CN106808495B - Manipulator clamping jaw with overvoltage detection function - Google Patents
Manipulator clamping jaw with overvoltage detection function Download PDFInfo
- Publication number
- CN106808495B CN106808495B CN201710102782.3A CN201710102782A CN106808495B CN 106808495 B CN106808495 B CN 106808495B CN 201710102782 A CN201710102782 A CN 201710102782A CN 106808495 B CN106808495 B CN 106808495B
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- Prior art keywords
- clamping jaw
- detection
- clamping
- connecting rod
- block
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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 manipulator clamping jaw with an overpressure detection function, which comprises an upright post, a base plate, a synchronous connecting rod clamping structure and a detection structure, wherein the upright post is arranged on the base plate; the synchronous connecting rod clamping structure comprises a clamping component and a power component; the detection structure is used for detecting the device of the obstacle encountered in the descending process of the manipulator clamping jaw. Therefore, the manipulator clamping jaw with the overpressure detection function solves the hidden troubles of collision machine and the like caused by no detection of the traditional clamping jaw through the floating detection mechanism; the floating detection mechanism has floatability relative to the clamping jaw, and meanwhile, the clamping jaw is still in rigid connection with the upright post, so that the problems of insufficient rigidity and poor stability of the clamping jaw caused by floating of the whole clamping jaw are avoided, the rigidity and the stability of the conventional mechanism are not reduced by adding the floating mechanism, and the floating detection mechanism has high practical significance; meanwhile, the invention provides the synchronous connecting rod clamping device which is ingenious in structure, strong in bearing capacity, large in clamping force, stable and reliable.
Description
Technical Field
The invention relates to the field of clamping jaw devices, in particular to the field of loading and unloading and carrying of parts by utilizing a mechanical arm clamping jaw.
Background
The clamping jaw is used as an important part for clamping and positioning parts and is widely applied to a mechanical arm, but the clamping jaw is directly clamped by lowering the upright post to a preset position in a traditional structure. However, such a clamping manner has a certain potential safety hazard, such as encountering an obstacle during the descending process of the upright post, the manipulator does not stop immediately, but continues to move according to a predetermined path, so that the manipulator is bumped, and precision parts of the truss manipulator are damaged, such as: gears, racks, motors, etc., severely impact the system life of the entire mechanism. In the patent of application number 201420230006.3, the inventor carries out floating connection through clamping jaw and stand to through the judgement of detecting switch, realize meeting the warning, shut down of barrier. Although the structural arrangement can avoid the occurrence of the collision machine, the problem brought by the structural arrangement is that the whole clamping jaw is in floating connection, the rigidity is insufficient, the stability is poor, and the structure is relatively complex. Therefore, how to successfully design a manipulator clamping jaw with simple structure, stability and reliability and overvoltage detection function becomes a current urgent problem to be solved.
Disclosure of Invention
The invention provides a manipulator clamping jaw with an overpressure detection function, which solves the hidden troubles of collision machine and the like caused by no detection of the traditional clamping jaw through a floating detection mechanism; the floating detection mechanism has floatability relative to the clamping jaw, and meanwhile, the clamping jaw is still in rigid connection with the upright post, so that the problems of insufficient rigidity and poor stability of the clamping jaw caused by floating of the whole clamping jaw are avoided, the rigidity and the stability of the conventional mechanism are not reduced by adding the floating mechanism, and the floating detection mechanism has high practical significance; meanwhile, the invention provides the synchronous connecting rod clamping device which is ingenious in structure, strong in bearing capacity, large in clamping force, stable and reliable.
In order to solve the technical problems, the invention adopts the following technical scheme:
the manipulator clamping jaw with the overpressure detection function is characterized by comprising an upright post, a base plate, a synchronous connecting rod clamping structure and a detection structure; wherein, one side of the base plate is rigidly connected with one end of the upright post, and the other side of the base plate is rigidly connected with the synchronous connecting rod clamping structure; the synchronous connecting rod clamping structure comprises a clamping component and a power component, wherein the clamping component is used for clamping and positioning a part and comprises a shaft, a swing arm assembly, a left connecting rod, a right connecting rod, a left connecting block, a right connecting block, a left clamping jaw, a right clamping jaw and a guide rail, the shaft is fixed on a substrate, the shaft is connected with the swing arm assembly, two ends of the swing arm assembly are respectively connected with one ends of the left connecting rod and the right connecting rod, the other end of the left connecting rod is fixedly connected with the left connecting block, the other end of the left connecting block is fixedly connected with the left clamping jaw, the other end of the right connecting rod is fixedly connected with the right connecting block, the other end of the right connecting block is fixedly connected with the right clamping jaw, and the guide rail fixed on the substrate is respectively in sliding connection with the left clamping jaw and the right clamping jaw; the power component is used for providing power for the clamping component and comprises a support, an air cylinder, a floating joint and a connecting block, wherein the support is fixedly connected to the base plate, the air cylinder is fixedly connected to the support, the floating joint is connected with a piston rod of the air cylinder, and the connecting block fixedly installed with the left clamping jaw is installed in a matched manner with the floating joint; the device for detecting the obstacle encountered in the descending process of the manipulator clamping jaw comprises a right guide sleeve, a left guide sleeve, a pressing plate, a right guide shaft, a left guide shaft, a detection block and a detection switch, wherein the right guide sleeve and the left guide sleeve are fixed on a substrate, the right guide shaft and the left guide shaft penetrate through the right guide sleeve and the left guide sleeve respectively, two ends of the pressing plate are connected with the bottoms of the right guide shaft and the left guide shaft respectively, the upper part of the right guide shaft is fixedly connected with the detection block, and the detection switch corresponds to the position of the detection block.
Further, the diameters of the right guide shaft and the left guide shaft are smaller than the diameters of the inner rings of the right guide sleeve and the left guide sleeve respectively, and the lengths of the right guide shaft and the left guide shaft are longer than the lengths of the right guide sleeve and the left guide sleeve respectively.
Further, the clamping device also comprises a sliding block, wherein the sliding block is respectively fixed on the left clamping jaw and the right clamping jaw, and the guide rail is respectively in sliding connection with the left clamping jaw and the right clamping jaw through the sliding block.
Further, the guide rail is provided as two parallel guide rails.
Further, the number of the sliding blocks is 4, each guide rail is matched with a left sliding block and a right sliding block, a sliding pair is formed, a left clamping jaw is fixed on the two left sliding blocks, and a right clamping jaw is fixed on the two right sliding blocks.
Further, the device also comprises a bracket, wherein the bracket is fixed on the substrate, and the bracket is fixedly connected with the detection switch.
Further, the number of the detection switches is 2, the number of the detection blocks is 2, and the installation position of each detection switch corresponds to each detection block.
The beneficial effects of the invention are as follows:
(1) A stopping device which can not automatically detect when the clamping jaw descends and encounters an obstacle is provided.
(2) The problem of detection mechanism's increase for rigidity, the stability of clamping jaw are variation is solved.
(3) A synchronous connecting rod clamping structure is provided.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a bottom view of the present invention;
FIG. 3 is a top view of the present invention;
fig. 4 is a partial cross-sectional view of the present invention.
The device comprises a base plate, a vertical column, a base plate, 3, a guide rail, 4-1, a left sliding block, 4-2, a right sliding block, 5, a left clamping jaw, 6, a right clamping jaw, 7, a support, 8, a cylinder, 9, a floating joint, 10, a connecting block, 11-1, a right guide sleeve, 11-2, a left guide sleeve, 12-1, a right guide shaft, 12-2, a left guide shaft, 13, a detection block, 14, a bracket, 15, a detection switch, 16, a shaft, 17, a swing arm assembly, 18-1, a left connecting rod, 18-2, a right connecting rod, 19-1, a left connecting block, 19-2, a right connecting block, 20 and a pressing plate.
Detailed Description
In order to enable those skilled in the art to better understand the technical scheme of the present invention, the present invention will be further described in detail with reference to specific embodiments. The following examples are illustrative only and are not to be construed as limiting the invention.
Aiming at the problems in the prior art, the invention provides the manipulator clamping jaw with the overpressure detection function, and the hidden danger of collision and the like caused by no detection of the traditional clamping jaw is solved through the floating detection mechanism; the floating detection mechanism has floatability relative to the clamping jaw, and meanwhile, the clamping jaw is still in rigid connection with the upright post, so that the problems of insufficient rigidity and poor stability of the clamping jaw caused by floating of the whole clamping jaw are avoided, the rigidity and the stability of the conventional mechanism are not reduced by adding the floating mechanism, and the floating detection mechanism has high practical significance; meanwhile, the invention provides the synchronous connecting rod clamping device which is ingenious in structure, strong in bearing capacity, large in clamping force, stable and reliable.
The invention provides a manipulator clamping jaw with an overpressure detection function, which comprises an upright post 1, a base plate 2, a synchronous connecting rod clamping structure and a detection structure as shown in figure 1. And the upright post is used for descending the synchronous connecting rod clamping structure to a preset position. The base plate is an important component for rigidly connecting the synchronous connecting rod clamping structure and the upright post. The synchronous link clamping structure is a device for clamping a target member. The detection structure is used for detecting obstacles encountered in the descending process of the clamping jaw of the manipulator.
According to a specific embodiment of the invention, the manipulator jaw comprises a detection structure and a device for detecting obstacles encountered during the lowering of the manipulator jaw. Fig. 4 is a partial sectional view of an overpressure detecting part according to the present invention, and as shown in fig. 4, the detecting structure includes a right guide sleeve 11-1, a left guide sleeve 11-2, a pressing plate 20, a right guide shaft 12-1, a left guide shaft 12-2, a detecting block 13 and a detecting switch 15, the right guide sleeve and the left guide sleeve are fixed on a base plate, the right guide shaft and the left guide shaft penetrate from the inside of the right guide sleeve and the left guide sleeve, respectively, both ends of the pressing plate are connected to bottom ends of the right guide shaft and the left guide shaft, respectively, an upper portion of the right guide shaft is fixedly connected to the detecting block, and the detecting switch corresponds to a position of the detecting block. According to some specific embodiments of the present invention, the diameters of the right guide shaft and the left guide shaft are smaller than the diameters of the inner rings of the right guide sleeve and the left guide sleeve, respectively, and the lengths of the right guide shaft and the left guide shaft are longer than the lengths of the right guide sleeve and the left guide sleeve, respectively; further, the sliding pair is formed by the right guide shaft and the right guide sleeve, the sliding pair is formed by the left guide shaft and the left guide sleeve, so that the right guide shaft and the right guide sleeve can slide mutually smoothly, the left guide shaft and the left guide sleeve can slide mutually smoothly, and therefore, in the whole process of the vertical column descending, when the pressing plate bumps against an obstacle, the right guide shaft and the left guide shaft can synchronously move. Therefore, the manipulator clamping jaw solves the hidden troubles of collision machine and the like caused by no detection of the traditional clamping jaw through the floating detection mechanism.
According to an embodiment of the invention, the detection structure further comprises a bracket 14 for fixing the detection switch. The support is fixed on the base plate, and the detection switch is fixedly connected to the support. Further, the number of the detection switches is 2, the number of the detection blocks is 2, the installation position of each detection switch corresponds to each detection block respectively, namely, the 2 detection blocks fixedly installed on the upper part of the right guide shaft are aligned with each detection switch respectively.
Under normal conditions, the two detection switches 15 are in a state triggered by the detection block 13, and in the whole process of the vertical column descending, the vertical column 1 descends to a preset position for grabbing under normal conditions, namely when the clamping jaw of the mechanical arm grabs a workpiece smoothly; under abnormal conditions, namely when an obstacle is encountered in the descending process of the upright 1, the pressing plate 20 is lifted by the obstacle (namely under overvoltage condition), so that the left guide shaft 12-2 and the detection block 13 connected with the left guide shaft are driven to ascend, the detection block 13 and the detection switch 15 start to be misplaced, and after the detection block 13 and the detection switch 15 are disconnected, the detection switch 15 is triggered, so that the upright 1 stops moving. Therefore, the manipulator clamping jaw with the overpressure detection function solves the hidden troubles of collision machine and the like caused by no detection of the traditional clamping jaw through the floating detection mechanism.
According to a specific embodiment of the present invention, the synchronous link clamping structure in the present invention is a device for clamping a target member. Fig. 2 is a bottom view of the present invention, that is, a bottom view when the pressing plate 20 is provided in a transparent state, as shown in fig. 2, the synchronous link clamping structure includes a clamping member for clamping and positioning a part and a power member; the power component is used for providing power for the clamping component.
According to an embodiment of the invention, the clamping members are used to hold and position the parts, including the shaft 16, the swing arm assembly 17, the left link 18-1, the right link 18-2, the left connection block 19-1, the right connection block 19-2, the left clamping jaw 5, the right clamping jaw 6 and the guide rail 3. As shown in fig. 2, the shaft is fixed on the base plate, the swing arm assembly is connected on the shaft, two ends of the swing arm assembly are respectively connected with one ends of the left connecting rod and the right connecting rod, the other end of the left connecting rod is fixedly connected with the left connecting block, the other end of the left connecting block is fixedly connected with the left clamping jaw, the other end of the right connecting rod is fixedly connected with the right connecting block, the other end of the right connecting block is fixedly connected with the right clamping jaw, and the guide rail fixed on the base plate is respectively in sliding connection with the left clamping jaw and the right clamping jaw. From this, swing arm assembly can rotate round the axle to drive left clamping jaw by rotatory swing arm assembly through left connecting rod, left connecting block and do reciprocating motion along the guide rail, drive right clamping jaw through right connecting rod, right connecting block simultaneously and do reciprocating motion along the guide rail, make left clamping jaw and right clamping jaw simultaneously move in opposite directions, constantly be close to, press from both sides tightly, thereby realize the action of snatching of part.
According to an embodiment of the invention, the clamping member further comprises a slider for facilitating sliding of the rail with the left and right clamping jaw, respectively. As shown in fig. 1, the sliding blocks are respectively fixed on the left clamping jaw and the right clamping jaw, and the guide rail is respectively in sliding connection with the left clamping jaw and the right clamping jaw through the sliding blocks. According to some specific embodiments, the guide rail is arranged as two parallel guide rails, so that the sliding block can conveniently reciprocate; the number of the sliding blocks is 4, the sliding blocks comprise 2 left sliding blocks 4-1 and 2 right sliding blocks 4-2, wherein each guide rail is matched with one left sliding block 4-1 and one right sliding block 4-2, a sliding pair is formed, a left clamping jaw is fixed on the two left sliding blocks, and a right clamping jaw is fixed on the two right sliding blocks.
According to an embodiment of the invention, the power means are used to power the clamping means, comprising a seat 7, a cylinder 8, a floating joint 9 and a connection block 10. As shown in fig. 1-2, the support is fixedly connected to the base plate, the air cylinder is fixedly connected to the support, the floating joint is connected with a piston rod of the air cylinder, and the connecting block fixedly installed with the left clamping jaw is installed in a matched mode with the floating joint. From this, through the flexible action of cylinder, can drive left clamping jaw along guide rail reciprocating motion, left clamping jaw is through left connecting block, left connecting rod, swing arm assembly, right connecting rod, right connecting block drive right clamping jaw along guide rail reciprocating motion when moving, makes left clamping jaw and right clamping jaw simultaneously move in opposite directions, constantly is close to, presss from both sides tightly to the action of snatching of part is realized.
The left clamping jaw 5 fixed on the two left sliding blocks can be driven to reciprocate along the guide rail 3 through the telescopic action of the air cylinder 8, the left clamping jaw 5 moves and simultaneously drives the swing arm assembly 17 to move through the left connecting block 19-1 and the left connecting rod 18-1, the swing arm assembly can rotate around the shaft, the swing arm assembly 17 rotating around the shaft drives the right clamping jaw 6 fixed on the two right sliding blocks to reciprocate along the guide rail 3 through the right connecting rod 18-2 and the right connecting block 19-2, the left clamping jaw and the right clamping jaw are driven to move in opposite directions at the same time and are continuously close to each other, and the grabbing action of parts is achieved. Because the stress direction of the air cylinder 8 is different from the action point and the direction of the actual part load, the service life of the air cylinder 8 is long, and the main bearing capacity is borne by the guide rail 3, so that the bearing capacity is strong; meanwhile, the synchronous connecting rod clamping device is ingenious in structure, strong in bearing capacity, large in clamping force, stable and reliable.
According to a specific embodiment of the invention, the manipulator clamping jaw further comprises a base plate, which is an important component for rigidly connecting the synchronous connecting rod clamping structure and the upright post. As shown in fig. 1-4, one side of the base plate is rigidly connected to one end of the upright post, and the other side of the base plate is rigidly connected to the synchronous connecting rod clamping structure, so that the upright post and the synchronous connecting rod clamping structure are still rigidly connected into an integral structure, and the rigidity and stability of the clamping jaw are not reduced. Therefore, the floating detection mechanism has floatability relative to the clamping jaw, and meanwhile, the clamping jaw is still in rigid connection with the upright post, so that the problems of insufficient rigidity and poor stability of the clamping jaw caused by floating of the whole clamping jaw are avoided, the rigidity and the stability of the conventional mechanism are not reduced due to the increase of the floating mechanism, and the floating detection mechanism has high practical significance.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. The manipulator clamping jaw with the overpressure detection function is characterized by comprising an upright post, a base plate, a synchronous connecting rod clamping structure and a detection structure; wherein, one side of the base plate is rigidly connected with one end of the upright post, and the other side of the base plate is rigidly connected with the synchronous connecting rod clamping structure;
the synchronous connecting rod clamping structure comprises a clamping component and a power component, wherein the clamping component is used for clamping and positioning a part and comprises a shaft, a swing arm assembly, a left connecting rod, a right connecting rod, a left connecting block, a right connecting block, a left clamping jaw, a right clamping jaw and a guide rail, the shaft is fixed on a substrate, the shaft is connected with the swing arm assembly, two ends of the swing arm assembly are respectively connected with one ends of the left connecting rod and the right connecting rod, the other end of the left connecting rod is fixedly connected with the left connecting block, the other end of the left connecting block is fixedly connected with the left clamping jaw, the other end of the right connecting rod is fixedly connected with the right connecting block, the other end of the right connecting block is fixedly connected with the right clamping jaw, and the guide rail fixed on the substrate is respectively in sliding connection with the left clamping jaw and the right clamping jaw; the power component is used for providing power for the clamping component and comprises a support, an air cylinder, a floating joint and a connecting block, wherein the support is fixedly connected to the base plate, the air cylinder is fixedly connected to the support, the floating joint is connected with a piston rod of the air cylinder, and the connecting block fixedly installed with the left clamping jaw is installed in a matched manner with the floating joint; the left clamping jaw fixed on the left sliding block is driven to reciprocate along the guide rail through the telescopic action of the air cylinder, the left clamping jaw moves and simultaneously drives the swing arm assembly to move through the left connecting block and the left connecting rod, the swing arm assembly rotates around the shaft, the swing arm assembly rotating around the shaft drives the right clamping jaw fixed on the right sliding block to reciprocate along the guide rail through the right connecting rod and the right connecting block, the left clamping jaw and the right clamping jaw are driven to synchronously move in opposite directions, and the grabbing action of parts is realized;
the device for detecting the obstacle encountered in the descending process of the manipulator clamping jaw comprises a right guide sleeve, a left guide sleeve, a pressing plate, a right guide shaft, a left guide shaft, a detection block and a detection switch, wherein the right guide sleeve and the left guide sleeve are fixed on a substrate, the right guide shaft and the left guide shaft penetrate through the right guide sleeve and the left guide sleeve respectively, the two ends of the pressing plate are connected with the bottom ends of the right guide shaft and the left guide shaft respectively, the upper part of the right guide shaft is fixedly connected with the detection block, and the detection switch corresponds to the position of the detection block; specifically, the number of the detection switches is 2, the number of the detection blocks is 2, and the installation position of each detection switch corresponds to each detection block respectively; under normal conditions, the two detection switches are in a state triggered by the detection block, and in the whole process of the descending of the upright post, the upright post descends to a preset position for grabbing under normal conditions, namely when the clamping jaw of the mechanical arm grabs a workpiece smoothly; under abnormal conditions, namely when the upright post descends and encounters an obstacle, the pressing plate is supported by the obstacle and drives the left guide shaft and the detection block connected with the left guide shaft to ascend, so that the detection block and the detection switch start to be misplaced, and when the detection block and the detection switch are disconnected, the detection switch is triggered, so that the upright post stops moving.
2. The manipulator jaw with overpressure detection as set forth in claim 1, wherein the diameters of the right and left guide shafts are smaller than the diameters of the inner rings of the right and left guide sleeves, respectively, and the lengths of the right and left guide shafts are longer than the lengths of the right and left guide sleeves, respectively.
3. A manipulator jaw with overpressure detection as claimed in any of claims 1-2, further comprising a slider, the slider being secured to the left jaw and the right jaw, respectively, the rail being slidably connected to the left jaw and the right jaw, respectively, via the slider.
4. A manipulator jaw with overpressure detection as claimed in claim 3, characterized in that the guide rail is provided as two parallel guide rails.
5. The manipulator clamping jaw with overpressure detection function as set forth in claim 4, wherein the number of the sliding blocks is 4, a left sliding block and a right sliding block are matched on each guide rail, a sliding pair is formed, the left clamping jaw is fixed on the two left sliding blocks, and the right clamping jaw is fixed on the two right sliding blocks.
6. A manipulator jaw with overpressure detection as claimed in any of claims 1-2, further comprising a bracket secured to the base plate, the bracket being fixedly connected to the detection switch.
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| 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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| Application Number | Priority Date | Filing Date | Title |
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| CN201710102782.3A CN106808495B (en) | 2017-02-24 | 2017-02-24 | Manipulator clamping jaw with overvoltage detection function |
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| CN106808495A CN106808495A (en) | 2017-06-09 |
| CN106808495B true CN106808495B (en) | 2023-09-26 |
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| 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 |
| 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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| CN106808495A (en) | 2017-06-09 |
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