CN108247628A - Clamping device - Google Patents
Clamping device Download PDFInfo
- Publication number
- CN108247628A CN108247628A CN201810216307.3A CN201810216307A CN108247628A CN 108247628 A CN108247628 A CN 108247628A CN 201810216307 A CN201810216307 A CN 201810216307A CN 108247628 A CN108247628 A CN 108247628A
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- China
- Prior art keywords
- guide pad
- guide
- clamping device
- cramping body
- drive rod
- 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.)
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- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 208000002925 dental caries Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000000926 separation method 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The present invention relates to the technical fields of mechanical equipment,Disclose a kind of clamping device,Including gripping base and a pair of of cramping body,The first guide pad and two the second guide pads are equipped in the cavity of gripping base,Two the second guide pads are arranged and are connected with the first guide pad in opposite directions,Wedge block is respectively equipped on two end faces up and down of first guide pad,Sliding slot corresponding with wedge block is respectively equipped on two the second guide pads,Straight line driving mechanism drives the first guide pad to move in a straight line,Wedge block on first guide pad slides in corresponding sliding slot,So as to be two the second guide pad moving toward one another along Y-direction by the conversion of motion of the first guide pad in X direction,Realize the parallel opening and closing of cramping body,Since drive rod under the action of elastic component when resetting,Elastic component is still in pre- deformed state,Cramping body keeps horizontal-clamping power under the elastic force of elastic component,Realize the clamping to workpiece,It avoids the occurrence of workpiece and throws away and hurt sb.'s feelings or workpiece falls the phenomenon that scrapping.
Description
Technical field
The present invention relates to the technical field of mechanical equipment, more particularly to a kind of clamping device.
Background technology
Clamping device is mainly used on light-duty automated production line, for capturing light and small article, is carried out corresponding
Clamping and transfer operation, in Automated assembly field using relatively broad.
Clamping jaw product currently on the market is all generally the guiding bearing mode using the linear guide, is driven using cylinder,
The parallel opening and closing motion of clamping jaw are realized using single wedge mechanism or link mechanism, however the guiding of the linear guide is held
Load mode loads gently, and chucking power is low, is stretched using gripper mechanism grips workpiece, is rotated or turned over, when actions, having bright
Aobvious shaking phenomenon, and under situation of the cylinder without gas, due to the low chucking power of clamping jaw be susceptible to workpiece throw away hurt sb.'s feelings or
Workpiece falls the phenomenon that scrapping.
Invention content
The object of the present invention is to provide a kind of clamping devices, and light to solve existing clamping device load, chucking power is low
Problem.
To solve the above-mentioned problems, the present invention provides a kind of clamping device, described including gripping base and a pair of of cramping body
Straight line driving mechanism is equipped in gripping base, the straight line driving mechanism includes drive rod and the elastic component of pre- deformation, the bullet
Property part is as the movement of the drive rod deforms upon and generates elastic force and acts on the drive rod；Before the gripping base
End is equipped with cavity, and the first guide pad and two opposite arrangements are equipped in the cavity and are connected with first guide pad
Second guide pad, the front end of the drive rod are connect with first guide pad, two second guide pads respectively with a pair
The cramping body connects, and is respectively equipped with wedge block on two end faces up and down of first guide pad, two wedge blocks exist
The projection of the upper surface of first guide pad or lower face is intersecting and extending direction about the drive rod is symmetrical, two institutes
It states and sliding slot corresponding with the wedge block is respectively equipped on the second guide pad, first guide pad is slided by the wedge block
It is fastened in the sliding slot.
Further, mobile column is respectively equipped on two wedge blocks, is respectively equipped with through-hole in two sliding slots, institute
It states and guide groove is equipped on the upper surface of cavity and the inner wall of lower face, the mobile column passes through the through-hole that can simultaneously be led along described
It is moved to slot.
Further, second guide pad includes guide part and connecting portion, and the guide part is arranged on the connecting portion
Side wall, the sliding slot is arranged on the guide part, and the cramping body is connect with the connecting portion.
Further, the both sides of the cavity are opened wide to form opening, and the height of the connecting portion is more than the guide part, institute
The opening that connecting portion covers the cavity is stated, two second guide pads are arranged in opposite directions, shape between two guide parts
Into the adapted space for accommodating first guide pad.
Further, the clamping device further includes two pinboards, and two pinboards are connected to two institutes
On the outside of the connecting portion for stating the second guide pad, a pair of cramping body is connected on two pinboards.
Further, the cramping body includes bare terminal end and fixing end, and the bare terminal end of a pair of cramping body is arranged in opposite directions,
The fixing end is detachably connected with the pinboard by screw.
Further, the lateral wall of the gripping base is equipped with stent, and the stent is equipped with photoelectric sensor, described
The corresponding position of pinboard is equipped with anti-dazzling screen.
Further, the square-shaped arrangement of the gripping base, first guide pad and the second guide pad are also square
Shape is arranged.
Further, the straight line driving mechanism is single-acting cylinder, and the drive rod is piston rod；The cylinder includes
Cylinder barrel, piston, piston rod and the drive end bearing bracket and rear end cap that are connected to the cylinder barrel rear and front end, the piston is by the cylinder barrel
It is divided into rod chamber and rodless cavity, the piston rod is located in the rod chamber and is connect with the piston, described elastic component one end
It is connected on the drive end bearing bracket, the other end is connected on the piston.
Further, the rear end cap is equipped with gas-tpe fitting, and the gas-tpe fitting is connected with the rodless cavity.
The present invention provides a kind of clamping device, including gripping base and a pair of of cramping body, is set in the cavity of gripping base
There are the first guide pad and two the second guide pads, two the second guide pads are arranged and are connected with the first guide pad in opposite directions, directly
The drive rod of line driving mechanism moves in a straight line in X direction, and the front end of drive rod is connect with the first guide pad, the first guide pad
Wedge block, projection phase of two wedge blocks on the upper surface of the first guide pad or lower face are respectively equipped on upper and lower two end faces
It hands over and extending direction about drive rod is symmetrical, be respectively equipped with sliding slot corresponding with wedge block on two the second guide pads, first
Guide pad is fastened on by wedge block slip in sliding slot, and during work, straight line driving mechanism starts, and drive rod moves in a straight line, bullet
Property part generate elastic force as the movement of drive rod continues to deform upon and act on drive rod, first led by drive rod driving
It is moved in a straight line in X direction to block, the wedge block on the first guide pad slides in corresponding sliding slot, and in cavity, only there are one freely
In the case of degree, two the second guide pads move respectively towards Y-direction, realize the conversion of motion two of the first guide pad in X direction
Second guide pad is moved toward one another along Y-direction, and then realizes the parallel opening of cramping body, and wedge structure can also be to cramping body reality
Existing boosting function, rigidity is strong, and crawl is firm；Suitable angle is opened to when two cramping bodies are opposite, clamps workpiece, straight line drives
When motivation structure stops, drive rod 15 resets under the action of elastic component, and elastic component restores to pre- deformed state, the first guide pad and
Second guide pad moves in the opposite direction under the drive of drive rod, realizes the parallel closing of cramping body, since drive rod resets
When, elastic component is in pre- deformed state, and cramping body keeps horizontal-clamping power under the elastic force of the pre- deformation of elastic component, realizes to workpiece
Clamping, avoid the occurrence of workpiece and throw away and hurt sb.'s feelings or workpiece falls the phenomenon that scrapping.
Description of the drawings
Fig. 1 is the internal structure schematic diagram of clamping device in the embodiment of the present invention；
Fig. 2 is the external structure schematic diagram of clamping device in the embodiment of the present invention；
Fig. 3 is the structure diagram of the first guide pad in the embodiment of the present invention；
Fig. 4 is the structure diagram of the second guide pad in the embodiment of the present invention；
Fig. 5 is the cooperation schematic diagram of the first guide pad and the second guide pad in the embodiment of the present invention.
In figure, 1, gripping base；2nd, cramping body；3rd, pinboard；4th, stent；5th, photoelectric sensor；6th, anti-dazzling screen；11st, chamber
Body；12nd, the first guide pad；13rd, the second guide pad；14th, sealing plate；15th, drive rod；16th, elastic component；17th, cylinder；121st, it is wedge-shaped
Block；122nd, mobile column；123rd, connecting hole；131st, sliding slot；132nd, through-hole；133rd, guide part；134th, connecting portion；171st, cylinder barrel；
172nd, piston；173rd, drive end bearing bracket；174th, rear end cap；175th, gas-tpe fitting；1721st, piston packing；21st, fixing end；22nd, it clamps
End；.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but be not limited to the scope of the present invention.
In the description of the present invention, it is to be understood that the instructions such as term " on ", " under ", "left", "right", " top ", " bottom "
Orientation or position relationship be based on orientation shown in the drawings or position relationship, be for only for ease of the description present invention and simplification retouched
It states rather than indicates or imply signified device or element must have specific orientation, with specific azimuth configuration and operation,
Therefore it is not considered as limiting the invention.
With reference to shown in Fig. 1 to 5, a kind of clamping device of the embodiment of the present invention is schematically showed, including gripping base 1
With a pair of of cramping body 2, cramping body 2 is used for clamping workpiece, and a pair of of cramping body 2 can be arranged in parallel or not parallel,
It is determined with specific reference to the actual conditions of the workpiece of clamping, straight line driving mechanism is equipped in gripping base 1, and straight line driving mechanism includes
Drive rod 15 and the elastic component of pre- deformation 16, elastic component 16 is as the movement of drive rod 15 deforms upon and generates elastic force and acts on
On drive rod 15；The front end of gripping base 1 is equipped with cavity 11, be equipped in cavity 11 first guide pad 12 and two opposite arrangements and
The second guide pad 13 being connected with the first guide pad 12, the front end of drive rod 15 connect with the first guide pad 12, two the
Two guide pads 13 are connect respectively with a pair of of cramping body 2, on two end faces up and down of the first guide pad 12 distinguish wedge block 121, two
Projection of a wedge block 121 on the upper surface or lower face of the first guide pad 12 is intersecting and about the extending direction of drive rod 15
Symmetrically, it is respectively equipped on two the second guide pads 13 and passes through wedge shape with 121 corresponding sliding slot 131 of wedge block, the first guide pad 12
The slip of block 121 is fastened in sliding slot 131.
Specifically, it is equipped with the first guide pad 12 and two the second guide pads 13 in the cavity 11 of gripping base 1, two the
Two guide pads 13 arrange and are connected with the first guide pad 12 that the drive rod 15 of straight line driving mechanism is done directly in X direction in opposite directions
Line moves, and two the second guide pads 13 are moved toward one another along Y-direction, and the front end of drive rod 15 is connect with the first guide pad 12, and first
Wedge block 121 is respectively equipped on two end faces up and down of guide pad 12, specifically, two wedge blocks 121 are in the first guide pad 12
Upper surface or lower face on projection it is intersecting and extending direction about drive rod 15 is symmetrical, on two the second guide pads 13 point
It She You not be fastened in sliding slot 131 by the slip of wedge block 121 with 121 corresponding sliding slot 131 of wedge block, the first guide pad 12,
During work, straight line driving mechanism starts, and drive rod 15 moves in a straight line, and elastic component 16 continues deformation, is driven by drive rod 15
First guide pad 12 moves in a straight line in X direction, sliding in corresponding sliding slot 131 by the wedge block 121 on the first guide pad 12
Dynamic, in the case of cavity 11 only one degree of freedom, two the second guide pads 13 move towards respectively along Y-direction, realize the
The conversion of motion of one guide pad 12 in X direction is two the second moving toward one another along Y-direction of guide pad 13, and then realizes cramping body
2 parallel opening, wedge structure can realize cramping body 2 boosting function, and rigidity is strong, and crawl is firm；When two 2 phases of cramping body
To being opened to suitable angle, workpiece is clamped, when straight line driving mechanism stops, drive rod 15 is multiple under the action of elastic component 16
Position, the first guide pad 12 and the second guide pad 13 move in the opposite direction, the parallel closing of cramping body 2 are realized, due to drive rod
During 15 reset, elastic component 16 restores to pre- deformed state, and drive rod 15 still has heterodromous trend, i.e., a pair of of cramping body 2 has
The trend of closing so that cramping body 2 keeps horizontal-clamping power under the elastic force of 16 pre- deformation of elastic component, is realized to workpiece
It clamps, avoids the occurrence of workpiece and throw away and hurt sb.'s feelings or workpiece falls the phenomenon that scrapping.
In the present embodiment, 1 square-shaped arrangement of gripping base, the first guide pad 12 and the second guide pad 13 are also square-shaped
Arrangement, is oriented to and is carried using rectangular positive mode, and precision is high and rigidity is strong.
Straight line driving mechanism in the embodiment of the present invention is cylinder 17, preferably single-acting cylinder, simple in structure, drive rod
15 be the piston rod of cylinder 17, and specifically, single-acting cylinder 17 includes cylinder barrel 171, piston 172, piston rod and is connected to
The drive end bearing bracket 173 of 171 rear and front end of cylinder barrel and rear end cap 174, piston 172 divide cylinder barrel 171 for rod chamber and rodless cavity, i.e., after
The rodless cavity that end cap 174, piston 172 and cylinder barrel 171 form, drive end bearing bracket 173, piston 172, cylinder barrel 171 and with piston 172
The rod chamber of the piston rod composition of connection, piston 172 are equipped with piston packing 1721, for preventing having for the separation of piston 172
Before mutual gas leakage between two chamber of rod cavity and rodless cavity, elastic component 16 are arranged on the piston rod, and 16 one end of elastic component is connected to
On end cap 173, the other end is connected on piston 172.
Elastic component in the present embodiment is preferably spring, spring can be directly be set on drive rod 15 or
It is arranged in cylinder barrel 171, is distributed in 15 both sides of drive rod, realize spring as the movement of drive rod 15 is on the basis of pre- deformation
Continue to deform upon, when drive rod 15 resets, spring energy caused by the spring of pre- deformation continues to act on drive rod 15,
Keep cramping body 2 that there is closing so that cramping body 2 keeps clamping force under the elastic force of 16 pre- deformation of elastic component, avoids out
Existing workpiece, which is thrown away, hurts sb.'s feelings or workpiece falls the phenomenon that scrapping.
Further, gas-tpe fitting 175 is equipped on rear end cap 174, gas-tpe fitting 175 connects with rodless cavity, when from nothing
When rod cavity inputs compressed air, rod chamber is vented, and pressure differential is formed between two cavitys 11 of cylinder 17, and pressure differential forms masterpiece
Overcome resistance that piston 172 is pushed to move with it is made on piston 172 so that piston rod stretches out, and is arranged elasticity on the piston rod
Part 16 is compressed, and piston rod pushes the first guide pad 12 to move, so that the second guide pad with the cooperation of the first guide pad 12
13 movements, realize 2 parallel opening of cramping body；When stopping ventilating, elastic component 16 restores deformation, and piston rod, which is retracted, to be resetted, cramping body 2
Parallel closing at this time under the elastic force of 16 pre- deformation of elastic component, keeps the horizontal-clamping power of cramping body 2, realizes the folder to workpiece
Tightly.
In the present embodiment, the middle part of the first guide pad 12 is equipped with the connecting hole 123 passed through for drive rod 15, and drive rod 15 is worn
It crosses connecting hole 123 to connect with the first guide pad 12, realizes that drive rod 15 drives the first guide pad 12 to move.
Further, mobile column 122 is respectively equipped on two wedge blocks 121, through-hole is respectively equipped in two sliding slots 131
132, guide groove is equipped on the upper surface of cavity 11 and the inner wall of lower face, cylinder 17 drives piston rod to stretch out, and first is oriented to
Block 12 moves in a straight line in X direction under the action of piston rod, and mobile column 122 is moved across through-hole 132 along guide groove, Jin Ershi
Existing 17 piston rod of cylinder is to the guiding role of the first guide pad 12.
Specifically, the second guide pad 13 includes guide part 133 and connecting portion 134, and guide part 133 is connected to connecting portion 134
Sidewall bottom, the height of connecting portion 134 is more than guide part 133, two the second guide pads 13 arrangement in opposite directions, specifically, two
Second guide pad 13 is arranged in opposite directions along Y-direction, and the adapted space for accommodating the first guide pad 12 is formed between two guide parts 133,
Wedge block 121 of first guide pad about 12 on two end faces slides respectively to be fastened in the sliding slot 131 of the second guide pad 13, real
The mating connection of existing first guide pad 12 and two the second guide pads 13.
The both sides of cavity 11 are opened wide to form opening, and the front end of cavity 11 is closed equipped with sealing plate 14, and sliding slot 131 is arranged on
On guide part 133, connecting portion 134 covers the opening of cavity 11, when the first guide pad 12 moves in a straight line in X direction, by
In the interior only Y-direction one degree of freedom of cavity 11, the cunning on 121 and second guide pad 13 of wedge block on the first guide pad 12
Under the routing motion of slot 131, the first guide pad 12 travels forward, and the second guide pad 13 is in the effect of wedge block 121 and sliding slot 131
Under, the component along Y-direction is generated, two the second guide pads 13 are pushed open in opposite directions along Y-direction respectively, realizes the parallel of cramping body 2
It opens.
Further, clamping device further includes two pinboards 3, and two pinboards 3 are connected to the outer of connecting portion 134
Side, a pair of of cramping body 2 are connected on pinboard 3, it is preferable that and a pair of of cramping body 2 is connected to the inside of pinboard 3,
By setting pinboard 3 so that two cramping bodies 2 are respectively positioned on the front of gripping base 1, can shorten between two cramping bodies 2
Distance, ensure when driving mechanism does not work, two cramping bodies 2 can be closed in opposite directions.
In the present embodiment, cramping body 2 includes bare terminal end 22 and fixing end 21, and bare terminal end 22 is used for clamping workpiece, fixing end
21 are used to pinboard 3 connect fixation, and specifically, the bare terminal end 22 of a pair of of cramping body 2 is parallel and opposite arrangement, by clamping
Body 2 applies chucking power so that the clamping face of two bare terminal ends 22 arranged in opposite directions clamps workpiece, prevents workpiece from loosening, fixing end
21 are detachably connected with pinboard 3 by screw, and pinboard 3 is also to be detachably connected by screw with the second guide pad 13, just
It is installed in safeguarding.
In the present embodiment, stent 4 is equipped on the lateral wall of gripping base 1, stent 4 is equipped with photoelectric sensor 5, switching
The corresponding position of plate 3 is equipped with anti-dazzling screen 6, i.e. anti-dazzling screen 6 is located at photoelectric sensor 5 in same horizontal line, flat in cramping body 2
During row movement is opened and closed, with the movement of pinboard 3, the light of photoelectric sensor 5 is blocked by anti-dazzling screen 6,
Photoelectric sensor 5 feeds back shielding signals to main controlling element, and operator can judge folder by the signal that main controlling element is fed back
The opening and closing situation of pawl, so as to fulfill the full closed loop control of clamping jaw.
It should be understood that various information, but these information are described using term " first ", " second " etc. in the present invention
These terms are should not necessarily be limited by, these terms are only used for same type of information being distinguished from each other out.For example, not departing from the present invention
In the case of range, " first " information can also be referred to as " second " information, similar, and " second " information can also be referred to as
" first " information.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these improve and replace
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of clamping device, which is characterized in that including gripping base and a pair of of cramping body, straight line is equipped in the gripping base
Driving mechanism, the straight line driving mechanism include drive rod and the elastic component of pre- deformation, and the elastic component is with the drive rod
Movement deform upon and generate elastic force and act on the drive rod；The front end of the gripping base is equipped with cavity, the chamber
The first guide pad and two opposite arrangements and the second guide pad being connected with first guide pad, the drive are equipped in body
The front end of lever is connect with first guide pad, and two second guide pads are connect respectively with a pair of cramping body, institute
It states and wedge block is respectively equipped on two end faces up and down of the first guide pad, two wedge blocks are upper first guide pad
Projection on end face or lower face is intersecting and extending direction about the drive rod is symmetrical, on two second guide pads point
Not She You sliding slot corresponding with the wedge block, first guide pad by the wedge block slip be fastened on the sliding slot
In.
2. clamping device as described in claim 1, which is characterized in that it is respectively equipped with mobile column on two wedge blocks, two
Through-hole is respectively equipped in a sliding slot, guide groove, the shifting are equipped on the upper surface of the cavity and the inner wall of lower face
Dynamic column passes through the through-hole that can simultaneously be moved along the guide groove.
3. clamping device as described in claim 1, which is characterized in that second guide pad includes guide part and connecting portion,
The guide part is arranged on the side wall of the connecting portion, and the sliding slot is arranged on the guide part, the cramping body with it is described
Connecting portion connects.
4. clamping device as claimed in claim 3, which is characterized in that the both sides of the cavity are opened wide to form opening, the company
The height of socket part is more than the guide part, and the connecting portion covers the opening of the cavity, two the second guide pad phases
To arrangement, the adapted space for accommodating first guide pad is formed between two guide parts.
5. clamping device as claimed in claim 3, which is characterized in that the clamping device further includes two pinboards, two
The pinboard is connected on the outside of the connecting portion of two second guide pads, and a pair of cramping body is connected to two
On a pinboard.
6. clamping device as claimed in claim 5, which is characterized in that the cramping body includes bare terminal end and fixing end, a pair of
The bare terminal end of the cramping body arranges that the fixing end is detachably connected with the pinboard by screw in opposite directions.
7. clamping device as claimed in claim 5, which is characterized in that the lateral wall of the gripping base is equipped with stent, institute
Stent is stated equipped with photoelectric sensor, the corresponding position of the pinboard is equipped with anti-dazzling screen.
8. clamping device as described in any one of claim 1 to 7, which is characterized in that the square-shaped arrangement of gripping base,
First guide pad and the second guide pad also square-shaped arrangement.
9. clamping device as described in claim 1, which is characterized in that the straight line driving mechanism is single-acting cylinder, described
Drive rod is piston rod；The cylinder includes cylinder barrel, piston, piston rod and the drive end bearing bracket for being connected to the cylinder barrel rear and front end
And the cylinder barrel is divided into rod chamber and rodless cavity by rear end cap, the piston, the piston rod be located in the rod chamber and with
The piston connection, described elastic component one end are connected on the drive end bearing bracket, and the other end is connected on the piston.
10. clamping device as claimed in claim 9, which is characterized in that the rear end cap is equipped with gas-tpe fitting, the tracheae
Connector is connected with the rodless cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810216307.3A CN108247628B (en) | 2018-03-15 | 2018-03-15 | Clamping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810216307.3A CN108247628B (en) | 2018-03-15 | 2018-03-15 | Clamping mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108247628A true CN108247628A (en) | 2018-07-06 |
| CN108247628B CN108247628B (en) | 2024-04-05 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810216307.3A Active CN108247628B (en) | 2018-03-15 | 2018-03-15 | Clamping mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262541A (en) * | 2018-09-29 | 2019-01-25 | 上海蔚来汽车有限公司 | A kind of fastener installation tool |
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| CN105813810A (en) * | 2013-12-11 | 2016-07-27 | 京特·齐默尔 | Drive device for a gripping device |
| CN104002308A (en) * | 2014-05-14 | 2014-08-27 | 上海优爱宝机器人技术有限公司 | Clamping device |
| CN204658460U (en) * | 2015-06-03 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of cylinder controls manipulator mechanism |
| CN205466267U (en) * | 2016-02-25 | 2016-08-17 | 深圳市恒拓高工业技术股份有限公司 | Parallel centre gripping finger cylinder |
| CN106002145A (en) * | 2016-06-30 | 2016-10-12 | 苏州市吴中区胥口广博模具加工厂 | Mechanical taking hand of electronic drain valve controller assembly machine |
| CN208084339U (en) * | 2018-03-15 | 2018-11-13 | 浙江大学华南工业技术研究院 | Clamping device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262541A (en) * | 2018-09-29 | 2019-01-25 | 上海蔚来汽车有限公司 | A kind of fastener installation tool |
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