CN107953322A - A kind of clamping device - Google Patents
A kind of clamping device Download PDFInfo
- Publication number
- CN107953322A CN107953322A CN201711453518.0A CN201711453518A CN107953322A CN 107953322 A CN107953322 A CN 107953322A CN 201711453518 A CN201711453518 A CN 201711453518A CN 107953322 A CN107953322 A CN 107953322A
- Authority
- CN
- China
- Prior art keywords
- cavity
- fixedly connected
- groove
- bar
- contiguous block
- 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.)
- Pending
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- 239000002965 rope Substances 0.000 claims description 11
- 208000002925 Dental Caries Diseases 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 6
- 239000000047 product Substances 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 241001313871 Puma Species 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000003139 buffering Effects 0.000 description 2
- 230000000875 corresponding Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001771 impaired Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000036961 partial Effects 0.000 description 2
- 239000006227 byproduct Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004805 robotic Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
Abstract
The invention discloses a kind of clamping device, including contiguous block, the contiguous block is internally provided with the first cavity, the contiguous block of first cavity lower end is internally provided with the second cavity, the bottom of the contiguous block is equipped with the first groove, the top side wall of first cavity is fixedly connected with telescope motor, the output terminal of the telescope motor is fixedly connected with fixed link, the other end of the fixed link extends in the first groove through the second cavity and contiguous block and is fixedly connected with head rod, the both ends of the head rod are rotatably connected to the second connecting rod, the other end of two second connecting rods is rotatably connected to L-type bar, the side madial wall of first groove is arranged with two connecting shafts.It is of the invention efficiently convenient, when gripping different products, replaceable function block, so that increase success rate, also convenient maintenance.
Description
Technical field
The present invention relates to manipulator technical field, more particularly to a kind of clamping device.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
The advantages of having people and robotics concurrently each, manipulator are the industrial robots occurred earliest, and the modern times occurred earliest
Robot, it can replace the heavy labor of people to be operated to realize the mechanization of production and automation under hostile environment to protect
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy, with the hair of society
Exhibition, scientific and technological progress is increasing, and existing some mechanical hand starts and science and technology combines, and manipulator starts to move towards intelligent.
But existing some mechanical hand is when product is gripped, due to the difference of product, the effect of manipulator gripping
It can be deteriorated, when clamping parts damage, also be inconvenient to repair replacement.
The content of the invention
Gripping component the purpose of the present invention is to solve manipulator in the prior art cannot conveniently repair asking for replacement
Topic, and a kind of clamping device proposed.
To achieve these goals, present invention employs following technical solution：
A kind of clamping device, including contiguous block, the contiguous block are internally provided with the first cavity, the company of the first cavity lower end
Connect block and be internally provided with the second cavity, the bottom of the contiguous block is equipped with the first groove, and the top side wall of first cavity is fixed
It is connected with telescope motor, the output terminal of the telescope motor is fixedly connected with fixed link, and the other end of the fixed link is through the
Two cavitys and contiguous block extend in the first groove and are fixedly connected with head rod, and the both ends of the head rod turn
Dynamic to be connected with the second connecting rod, the other end of two second connecting rods is rotatably connected to L-type bar, first groove
Side madial wall is arranged with two connecting shafts, and one end of two connecting shafts through the bending place of L-type bar and is plugged in
In the madial wall of first groove, the other end of two connecting shafts is plugged in the opposite side side wall of the first groove, is mutually leaned on
The lower end side of two near L-type bars is equipped with functional block.
Preferably, fixed plate is arranged with the fixed link in the second cavity, the both ends of the fixed plate are symmetrically set
There is the first spring, the upper end of two first springs is fixedly connected with the top side wall of the second cavity.
Preferably, the internal symmetry of second cavity is equipped with two gag lever posts, the upper end of two gag lever posts and the
The top side wall of two cavitys is fixedly connected, and the lower end of two gag lever posts extends through fixed plate and is plugged in the second cavity
Bottom side wall in.
Preferably, two functional blocks have been fixedly connected with two fixture blocks, two L-types close to one end of L-type bar
Bar is equipped with two card slots matching with two fixture blocks close to the side of functional block, the L between two card slots of the same side
Type bar is equipped with the second groove, and second groove is internally provided with rotating bar, and the rotating bar is close to one end two of functional block
Side has been fixedly connected with rope, and the L-type bar internal symmetry between the second groove and card slot is equipped with two the 3rd cavitys, and two
The inside of a 3rd cavity is equipped with connecting plate, and two one end of the connecting plate away from the second groove have been fixedly connected with
Inserted link, the one end of the inserted link away from the second groove through L-type bar and extend to the inside of card slot.
Preferably, the slot to match with inserted link is equipped with each fixture block, each connecting plate is close to second
One end of groove has been fixedly connected with two second springs, each inner side of the other end of the second spring with the 3rd cavity
Wall is fixedly connected, and each one end of the rope away from rotating bar extends to the inside of the 3rd cavity and with connecting through L-type bar
Fishplate bar is fixedly connected.
In the present invention, by exterior control system, telescope motor is opened, pulls fixed link, pass through head rod, the
Two connecting rods and connecting shaft, make functional block clamp product, when impaired because of excessive gripping product in functional block, Ke Yixuan
Walk around lever, inserted link is departed from slot, so as to take out functional block, convenient maintenance, when gripping different products, can replace not
With functional block realize more preferable effect.It is of the invention efficiently convenient, when gripping different products, replaceable function block, from
And increase success rate, also convenient maintenance.
Brief description of the drawings
Fig. 1 is a kind of perspective view of clamping device proposed by the present invention；
Fig. 2 is a kind of part A structure diagram of clamping device proposed by the present invention；
Fig. 3 is applied to a kind of structure diagram of puma manipulator for the present invention；
Fig. 4 is the B-B schematic cross-sectional views that the present invention is applied to a kind of puma manipulator.
In figure：1 housing, 2 support columns, 3 rotor plates, 4 contiguous blocks, 5 fixed blocks, 6 first bevel gears, 7 support plates, 8 rotate
Axis, 9 second bevel gears, 10 belt pulleys, 11 servomotors, 12 transmission belts, 13 first cavitys, 14 telescope motors, 15 fixed links, 16
Second cavity, 17 gag lever posts, 18 fixed plates, 19 first springs, 20 head rods, 21 second connecting rods, 22 connecting shafts, 23 L
Type bar, 24 functional blocks, 25 fixture blocks, 26 slots, 27 card slots, 28 inserted links, 29 connecting plates, 30 ropes, 31 second springs, 32 the 3rd skies
Chamber, 33 rotating bars.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.
In the description of the present invention, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", " top ",
The orientation or position relationship of the instruction such as " bottom ", " interior ", " outer " are based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Embodiment 1：With reference to Fig. 1-2, a kind of clamping device, including contiguous block 4, contiguous block 4 are internally provided with the first cavity
13, the contiguous block 4 of 13 lower end of the first cavity is internally provided with the second cavity 16, and the bottom of contiguous block 4 is equipped with the first groove, and first is empty
The top side wall of chamber 13 is fixedly connected with telescope motor 14, and the output terminal of telescope motor 14 is fixedly connected with fixed link 15, starts
Telescope motor 14 can drive fixed link 15 to move, and the other end of fixed link 15 is extended to through the second cavity 16 and contiguous block 4
In first groove and head rod 20 is fixedly connected with, fixed plate 18 is arranged with the fixed link 15 in the second cavity 16,
The both ends of fixed plate 18 are arranged with the first spring 19, the top side wall of the upper ends of two the first springs 19 with the second cavity 16
It is fixedly connected, the internal symmetry of the second cavity 16 is equipped with two gag lever posts 17, the upper end of two gag lever posts 17 and the second cavity 16
Top side wall be fixedly connected, the lower end of two gag lever posts 17 extends through fixed plate 18 and is plugged in the bottom of the second cavity 16
In the wall of side, gag lever post 17 and fixed plate 18 prevent the offset of fixed link 18, and the first spring 19 is when fixed link 15 moves
There is provided an elastic force, absorb partial action power, play the role of buffering, avoid because fixed link 15 move it is too fast cause gripping lose
Lose.
The both ends of head rod 20 are rotatably connected to the second connecting rod 21, and the other end of two the second connecting rods 21 is equal
L-type bar 23 is rotatably connected to, the side madial wall of the first groove is arranged with two connecting shafts 22, one end of two connecting shafts 22
Through the bending place of L-type bar 23 and it is plugged in the madial wall of the first groove, the other ends of two connecting shafts 22 is plugged in the
In the opposite side side wall of one groove, the lower end sides of close to each other two L-type bars 23 is equipped with functional block 24, in fixed link 15
Move, drive L-type bar 23 to move by 20 and second connecting rod 21 of head rod, because connecting shaft 22 is through L-type bar 23
Bending place, so the upper end of two L-type bars 23 moves up, the lower end of two L-type bars 23 is close to each other, is clamped and produced by functional block 24
Product, two functional blocks 24 have been fixedly connected with two fixture blocks 25 close to one end of L-type bar 23, and two L-type bars 23 are close to functional block
24 side is equipped with two card slots 27 matching with two fixture blocks 25, on the L-type bar 23 between two card slots 27 of the same side
Equipped with the second groove, the second groove is internally provided with rotating bar 33, and rotating bar 33 is fixed close to one end both sides of functional block 24
Rope 30 is connected with, 23 internal symmetry of L-type bar between the second groove and card slot 27 is equipped with two the 3rd cavitys 32, two
The inside of three cavitys 32 is equipped with connecting plate 29, and two one end of connecting plate 29 away from the second groove have been fixedly connected with inserted link
28, the one end of inserted link 28 away from the second groove through L-type bar 23 and extends to the inside of card slot 27, is all provided with each fixture block 25
There is the slot 26 to match with inserted link 28, each connecting plate 29 has been fixedly connected with two the second bullets close to one end of the second groove
Spring 31, the madial wall of the other end of each second spring 31 with the 3rd cavity 32 are fixedly connected, and each rope 30 is away from rotating
One end of bar 33 extends to the inside of the 3rd cavity 32 through L-type bar 23 and is fixedly connected with connecting plate 29, during installation, rotation
Rotating bar 33, rope 30 are tightened, and pull connecting plate 29, so that the inserted link 28 being fixed on connecting plate 29 departs from card slot 27, will
Fixture block 25 in functional block 24 is inserted into corresponding card slot 27, unclamps rotating bar 33, and inserted link 28 is sprung into fixture block by second spring 31
In slot 26 on 25, so that fixed-function block 24, during dismounting, rotary motion bar 33, inserted link 28 departs from slot 26, so as to remove
Functional block 24, can replace suitable functional block 24, when functional block 24 is damaged, is also convenient for more according to the product difference of gripping
Change maintenance.
Embodiment 2：With reference to Fig. 1-4, apply the present invention to a kind of puma manipulator, including support column 2, support column 2
Upper end is fixedly connected with rotor plate 3, and the lower end of the rotor plate 3 away from support column 2 is fixedly connected with contiguous block 4, contiguous block 4 it is interior
Portion is equipped with the first cavity 13, and the contiguous block 4 of 13 lower end of the first cavity is internally provided with the second cavity 16, and the bottom of contiguous block 4 is equipped with
First groove, the top side wall of the first cavity 13 are fixedly connected with telescope motor 14, and the output terminal of telescope motor 14 is fixedly connected
There is fixed link 15, starting telescope motor 14 can drive fixed link 15 to move, and the other end of fixed link 15 runs through the second cavity 16
Extended to contiguous block 4 in the first groove and be fixedly connected with head rod 20, in the fixed link 15 in the second cavity 16
It is arranged with fixed plate 18, the both ends of fixed plate 18 are arranged with the first spring 19, and the upper ends of two the first springs 19 is with second
The top side wall of cavity 16 is fixedly connected, and the internal symmetry of the second cavity 16 is equipped with two gag lever posts 17, two gag lever posts 17
Upper end is fixedly connected with the top side wall of the second cavity 16, and the lower end of two gag lever posts 17 extends and plugs through fixed plate 18
In the bottom side wall of the second cavity 16, gag lever post 17 and fixed plate 18 prevent the offset of fixed link 18, and the first spring 19 is solid
One elastic force is provided when fixed pole 15 moves, partial action power is absorbed, plays the role of buffering, is avoided because fixed link 15 is moved
It is dynamic too fast to cause gripping to fail.
The both ends of head rod 20 are rotatably connected to the second connecting rod 21, and the other end of two the second connecting rods 21 is equal
L-type bar 23 is rotatably connected to, the side madial wall of the first groove is arranged with two connecting shafts 22, one end of two connecting shafts 22
Through the bending place of L-type bar 23 and it is plugged in the madial wall of the first groove, the other ends of two connecting shafts 22 is plugged in the
In the opposite side side wall of one groove, the lower end sides of close to each other two L-type bars 23 is equipped with functional block 24, in fixed link 15
Move, drive L-type bar 23 to move by 20 and second connecting rod 21 of head rod, because connecting shaft 22 is through L-type bar 23
Bending place, so the upper end of two L-type bars 23 moves up, the lower end of two L-type bars 23 is close to each other, is clamped and produced by functional block 24
Product, two functional blocks 24 have been fixedly connected with two fixture blocks 25 close to one end of L-type bar 23, and two L-type bars 23 are close to functional block
24 side is equipped with two card slots 27 matching with two fixture blocks 25, on the L-type bar 23 between two card slots 27 of the same side
Equipped with the second groove, the second groove is internally provided with rotating bar 33, and rotating bar 33 is fixed close to one end both sides of functional block 24
Rope 30 is connected with, 23 internal symmetry of L-type bar between the second groove and card slot 27 is equipped with two the 3rd cavitys 32, two
The inside of three cavitys 32 is equipped with connecting plate 29, and two one end of connecting plate 29 away from the second groove have been fixedly connected with inserted link
28, the one end of inserted link 28 away from the second groove through L-type bar 23 and extends to the inside of card slot 27, is all provided with each fixture block 25
There is the slot 26 to match with inserted link 28, each connecting plate 29 has been fixedly connected with two the second bullets close to one end of the second groove
Spring 31, the madial wall of the other end of each second spring 31 with the 3rd cavity 32 are fixedly connected, and each rope 30 is away from rotating
One end of bar 33 extends to the inside of the 3rd cavity 32 through L-type bar 23 and is fixedly connected with connecting plate 29, during installation, rotation
Rotating bar 33, rope 30 are tightened, and pull connecting plate 29, so that the inserted link 28 being fixed on connecting plate 29 departs from card slot 27, will
Fixture block 25 in functional block 24 is inserted into corresponding card slot 27, unclamps rotating bar 33, and inserted link 28 is sprung into fixture block by second spring 31
In slot 26 on 25, so that fixed-function block 24, during dismounting, rotary motion bar 33, inserted link 28 departs from slot 26, so as to remove
Functional block 24, can replace suitable functional block 24, when functional block 24 is damaged, is also convenient for more according to the product difference of gripping
Change maintenance.
The lower end of support column 2 is equipped with housing 1, and the inner bottom of housing 1 is equipped with fixed block 5, and shell is run through in the lower end of support column 2
Body 1 extends to the inside of housing 1 and is plugged in the inside of fixed block 5, and housing 1 is internally provided with two support plates 7, in two supports
Bottom is fixedly connected with servomotor 11 in housing 1 between plate 7, and belt pulley 10 is arranged with the output shaft of servomotor 11,
Transmission belt 12 is connected with belt pulley 10, first bevel gear 6, the inside of housing 1 are arranged with the support column 2 inside housing 1
Equipped with the second bevel gear 9 engaged with first bevel gear 6, the one end of second bevel gear 9 away from support column 2 is fixedly connected with rotation
Axis 8, the other end of rotation axis 8 is through two support plates 7 and is plugged in the madial wall of housing 1, pinned at two support plates 7 it
Between rotation axis 8 on be arranged with belt pulley 10, the other end of transmission belt 12 is connected with the belt pulley 10 in rotation axis 8, and startup is watched
Motor 11 is taken, by transmission belt 12 and rotation axis 8, drives second bevel gear 9 to rotate, second bevel gear 9, which rotates, drives the first cone
Gear 6 rotates, and support column 2 is driven rotation, and rotor plate 3 rotates, and the contiguous block 4 with clamp device moves, so as to fulfill production
The movement of product, another conveyer belt is clipped to by product from a conveyer belt.
In the present invention, pass through exterior control system（It is existing that control system, which controls the technology of servomotor and telescope motor,
There is technology, not described here any more）, telescope motor 14 is opened, fixed link is pulled, passes through head rod 20, the second connecting rod 21
With connecting shaft 22, functional block 24 is clamped product, when impaired because of excessive gripping product in functional block 24, can rotate
Rotating bar 33, makes inserted link 28 depart from slot 26, so as to take out functional block 24, convenient maintenance, can be with when gripping different products
Different functional blocks 24 is replaced to realize more preferable effect.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of clamping device, including contiguous block（4）, it is characterised in that the contiguous block（4）Be internally provided with the first cavity
（13）, the first cavity（13）The contiguous block of lower end（4）It is internally provided with the second cavity（16）, the contiguous block（4）Bottom
Equipped with the first groove, first cavity（13）Top side wall be fixedly connected with telescope motor（14）, the telescope motor
（14）Output terminal be fixedly connected with fixed link（15）, the fixed link（15）The other end run through the second cavity（16）And connection
Block（4）Extend in the first groove and be fixedly connected with head rod（20）, the head rod（20）Both ends turn
It is dynamic to be connected with the second connecting rod（21）, two second connecting rods（21）The other end be rotatably connected to L-type bar（23）, institute
The side madial wall for stating the first groove is arranged with two connecting shafts（22）, two connecting shafts（22）One end run through L
Type bar（23）Bending place and be plugged in the madial wall of the first groove, two connecting shafts（22）The other end be plugged in
In the opposite side side wall of one groove, close to each other two L-type bars（23）Lower end side be equipped with functional block（24）.
2. a kind of clamping device according to claim 1, it is characterised in that in the second cavity（16）The interior fixed link
（15）On be arranged with fixed plate（18）, the fixed plate（18）Both ends be arranged with the first spring（19）, two described first
Spring（19）Upper end with the second cavity（16）Top side wall be fixedly connected.
A kind of 3. clamping device according to claim 2, it is characterised in that second cavity（16）Internal symmetry set
There are two gag lever posts（17）, two gag lever posts（17）Upper end and the second cavity（16）Top side wall be fixedly connected, two
A gag lever post（17）Lower end run through fixed plate（18）Extend and be plugged in the second cavity（16）Bottom side wall in.
A kind of 4. clamping device according to claim 1, it is characterised in that two functional blocks（24）Close to L-type bar
（23）One end be fixedly connected with two fixture blocks（25）, two L-type bars（23）Close to functional block（24）Side be equipped with
With two fixture blocks（25）Two card slots to match（27）, two card slots of the same side（27）Between the L-type bar（23）On
Equipped with the second groove, second groove is internally provided with rotating bar（33）, the rotating bar（33）Close to functional block（24）'s
One end both sides have been fixedly connected with rope（30）, in the second groove and card slot（27）Between the L-type bar（23）Internal symmetry
Equipped with two the 3rd cavitys（32）, two the 3rd cavitys（32）Inside be equipped with connecting plate（29）, two connections
Plate（29）One end away from the second groove has been fixedly connected with inserted link（28）, the inserted link（28）One end away from the second groove is equal
Through L-type bar（23）And extend to card slot（27）Inside.
A kind of 5. clamping device according to claim 4, it is characterised in that each fixture block（25）On be equipped with and insert
Bar（28）The slot to match（26）, each connecting plate（29）Two the have been fixedly connected with close to one end of the second groove
Two springs（31）, each second spring（31）The other end with the 3rd cavity（32）Madial wall be fixedly connected, each
The rope（30）Away from rotating bar（33）One end run through L-type bar（23）Extend to the 3rd cavity（32）Inside and with even
Fishplate bar（29）It is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711453518.0A CN107953322A (en) | 2017-12-28 | 2017-12-28 | A kind of clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711453518.0A CN107953322A (en) | 2017-12-28 | 2017-12-28 | A kind of clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107953322A true CN107953322A (en) | 2018-04-24 |
Family
ID=61956538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711453518.0A Pending CN107953322A (en) | 2017-12-28 | 2017-12-28 | A kind of clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107953322A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161902A (en) * | 2017-12-29 | 2018-06-15 | 安徽行者智能科技股份有限公司 | A kind of puma manipulator |
| CN108284441A (en) * | 2018-04-26 | 2018-07-17 | 阜阳盛东智能制造技术研发有限公司 | A kind of small-sized machine arm end clamping device |
| CN108557455A (en) * | 2018-05-04 | 2018-09-21 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of manipulator for timber processing |
| CN108581412A (en) * | 2018-05-18 | 2018-09-28 | 芜湖优能自动化设备有限公司 | A kind of pump chamber copper sheathing pressure-mounting feeding device |
| CN108613827A (en) * | 2018-05-04 | 2018-10-02 | 安徽中乾能源有限公司 | A kind of Coal Mechanical sample devices convenient for adjusting |
| CN108637485A (en) * | 2018-05-15 | 2018-10-12 | 嘉善县星拓服装辅料厂（普通合伙） | A kind of automation equipment of metal button production |
| CN108972614A (en) * | 2018-07-13 | 2018-12-11 | 广州定品动漫科技有限公司 | A kind of gift apparatus gripper pawl refers to and gift apparatus |
| CN112792823A (en) * | 2021-01-19 | 2021-05-14 | 王晶晶 | Intelligent coating industrial robot |
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| CN102717389A (en) * | 2012-06-27 | 2012-10-10 | 中国石油大学(华东) | Design of replaceable simple-joint robot flexible hand |
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| CN102717389A (en) * | 2012-06-27 | 2012-10-10 | 中国石油大学(华东) | Design of replaceable simple-joint robot flexible hand |
| DE202014103198U1 (en) * | 2014-07-11 | 2014-07-23 | Thiele Gmbh & Co. Kg | Block lock with sliding block |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161902A (en) * | 2017-12-29 | 2018-06-15 | 安徽行者智能科技股份有限公司 | A kind of puma manipulator |
| CN108284441A (en) * | 2018-04-26 | 2018-07-17 | 阜阳盛东智能制造技术研发有限公司 | A kind of small-sized machine arm end clamping device |
| CN108284441B (en) * | 2018-04-26 | 2020-10-09 | 枣庄龙海自动化设备有限公司 | Terminal clamping device of small-size arm |
| CN108557455A (en) * | 2018-05-04 | 2018-09-21 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of manipulator for timber processing |
| CN108613827A (en) * | 2018-05-04 | 2018-10-02 | 安徽中乾能源有限公司 | A kind of Coal Mechanical sample devices convenient for adjusting |
| CN108557455B (en) * | 2018-05-04 | 2020-08-04 | 新沂市甜浩木业有限公司 | Mechanical arm for wood processing |
| CN108637485A (en) * | 2018-05-15 | 2018-10-12 | 嘉善县星拓服装辅料厂（普通合伙） | A kind of automation equipment of metal button production |
| CN108581412A (en) * | 2018-05-18 | 2018-09-28 | 芜湖优能自动化设备有限公司 | A kind of pump chamber copper sheathing pressure-mounting feeding device |
| CN108581412B (en) * | 2018-05-18 | 2020-04-14 | 芜湖优能自动化设备有限公司 | Feeding device for press fitting of pump chamber copper sleeve |
| CN108972614A (en) * | 2018-07-13 | 2018-12-11 | 广州定品动漫科技有限公司 | A kind of gift apparatus gripper pawl refers to and gift apparatus |
| CN112792823A (en) * | 2021-01-19 | 2021-05-14 | 王晶晶 | Intelligent coating industrial robot |
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