CN108247628B - Clamping mechanism - Google Patents
Clamping mechanism Download PDFInfo
- Publication number
- CN108247628B CN108247628B CN201810216307.3A CN201810216307A CN108247628B CN 108247628 B CN108247628 B CN 108247628B CN 201810216307 A CN201810216307 A CN 201810216307A CN 108247628 B CN108247628 B CN 108247628B
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- clamping
- guide
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- cavity
- wedge
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- 238000007789 sealing Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- 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)
- Jigs For Machine Tools (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of mechanical equipment, and discloses a clamping mechanism which comprises a clamping base and a pair of clamping bodies, wherein a first guide block and two second guide blocks are arranged in a cavity of the clamping base, the two second guide blocks are oppositely arranged and are connected with the first guide block in a matched manner, wedge-shaped blocks are respectively arranged on the upper end face and the lower end face of the first guide block, sliding grooves corresponding to the wedge-shaped blocks are respectively arranged on the two second guide blocks, the first guide blocks are driven by a linear driving mechanism to do linear motion, the wedge-shaped blocks on the first guide blocks slide in the corresponding sliding grooves, so that the motion of the first guide blocks along the X direction is converted into the opposite motion of the two second guide blocks along the Y direction, the parallel opening and closing of the clamping bodies are realized, and as a driving rod is reset under the action of an elastic piece, the elastic piece is still in a pre-deformation state, the clamping body keeps horizontal clamping force under the elastic force of the elastic piece, the clamping of a workpiece is realized, and the phenomenon that the workpiece is thrown out and hurt or the workpiece falls is avoided.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a clamping mechanism.
Background
The clamping mechanism is mainly applied to light automatic product lines, is used for grabbing light and small articles, carries out corresponding clamping and transferring operations, and is widely applied to the field of automatic assembly.
At present, clamping jaw products in the market generally adopt a linear guide rail guide bearing mode, a cylinder is used for driving, a single wedge mechanism or a connecting rod mechanism is used for realizing parallel opening and closing actions of clamping jaws, however, the linear guide rail guide bearing mode is light in load and low in clamping force, when a clamping mechanism is used for clamping a workpiece to stretch, rotate or overturn, obvious shaking phenomenon exists, and under the condition that the cylinder is airless, the workpiece is thrown out to hurt people or the workpiece falls to be scrapped easily due to the low clamping force of the clamping jaw.
Disclosure of Invention
The invention aims to provide a clamping mechanism to solve the problems of light load and low clamping force of the existing clamping mechanism.
In order to solve the above problems, the present invention provides a clamping mechanism, including a clamping base and a pair of clamping bodies, wherein a linear driving mechanism is disposed in the clamping base, the linear driving mechanism includes a driving rod and a pre-deformed elastic member, and the elastic member deforms along with the movement of the driving rod to generate elastic force to act on the driving rod; the front end of centre gripping base is equipped with the cavity, be equipped with first guide block and two in opposite directions arrange and with the second guide block that first guide block cooperation is connected in the cavity, the front end of actuating lever with first guide block is connected, two the second guide block respectively with a pair of the centre gripping body is connected, be equipped with the wedge block on the upper and lower two terminal surfaces of first guide block respectively, two the wedge block is in the projection of the up end or the lower terminal surface of first guide block is crossing and about the extending direction symmetry of actuating lever is equipped with respectively on the second guide block with the spout that the wedge block corresponds, the first guide block passes through the wedge block sliding lock is in the spout.
Further, two wedge blocks are respectively provided with a movable column, two sliding grooves are respectively provided with a through hole, the inner walls of the upper end face and the lower end face of the cavity are respectively provided with a guide groove, and the movable column penetrates through the through holes and can move along the guide grooves.
Further, the second guide block comprises a guide portion and a connecting portion, the guide portion is arranged on the side wall of the connecting portion, the sliding groove is formed in the guide portion, and the clamping body is connected with the connecting portion.
Further, the two sides of the cavity are opened to form an opening, the height of the connecting part is larger than that of the guiding part, the connecting part covers the opening of the cavity, the two second guiding blocks are arranged in opposite directions, and a matching space for accommodating the first guiding blocks is formed between the two guiding parts.
Further, the clamping mechanism further comprises two adapter plates, the two adapter plates are respectively connected to the outer sides of the connecting parts of the two second guide blocks, and the pair of clamping bodies are respectively connected to the two adapter plates.
Further, the clamping body comprises a clamping end and a fixed end, the clamping ends of the clamping body are oppositely arranged, and the fixed end is detachably connected with the adapter plate through a screw.
Further, a support is arranged on the outer side wall of the clamping base, a photoelectric sensor is arranged on the support, and a shading sheet is arranged at the corresponding position of the adapter plate.
Further, the clamping base is arranged in a square shape, and the first guide block and the second guide block are also arranged in a square shape.
Further, the linear driving mechanism is a single-acting cylinder, and the driving rod is a piston rod; the cylinder comprises a cylinder barrel, a piston rod, a front end cover and a rear end cover, wherein the front end cover and the rear end cover are connected with the front end and the rear end of the cylinder barrel, the piston divides the cylinder barrel into a rod cavity and a rodless cavity, the piston rod is positioned in the rod cavity and is connected with the piston, one end of the elastic piece is abutted to the front end cover, and the other end of the elastic piece is abutted to the piston.
Further, an air pipe connector is arranged on the rear end cover and communicated with the rodless cavity.
The invention provides a clamping mechanism, which comprises a clamping base and a pair of clamping bodies, wherein a first guide block and two second guide blocks are arranged in a cavity of the clamping base, the two second guide blocks are oppositely arranged and are connected with the first guide block in a matched manner, a driving rod of the linear driving mechanism moves linearly along the X direction, the front end of the driving rod is connected with the first guide block, wedge-shaped blocks are respectively arranged on the upper end face and the lower end face of the first guide block, projections of the two wedge-shaped blocks on the upper end face or the lower end face of the first guide block are intersected and symmetrical relative to the extending direction of the driving rod, sliding grooves corresponding to the wedge-shaped blocks are respectively arranged on the two second guide blocks, the first guide blocks are buckled in the sliding grooves in a sliding manner through the wedge-shaped blocks, during operation, the linear driving mechanism is started, the driving rod moves linearly, an elastic piece continuously deforms along with the movement of the driving rod to generate elastic force to act on the driving rod, the wedge-shaped blocks on the first guide block move linearly along the X direction, the wedge-shaped blocks slide in the corresponding sliding grooves, and the two wedge-shaped blocks on the first guide blocks move firmly along the Y direction under the condition that the cavity has one degree of freedom, and the two second guide blocks move firmly along the Y direction respectively, so that the two wedge-shaped blocks can realize clamping and further realize the clamping mechanism in a firm direction; when two clamps are opened to proper angles relatively, the workpiece is clamped, the driving rod 15 resets under the action of the elastic piece when the linear driving mechanism is stopped, the elastic piece is restored to a pre-deformation state, the first guide block and the second guide block move in opposite directions under the driving of the driving rod, the parallel closing of the clamps is realized, and the clamps are in the pre-deformation state under the elastic force of the pre-deformation of the elastic piece due to the fact that the driving rod resets, so that the clamps can clamp the workpiece, and the phenomenon that the workpiece is thrown out to hurt people or the workpiece falls to be scrapped is avoided.
Drawings
FIG. 1 is a schematic view of the internal structure of a clamping mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic view of the external structure of the clamping mechanism according to the embodiment of the present invention;
FIG. 3 is a schematic view of the structure of a first guide block according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a second guide block according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating the cooperation of the first guide block and the second guide block in the embodiment of the present invention.
In the figure, 1, a clamping base; 2. a clamping body; 3. an adapter plate; 4. a bracket; 5. a photoelectric sensor; 6. a light shielding sheet; 11. a cavity; 12. a first guide block; 13. a second guide block; 14. a sealing plate; 15. a driving rod; 16. an elastic member; 17. a cylinder; 121. wedge blocks; 122. a moving column; 123. a connection hole; 131. a chute; 132. a through hole; 133. a guide part; 134. a connection part; 171. a cylinder; 172. a piston; 173. a front end cover; 174. a rear end cover; 175. an air pipe joint; 1721. a piston seal ring; 21. a fixed end; 22. a clamping end; .
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "top", "bottom", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Referring to fig. 1 to 5, a clamping mechanism according to an embodiment of the present invention is schematically shown, including a clamping base 1 and a pair of clamping bodies 2, where the clamping bodies 2 are used to clamp a workpiece, and the pair of clamping bodies 2 may be disposed in parallel or may be non-parallel, and specifically, according to the actual situation of the clamped workpiece, a linear driving mechanism is disposed in the clamping base 1, where the linear driving mechanism includes a driving rod 15 and a pre-deformed elastic member 16, and the elastic member 16 deforms along with movement of the driving rod 15 to generate an elastic force acting on the driving rod 15; the front end of centre gripping base 1 is equipped with cavity 11, be equipped with first guide block 12 and two second guide blocks 13 that arrange in opposite directions and be connected with first guide block 12 cooperation in the cavity 11, the front end of actuating lever 15 is connected with first guide block 12, two second guide blocks 13 are connected with a pair of centre gripping body 2 respectively, wedge 121 respectively on the upper and lower both ends face of first guide block 12, the projection of two wedge 121 on the up end or the lower terminal surface of first guide block 12 is crossing and is symmetrical about the extending direction of actuating lever 15, be equipped with spout 131 that corresponds with wedge 121 on two second guide blocks 13 respectively, first guide block 12 passes through wedge 121 sliding lock in spout 131.
Specifically, a first guide block 12 and two second guide blocks 13 are arranged in the cavity 11 of the clamping base 1, the two second guide blocks 13 are arranged in opposite directions and are connected with the first guide block 12 in a matched manner, a driving rod 15 of a linear driving mechanism moves in a linear manner along the X direction, the two second guide blocks 13 move in opposite directions along the Y direction, the front end of the driving rod 15 is connected with the first guide block 12, wedge-shaped blocks 121 are respectively arranged on the upper end face and the lower end face of the first guide block 12, specifically, projections of the two wedge-shaped blocks 121 on the upper end face or the lower end face of the first guide block 12 are intersected and symmetrical with respect to the extending direction of the driving rod 15, sliding grooves 131 corresponding to the wedge-shaped blocks 121 are respectively arranged on the two second guide blocks 13, the first guide blocks 12 are buckled in the sliding grooves 131 in a sliding manner through the wedge-shaped blocks 121, when the linear driving mechanism is started, the driving rod 15 moves linearly, the elastic piece 16 continues to deform, the driving rod 15 drives the first guide blocks 12 to move linearly along the X direction, the wedge-shaped blocks 121 on the first guide blocks 12 slide in the corresponding sliding grooves 131, and under the condition that the cavity 11 has only one degree of freedom, the two second guide blocks 13 move oppositely along the Y direction respectively, so that the movement of the first guide blocks 12 along the X direction is converted into the opposite movement of the two second guide blocks 13 along the Y direction, the clamping body 2 is opened in parallel, the wedge-shaped structure can realize the reinforcement effect on the clamping body 2, and the clamping is strong in rigidity and firm in grabbing; when two clamping bodies 2 are opened to a proper angle relatively, a workpiece is clamped, the driving rod 15 resets under the action of the elastic piece 16 when the linear driving mechanism is stopped, the first guide block 12 and the second guide block 13 move towards the opposite directions, so that the parallel closing of the clamping bodies 2 is realized, and when the driving rod 15 resets, the elastic piece 16 is restored to a pre-deformation state, the driving rod 15 still has a trend of reverse movement, namely, a pair of clamping bodies 2 have a trend of closing, so that the clamping bodies 2 keep horizontal clamping force under the elastic force of the pre-deformation of the elastic piece 16, the workpiece is clamped, and the phenomenon that the workpiece is thrown out to hurt people or the workpiece falls off and is scrapped is avoided.
In this embodiment, the clamping base 1 is square, the first guide block 12 and the second guide block 13 are also square, and the square profile matching mode is used for guiding and bearing, so that the precision is high and the rigidity is strong.
The linear driving mechanism in the embodiment of the invention is a cylinder 17, preferably a single-acting cylinder, and has a simple structure, the driving rod 15 is a piston rod of the cylinder 17, specifically, the single-acting cylinder 17 comprises a cylinder 171, a piston 172, a piston rod, a front end cover 173 and a rear end cover 174 which are connected to the front end and the rear end of the cylinder 171, the piston 172 divides the cylinder 171 into a rod cavity and a rodless cavity, namely, the rear end cover 174, the piston 172 and the cylinder 171 form a rodless cavity, the front end cover 173, the piston 172, the cylinder 171 and the piston rod connected with the piston 172 form a rod cavity, a piston sealing ring 1721 is arranged on the piston 172 for preventing air leakage between the rod cavity and the rodless cavity separated by the piston 172, the elastic member 16 is sleeved on the piston rod, one end of the elastic member 16 is abutted on the front end cover 173, and the other end of the elastic member 16 is abutted on the piston 172.
The elastic member in this embodiment is preferably a spring, and the spring may be directly sleeved on the driving rod 15, or may be disposed in the cylinder 171, and is distributed on two sides of the driving rod 15, so that the spring is continuously deformed on the basis of pre-deformation along with the movement of the driving rod 15, and when the driving rod 15 resets, the elastic force generated by the pre-deformed spring can continuously act on the driving rod 15, so as to keep the clamping body 2 in a closed trend, so that the clamping body 2 keeps a clamping force under the elastic force of the pre-deformation of the elastic member 16, and the phenomenon that the workpiece is thrown out to hurt a person or falls and is scrapped is avoided.
Further, an air pipe joint 175 is arranged on the rear end cover 174, the air pipe joint 175 is communicated with the rodless cavity, when compressed air is input from the rodless cavity, the rod cavity is exhausted, a pressure difference is formed between the two cavities 11 of the air cylinder 17, the pressure difference acts on the piston 172 to enable the piston 172 to push the piston 172 to move against resistance, so that a piston rod stretches out, an elastic piece 16 sleeved on the piston rod is compressed, the piston rod pushes the first guide block 12 to move, and further the second guide block 13 matched with the first guide block 12 moves, and the clamping body 2 is opened in parallel; when ventilation is stopped, the elastic piece 16 is restored to deform, the piston rod is retracted and reset, the clamping body 2 is closed in parallel, and at the moment, the horizontal clamping force of the clamping body 2 is maintained under the elastic force of the elastic piece 16 in a pre-deformation mode, so that the clamping of a workpiece is realized.
In this embodiment, a connecting hole 123 through which the driving rod 15 passes is provided in the middle of the first guide block 12, and the driving rod 15 passes through the connecting hole 123 to be connected with the first guide block 12, so as to realize that the driving rod 15 drives the first guide block 12 to move.
Further, moving columns 122 are respectively arranged on the two wedge-shaped blocks 121, through holes 132 are respectively arranged in the two sliding grooves 131, guide grooves are respectively arranged on the upper end face and the inner wall of the lower end face of the cavity 11, the cylinder 17 drives the piston rod to extend, the first guide block 12 moves linearly along the X direction under the action of the piston rod, and the moving columns 122 pass through the through holes 132 and move along the guide grooves, so that the guiding effect of the piston rod of the cylinder 17 on the first guide block 12 is realized.
Specifically, the second guide blocks 13 include a guide portion 133 and a connecting portion 134, the guide portion 133 is connected to the bottom of the side wall of the connecting portion 134, the height of the connecting portion 134 is greater than that of the guide portion 133, the two second guide blocks 13 are arranged in opposite directions, specifically, the two second guide blocks 13 are arranged in opposite directions along the Y direction, a matching space for accommodating the first guide block 12 is formed between the two guide portions 133, and wedge-shaped blocks 121 on the upper end face and the lower end face of the first guide block 12 are respectively and slidably buckled in the sliding grooves 131 of the second guide blocks 13, so that the matching connection between the first guide block 12 and the two second guide blocks 13 is realized.
The two sides of the cavity 11 are opened to form an opening, the front end of the cavity 11 is provided with a sealing plate 14 for sealing, a sliding groove 131 is arranged on a guide part 133, a connecting part 134 seals the opening of the cavity 11, when the first guide block 12 moves linearly along the X direction, as the cavity 11 has only one degree of freedom in the Y direction, under the matching movement of the wedge-shaped block 121 on the first guide block 12 and the sliding groove 131 on the second guide block 13, the first guide block 12 moves forwards, the second guide block 13 generates a component force along the Y direction under the action of the wedge-shaped block 121 and the sliding groove 131, and pushes the two second guide blocks 13 away in opposite directions along the Y direction respectively, so that the parallel opening of the clamping body 2 is realized.
Further, the clamping mechanism further comprises two adapter plates 3, the two adapter plates 3 are respectively connected to the outer sides of the connecting portions 134, the pair of clamping bodies 2 are respectively connected to the adapter plates 3, preferably, the pair of clamping bodies 2 are respectively connected to the inner sides of the adapter plates 3, and by arranging the adapter plates 3, the two clamping bodies 2 are located in front of the clamping base 1, so that the distance between the two clamping bodies 2 can be shortened, and the two clamping bodies 2 can be closed in opposite directions when the driving mechanism does not work.
In this embodiment, the clamping body 2 includes a clamping end 22 and a fixing end 21, the clamping end 22 is used for clamping a workpiece, the fixing end 21 is used for being connected and fixed with the adapter plate 3, specifically, the clamping ends 22 of a pair of clamping bodies 2 are parallel and oppositely arranged, clamping force is applied to the clamping bodies 2, so that the clamping surfaces of the two oppositely arranged clamping ends 22 clamp the workpiece, the workpiece is prevented from loosening, the fixing end 21 and the adapter plate 3 are detachably connected through screws, and the adapter plate 3 and the second guide block 13 are also detachably connected through screws, so that maintenance and installation are facilitated.
In this embodiment, a bracket 4 is disposed on the outer sidewall of the clamping base 1, a photoelectric sensor 5 is disposed on the bracket 4, a light shielding sheet 6 is disposed at a corresponding position of the adapter plate 3, that is, the light shielding sheet 6 and the photoelectric sensor 5 are located on the same horizontal line, and in the process of opening and closing the clamping body 2 by parallel movement, along with movement of the adapter plate 3, light of the photoelectric sensor 5 is shielded by the light shielding sheet 6, the photoelectric sensor 5 feeds back a light shielding signal to the main control element, and an operator can judge the opening and closing conditions of the clamping jaw through the signal fed back by the main control element, so as to realize full-closed loop control of the clamping jaw.
It should be understood that the terms "first," "second," and the like are used herein to describe various information, but such information should not be limited to these terms, which are used merely to distinguish one type of information from another. For example, a "first" message may also be referred to as a "second" message, and similarly, a "second" message may also be referred to as a "first" message, without departing from the scope of the invention.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (6)
1. The clamping mechanism is characterized by comprising a clamping base and a pair of clamping bodies, wherein a linear driving mechanism is arranged in the clamping base and comprises a driving rod and a pre-deformed elastic piece, and the elastic piece deforms along with the movement of the driving rod to generate elastic force to act on the driving rod; the front end of the clamping base is provided with a cavity, a first guide block and two second guide blocks which are oppositely arranged and are connected with the first guide blocks in a matched mode are arranged in the cavity, the front end of the driving rod is connected with the first guide blocks, the two second guide blocks are respectively connected with a pair of clamping bodies, wedge-shaped blocks are respectively arranged on the upper end face and the lower end face of the first guide blocks, projections of the two wedge-shaped blocks on the upper end face or the lower end face of the first guide blocks are intersected and symmetrical relative to the extending direction of the driving rod, sliding grooves corresponding to the wedge-shaped blocks are respectively arranged on the two second guide blocks, and the first guide blocks are buckled in the sliding grooves in a sliding mode through the wedge-shaped blocks;
the second guide block comprises a connecting part, the clamping mechanism further comprises two adapter plates, the two adapter plates are respectively connected to the outer sides of the connecting parts of the two second guide blocks, and a pair of clamping bodies are respectively connected to the two adapter plates; a bracket is arranged on the outer side wall of the clamping base, a photoelectric sensor is arranged on the bracket, and a shading sheet is arranged at the corresponding position of the adapter plate;
the two wedge-shaped blocks are respectively provided with a movable column, through holes are respectively formed in the two sliding grooves, guide grooves are respectively formed in the inner walls of the upper end face and the lower end face of the cavity, and the movable columns penetrate through the through holes and can move along the guide grooves;
the second guide block comprises a guide part, the guide part is arranged on the side wall of the connecting part, and the chute is arranged on the guide part.
2. The clamping mechanism according to claim 1, wherein openings are formed on two sides of the cavity, the height of the connecting portion is larger than that of the guiding portion, the connecting portion covers the opening of the cavity, the two second guiding blocks are arranged in opposite directions, and a matching space for accommodating the first guiding blocks is formed between the two guiding portions.
3. The clamping mechanism of claim 1, wherein the clamping body comprises a clamping end and a fixed end, the clamping ends of a pair of clamping bodies are arranged opposite to each other, and the fixed end is detachably connected with the adapter plate through a screw.
4. A clamping mechanism according to any one of claims 1 to 3, wherein the clamping base is arranged in a square shape, the first and second guide blocks also being arranged in a square shape.
5. The clamping mechanism of claim 1 wherein the linear drive mechanism is a single-acting cylinder and the drive rod is a piston rod; the cylinder comprises a cylinder barrel, a piston rod, a front end cover and a rear end cover, wherein the front end cover and the rear end cover are connected with the front end and the rear end of the cylinder barrel, the piston divides the cylinder barrel into a rod cavity and a rodless cavity, the piston rod is positioned in the rod cavity and is connected with the piston, one end of the elastic piece is abutted to the front end cover, and the other end of the elastic piece is abutted to the piston.
6. The fixture of claim 5, wherein an air fitting is provided on the rear end cap, the air fitting being in communication 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 |
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| Publication Number | Publication Date |
|---|---|
| CN108247628A CN108247628A (en) | 2018-07-06 |
| CN108247628B true CN108247628B (en) | 2024-04-05 |
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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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| CN (1) | CN108247628B (en) |
Families Citing this family (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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| 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 |
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| Publication number | Publication date |
|---|---|
| CN108247628A (en) | 2018-07-06 |
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