CN107139204A - Robot clamping jaw, gripper method and robot - Google Patents
Robot clamping jaw, gripper method and robot Download PDFInfo
- Publication number
- CN107139204A CN107139204A CN201710542939.4A CN201710542939A CN107139204A CN 107139204 A CN107139204 A CN 107139204A CN 201710542939 A CN201710542939 A CN 201710542939A CN 107139204 A CN107139204 A CN 107139204A
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- Prior art keywords
- clamping jaw
- robot
- holders
- product
- gripper
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of robot clamping jaw, gripper method and robot, belong to robotic technology field, and robot clamping jaw includes gripper cylinder and two holders for being movably connected on gripper cylinder, and two holders can be located remotely from each other or close under the driving of gripper cylinder.Gripper method comprises the following steps：Two holders of above-mentioned robot clamping jaw are stretched into the inner chamber for the product for treating gripper；The gripper cylinder of robot clamping jaw drives two holders to be located remotely from each other until two holders are respectively held against the inwall of product.Robot includes above-mentioned robot clamping jaw.Robot clamping jaw can effectively improve the stability and reliability of itself crawl product, the crawl and clamping of the products such as inner concave shape stamping parts that are particularly suitable for use in.This gripper method can realize the stable crawl and clamping to product.Robot can realize the stable crawl to product.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of robot clamping jaw, gripper method and machine
People.
Background technology
Robot is to automatically control being commonly called as machine, and it is widely used in industry-by-industry and field.Especially for punching
For pressure industry, due to receiving the limitation of diel, in the urgent need to small volume simple in construction, robot stable and reliable in work
Clamping jaw carries out feeding and blanking operation.
But, the problem of existing robot clamping jaw generally existing captures unstable, this problem is on inner concave shape product
That embodies is especially prominent.
The content of the invention
It is an object of the invention to provide a kind of robot clamping jaw, it can be realized pair by way of against product inwall
The clamping and crawl of product, so as to improve the gripper stability of itself.
A further object of the present invention is to provide a kind of gripper method, and it can realize stable crawl to product and press from both sides
Hold.
Another object of the present invention is to provide a kind of robot, it can reliablely and stablely capture product.
What embodiments of the invention were realized in：
A kind of robot clamping jaw, including gripper cylinder, two be movably connected on gripper cylinder holder, two holders
It can be located remotely from each other under the driving of gripper cylinder or close, robot clamping jaw also includes executing agency, executing agency includes two
Individual executive item, two executive items are connected to two holders, and two executive items, which are provided with, to be used for against product to be captured
Execution face, two execution faces are located at the side that is located remotely from each other of two executive items respectively.
Preferably, two holders are slidably connected to gripper cylinder respectively.
Preferably, gripper cylinder is provided with chute, and the inwall of chute is provided with stopper slot, and two holders are slidably connected
In in chute, two holders are provided with positive stop strip, and positive stop strip is slidably matched with stopper slot.
Preferably, two executive items are connected to two holder sides close to each other.
Preferably, two executive items are removably connected to two holders respectively.
Preferably, two executive items are bolted to two holders respectively.
Preferably, holder is provided with the first location structure, and executive item is provided with and the first location structure location fit
One in second location structure, the first location structure and the second location structure is positioning convex, and another is detent.
A kind of robot clamping jaw, for clamping and capturing inner concave shape product, including gripper cylinder, two be movably connected on folder
The holder of cylinder is grabbed, two holders can be located remotely from each other or close under the driving of gripper cylinder, and robot clamping jaw is also wrapped
Executing agency is included, executing agency includes two executive items, and two executive items are connected to two holders, and two executive items are equal
It is provided with for against the execution face of product to be captured, two execution faces are located at the side that two executive items are located remotely from each other respectively,
Two execution faces can be located remotely from each other and bear against the inwall of inner concave shape product under the driving of two holders.
A kind of gripper method, it comprises the following steps：Two execution faces of above-mentioned robot clamping jaw are stretched into and treat gripper
The inner chamber of product；The gripper cylinder of robot clamping jaw drives two holders to be located remotely from each other, so as to drive two executive items mutual
It is remote, until two execution faces are respectively held against the inwall for treating gripper product.
A kind of robot, it includes above-mentioned robot clamping jaw.
The beneficial effect of the embodiment of the present invention is：
The holder that robot clamping jaw is movably connected on gripper cylinder including gripper cylinder, two, two holder energy
It is located remotely from each other under the driving of gripper cylinder or close, robot clamping jaw also includes executing agency, executing agency includes two
Executive item, two executive items are connected to two holders, and two executive items are provided with for against product to be captured
Execution face, two execution faces are located at the side that two executive items are located remotely from each other respectively.When needing crawl product, gripper cylinder energy
Two holders of driving are located remotely from each other, so as to drive two executive items to be located remotely from each other so that two execution faces, which are born against, waits to grab
The inwall of product is taken, and then realizes the crawl to product, can effectively improve gripper by the gripper mode of this " outer support " produces
The stability and reliability of product, the clamping and crawl of the products such as inner concave shape stamping parts that are particularly suitable for use in.Meanwhile, robot clamping jaw
Also with simple in construction, change convenient, applicability is wide, and the characteristics of can reducing the processing and manufacturing cost of equipment effectively compensate for
The defect of existing robot clamping jaw.
This gripper method comprises the following steps：Two holders of above-mentioned robot clamping jaw are stretched into the product for the treatment of gripper
Inner chamber；Two execution faces of above-mentioned robot clamping jaw are stretched into the inner chamber for treating gripper product；The gripper cylinder of robot clamping jaw
Two holders of driving are located remotely from each other, so as to drive two executive items to be located remotely from each other, until two execution faces are respectively held against and wait to press from both sides
The inwall of product is grabbed, and then realizes the stable holding to product and crawl.
Robot uses above-mentioned robot clamping jaw, can realize the stable crawl to product, effectively compensate for existing
Robot defect.
Brief description of the drawings
For the technical scheme of the clearer explanation embodiment of the present invention, the accompanying drawing needed to use in embodiment is made below
It is simple to introduce.It should be appreciated that the following drawings illustrate only some embodiments of the present invention, it is not construed as to model of the present invention
The limitation enclosed.To those skilled in the art, without creative efforts, it can be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation of robot clamping jaw provided in an embodiment of the present invention；
Fig. 2 is the structural representation at another visual angle of robot clamping jaw provided in an embodiment of the present invention；
Fig. 3 is the structural representation at the another visual angle of robot clamping jaw provided in an embodiment of the present invention；
Fig. 4 is the structural representation of robot provided in an embodiment of the present invention.
Icon：100- robots clamping jaw；102- gripper cylinders；110- the first side walls；120- second sidewalls；The sides of 130- the 3rd
Wall；The side walls of 140- the 4th；The side walls of 150- the 5th；The side walls of 160- the 6th；170- grooves；180- mounting holes；190- support bases；192-
Chute；194- stopper slots；The holders of 200- first；The sliding parts of 210- first；The clamping parts of 220- first；230- first installs spiral shell
Bolt；The positioning convex of 240- first；The holders of 300- second；The sliding parts of 310- second；The clamping parts of 320- second；330- second is installed
Bolt；The positioning convex of 340- second；400- executing agencies；The executive items of 410- first；412- first performs face；414- first is positioned
Groove；The positive stop strips of 416- first；The executive items of 420- second；422- second performs face；The detents of 424- second；500- machines
People；510- tooling bases；520- connection components；522- head rods；The connecting rods of 524- second；526- contiguous blocks.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing, to the present invention
Technical scheme in embodiment carries out clear, complete description.Obviously, described embodiment is the part implementation of the present invention
Example, rather than whole embodiments.
Therefore, the detailed description below to embodiments of the invention is not intended to limit the model of claimed invention
Enclose, but be merely representative of the section Example of the present invention.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
There is the every other embodiment made and obtained under the premise of creative work, belong to the scope of protection of the invention.
It should be noted that in the case where not conflicting, the embodiment in the present invention and feature and technology in embodiment
Scheme can be mutually combined.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
In the description of the invention, it is necessary to which explanation, term " first ", " second " etc. are only used for distinguishing description, without
It is understood that to indicate or imply relative importance.
Fig. 1 is the structural representation of robot clamping jaw 100 provided in an embodiment of the present invention.Fig. 1 is refer to, the present invention is implemented
Example provides a kind of robot clamping jaw 100, for crawl and product clamping.Robot clamping jaw 100 include gripper cylinder 102,
Two holders and executing agency 400.
Wherein, gripper cylinder 102 can be using variously-shaped and construction.Fig. 2 is robot provided in an embodiment of the present invention
The structural representation at another visual angle of clamping jaw 100；Fig. 3 is the another visual angle of robot clamping jaw 100 provided in an embodiment of the present invention
Structural representation.It refer in Fig. 2 and 3, the present embodiment, gripper cylinder 102 is substantially in cuboid, it has six side walls
And respectively the first side wall 110, second sidewall 120, the 3rd side wall 130, the 4th side wall 140, the 5th side wall 150 and the 6th side
Wall 160, the first side wall 110 is oppositely arranged with the 3rd side wall 130, and second sidewall 120 is oppositely arranged with the 4th side wall 140, and the 5th
Side wall 150 is oppositely arranged with the 6th side wall 160.
Be provided with two linear grooves 170 on the side wall 130 of the first side wall 110 and the 3rd, four grooves 170 from
5th side wall 150 extends to the 6th side wall 160.Meanwhile, the side wall 130 of the first side wall 110 and the 3rd is provided with four mounting holes
180, four rectangular arrays of mounting hole 180 arrangement on the wall of the same side, and one group two-by-two of four mounting holes 180, two groups of installations
Hole 180 is located at the side that two grooves 170 are located remotely from each other respectively.
Certainly, it is necessary to which explanation, in other embodiments, groove 170 and mounting hole 180 can also be other quantity,
Determined with specific reference to actual demand.
The center position of 5th side wall 150 is provided with roughly cylindrical deep gouge (not shown).6th side wall
It is fixedly connected with support base 190 on 160, support base 190 is substantially in cuboid, and its side away from the 6th side wall 160 is set
It is equipped with chute 192.
One end of chute 192 from support base 190 extends to the other end, and the direction of extension with perpendicular to second sidewall 120
Or the 4th side wall 140 direction it is identical.Chute 192 can be used in variously-shaped and structure, the present embodiment, chute 192
Cross section is rectangle and a side opening, and above-mentioned " cross section " refers to the plane perpendicular to the bearing of trend of chute 192.Chute
192 both sides inwall is respectively arranged with stopper slot 194, and one end of stopper slot 194 from support base 190 extends to the other end, and prolongs
Stretch direction identical with the bearing of trend of chute 192.Stopper slot 194 can also be used in variously-shaped and structure, the present embodiment, limit
The cross section of position groove 194 is rectangle, and above-mentioned " cross section " refers to the plane perpendicular to the bearing of trend of stopper slot 194.
Certainly, it is necessary to which explanation, in other embodiments, the cross section of chute 192 and stopper slot 194 can also be it
Its shape, such as semicircle, triangle etc., are set with specific reference to actual demand.
Referring again to Fig. 1 and 2, two holders are respectively the first holder 200 and the second holder 300, the first clamping
The holder 300 of part 200 and second is movably connected with the support base 190 of gripper cylinder 102, and the He of the first holder 200
Second holder 300 can be close to each other or remote under the driving of gripper cylinder 102.The mode of flexible connection has a lot, this
In embodiment, the first holder 200 and the second holder 300 are slidably connected on support base 190 respectively.
Specifically, the first holder 200 includes the first sliding part 210 and the first clamping part 220 being connected with each other, and first slides
Dynamic portion 210 is in cuboid and is slidably connected in chute 192.First sliding part 210 is respectively arranged with relative two side
First positive stop strip 416, two the first positive stop strips 416 are slidably matched with two stopper slots 194 respectively, so as to realize the first holder
200 Stable sliding on support base 190.
First clamping part 220 is in substantially cuboid, and be connected to the first side of the sliding part 210 away from chute 192.The
Two the first installation through-holes are arranged at intervals with one clamping part 220, two the first installation through-hole (not shown)s are combined with
First installation bolt 230.First clamping part 220 is provided with the first positioning convex 240 close to the side of the second holder 300, the
Positioning protrusion 240 is located at the one end of the first clamping part 220 away from the first sliding part 210.
Second holder 300 includes the second sliding part 310 and the second clamping part 320 being connected with each other, the second sliding part 310
In cuboid and it is slidably connected in chute 192.It is spacing that second is respectively arranged with the relative two side arms of second sliding part 310
Bar (not shown), two the second positive stop strips are slidably matched with two stopper slots 194 respectively, so as to realize the second holder
300 Stable sliding on support base 190.
Second clamping part 320 is in substantially cuboid, and be connected to the second side of the sliding part 310 away from chute 192.The
Two the second installation through-holes are arranged at intervals with two clamping parts 320, two the second installation through-hole (not shown)s are combined with
Second installation bolt 330.Second clamping part 320 is provided with the secondth positioning convex 340 close to the side of the first holder 200,
Second positioning convex 340 is located at the one end of the second clamping part 320 away from the second sliding part 310.
Referring again to Fig. 1 and 2, in the present embodiment, executing agency 400 includes two executive items, and two executive items are respectively
First executive item 410 and the second executive item 420.First executive item 410 is removably connected to the first clamping part 220 close to the second folder
The side of gripping member 300, so as to the assembly and disassembly and replacing of the first executive item 410.Specifically, two are provided with the first executive item 410
First installation screw (not shown), the head of two the first installation bolts 230 is respectively held against the first clamping part 220 away from
One side surface of two holders 300, screw rod, which is each passed through after two the first installation through-holes, locks two the first installation screws, so that
Realize the connection of the first executive item 410 and the first holder 200.
In the present embodiment, the first detent 414, the first detent 414 and are additionally provided with the first executive item 410
The location fit of positioning protrusion 240, the constraint of first 200 pair of first executive item 410 of holder can effectively be strengthened by so setting
Degree, so as to improve the mounting stability of the first executive item 410.
Certainly, it is necessary to illustrate, in other embodiments, the position of the first positioning convex 240 and the first detent 414
Putting to exchange, i.e. the first positioning convex 240 is arranged at the first executive item 410, and the first detent 414 is arranged at the first folder
Gripping member 200.
Position of first executive item 410 away from the first clamping part 220 is provided with for against the first execution face of product
412, first, which performs face 412, is located at side of first executive item 410 away from the second executive item 420, and first performs the shape in face 412
Determined with size according to the shape and size of corresponding product.
Second executive item 420 is removably connected to the second clamping part 320 close to the side of the first holder 200, so as to
The assembly and disassembly and replacing of two executive items 420.Specifically, two the second installation screws are provided with the second executive item 420 (in figure not show
Go out), the head of two the second installation bolts 330 is respectively held against side table of second clamping part 320 away from the first holder 200
Face, screw rod, which is each passed through after two the second installation through-holes, locks two the second installation screws so that realize the second executive item 420 with
The connection of second holder 300.
In the present embodiment, the second detent 424, the second detent 424 and are additionally provided with the second executive item 420
The location fit of two positioning convex 340, the constraint of second 300 pair of second executive item 420 of holder can effectively be strengthened by so setting
Degree, so as to improve the mounting stability of the second executive item 420.
Certainly, it is necessary to illustrate, in other embodiments, the position of the second positioning convex 340 and the second detent 424
Putting to exchange, i.e. the second positioning convex 340 is arranged at the second executive item 420, and the second detent 424 is arranged at the second folder
Gripping member 300.
Position of second executive item 420 away from the second clamping part 320 is provided with for against the second execution face of product
422, second, which performs face 422, is located at side of second executive item 420 away from the first executive item 410, and second performs the shape in face 422
Determined with size according to the shape and size of corresponding product.
Robot clamping jaw 100 is mainly used in crawl and product clamping, and be particularly suitable for use in inner concave shape product in punching press field
Crawl and clamping, its corresponding clamping jaw method and process is as follows：
When needing crawl and product clamping, perform face 412 and second by the first of executing agency 400 first and perform face 422
The inner chamber of inner concave shape product is stretched into, then gripper cylinder 102 drives the first holder 200 and the second holder 300 to be located remotely from each other,
So as to drive the first executive item 410 and the second executive item 420 to be located remotely from each other, and then first is driven to perform the execution of face 412 and second
Face 422 is located remotely from each other, until the first execution face 412 and the second execution face 422 are respectively held against the inwall of inner concave shape product, to realize
Crawl and clamping to corresponding product.
When needing release product, gripper cylinder 102 drives the first holder 200 and the second holder 300 close to each other, from
And drive the first executive item 410 and the second executive item 420 close to each other, and then drive first to perform the execution face of face 412 and second
422 is close to each other to leave the inwall of inner concave shape product, so as to realize the release to corresponding product.
In summary, robot clamping jaw 100 realized using two executive items being located remotely from each other crawl to product and
Clamping, can effectively improve the stability and reliability of itself crawl and product clamping, be particularly suitable for use in inner concave shape stamping parts etc.
The crawl and clamping of product.Meanwhile, robot clamping jaw 100 not only have it is simple in construction, the characteristics of small volume, and due to holding
Row part is detachable, therefore changes convenient, the problem of can solving to need to change the workload of diel, and user only needs to pass through
Change and change the executing agency 400 of robot clamping jaw 100, it is possible to change corresponding first execution face 412 and second and perform
The shape and size in face 422, to adapt to the stamping products of a variety of shapes and sizes, so that the processing of equipment, manufacturing cost are reduced,
Effectively make up the defect of existing robot clamping jaw.
Fig. 4 is the structural representation of robot 500 provided in an embodiment of the present invention.Fig. 4 is refer to, the embodiment of the present invention is also
There is provided a kind of robot 500, it includes tooling base 510, connection component 520 and two above-mentioned robot clamping jaws 100.
Wherein, connection component 520 includes head rod 522, the second connecting rod 524 and contiguous block 526, the first connection
The connecting rod 524 of bar 522 and second is bolted on contiguous block 526 respectively, and the connecting rod of head rod 522 and second
524 T-shaped arrangements, the midpoint position of one end the second connecting rod 524 of correspondence of head rod 522.Head rod 522 is remote
One end of second connecting rod 524 is bolted to connection with tooling base 510.Liang Ge robots clamping jaw 100 is relatively arranged on
It is located in second connecting rod 524 and respectively the both sides of head rod 522.The phase of executing agency 400 of Liang Ge robots clamping jaw 100
Mutually remote, the 5th side wall 150 is close to each other.
Robot 500 uses above-mentioned robot clamping jaw 100, can realize the stable crawl to product, effectively make up
The defect of existing robot 500.
Obviously, the above embodiment of the present invention is just for the sake of clear explanation example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Any modifications, equivalent substitutions and improvements made within the spirit and principle of invention etc., should be included in the claims in the present invention
Protection domain within.
Claims (10)
1. a kind of robot clamping jaw, including gripper cylinder, two be movably connected on the gripper cylinder holder, described in two
Holder can be located remotely from each other or close under the driving of the gripper cylinder, it is characterised in that described also including executing agency
Executing agency includes two executive items, and described two executive items are connected to two holders, described two executive items
It is provided with for against the execution face of product to be captured, it is mutually remote that two execution faces are located at described two executive items respectively
From side.
2. robot clamping jaw according to claim 1, it is characterised in that two holders are slidably connected to institute respectively
State gripper cylinder.
3. robot clamping jaw according to claim 2, it is characterised in that the gripper cylinder is provided with chute, the cunning
The inwall of groove is provided with stopper slot, and two holders are slidably connected in the chute, and two holders are all provided with
Positive stop strip is equipped with, the positive stop strip is slidably matched with the stopper slot.
4. robot clamping jaw according to claim 1, it is characterised in that described two executive items are connected to two institutes
State holder side close to each other.
5. robot clamping jaw according to claim 1, it is characterised in that described two executive items are removably connected to respectively
Two holders.
6. robot clamping jaw according to claim 5, it is characterised in that described two executive items are bolted respectively
In two holders.
7. robot clamping jaw according to claim 1, it is characterised in that the holder is provided with the first location structure,
The executive item is provided with the second location structure with the first location structure location fit, first location structure and institute
One stated in the second location structure is positioning convex, and another is detent.
8. a kind of robot clamping jaw, for clamping and capturing inner concave shape product, including gripper cylinder, two be movably connected on it is described
The holder of gripper cylinder, two holders can be located remotely from each other or close under the driving of the gripper cylinder, and it is special
Levy and be, in addition to executing agency, the executing agency includes two executive items, described two executive items are connected to two
The holder, described two executive items are provided with for against the execution face of product to be captured, two execution faces to be divided
Not Wei Yu the side that is located remotely from each other of described two executive items, two execution faces can under the driving of two holders phase
Inwall that is mutually remote and bearing against the inner concave shape product.
9. a kind of gripper method, it is characterised in that comprise the following steps：By the robot described in claim 1-8 any one
The inner chamber for treating gripper product is stretched into two execution faces of clamping jaw；The gripper cylinder of the robot clamping jaw drives two clampings
Part is located remotely from each other, so as to drive two executive items to be located remotely from each other, until two execution faces are respectively held against and described treat gripper product
Inwall.
10. a kind of robot, it is characterised in that including the robot clamping jaw described in claim 1-8 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710542939.4A CN107139204A (en) | 2017-07-05 | 2017-07-05 | Robot clamping jaw, gripper method and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710542939.4A CN107139204A (en) | 2017-07-05 | 2017-07-05 | Robot clamping jaw, gripper method and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107139204A true CN107139204A (en) | 2017-09-08 |
Family
ID=59786099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710542939.4A Pending CN107139204A (en) | 2017-07-05 | 2017-07-05 | Robot clamping jaw, gripper method and robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107139204A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108910525A (en) * | 2018-09-05 | 2018-11-30 | 深圳市宝德自动化精密设备有限公司 | A kind of fixed mechanism and conveyer |
| CN114193502A (en) * | 2022-01-26 | 2022-03-18 | 江苏贺颖智能科技有限公司 | Special end effector for charging gun grabbing robot |
| CN115366143A (en) * | 2022-09-05 | 2022-11-22 | 安徽优品智能科技有限公司 | Suspension type external-support mechanical arm for processing heat dissipation groove of projector shell |
| WO2023065524A1 (en) * | 2021-10-20 | 2023-04-27 | 深圳市妇幼保健院 | Microtube holder convenient to operate under microscope |
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| CN205572460U (en) * | 2016-05-12 | 2016-09-14 | 钱成普 | Pneumatic parallel mechanism of pressing from both sides |
| CN106217401A (en) * | 2016-08-21 | 2016-12-14 | 苏州三孚自动化科技有限公司 | The special jaw of goods of furniture for display rather than for use |
| CN106413999A (en) * | 2014-06-02 | 2017-02-15 | 库卡系统有限责任公司 | Gripping jaw safety device with tongue and groove for HRC |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2015147257A (en) * | 2014-02-05 | 2015-08-20 | Smc株式会社 | Opening-closing chuck |
| CN106413999A (en) * | 2014-06-02 | 2017-02-15 | 库卡系统有限责任公司 | Gripping jaw safety device with tongue and groove for HRC |
| CN205437678U (en) * | 2015-12-30 | 2016-08-10 | 浙江正泰电器股份有限公司 | Automatic change assembly quality |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108910525A (en) * | 2018-09-05 | 2018-11-30 | 深圳市宝德自动化精密设备有限公司 | A kind of fixed mechanism and conveyer |
| CN108910525B (en) * | 2018-09-05 | 2024-03-19 | 紫石能源有限公司 | Fixing mechanism and conveying device |
| WO2023065524A1 (en) * | 2021-10-20 | 2023-04-27 | 深圳市妇幼保健院 | Microtube holder convenient to operate under microscope |
| CN114193502A (en) * | 2022-01-26 | 2022-03-18 | 江苏贺颖智能科技有限公司 | Special end effector for charging gun grabbing robot |
| CN114193502B (en) * | 2022-01-26 | 2022-11-11 | 江苏贺颖智能科技有限公司 | Special end effector for charging gun grabbing robot |
| CN115366143A (en) * | 2022-09-05 | 2022-11-22 | 安徽优品智能科技有限公司 | Suspension type external-support mechanical arm for processing heat dissipation groove of projector shell |
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Application publication date: 20170908 |