CN107738248A - A kind of manipulator and its control method with two-pawl structure - Google Patents
A kind of manipulator and its control method with two-pawl structure Download PDFInfo
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- CN107738248A CN107738248A CN201710997171.XA CN201710997171A CN107738248A CN 107738248 A CN107738248 A CN 107738248A CN 201710997171 A CN201710997171 A CN 201710997171A CN 107738248 A CN107738248 A CN 107738248A
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- Prior art keywords
- jaw
- manipulator
- connecting plate
- pawl structure
- ambulatory splint
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator and its control method with two-pawl structure, the described manipulator with two-pawl structure, including fixed mechanism, rotating mechanism and double pneumatic gripper mechanisms；Fixed mechanism is used to manipulator being fixed on the machine；Rotating mechanism is connected Agency pneumatic gripper mechanism；Described double pneumatic gripper mechanisms have the jaw of 2 pneumatic controls.This has the manipulator of two-pawl structure and its control method easy to implement, can significantly improve the efficiency of crawl battery.
Description
Technical field
The present invention relates to a kind of manipulator and its control method with two-pawl structure.
Background technology
Electrokinetic cell is the main force of new energy, and electrokinetic cell is applied not only to automobile industry, is additionally operable to electric tool, aviation
The fields such as model, electric bicycle and battery-operated motor cycle, the application of electrokinetic cell is more and more wider, the demand of electrokinetic cell
Also increasing, the production capacity of battery constantly improves in the producer for producing battery, and more and more higher is also required to the operating efficiency of equipment,
Important execution unit of the manipulator as equipment, for capturing, copies battery mechanically and plays a crucial role, and directly affects the production of equipment work
Energy.The maximum production capacity that general single mechanical paw works in fetching battery can only achieve 6PPM（6PPM is 6 pieces per minute）, nothing
Method meets the capacity requirements of production battery producer.Therefore, it is necessary to design a kind of manipulator with two-pawl structure and its control
Method.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of manipulator and its control method with two-pawl structure, should
Manipulator and its control method with two-pawl structure are easy to implement, can significantly improve the efficiency of crawl battery.
The technical solution of invention is as follows：
A kind of manipulator with two-pawl structure, including fixed mechanism, rotating mechanism and double pneumatic gripper mechanisms；
Fixed mechanism is used to manipulator being fixed on the machine；Rotating mechanism is connected Agency pneumatic gripper mechanism；
Described double pneumatic gripper mechanisms have the jaw of 2 pneumatic controls.
Double pneumatic gripper mechanisms include jaw contiguous block and the first jaw and the second jaw that are connected with jaw contiguous block；
First jaw includes the first jaw connecting plate, the first strap, the first jaw movable block and the first ambulatory splint；First
Strap is fixed on jaw contiguous block；First jaw connecting plate is connected with jaw contiguous block, and in the driving of compressed gas
Under can be slid laterally relative to jaw contiguous block；
The lower section of first jaw connecting plate is connected by the first jaw movable block with the first ambulatory splint；First ambulatory splint and
One strap sets up separately in inner side and outer side；First ambulatory splint moves out under the drive of the first jaw connecting plate can be with
One strap is engaged to clamp battery；
Second jaw includes the second jaw connecting plate, the second strap, the second jaw movable block and the second ambulatory splint；Second
Strap is fixed on jaw contiguous block；Second jaw connecting plate is connected with jaw contiguous block, and in the driving of compressed gas
Under can be slid laterally relative to jaw contiguous block；
The lower section of second jaw connecting plate is connected by the second jaw movable block with the second ambulatory splint；Second ambulatory splint and
Two straps set up separately in inner side and outer side；Second ambulatory splint moves out under the drive of the first jaw connecting plate can be with
One strap is engaged to clamp battery.
Limit insulation board is equipped with below first jaw connecting plate and the second jaw connecting plate.
There is horizontal gib block on jaw contiguous block, have on the first jaw movable block and the second jaw movable block
With described gib block to the guide groove being adapted to.
First jaw or the second jaw are provided with photoelectric sensor.For detecting whether the first jaw or the second jaw are moved
Make.
Multiple bufferings are equipped with first strap, the second strap, the first ambulatory splint and the second ambulatory splint
Micelle.
Rotating mechanism is provided with the first rotary inductive piece.
Rotating mechanism is driven by servomotor.
The gas circuit of first jaw and the second jaw is provided with the magnetic valve for being controlled by MCU or hand switch.
A kind of control method of the manipulator with two-pawl structure, using the foregoing manipulator with two-pawl structure；
Control method is as follows：
（1）Worked by 1 or 2 jaws of solenoid valve control, work refers to capture or put down battery；
（2）Rotated by the double pneumatic gripper mechanisms of Serve Motor Control（Such as it is rotated by 90 °, counterclockwise or can turns clockwise）；
（3）Double pneumatic gripper mechanisms are controlled to rise or fall by Z axis drive device；
（4）Detect whether jaw acts by photoelectric sensor；
（5）The anglec of rotation of double pneumatic gripper mechanisms is detected by the first rotary inductive piece.
Specifically automatically controlled it is preferred that being realized using MCU.
The operation principle of manipulator：Servomotor drives two sets of gas clamping jaws (part), and dextrorotation is turn 90 degrees together, is kept
Consistent with supplied materials double cell direction, two claws that solenoid valve control opens slim jaw ensure that double pawl centre distances and supplied materials are double
For battery center apart from equal, Z axis module sliding block driving mechanical subordinate moves on to rational position, two magnetic valves control respectively two it is whole
The claw of the slim jaw of body is closed to capture battery, and Z axis module sliding block driving mechanical moves on to rational position, passes through X, Y-axis on hand
Module sliding block driving mechanical hand takes motor and drives two sets of gas clamping jaws (part) rotate counterclockwise together to empty pallet rational position, private
Aligning control position, two claws that solenoid valve control closes slim jaw make two battery center distances enter with pallet in cell station
For the heart apart from equal, Z axis module sliding block driving mechanical subordinate moves on to rational position, and two magnetic valves control overall slim jaw respectively
Claw open take battery, Z axis module sliding block driving mechanical moves on to rational position on hand, so as to complete manipulator crawl and put
Overall process in power taking pond.
Beneficial effect：
The manipulator and its control method with two-pawl structure of the present invention, this robot manipulator structure is compact, light and handy, disposably
Two batteries can be captured, and energy carrying >=10Kgf weights, maximum production capacity can reach 12PPM, two paws can work independently
It can together work and not interfere from each other simultaneously, positioning precision is high, reliable and stable, and production capacity is high, and cost is low, so as to meet life
The requirement accommodation of production battery producer more facilitates extensively.
Battery is set to shorten the time during copying mechanically using the double gas gripper jaw parts of the manipulator of structure of the present invention, so as to increase
The production capacity of battery, reliable and stable, flexibility is good, individually control two sets of gas gripper jaw parts to use using two magnetic valves
Spec battery is transported at different rational positions from unqualified battery.
Two sets of gas gripper jaw part unique textures, can improve battery production capacity will not crush battery surface again, because of gas clamping jaw
It is made up of grip block (nonmetallic) and buffering micelle (ethylene propylene diene rubber), i.e., is flexible contact with battery contact surface, contact
Face frictional force is big, flexible, wear resistant corrosion resistant, is not easy to crush that battery surface is again reliable and stable, and grip block, which has, is oriented to the oblique of battery
Face, positioning is more accurate, and the production capacity realized from existing equivalent specifications size cell becomes present 12PPM from 6PPM before,
Production capacity brings up to original 2 times.The manipulator has features simple structure, and operating efficiency is high, reliable and stable, and positioning precision is high, cost
Low advantage, it is adapted to promotion and implementation.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of manipulator and its control method with two-pawl structure（Expanded view）；
Fig. 2 is the structural representation of double pneumatic gripper mechanisms.
Label declaration：1- gas clamping jaw, 2- jaws connecting plate, the second jaws of 3- connecting plate, the second jaw of 4- mirror images connecting plate,
The double pawl fixed plates of 5-, the double pawl location-plates of 6-, 7- rotating shaft holders, 8- turntables connecting plate, the first rotating shaft holders of 9- spacer,
The second rotating shaft holders of 10- spacer, 11- jaws rotary shaft, 12- jaws rotation shaft retaining ring, the double jaw component fixed plates of 13-, 14-
The double jaw buffering guide pillars of the double jaw component connecting plates of double jaw component reinforcing plates, 15-, 16-, the excellent power rubber gaskets of 17-, 18- stage clips
Liner, 19- the first fool proof switch-mode regulations bar, 20- fool proofs adjustment seat, 21- the second fool proof switch-mode regulations bar, the detections of 22- first are opened
Close regulation metal plate, the detection switch of 23- second regulation metal plate, 24- buffering guide pillars fixed block, 25- buffering guide pillars back-up ring, 26- first
Rotary inductive piece, 27- proximity transducers fixed support, 28- rotations paw gag lever post, 29- open jaw fixed plate, 30- flat keys,
The second rotary inductives of 31- piece, the slim jaws of 32-, 33- line slide rails pair, 34- linear bearings, 35- oil buffers, 36- pressure
The close sensing of spring, 37- range sensors, 38- taper roll bearings, 39- hexagon socket cap head screws, 40- hex nuts, 41-
Device, 42- reductors, 43- servomotors.
51- the first jaw connecting plates, 52- the second jaw connecting plates；The straps of 53- first, 54- the first jaw activities
Block, 55- the second jaw movable blocks, 56- limit insulation boards, 57- jaw cylinder connecting plates, the ambulatory splints of 58- first, 59- second
Ambulatory splint, 60- buffering micelles, 61- current limiters, 62- jaw contiguous blocks, 63- optoelectronic switches, the straps of 64- second.
Embodiment
The present invention is described in further details below with reference to the drawings and specific embodiments：
Embodiment 1：Such as Fig. 1 ~ 2, a kind of manipulator with two-pawl structure, including fixed mechanism, rotating mechanism and double jaw machines
Structure；
Fixed mechanism is used to manipulator being fixed on the machine；Rotating mechanism is connected Agency pneumatic gripper mechanism；
Described double pneumatic gripper mechanisms have the jaw of 2 pneumatic controls.
Double pneumatic gripper mechanisms include jaw contiguous block 62 and the first jaw and the second jaw that are connected with jaw contiguous block；
First jaw includes the first jaw connecting plate 51, the first strap 53, the first jaw movable block 54 and the first activity folder
Plate 58；First strap is fixed on jaw contiguous block；First jaw connecting plate is connected with jaw contiguous block, and in compressed gas
It can be slid laterally under the driving of body relative to jaw contiguous block；
The lower section of first jaw connecting plate is connected by the first jaw movable block with the first ambulatory splint；First ambulatory splint and
One strap sets up separately in inner side and outer side；First ambulatory splint moves out under the drive of the first jaw connecting plate can be with
One strap is engaged to clamp battery；
Second jaw includes the second jaw connecting plate 52, the second strap 64, the second jaw movable block 55 and the second activity folder
Plate 59；Second strap is fixed on jaw contiguous block；Second jaw connecting plate is connected with jaw contiguous block, and in compressed gas
It can be slid laterally under the driving of body relative to jaw contiguous block；
The lower section of second jaw connecting plate is connected by the second jaw movable block with the second ambulatory splint；Second ambulatory splint and
Two straps set up separately in inner side and outer side；Second ambulatory splint moves out under the drive of the first jaw connecting plate can be with
One strap is engaged to clamp battery.
Limit insulation board is equipped with below first jaw connecting plate and the second jaw connecting plate.
There is horizontal gib block on jaw contiguous block, have on the first jaw movable block and the second jaw movable block
With described gib block to the guide groove being adapted to.
First jaw or the second jaw are provided with photoelectric sensor 63.For detecting whether the first jaw or the second jaw are moved
Make.
Multiple bufferings are equipped with first strap, the second strap, the first ambulatory splint and the second ambulatory splint
Micelle 60.
Rotating mechanism is provided with the first rotary inductive piece 26.
Rotating mechanism is driven by servomotor 43.
The gas circuit of first jaw and the second jaw is provided with the magnetic valve for being controlled by MCU or hand switch.
A kind of control method of the manipulator with two-pawl structure, using the foregoing manipulator with two-pawl structure；
Control method is as follows：
（1）Worked by 1 or 2 jaws of solenoid valve control, work refers to capture or put down battery；
（2）Rotated by the double pneumatic gripper mechanisms of Serve Motor Control（Such as it is rotated by 90 °, counterclockwise or can turns clockwise）；
（3）Double pneumatic gripper mechanisms are controlled to rise or fall by Z axis drive device；
（4）Detect whether jaw acts by photoelectric sensor；
（5）The anglec of rotation of double pneumatic gripper mechanisms is detected by the first rotary inductive piece.
A kind of part included by manipulator has：Gas clamping jaw (part), jaw connecting plate, the second jaw connecting plate, mirror image
Second jaw connecting plate, double pawl fixed plates, double pawl location-plates, jaw rotating shaft holder, turntable connecting plate, the first swivel bearing
Seat spacer, the second rotating shaft holder spacer, jaw rotary shaft, jaw rotation shaft retaining ring, double jaw component fixed plates, double jaw groups
Part reinforcing plate, double jaw component connecting plates, double jaws buffering guide pillar, excellent power rubber gasket, stage clip liner, the first fool proof switch-mode regulation
Bar, fool proof adjustment seat, the second fool proof switch-mode regulation bar, the first detection switch regulation metal plate, the second detection switch adjust metal plate, delayed
Rush guide pillar fixed block, buffering guide pillar back-up ring, the first rotary inductive piece, proximity transducer fixed support, rotation paw gag lever post,
Open jaw fixed plate, flat key, the second rotary inductive piece, slim jaw, line slide rail pair, linear bearing, oil buffer, pressure
Spring, range sensor, taper roll bearing, hexagon socket cap head screw, hex nut, proximity transducer, reductor, servo electricity
Machine：This manipulator is made up of two sets of identical gas clamping jaws (part), often covers gas clamping jaw (part) and jaw connecting plate bolt
Tighten together, then be fixed on by line slide rail pair in jaw fixed plate, two sets of identical gas clamping jaws (part) is prolonged
Slide direction is moved freely, and a set of gas clamping jaw (part) is connected by the second jaw connecting plate with 1 pawl of slim jaw, separately
A set of gas clamping jaw (part) is connected by mirror image the second jaw connecting plate with other 1 pawl of slim jaw 2, slim jaw
It is fastened on further through jaw fixed plate is opened with bolt in double pawl fixed plates, the double pawl location-plates of two pieces are separately fixed at double pawls and fixed
Plate both sides, while two soket head cap screws and an oil buffer are installed on every double pawl location-plates, realize two sets of gas clamping jaws
The regulation of distance between width；Double pawl fixed plates are by buffering guide pillar fixed block, double jaws buffer guide pillar, compression spring, straight line
Bearing, excellent power rubber gasket, buffering guide pillar back-up ring are connected with double claw assembly connecting plates, and double claw assembly connecting plates are equipped with the second rotation
Sensing chip, the buffering and detection function for realizing double fastener pawl crawl battery prevent battery plus-negative plate post of damaging.
Jaw rotary shaft is connected by two taper roll bearings with jaw rotating shaft holder, and jaw rotary shaft afterbody passes through
Second rotating shaft holder spacer directly rotates shaft retaining ring by jaw with double claw assembly connecting plates and is fastened on one with soket head cap screw
Rise, realize two sets of gas clamping jaw (part) integral-rotations.
Jaw rotating shaft holder is connected with the fastening of turntable connecting plate soket head cap screw, jaw rotary shaft head flat key
It is connected with reducing motor, reductor flange is fastened on turntable connecting plate with soket head cap screw, realizes servo deceleration electricity
Machine controls clockwise or counterclockwise 90 degree together of two sets gas clamping jaws (part), and two poles end, which is provided with, in rotary course approaches biography
Sensor is soft spacing and mechanical position limitation, securely and reliably；Turntable connecting plate is fastened with double jaw component fixed plates with soket head cap screw,
Double jaw component fixed plates are connected with module realizes the integral elevating of manipulator.
In gas clamping jaw (part), two slim jaws are fastened on by jaw cylinder connecting plate with flat head screw back-to-back
Together, form a whole slim jaw；First jaw movable block 54 and the second jaw movable block 55 use soket head cap screw respectively
It is fixed on the left side claw of overall slim jaw, the first jaw connecting plate 51 is fixed on and overall slim gas with soket head cap screw
On the left side claw of pawl connected the first jaw movable block 54 and the second jaw movable block 55, the first jaw connecting plate 51 and the
Two jaw connecting plates 52 are fastened together with soket head cap screw, the second ambulatory splint 59（Also known as battery guide grip block A）With interior six
Angle screw is fastened on the second jaw connecting plate, constitutes the overall left side clamping jaw of gas gripper jaw part；
Same second jaw connecting plate 52（Also known as mirror image jaw 1）It is also secured to and overall slim jaw with soket head cap screw
Right side claw connected the first jaw movable block 54 and the second jaw movable block 55（Jaw contiguous block A and jaw are also known as respectively
Contiguous block B）On, the first strap 53 and the second jaw connecting plate 52 are with together with soket head cap screw fastening, the first ambulatory splint
58（Also known as battery guide grip block B）It is fastened on soket head cap screw on the first strap 53, constitutes gas gripper jaw part
Overall the right clamping jaw, realize with a dual control position magnetic valve to control the left side clamping jaw of overall slim jaw and the right clamping jaw to close
To step up or unclamp battery.The surface jaw that first jaw connecting plate 51 and the second jaw connecting plate 52 contact with LITHIUM BATTERY post
Limit insulation board prevents that two-stage post is short-circuit, all inlays flexible buffer glue on the first jaw movable block 54 and the second jaw movable block 55
Grain, on the one hand so allow prevents surface tear from the other hand increasing the frictional force of battery contact surface to prevent loosening from falling by folder battery
Fall.Proximity transducer is mounted with the first jaw movable block 54 to detect whether Lou to press from both sides battery.
Robot manipulator structure is made up of two sets of identical gas clamping jaws (part), often covers the closure of gas clamping jaw (part) with one
Single dual control position magnetic valve controls, and the closure of such two sets of clamping jaws (part) is respectively by two single dual control position magnetic valves
To control, two sets of gas clamping jaws (part) of such manipulator can work together captures battery, can also individually work and grab
Power taking pond, two batteries can once be captured by, which realizing, can also once capture a battery.
Claims (10)
1. a kind of manipulator with two-pawl structure, it is characterised in that including fixed mechanism, rotating mechanism and double pneumatic gripper mechanisms；
Fixed mechanism is used to manipulator being fixed on the machine；Rotating mechanism is connected Agency pneumatic gripper mechanism；
Described double pneumatic gripper mechanisms have the jaw of 2 pneumatic controls.
2. the manipulator according to claim 1 with two-pawl structure, it is characterised in that double pneumatic gripper mechanisms connect including jaw
Connect block（62）The first jaw and the second jaw being connected with jaw contiguous block；
First jaw includes the first jaw connecting plate（51）, the first strap（53）, the first jaw movable block（54）With first
Ambulatory splint（58）；First strap is fixed on jaw contiguous block；First jaw connecting plate is connected with jaw contiguous block, and
It can be slid laterally under the driving of compressed gas relative to jaw contiguous block；
The lower section of first jaw connecting plate is connected by the first jaw movable block with the first ambulatory splint；First ambulatory splint and
One strap sets up separately in inner side and outer side；First ambulatory splint moves out under the drive of the first jaw connecting plate can be with
One strap is engaged to clamp battery；
Second jaw includes the second jaw connecting plate（52）, the second strap（64）, the second jaw movable block（55）With second
Ambulatory splint（59）；Second strap is fixed on jaw contiguous block；Second jaw connecting plate is connected with jaw contiguous block, and
It can be slid laterally under the driving of compressed gas relative to jaw contiguous block；
The lower section of second jaw connecting plate is connected by the second jaw movable block with the second ambulatory splint；Second ambulatory splint and
Two straps set up separately in inner side and outer side；Second ambulatory splint moves out under the drive of the first jaw connecting plate can be with
One strap is engaged to clamp battery.
3. the manipulator according to claim 1 with two-pawl structure, it is characterised in that the first jaw connecting plate and second
Limit insulation board is equipped with below jaw connecting plate.
4. the manipulator according to claim 1 with two-pawl structure, it is characterised in that have laterally on jaw contiguous block
Gib block, have on the first jaw movable block and the second jaw movable block with described gib block to the guiding being adapted to
Groove.
5. the manipulator according to claim 1 with two-pawl structure, it is characterised in that in the first jaw or the second jaw
Provided with photoelectric sensor（63）.
6. the manipulator according to claim 1 with two-pawl structure, it is characterised in that the first strap, second are consolidated
Multiple buffering micelles are equipped with clamp plate, the first ambulatory splint and the second ambulatory splint（60）.
7. the manipulator according to claim 1 with two-pawl structure, it is characterised in that rotating mechanism is provided with the first rotation
Turn sensing chip（26）.
8. the manipulator with two-pawl structure according to claim 17, it is characterised in that rotating mechanism is by servo electricity
Machine（43）Driving.
9. according to the manipulator with two-pawl structure described in claim any one of 1-8, it is characterised in that the first jaw and
The gas circuit of two jaws is provided with the magnetic valve for being controlled by MCU or hand switch.
10. a kind of control method of the manipulator with two-pawl structure, it is characterised in that using having described in claim 9
The manipulator of two-pawl structure；
Control method is as follows：
（1）Worked by 1 or 2 jaws of solenoid valve control, work refers to capture or put down battery；
（2）Rotated by the double pneumatic gripper mechanisms of Serve Motor Control（Such as it is rotated by 90 °, counterclockwise or can turns clockwise）；
（3）Double pneumatic gripper mechanisms are controlled to rise or fall by Z axis drive device；
（4）Detect whether jaw acts by photoelectric sensor；
（5）The anglec of rotation of double pneumatic gripper mechanisms is detected by the first rotary inductive piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710997171.XA CN107738248A (en) | 2017-10-20 | 2017-10-20 | A kind of manipulator and its control method with two-pawl structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710997171.XA CN107738248A (en) | 2017-10-20 | 2017-10-20 | A kind of manipulator and its control method with two-pawl structure |
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| CN107738248A true CN107738248A (en) | 2018-02-27 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108306044A (en) * | 2018-03-01 | 2018-07-20 | 珠海格力精密模具有限公司 | It a kind of battery core graping chaw and puts together machines people with its power battery |
| CN110758813A (en) * | 2019-11-13 | 2020-02-07 | 珠海格力智能装备有限公司 | Packaging line |
| CN111844112A (en) * | 2019-04-24 | 2020-10-30 | 北京兰友科技有限公司 | Snatch manipulator suitable for container is transported to soil sample |
| CN112621348A (en) * | 2019-10-09 | 2021-04-09 | 达详自动化股份有限公司 | Clamping device with shock attenuation effect |
| CN113831653A (en) * | 2021-11-09 | 2021-12-24 | 中国建筑材料科学研究总院有限公司 | Ethylene propylene diene monomer rubber material for wire drawing machine manipulator clamping jaw and preparation method thereof |
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| CN105904454A (en) * | 2016-06-12 | 2016-08-31 | 浙江工业大学 | Grabbing manipulator |
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| CN112621348A (en) * | 2019-10-09 | 2021-04-09 | 达详自动化股份有限公司 | Clamping device with shock attenuation effect |
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