CN106863340A - A kind of magnetic assisted electric clamping jaw - Google Patents
A kind of magnetic assisted electric clamping jaw Download PDFInfo
- Publication number
- CN106863340A CN106863340A CN201710227981.7A CN201710227981A CN106863340A CN 106863340 A CN106863340 A CN 106863340A CN 201710227981 A CN201710227981 A CN 201710227981A CN 106863340 A CN106863340 A CN 106863340A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- magnet
- transverse slat
- connecting plate
- screw nut
- 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.)
- Withdrawn
Links
Classifications
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The present invention relates to a kind of magnetic assisted electric clamping jaw, including drive mechanism, transmission mechanism, clip claw mechanism and controlling organization, it is characterised in that：Described transmission mechanism is magnet transmission mechanism, including the magnet B being arranged on the riser of the first clamping jaw connecting plate and the magnet A being arranged in the first screw nut connection plate, the magnet C being arranged on the riser of the second clamping jaw connecting plate and magnet D being arranged in the second screw nut connection plate, first straight line slide rail and second straight line slide rail, first sliding block A and the second sliding block A, first slide block B and the second slide block B, first sliding block A and the first slide block B are slidably matched with first straight line slide rail, second sliding block A and the second slide block B are slidably matched with second straight line slide rail, the transverse slat of the transverse slat of the first clamping jaw connecting plate and the second clamping jaw connecting plate is placed between two line slide rails.Power of motor of the present invention is small, and total quality is big compared with small, stroke, simple structure, low cost of manufacture, and controlled motor direct drive speed is fast, and flexibility is high.
Description
Technical field
The invention belongs to mechanical device intelligence manufacture field, more particularly to it is applied on automatic production line manipulator, it is real
A kind of magnetic assisted electric clamping jaw of existing Automation of Manufacturing Process.
Background technology
Clamping jaw is manipulator executing agency foremost.Conventional machinery clamping jaw has hydraulic pressure, air pressure, vacuum, electronic etc., wherein before
Three clamping jaw applications are more, and its main advantage is clamping force（Suction）Greatly, low cost, major defect is big volume, displacement and folder
, it is necessary to related match mechanism, some applications are limited the difficult control of clamp force.
Current robot application replaces artificial operation, raises labour efficiency, and lowers product cost, be current industry 4.0 most
Promising industry.
Chinese patent 2016105179680 discloses a kind of electronic clamping jaw, including drive division and clamping jaw, and the clamping jaw is installed
In the bottom of drive division, the clamping jaw includes the first clamping jaw and the second clamping jaw, and the first clamping jaw and the second clamping jaw are connected to drive
Motivation structure, is equipped with sliding detection sensor-based system and deformation sensor-based system on the clamping jaw, the patent aims to provide one kind can be with
The automatic electronic clamping jaw for calculating and adjusting clamping force.But, the shortcoming of the electronic clamping jaw of this structure is big quality, and clamping force has
Limit, complex structure etc..
The content of the invention
The present invention is to provide that a kind of stroke is big, clamping force big, small volume, simple structure, low cost of manufacture, response are fast, can
By property is high, easy for installation and control accurately magnetic assisted electric clamping jaw.
A kind of magnetic assisted electric clamping jaw of the invention, including drive mechanism, transmission mechanism, clip claw mechanism and controlling organization,
Its drive mechanism include motor, respectively with first leading screw and the second leading screw of motor connection, with the first described leading screw and second
First feed screw nut and the second feed screw nut of threads of lead screw connection, it is characterised in that：
The first described feed screw nut and the second feed screw nut connect with the first screw nut connection plate and the second feed screw nut respectively
Fishplate bar is fixedly connected,
Described clip claw mechanism is arranged on the bottom of drive mechanism, and described clip claw mechanism includes the first folder being symmetrical set
Pawl and the second clamping jaw, the first clamping jaw connecting plate and the second clamping jaw connecting plate, the first described clamping jaw is by the first clamping jaw transverse slat and
One clamping jaw riser is constituted, and the second clamping jaw is made up of the second clamping jaw transverse slat and the second clamping jaw riser, and the second described clamping jaw connects
Fishplate bar is made up of the riser connected as one with this transverse slat bending of transverse slat, structure and second clamping jaw of the first clamping jaw connecting plate
The structure of connecting plate is identical, and is symmetrical arranged, and the transverse slat of the transverse slat of the first clamping jaw connecting plate and the second clamping jaw connecting plate is solid respectively
It is scheduled on the first clamping jaw transverse slat and the second clamping jaw transverse slat；
Described transmission mechanism is magnet transmission mechanism, including the magnet B being arranged on the riser of the first clamping jaw connecting plate and is set
The magnet A in the first screw nut connection plate is put, the magnet C being arranged on the riser of the second clamping jaw connecting plate and the is arranged on
Magnet D in two screw nut connection plates, is fixed on first straight line slide rail and second straight line slide rail on housing end face, right respectively
Title is fixedly mounted on the first sliding block A and the second sliding block A on the first clamping jaw transverse slat, on the second clamping jaw transverse slat first
Slide block B and the second slide block B, the first sliding block A and the first slide block B are slidably matched with first straight line slide rail, the second sliding block A and second
Slide block B is slidably matched with second straight line slide rail, and the transverse slat of the transverse slat of the first clamping jaw connecting plate and the second clamping jaw connecting plate is placed in two
Between individual line slide rail.
Preferably, described electric machine built-in or the outer encoder for being used in the detection of clamping jaw shift position.
Preferably, sliding detection sensor is equipped with the clip claw mechanism and transmission mechanism.
Preferably, described magnet is electromagnet.
In the electronic clamping jaw course of work, in unclamped state, both the side clamping jaw of clip claw mechanism opens or withdraws the present invention
During idle stroke, magnet A and magnet B adhesive, magnet C and magnet D adhesives.Motor drives the first leading screw, the rotation of the second leading screw, point
The first feed screw nut, the second feed screw nut is not driven to move along a straight line, by transmission mechanism, electromagnetic mechanism and clip claw mechanism by power
The first clamping jaw, the second clamping jaw are passed to, the first clamping jaw is opposite with the second clamping jaw to move（Open）.In the drive jaw side of transmission mechanism
When jaw action is to given coordinate position, whether in place the sliding detection sensor detection set on clip claw mechanism is grabbed object,
Such as motionless without object clamping jaw, if any object, motor drives the first leading screw, the rotation of the second leading screw, and the first leading screw spiral shell is driven respectively
Female, the second feed screw nut is moved along a straight line, and power is passed into the first clamping jaw machine by transmission mechanism, electromagnetic mechanism and clip claw mechanism
Structure, the second clip claw mechanism, the first clip claw mechanism and the second clip claw mechanism relative motion（Clamp）.After after promptly object, magnet B and
Magnet C coil electricities, make seamless applying magnet A and magnet B together, between magnet C and magnet D by control electric current direction
Due to electromagnetism principle of same-sex repulsion, powerful electromagnetic repulsion force is produced, promote the first clamping jaw, the second clamping jaw to tighten up and further firmly grasp quilt
Grab object；Meanwhile, due to magnet principle of opposite sex attraction between magnet B and magnet C, produce compared with strong suction（Between magnet B and magnet C
Gap very little）Enhancing clamping jaw clamping force.The electronic clamping jaw electromagnetic force one remains larger folder in object transmit process is captured
Clamp force, object comes off when preventing mechanical arm high-speed motion.When mechanical arm drives jaw action to given transmission coordinate position,
Magnet B and magnet C power-off, magnet A and magnet B adhesive, magnet C and magnet D adhesives, the controlled motor rotation, drive clamping jaw
Mechanism's opening movement, puts down grabbed object, repeats next circulation.The controlled motor direction of rotation, position control and electromagnet
Conduction time can be by system program control.Motor of the invention uses the low-power machine of below 20W.
The present invention has following characteristics：The precise displacement and magnetic power-assisted of motor lead screw are clamped control and combined together by the present invention,
Using small-power can not only drive screw transmission mechanism precise displacement, but also drive magnet mechanism is synchronized with the movement.Realize magnet A
It is seamlessly connected between magnet B, magnet C magnet D, it is ensured that magnetic field force is sufficiently strong；Magnet same sex mutual expelling force is utilized in clamping process, significantly
Clamping force is increased, solves that conventional automatically controlled clamping jaw clamping force is smaller, the less problem of confining force；Controlled motor drives and ensures folder
Pawl displacement accuracy, controls electromagnet coil power electric current, it is ensured that the size precise control of clamping force.The present invention uses two-orbit
4 slider designs, improve bending resistance square ability in X, Y, Z axis direction in high-speed motion, have cut down the gap between rail slider；The present invention
Electronic clamping jaw power of motor is small, and total quality is big compared with small, stroke, and simple structure, low cost of manufacture, reliability is high, controlled motor
Direct drive speed is fast, and flexibility is high.
Brief description of the drawings
Fig. 1 is the structural representation of electronic clamping jaw of the invention.
Fig. 2 is the structural representation of dismantle a side slide and slide rail of the invention.
Fig. 3 is the structural representation of clamping jaw connecting plate of the present invention.
As illustrated, a kind of magnetic assisted electric clamping jaw of the invention, including drive mechanism, transmission mechanism, clip claw mechanism and
Controlling organization, its drive mechanism includes motor 1, the first leading screw 20 and the second leading screw 3 that are connected with motor 1 respectively, and described
First leading screw 20 and first feed screw nut 21 and the second feed screw nut 2 of the threaded connection of the second leading screw 3, it is characterised in that：
The first described feed screw nut 21 and the second feed screw nut 2 respectively with the first screw nut connection plate 19 and the second leading screw spiral shell
Female connecting plate 4 is fixedly connected, electric machine built-in of the invention or the outer encoder for being used in the detection of clamping jaw shift position.
As shown in figure 3, described clip claw mechanism is arranged on the bottom of drive mechanism, described clip claw mechanism includes that left and right is right
Claim the first clamping jaw and the second clamping jaw that set, the first clamping jaw connecting plate 16 and the second clamping jaw connecting plate 7, described the first clamping jaw by
First clamping jaw transverse slat 13 and the first clamping jaw riser 12 are constituted, and the second clamping jaw is by the second clamping jaw transverse slat 12 and the second clamping jaw riser 22
Constituted, the 7-2 risers institute group that the second described clamping jaw connecting plate 7 is connected as one by transverse slat 7-1 and the 7-1 bendings of this transverse slat
Into the structure of the first clamping jaw connecting plate is identical with the structure of the second clamping jaw connecting plate, not shown in figure and is symmetrical arranged, the first folder
The transverse slat of the transverse slat of pawl connecting plate and the second clamping jaw connecting plate is separately fixed on the first clamping jaw transverse slat and the second clamping jaw transverse slat；
Described transmission mechanism is magnet transmission mechanism, including is arranged on the magnet B 17 on the riser of the first clamping jaw connecting plate 16
With the magnet A 18 being arranged in the first screw nut connection plate 19, the magnet C6 on the riser of the second clamping jaw connecting plate 7 is arranged on
With the magnet D5 being arranged in the second screw nut connection plate 4, the first straight line slide rail 8 and second being fixed on housing end face is straight
Line slide rail 9, not shown in its housing figure, is respectively symmetrically the first sliding block A14 and being fixedly mounted on the first clamping jaw transverse slat 13
Two sliding block A15, the first slide block B 11 and the second slide block B 10 on the second clamping jaw transverse slat 12, the first sliding block A14 and first
Slide block B 15 is slidably matched with first straight line slide rail 8, and the second sliding block A11 and the second slide block B 10 are slided with second straight line slide rail 9 and matched somebody with somebody
Close, the transverse slat of the transverse slat of the first clamping jaw connecting plate and the second clamping jaw connecting plate is placed between two line slide rails.
The present invention is equipped with sliding detection sensor on described clip claw mechanism and transmission mechanism.Its sliding detection sensing
Whether in place device detection is grabbed object, such as motionless without object clamping jaw, and if any object, motor drives the first leading screw, the second leading screw
Rotation, drives the first feed screw nut, the second feed screw nut to move along a straight line, by transmission mechanism, electromagnetic mechanism and clamping jaw respectively
Power is passed to the first clip claw mechanism, the second clip claw mechanism, the first clip claw mechanism and the second clip claw mechanism relative motion by mechanism（Folder
Tightly）.
Magnet of the present invention is electromagnet, it would however also be possible to employ permanent magnet.By the control coil sense of current, you can real
Existing magnet NS extreme directions change.Controlled motor direction of rotation, Bit andits control and electromagnet conduction time can be by automatons
System program control.After after promptly object, magnet B and magnet C coil electricities, by control electric current direction make it is seamless applying
Magnet A and magnet B together, due to electromagnetism principle of same-sex repulsion between magnet C and magnet D, produce powerful electromagnetic repulsion force, push away
Dynamic first clamping jaw, the second clamping jaw are tightened up and are further promptly grabbed object；Meanwhile, due to magnet opposite sex phase between magnet B and magnet C
Principle is inhaled, is produced compared with strong suction（Magnet B and magnet C gaps very little）Enhancing clamping jaw clamping force.
Transmission mechanism of the invention, clip claw mechanism, electronic clamping jaw housing need to select non-magnet material.
Content described in embodiment is only enumerating to the way of realization of present inventive concept, protection scope of the present invention
It is not construed as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention is also and in those skilled in the art
According to present inventive concept it is conceivable that equivalent technologies mean.
Claims (4)
1. a kind of magnetic assisted electric clamping jaw, including drive mechanism, transmission mechanism, clip claw mechanism and controlling organization, its drive mechanism
Including motor, respectively with first leading screw and the second leading screw of motor connection, connect with the first described leading screw and the second threads of lead screw
The first feed screw nut and the second feed screw nut for connecing, it is characterised in that：
The first described feed screw nut and the second feed screw nut connect with the first screw nut connection plate and the second feed screw nut respectively
Fishplate bar is fixedly connected,
Described clip claw mechanism is arranged on the bottom of drive mechanism, and described clip claw mechanism includes the first folder being symmetrical set
Pawl and the second clamping jaw, the first clamping jaw connecting plate and the second clamping jaw connecting plate, described the first clamping jaw by by the first clamping jaw transverse slat and
First clamping jaw riser is constituted, and the second clamping jaw is made up of the second clamping jaw transverse slat and the second clamping jaw riser, and the second described pawl connects
Fishplate bar is made up of the riser connected as one with this transverse slat bending of transverse slat, structure and second clamping jaw of the first clamping jaw connecting plate
The structure of connecting plate is identical, and is symmetrical arranged, and the transverse slat of the transverse slat of the first clamping jaw connecting plate and the second clamping jaw connecting plate is solid respectively
It is scheduled on the first clamping jaw transverse slat and the second clamping jaw transverse slat；
Described transmission mechanism is magnet transmission mechanism, including the magnet B being arranged on the riser of the first clamping jaw connecting plate and is set
The magnet A in the first screw nut connection plate is put, the magnet C being arranged on the riser of the second clamping jaw connecting plate and the is arranged on
Magnet D in two screw nut connection plates, is fixed on first straight line slide rail and second straight line slide rail on housing end face, right respectively
Title is fixedly mounted on the first sliding block A and the second sliding block A on the first clamping jaw transverse slat, on the second clamping jaw transverse slat first
Slide block B and the second slide block B, the first sliding block A and the first slide block B are slidably matched with first straight line slide rail, the second sliding block A and second
Slide block B is slidably matched with second straight line slide rail, and the transverse slat of the transverse slat of the first clamping jaw connecting plate and the second clamping jaw connecting plate is placed in two
Between individual line slide rail.
2. magnetic assisted electric clamping jaw according to claim 1, it is characterised in that described electric machine built-in is used in folder outward
The encoder of pawl shift position detection.
3. magnetic assisted electric clamping jaw according to claim 1, it is characterised in that in described clip claw mechanism and transmission mechanism
On be equipped with sliding detection sensor.
4. magnetic power-assisted according to claim 1 clamps electronic clamping jaw, it is characterised in that described magnet is electromagnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710227981.7A CN106863340A (en) | 2017-04-10 | 2017-04-10 | A kind of magnetic assisted electric clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710227981.7A CN106863340A (en) | 2017-04-10 | 2017-04-10 | A kind of magnetic assisted electric clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106863340A true CN106863340A (en) | 2017-06-20 |
Family
ID=59162054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710227981.7A Withdrawn CN106863340A (en) | 2017-04-10 | 2017-04-10 | A kind of magnetic assisted electric clamping jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106863340A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108584418A (en) * | 2018-05-29 | 2018-09-28 | 江苏新美星包装机械股份有限公司 | A kind of bottle gripper |
| CN109693258A (en) * | 2019-02-20 | 2019-04-30 | 吴钩科技(苏州)有限公司 | Submarine mechanical clamping jaw |
| CN110401755A (en) * | 2019-08-22 | 2019-11-01 | 深圳宇朔工业设计有限公司 | A kind of magnetic-type fixture mount |
| CN110509303A (en) * | 2019-08-29 | 2019-11-29 | 四川大学 | A kind of electronic clip claw mechanism containing screw pair |
| CN110919645A (en) * | 2019-10-24 | 2020-03-27 | 江苏东曌建筑产业创新发展研究院有限公司 | Automatic change construction robot |
| CN111547435A (en) * | 2020-05-25 | 2020-08-18 | 福州经济技术开发区佳俞乐科技有限公司 | Trolley capable of realizing goods storage and taking of high-position goods shelf |
| CN112297654A (en) * | 2020-10-22 | 2021-02-02 | 广州文冲船厂有限责任公司 | Code printing production line |
| CN112756931A (en) * | 2019-11-04 | 2021-05-07 | 博世汽车部件(苏州)有限公司 | Clamping jaw assembly and robot |
| CN112792805A (en) * | 2021-01-12 | 2021-05-14 | 广东智源机器人科技有限公司 | Mechanical claw device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0134819A1 (en) * | 1978-08-01 | 1985-03-27 | Grisebach, Hans-Theodor | Gripping head with an electric clasping drive |
| CN101380738A (en) * | 2008-10-30 | 2009-03-11 | 长沙楚天科技有限公司 | Magnetic attraction type mechanical arm for clamping bottle |
| CN203282492U (en) * | 2013-04-18 | 2013-11-13 | 浙江工业大学 | Automated control device of electric clamping jaw |
| CN104709709A (en) * | 2015-02-17 | 2015-06-17 | 苏州博众精工科技有限公司 | Clamping device |
| CN106239545A (en) * | 2016-09-28 | 2016-12-21 | 哈尔滨理工大学 | Electronic casing conveying robot |
| CN206011059U (en) * | 2016-08-30 | 2017-03-15 | 广西电力职业技术学院 | A kind of electric automatization grabbing device |
| CN106514686A (en) * | 2016-11-28 | 2017-03-22 | 山东科技大学 | Electromagnetic mechanical paw with adjustable clamping force and application method thereof |
| CN206690117U (en) * | 2017-04-10 | 2017-12-01 | 辽宁科技大学 | A kind of magnetic assisted electric clamping jaw |
-
2017
- 2017-04-10 CN CN201710227981.7A patent/CN106863340A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0134819A1 (en) * | 1978-08-01 | 1985-03-27 | Grisebach, Hans-Theodor | Gripping head with an electric clasping drive |
| CN101380738A (en) * | 2008-10-30 | 2009-03-11 | 长沙楚天科技有限公司 | Magnetic attraction type mechanical arm for clamping bottle |
| CN203282492U (en) * | 2013-04-18 | 2013-11-13 | 浙江工业大学 | Automated control device of electric clamping jaw |
| CN104709709A (en) * | 2015-02-17 | 2015-06-17 | 苏州博众精工科技有限公司 | Clamping device |
| CN206011059U (en) * | 2016-08-30 | 2017-03-15 | 广西电力职业技术学院 | A kind of electric automatization grabbing device |
| CN106239545A (en) * | 2016-09-28 | 2016-12-21 | 哈尔滨理工大学 | Electronic casing conveying robot |
| CN106514686A (en) * | 2016-11-28 | 2017-03-22 | 山东科技大学 | Electromagnetic mechanical paw with adjustable clamping force and application method thereof |
| CN206690117U (en) * | 2017-04-10 | 2017-12-01 | 辽宁科技大学 | A kind of magnetic assisted electric clamping jaw |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108584418A (en) * | 2018-05-29 | 2018-09-28 | 江苏新美星包装机械股份有限公司 | A kind of bottle gripper |
| CN109693258A (en) * | 2019-02-20 | 2019-04-30 | 吴钩科技(苏州)有限公司 | Submarine mechanical clamping jaw |
| CN109693258B (en) * | 2019-02-20 | 2024-04-09 | 吴钩科技(苏州)有限公司 | Underwater mechanical clamping jaw |
| CN110401755A (en) * | 2019-08-22 | 2019-11-01 | 深圳宇朔工业设计有限公司 | A kind of magnetic-type fixture mount |
| CN110509303A (en) * | 2019-08-29 | 2019-11-29 | 四川大学 | A kind of electronic clip claw mechanism containing screw pair |
| CN110919645A (en) * | 2019-10-24 | 2020-03-27 | 江苏东曌建筑产业创新发展研究院有限公司 | Automatic change construction robot |
| CN112756931A (en) * | 2019-11-04 | 2021-05-07 | 博世汽车部件(苏州)有限公司 | Clamping jaw assembly and robot |
| CN111547435A (en) * | 2020-05-25 | 2020-08-18 | 福州经济技术开发区佳俞乐科技有限公司 | Trolley capable of realizing goods storage and taking of high-position goods shelf |
| CN111547435B (en) * | 2020-05-25 | 2020-12-01 | 江苏天佑液压科技有限公司 | Trolley capable of realizing goods storage and taking of high-position goods shelf |
| CN112297654A (en) * | 2020-10-22 | 2021-02-02 | 广州文冲船厂有限责任公司 | Code printing production line |
| CN112792805A (en) * | 2021-01-12 | 2021-05-14 | 广东智源机器人科技有限公司 | Mechanical claw device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106863340A (en) | A kind of magnetic assisted electric clamping jaw | |
| CN106239545B (en) | Electronic babinet conveying robot | |
| CN106142116B (en) | A kind of translation varying-speed machinery gripper | |
| CN203003902U (en) | Universal mechanical gripper | |
| CN105397798A (en) | Grabbing and clamping device | |
| CN210233061U (en) | Industrial robot mechanical grabbing arm | |
| CN108147110A (en) | A kind of fixture, automatic clamping device and production line | |
| CN205766200U (en) | A kind of link-type clamping mechanism | |
| CN203344058U (en) | Electric clamp type mechanical hand gripper | |
| CN206690117U (en) | A kind of magnetic assisted electric clamping jaw | |
| CN106654803A (en) | Threading and screwing assembly system of wiring harness connector assembly all-in-one machine | |
| CN203510219U (en) | Differential gear drive type adaptive manipulator | |
| CN110509303A (en) | A kind of electronic clip claw mechanism containing screw pair | |
| CN203245760U (en) | Clamping device for automobile automatic production line | |
| CN102040114A (en) | Digital visual positioning position correcting device | |
| CN204203243U (en) | A kind of intelligent response cup mechanical arm | |
| CN111788044B (en) | Stacking clamp and robot | |
| CN104117939A (en) | Clamping device for automatic automobile production line | |
| CN215748033U (en) | Novel gripper for numerical control machine tool | |
| CN207223972U (en) | A kind of band storage space multifunction manipulator | |
| CN106185316B (en) | Every magnetic lever bracket disk feed mechanism every magnetic bar feeding device | |
| CN201751360U (en) | Steel coil lifting mechanism | |
| US20100072766A1 (en) | Gripper with three jaws forming two clamps | |
| CN107336253A (en) | A kind of low speed movement grasp handling robot | |
| CN208409112U (en) | It is a kind of to facilitate component of machine processing chucking device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170620 |
|
| WW01 | Invention patent application withdrawn after publication |