are relative complex.Cause
This, how successful design goes out a kind of simple structure, manipulator clamping jaw reliable and stable, with over-pressed detection function, as current
Urgent need to solve the problem.
The content of the invention
The invention provides a kind of manipulator clamping jaw with overvoltage detection function, by floating testing agency, solve
The hidden danger such as collide that traditional clamping jaw occurs without detection；The floating testing agency has floatability relative to clamping jaw, at the same clamping jaw and
It is still to be rigidly connected between column, it is to avoid whole clamping jaw floats and causes that clamping jaw rigidity is not enough, the problem of bad stability, institute
The rigidity and stability of conventional mechanism are not reduced with the increase of relocation mechanism, with realistic meaning very high；Meanwhile, the present invention
Device is accommodated there is provided a kind of synchronising (connecting) rod, clever structure, bearing capacity is strong, accommodates power big, reliable and stable.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of manipulator clamping jaw with overvoltage detection function, it is characterised in that including column, substrate, synchronising (connecting) rod clamping knot
Structure and detection structure；Wherein, substrate, substrate side is rigidly connected with column one end, and substrate opposite side clamps knot with synchronising (connecting) rod
Structure is rigidly connected；Synchronising (connecting) rod clamp structure, including hold assembly and power part, wherein, hold assembly is used to add part
Hold positioning, including axle, swing arm unit, left connecting rod, right connecting rod, left contiguous block, right contiguous block, left clamping jaw, right clamping jaw and guide rail, axle
It is fixed on substrate, is connected with swing arm unit on axle, the one end of the two ends of swing arm unit respectively with left connecting rod and right connecting rod is connected,
The other end of left connecting rod is fixedly connected with left contiguous block, and the other end of left contiguous block is fixedly connected with left clamping jaw, right connecting rod it is another
One end is fixedly connected with right contiguous block, and the other end of right contiguous block is fixedly connected with right clamping jaw, is fixed on the guide rail point on substrate
It is not slidably connected with left clamping jaw, right clamping jaw；Power part is used to provide hold assembly power, including bearing, cylinder, floating connect
Head and contiguous block, bearing are fixedly connected on substrate, and cylinder is fixedly connected on bearing, and floating junction connects with the piston rod of cylinder
Connect, the contiguous block fixedly mounted with left clamping jaw coordinates with floating junction to be installed；Detection structure, declines for inspecting manipuator clamping jaw
During the device of barrier that runs into, including right fairlead, left fairlead, pressing plate, the right axis of guide, the left axis of guide, detection block
And detection switch, right fairlead and left fairlead be fixed on substrate, the right axis of guide and the left axis of guide respectively from right fairlead and
The inside of left fairlead is run through, and the bottom of the two ends of pressing plate respectively with the right axis of guide and the left axis of guide is connected, the right axis of guide it is upper
Portion is fixedly connected with detection block, and detection switch is corresponding with the position of detection block.
Further, the diameter of the right axis of guide and the left axis of guide is respectively than right fairlead and the annular diameters of left fairlead
Small, the length of the length of the right axis of guide and the left axis of guide respectively than right fairlead and left fairlead is long.
Further, also including sliding block, sliding block is separately fixed on left clamping jaw, right clamping jaw, guide rail respectively with left clamping jaw, the right side
Clamping jaw is slidably connected by sliding block.
Further, guide rail is set to two closed slides.
Further, the quantity of sliding block is 4, and a left slider and a right sliding block are combined with every guide rail, and
And sliding pair is constituted, left clamping jaw is fixed on two left sliders, and right clamping jaw is fixed on two right sliding blocks.
Further, also including support, support is fixed on substrate, and detection switch is fixedly connected on support.
Further, the quantity of detection switch is 2, and the quantity of detection block is 2, the installation site of each detection switch
It is corresponding with each detection block respectively.
Beneficial effects of the present invention are as follows：
（1）Decline process there is provided clamping jaw and run into the arresting stop that barrier can not be detected voluntarily.
（2）Solve the increase of testing agency so that the rigidity of clamping jaw, the problem of bad stability.
（3）A kind of synchronising (connecting) rod clamp structure is provided.
Brief description of the drawings
Fig. 1 is front view of the invention；
Fig. 2 is upward view of the invention；
Fig. 3 is top view of the invention；
Fig. 4 is partial sectional view of the invention.
Wherein, 1, column, 2, substrate, 3, guide rail, 4-1, left slider, 4-2, right sliding block, 5, left clamping jaw, 6, right clamping jaw, 7,
Bearing, 8, cylinder, 9, floating junction, 10, contiguous block, 11-1, right fairlead, 11-2, left fairlead, 12-1, the right axis of guide,
12-2, the left axis of guide, 13, detection block, 14, support, 15, detection switch, 16, axle, 17, swing arm unit, 18-1, left connecting rod, 18-
2nd, right connecting rod, 19-1, left contiguous block, 19-2, right contiguous block, 20, pressing plate.
Specific embodiment
In order that those skilled in the art more fully understand technical scheme, with reference to specific embodiment to this
Invention is described in further detail.The embodiments described below is exemplary, is only used for explaining the present invention, without being understood that
It is limitation of the present invention.
For the above-mentioned problems in the prior art, the invention provides a kind of manipulator with overvoltage detection function
Clamping jaw, by floating testing agency, solves traditional clamping jaw without hidden danger such as colliding of occurring of detection；The floating testing agency is relative
There is floatability in clamping jaw, while being still to be rigidly connected between clamping jaw and column, it is to avoid whole clamping jaw floats and causes clamping jaw
Rigidity is not enough, the problem of bad stability, so the increase of relocation mechanism does not reduce the rigidity and stability of conventional mechanism, tool
There is realistic meaning very high；Meanwhile, device is accommodated the invention provides a kind of synchronising (connecting) rod, clever structure, bearing capacity is strong, accommodates
Power is big, reliable and stable.
The invention provides a kind of manipulator clamping jaw with overvoltage detection function, as shown in figure 1, including column 1, substrate
2nd, synchronising (connecting) rod clamp structure and detection structure.Column, the device for synchronising (connecting) rod clamp structure to be dropped to precalculated position.
Substrate, is for will carry out rigidly connected important component between synchronising (connecting) rod clamp structure and column.Synchronising (connecting) rod clamping knot
Structure, is for the device by target component is clamped.Detection structure, is for being met during declining for inspecting manipuator clamping jaw
The device of the barrier for arriving.
According to a particular embodiment of the invention, the manipulator clamping jaw includes detection structure, under inspecting manipuator clamping jaw
The device of the barrier run into during drop.Fig. 4 is partial sectional view of the invention, i.e., the broken section of over-pressed detection position
Figure, as shown in figure 4, the detection structure includes that right fairlead 11-1, left fairlead 11-2, pressing plate 20, right axis of guide 12-1, a left side are led
To axle 12-2, detection block 13 and detection switch 15, right fairlead and left fairlead are fixed on substrate, the right axis of guide and left guiding
Inside of the axle respectively from right fairlead and left fairlead is run through, the two ends of pressing plate respectively with the right axis of guide and the bottom of the left axis of guide
Connection, the top of the right axis of guide is fixedly connected with detection block, and detection switch is corresponding with the position of detection block.According to the present invention one
Annular diameters of the diameter of a little specific embodiments, the right axis of guide and the left axis of guide respectively than right fairlead and left fairlead are small,
Length of the length of the right axis of guide and the left axis of guide respectively than right fairlead and left fairlead is long；Further, the right axis of guide and
Right fairlead constitutes sliding pair, the left axis of guide and left fairlead composition sliding pair, can in order to the right axis of guide and right fairlead
Mutually sliding is smoothed out, the left axis of guide and left fairlead can be smoothed out mutually sliding, thus, in the whole of column decline
During, when pressing plate encounters barrier, it is possible to so that the right axis of guide, the left axis of guide are synchronized with the movement.So as to the present invention is provided
Manipulator clamping jaw by floating testing agency, solve traditional clamping jaw without hidden danger such as colliding of occurring of detection.
According to a particular embodiment of the invention, the detection structure also includes support 14, for fixed test switch.Support is consolidated
It is scheduled on substrate, detection switch is fixedly connected on support.Further, the quantity of detection switch is 2, the quantity of detection block
Be 2, the installation site of each detection switch is corresponding with each detection block respectively, i.e., the top fixed installation of the right axis of guide
2 detection blocks are alignd with each detection detection switch respectively.
Under normal circumstances, the state that two detection switch 15 are triggered all in detected block 13, in the whole of column decline
During, under normal circumstances, i.e., when manipulator clamping jaw is smoothed out grabbing workpiece, column 1 drops to predetermined position to be carried out
Crawl；Under abnormal condition, i.e., when barrier is run into during column 1 declines, pressing plate 20 will be by barrier support
Rise（That is overpressure situation）, so as to drive left axis of guide 12-2 and the detection block 13 that connects thereon to rise, cause detection block 13 and inspection
Slowdown monitoring switch 15 takes place dislocation, and after detection block 13 and detection switch 15 are disengaged, detection switch 15 is just triggered, so that
The stop motion of column 1.Thus, a kind of manipulator clamping jaw with overvoltage detection function that the present invention is provided, is detected by floating
Mechanism, solves the hidden danger such as collide that traditional clamping jaw occurs without detection.
According to a particular embodiment of the invention, the synchronising (connecting) rod clamp structure in the present invention, is for that will clamp target portion
The device of part.Fig. 2 is upward view of the invention, the i.e. upward view when pressing plate 20 is set to pellucidity, as shown in Fig. 2 should
Synchronising (connecting) rod clamp structure includes hold assembly and power part, wherein, hold assembly is used to accommodate positioning to part；Power part
Part is used to provide power to hold assembly.
According to a particular embodiment of the invention, hold assembly is used to accommodate part and positions, including axle 16, swing arm unit
17th, left connecting rod 18-1, right connecting rod 18-2, left contiguous block 19-1, right contiguous block 19-2, left clamping jaw 5, right clamping jaw 6 and guide rail 3.Such as
Shown in Fig. 2, axle is fixed on substrate, is connected with swing arm unit on axle, the two ends of swing arm unit respectively with left connecting rod and right connecting rod
One end connection, the other end of left connecting rod is fixedly connected with left contiguous block, and the other end of left contiguous block is fixedly connected with left clamping jaw,
The other end of right connecting rod is fixedly connected with right contiguous block, and the other end of right contiguous block is fixedly connected with right clamping jaw, is fixed on substrate
On guide rail be slidably connected with left clamping jaw, right clamping jaw respectively.Thus, swing arm unit can rotate around axle, so as to by rotating
Swing arm unit drives left clamping jaw to be moved reciprocatingly along guide rail by left connecting rod, left contiguous block, while passing through right connecting rod, right connection
Block drives right clamping jaw to be moved reciprocatingly along guide rail, promotes left clamping jaw and right clamping jaw move toward one another simultaneously, is constantly close to, clamps,
So as to realize the grasping movement of part.
According to a particular embodiment of the invention, hold assembly also include sliding block, for promote guide rail respectively with left clamping jaw, the right side
Clamping jaw enters line slip.As shown in figure 1, sliding block is separately fixed on left clamping jaw, right clamping jaw, guide rail respectively with left clamping jaw, right clamping jaw
It is slidably connected by sliding block.According to some specific embodiments, guide rail is set to two closed slides, and sliding block of being more convenient for enters
Row is moved back and forth；The quantity of sliding block is 4, including 2 left slider 4-1 and 2 right sliding block 4-2, wherein, match somebody with somebody on every guide rail
Conjunction has an a left slider 4-1 and right sliding block 4-2, and constitutes sliding pair, and left clamping jaw is fixed on two left sliders, right folder
Pawl is fixed on two right sliding blocks.
According to a particular embodiment of the invention, power part is used to provide hold assembly power, including bearing 7, cylinder
8th, floating junction 9 and contiguous block 10.As shown in Figure 1-2, bearing is fixedly connected on substrate, and cylinder is fixedly connected on bearing,
Floating junction is connected with the piston rod of cylinder, and the contiguous block fixedly mounted with left clamping jaw coordinates with floating junction to be installed.Thus, lead to
Cross the expanding-contracting action of cylinder, can drive left clamping jaw along guide rail move back and forth, while left jaw action by left contiguous block,
Left connecting rod, swing arm unit, right connecting rod, right contiguous block drive right clamping jaw to be moved back and forth along guide rail, promote left clamping jaw and right clamping jaw
Move toward one another, is constantly close to, clamps, so as to realize the grasping movement of part simultaneously.
By the expanding-contracting action of cylinder 8, the left clamping jaw 5 being fixed on two left sliders can be driven reciprocal along guide rail 3
Motion, drives swing arm unit 17 to move, swing arm unit while left clamping jaw 5 is moved by left contiguous block 19-1, left connecting rod 18-1
Can be rotated around axle, the swing arm unit 17 being pivoted is driven by right connecting rod 18-2, right contiguous block 19-2 and is fixed on two
Right clamping jaw 6 on right sliding block is moved back and forth along guide rail 3, promotes left clamping jaw and right clamping jaw move toward one another simultaneously, is constantly close to, is pressed from both sides
Tightly, so as to realize the grasping movement of part.Due to cylinder 8 Impact direction and actual parts load application point, direction not
It is identical, thus the long service life of cylinder 8, and main bearing capacity is undertaken by guide rail 3, so bearing capacity is strong；Meanwhile, the synchronization
Connecting rod accommodates device, and clever structure, bearing capacity is strong, accommodates power big, reliable and stable.
According to a particular embodiment of the invention, the manipulator clamping jaw that the present invention is provided also includes substrate, is for by synchronously
Rigidly connected important component is carried out between structure of clamping for connecting rod and column.As Figure 1-4, substrate side is firm with column one end
Property connection, substrate opposite side is rigidly connected with synchronising (connecting) rod clamp structure, and thus, column and synchronising (connecting) rod clamp structure still lead to
Cross to be rigidly connected and be structure as a whole, so the rigidity and stability of clamping jaw are undiminished.So, the floating testing agency phase
There is floatability for clamping jaw, while being still to be rigidly connected between clamping jaw and column, it is to avoid whole clamping jaw floats and causes folder
Pawl rigidity is not enough, the problem of bad stability, so the increase of relocation mechanism does not reduce the rigidity and stability of conventional mechanism,
With realistic meaning very high.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means to combine specific features, the knot that the embodiment or example are described
Structure, material or feature are contained at least one embodiment of the invention or example.In this manual, to above-mentioned term
Schematic representation is not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or spy
Point can in an appropriate manner be combined in one or more any embodiments or example.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
Can these embodiments be carried out with various changes, modification, replacement and modification in the case of departing from principle of the invention and objective, this
The scope of invention is limited by claim and its equivalent.
Claims (7)
1. it is a kind of with the over-pressed manipulator clamping jaw for detecting function, it is characterised in that including column, substrate, synchronising (connecting) rod clamping
Structure and detection structure；Wherein, substrate, substrate side is rigidly connected with column one end, and substrate opposite side is clamped with synchronising (connecting) rod
Structural rigidity is connected；Synchronising (connecting) rod clamp structure, including hold assembly and power part, wherein, hold assembly is used for part
Positioning, including axle, swing arm unit, left connecting rod, right connecting rod, left contiguous block, right contiguous block, left clamping jaw, right clamping jaw and guide rail are accommodated,
Axle is fixed on substrate, and swing arm unit is connected with axle, and the two ends of swing arm unit connect with one end of left connecting rod and right connecting rod respectively
Connect, the other end of left connecting rod is fixedly connected with left contiguous block, the other end of left contiguous block is fixedly connected with left clamping jaw, right connecting rod
The other end is fixedly connected with right contiguous block, and the other end of right contiguous block is fixedly connected with right clamping jaw, is fixed on the guide rail on substrate
It is slidably connected with left clamping jaw, right clamping jaw respectively；Power part is used to provide hold assembly power, including bearing, cylinder, floating
Joint and contiguous block, bearing are fixedly connected on substrate, and cylinder is fixedly connected on bearing, the piston rod of floating junction and cylinder
Connection, the contiguous block fixedly mounted with left clamping jaw coordinates with floating junction to be installed；Detection structure, under inspecting manipuator clamping jaw
The device of the barrier run into during drop, including right fairlead, left fairlead, pressing plate, the right axis of guide, the left axis of guide, detection
Block and detection switch, right fairlead and left fairlead are fixed on substrate, and the right axis of guide and the left axis of guide are respectively from right fairlead
Inside with left fairlead is run through, and the bottom of the two ends of pressing plate respectively with the right axis of guide and the left axis of guide is connected, the right axis of guide
Top is fixedly connected with detection block, and detection switch is corresponding with the position of detection block.
2. a kind of manipulator clamping jaw with overvoltage detection function as claimed in claim 1, it is characterised in that the right axis of guide and
Annular diameters of the diameter of the left axis of guide respectively than right fairlead and left fairlead are small, the length point of the right axis of guide and the left axis of guide
Length not than right fairlead and left fairlead is long.
3. it is a kind of with the over-pressed manipulator clamping jaw for detecting function as described in claim any one of 1-2, it is characterised in that also
Including sliding block, sliding block is separately fixed on left clamping jaw, right clamping jaw, and guide rail is slided with left clamping jaw, right clamping jaw by sliding block respectively
Dynamic connection.
4. it is as claimed in claim 3 a kind of with the over-pressed manipulator clamping jaw for detecting function, it is characterised in that guide rail is set to
Two closed slides.
5. it is as claimed in claim 4 a kind of with the over-pressed manipulator clamping jaw for detecting function, it is characterised in that the quantity of sliding block
It is 4, a left slider and a right sliding block is combined with every guide rail, and constitute sliding pair, left clamping jaw is fixed on two
On individual left slider, right clamping jaw is fixed on two right sliding blocks.
6. it is a kind of with the over-pressed manipulator clamping jaw for detecting function as described in claim any one of 1-2, it is characterised in that also
Including support, support is fixed on substrate, and detection switch is fixedly connected on support.
7. it is as claimed in claim 6 a kind of with the over-pressed manipulator clamping jaw for detecting function, it is characterised in that detection switch
Quantity is 2, and the quantity of detection block is 2, and the installation site of each detection switch is corresponding with each detection block respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710102782.3A CN106808495B (en) | 2017-02-24 | 2017-02-24 | Manipulator clamping jaw with overvoltage detection function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710102782.3A CN106808495B (en) | 2017-02-24 | 2017-02-24 | Manipulator clamping jaw with overvoltage detection function |
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| CN106808495A true CN106808495A (en) | 2017-06-09 |
| CN106808495B CN106808495B (en) | 2023-09-26 |
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Cited By (5)
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| CN108080907A (en) * | 2017-12-06 | 2018-05-29 | 本田汽车零部件制造有限公司 | The installation method of clutch on flexible assembly device and gearbox |
| CN108817359A (en) * | 2018-09-10 | 2018-11-16 | 江苏天宏自动化科技有限公司 | A kind of casting robot pick-off unit |
| CN112985550A (en) * | 2021-02-01 | 2021-06-18 | 深圳市中基自动化有限公司 | Weighing and insulation testing mechanism |
| CN114160695A (en) * | 2021-10-27 | 2022-03-11 | 济南昊中自动化有限公司 | Automatic change clamping device of press line |
| CN114313976A (en) * | 2022-01-17 | 2022-04-12 | 南京威尔泰电气工程有限公司 | Buffering pneumatic clamping jaw |
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| CN108080907A (en) * | 2017-12-06 | 2018-05-29 | 本田汽车零部件制造有限公司 | The installation method of clutch on flexible assembly device and gearbox |
| CN108080907B (en) * | 2017-12-06 | 2024-02-20 | 本田汽车零部件制造有限公司 | Flexible assembly device and method for mounting clutch on gearbox |
| CN108817359A (en) * | 2018-09-10 | 2018-11-16 | 江苏天宏自动化科技有限公司 | A kind of casting robot pick-off unit |
| CN108817359B (en) * | 2018-09-10 | 2024-03-15 | 江苏天宏智能装备有限公司 | Casting robot pick-up device |
| CN112985550A (en) * | 2021-02-01 | 2021-06-18 | 深圳市中基自动化有限公司 | Weighing and insulation testing mechanism |
| CN114160695A (en) * | 2021-10-27 | 2022-03-11 | 济南昊中自动化有限公司 | Automatic change clamping device of press line |
| CN114313976A (en) * | 2022-01-17 | 2022-04-12 | 南京威尔泰电气工程有限公司 | Buffering pneumatic clamping jaw |
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| CN106808495B (en) | 2023-09-26 |
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