CN108608446A - A kind of oil pump casing machining three paw device of transfer robot - Google Patents
A kind of oil pump casing machining three paw device of transfer robot Download PDFInfo
- Publication number
- CN108608446A CN108608446A CN201810404005.9A CN201810404005A CN108608446A CN 108608446 A CN108608446 A CN 108608446A CN 201810404005 A CN201810404005 A CN 201810404005A CN 108608446 A CN108608446 A CN 108608446A
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- China
- Prior art keywords
- paw
- finger
- flange
- cylinder
- oil pump
- 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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Links
- 238000003754 machining Methods 0.000 title description 9
- 238000007667 floating Methods 0.000 claims abstract description 22
- 230000006835 compression Effects 0.000 claims description 24
- 238000007906 compression Methods 0.000 claims description 24
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 230000000694 effects Effects 0.000 claims description 6
- 230000000116 mitigating effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
-
- 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Reciprocating Pumps (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of oil pump casings to machine three paw device of transfer robot, which is characterized in that including：Flange, the flange are equipped with multiple first threaded holes；Paw flange, the paw flange is arranged in the lower part of the flange, the paw flange is fastenedly connected with the flange, the paw component is arranged on the position of the paw circumference of flange, the paw component includes fixed seat, air cylinder fixed plate, support column, two refer to parallel cylinder, each paw component is bolted connection with the fixed bottom plate respectively, oil pump casing of the present invention machines three paw device of transfer robot, using floating finger and fixed finger mutual cooperation, to improve grasp stability, it is greatly improved productive temp, improve safety.Grasp handling is carried out to workpiece using energy fast and stable of the invention, time cost and cost of labor is dramatically saved, improves production efficiency and integrated automation degree.
Description
Technical field
The present invention relates to a kind of automated machine equipment technical fields more particularly to a kind of oil pump casing to machine conveying robot
Three paw device of people.
Background technology
In the machining process of oil pump casing, the carrying that loading and unloading are often carried out to workpiece is needed, traditional manual operation is not
It is only time-consuming and laborious and inefficient.Automatic manipulator includes mechanical arm and adapts to the gripper of crawl various parts, a machine
Tool arm can be equipped with a variety of grippers, and in order to complete a work flow, mechanical arm may repeatedly replace gripper.Traditional
The method for replacing gripper needs artificial participation, and the degree of automation is not high, and working efficiency is low.Industrial robot paw is applied
Its production efficiency and machining the degree of automation of oil pump casing are improved to a certain extent, but since oil pump casing shape is irregular,
Previous paw every time can only be and insecure during to workpiece grabbing to the crawl of an oil pump casing, or even causes workpiece
Fall off, have certain risk, also affect overall processing efficiency.Based on this, using floating finger and fixed finger
It cooperates, devises three paw devices of one kind and be conducive to improve productive temp to improve grasp stability
Invention content
For the deficiency of the technology, the problem to be solved in the present invention provides a kind of oil pump casing machining transfer robot
Three paw devices.
To achieve the above object, the present invention is realized by following scheme.
A kind of oil pump casing machining three paw device of transfer robot, including：
Flange, the flange are equipped with multiple first threaded holes；
Paw flange, the paw flange are arranged in the lower part of the flange, the paw flange by bolt with it is described
First threaded hole to match on flange is fastenedly connected, and the fixed hand has been uniformly arranged on the paw flange circle circumferential surface
Multiple second threaded holes of claw assembly.
Paw component, the paw component are arranged on the position of the paw circumference of flange.
Preferably, the paw component includes fixed seat and air cylinder fixed plate；
The fixed seat includes fixed bottom plate and the cavity supporting rod that is vertically set on the fixed bottom plate, the fixation
Bottom plate is equipped with the second threaded hole corresponding on the paw flange circle circumferential surface, and the air cylinder fixed plate is arranged in the sky
The lower part of chamber supporting rod is simultaneously fixedly connected with the cavity supporting rod；
Preferably, the paw component further includes two finger parallel cylinders and support column, and described two refer to the both ends of parallel cylinder
Equipped with finger；The support column is arranged in the lower part of the air cylinder fixed plate and is stretched positioned at finger described in the two fingers parallel cylinder
The both ends in contracting direction.
Preferably, the air cylinder fixed plate is equipped with third threaded hole and the fixation that multiple fixations described two refer to parallel cylinder
The 4th threaded hole of the support column, one end of the support column by match on bolt and the air cylinder fixed plate described the
Four threaded holes are fastenedly connected.
Preferably, further include trapezoidal connecting plate, the trapezoidal connecting plate includes vertical component effect and horizontal part, the trapezoidal connection
Plate is arranged between the fixed bottom plate and the air cylinder fixed plate, the vertical component effect and horizontal part of the trapezoidal connecting plate respectively with
The cavity supporting rod is fixedly connected with the air cylinder fixed plate, and the trapezoidal connecting plate is equipped with multiple rows of hole, multiple rows of hole
The weight of three paw device of transfer robot is machined for the oil pump casing of mitigation.
Preferably, three paw components are three, and each paw component is respectively by the fixed bottom plate
The second screw thread corresponding on the paw flange circle circumferential surface is bolted connection.
Preferably, the two fingers parallel cylinder is arranged in the lower part of air cylinder fixed plate, and the two fingers parallel cylinder passes through spiral shell
The bolt third threaded hole corresponding in the air cylinder fixed plate is fastenedly connected, and the two fingers parallel cylinder includes setting directly to exist
Described two refer to the flexible sliding block of parallel cylinder both sides, and the end face of each flexible sliding block is equipped with for fixing the finger
Five threaded holes.
Preferably, the finger includes the first cylinder finger and the second cylinder finger, the first cylinder finger and second
Cylinder finger is fastenedly connected by bolt with the 5th threaded hole to match in the two flexible sliding block both ends of the surface.
Preferably, the first cylinder finger includes the first cylinder finger block, rotational pin, adjusting screw and floating finger,
The floating finger is arranged in the lower part of the first cylinder finger block, one end of the floating finger and the first cylinder hand
Refer to seat and set there are two gripping finger by rotating pin connection, the other end of the floating finger, the surface of two gripping fingers is gradient.
The adjusting screw is mounted on one end of the first cylinder finger block, and the adjusting screw is for adjusting the floating finger
Float angle.
The lower part that the second cylinder finger two refers to is equipped with trend tooth form steel ball, and one end of the trend tooth form steel ball is equipped with
Screw thread, the trend tooth form steel ball match on the inside of the second cylinder finger with the screw thread trend tooth form steel ball with setting
Threaded hole be fastenedly connected
Preferably, further include compression bar cushion block and compression bar, the compression bar cushion block is arranged in the lower part of the air cylinder fixed plate, institute
The embedded locating slot for being provided with the fixed compression bar of the compression bar cushion block other end is stated, the compression bar is fixedly mounted on the compression bar pad
In the locating slot of block.
The advantage of the invention is that：
Oil pump casing of the present invention machines three paw device of transfer robot, using floating finger and fixed finger
It cooperates, to improve grasp stability, is greatly improved productive temp, improves safety.
Energy fast and stable of the invention carries out grasp handling to workpiece, dramatically saves time cost and cost of labor,
Production efficiency, integrated automation degree are improved, and can be promoted in similar application.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of structure total figure of oil pump casing machining three paw device embodiment of transfer robot of the present invention；
Fig. 2 is a kind of paw modular construction of oil pump casing machining three paw device embodiment of transfer robot of the present invention
Figure；
Fig. 3 is a kind of clamping finger structure of oil pump casing machining three paw device embodiment of transfer robot of the present invention
Figure.
Reference numeral indicates explanation in description above：
1, flange；2, paw flange；3, fixed seat；4, air cylinder fixed plate；5, support column；6, two refer to parallel cylinder；7, terraced
Shape connecting plate；8, the first cylinder finger；9, the second cylinder finger；10, floating finger；11, gripping finger；12, trend tooth form steel ball；
13, compression bar cushion block；14, compression bar；15, paw component, 16, workpiece；17, adjusting screw.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of not making creative work it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
As shown in Figs. 1-3, in preferred embodiments of the present invention, according to problem of the existing technology, the present invention provides one
Kind oil pump casing machines three paw device of transfer robot, including：
Flange 1, flange 1 are equipped with multiple first threaded holes；
Paw flange 2, paw flange 2 are arranged in the lower part of flange 1, and paw flange 2 is matched by bolt on flange 1
The first threaded hole be fastenedly connected, multiple second screw threads of fixed paw component 15 are uniformly arranged on 2 periphery of paw flange
Hole.
Paw component 15, paw component 15 are arranged on the position of 2 circumference of paw flange.
Preferably, paw component 15 includes fixed seat 3 and air cylinder fixed plate 4；
Fixed seat 3 includes the cavity supporting rod fixed bottom plate and be vertically set on fixed bottom plate, and fixed bottom plate is equipped with
The second threaded hole corresponding on 2 periphery of paw flange, air cylinder fixed plate 4 be arranged the lower part of the cavity supporting rod simultaneously
It is fixedly connected with cavity supporting rod；
In preferred embodiments of the present invention, paw component 15 further includes two finger parallel cylinders 6 and support column 5, and two fingers are parallel
The both ends of cylinder 6 are equipped with finger；Support column 5 is arranged in the lower part of air cylinder fixed plate 4 and is stretched positioned at the finger of two finger parallel cylinders 6
The both ends in contracting direction.
In preferred embodiments of the present invention, air cylinder fixed plate 4 is equipped with multiple third screw threads for fixing two finger parallel cylinders
Hole and fixed the 4th threaded hole of support column 5, one end of support column 5 pass through the 4th spiral shell that matches on bolt and air cylinder fixed plate 4
Pit is fastenedly connected.
Further include trapezoidal connecting plate 7 in preferred embodiments of the present invention, trapezoidal connecting plate 7 includes vertical component effect and horizontal part,
The setting of trapezoidal connecting plate 7 between fixed bottom plate and air cylinder fixed plate 4, the vertical component effect and horizontal part of trapezoidal connecting plate 7 respectively with
Cavity supporting rod is fixedly connected with air cylinder fixed plate 4, and trapezoidal connecting plate 7 is equipped with multiple rows of hole, and multiple rows of hole is for mitigating oil pump casing
Machine the weight of three paw device of transfer robot.
In preferred embodiments of the present invention, paw component 15 is three, and each paw component 15 passes through fixed bottom plate respectively
Upper the second screw thread corresponding on 6 periphery of paw flange is bolted connection.
In preferred embodiments of the present invention, two finger parallel cylinders 6 are arranged in the lower part of air cylinder fixed plate 4, and two finger is flat
Promoting the circulation of qi cylinder 6 is fastenedly connected by bolt third threaded hole corresponding in air cylinder fixed plate 4, and two finger parallel cylinders 6 include setting
The end face of the flexible sliding block for directly referring to 6 both sides of parallel cylinder two, each flexible sliding block is equipped with the 5th screw thread for fixed finger
Hole.
In preferred embodiments of the present invention, finger includes the first cylinder finger 9 and the second cylinder finger 8, the first cylinder hand
Finger 9 and the second cylinder finger 8 are fastenedly connected by bolt with the 5th threaded hole to match in two flexible sliding block both ends of the surface.
In preferred embodiments of the present invention, the first cylinder finger 9 includes the first cylinder finger block, rotational pin, adjusting screw
17 and floating finger 10, floating finger 10 is arranged in the lower part of the first cylinder finger block, one end of floating finger 10 and the first gas
Cylinder finger block is by rotating pin connection, and the other end of floating finger 10 sets that there are two gripping fingers 11, and the surface of two gripping fingers 11 has tiltedly
Degree.Adjusting screw 17 is mounted on one end of the first cylinder finger block, and adjusting screw 17 is used to adjust the float angle of floating finger 10
Degree.
The lower part that second 8 liang of cylinder finger refers to is equipped with trend tooth form steel ball 12, and one end of trend tooth form steel ball 12 is equipped with spiral shell
Line, trend tooth form steel ball 12 and the spiral shell being arranged on the inside of the second cylinder finger 8 and the screw thread trend tooth form steel ball 12 matches
Pit is fastenedly connected
Further include compression bar cushion block 13 and compression bar 14 in preferred embodiments of the present invention, the setting of compression bar cushion block 13 is solid in cylinder
The lower part of fixed board 4, the embedded locating slot for being provided with compression column with fixed 14 of 13 other end of compression bar cushion block, compression bar 14 are fixedly mounted on pressure
In the locating slot of bar cushion block.
Specifically, when grabbing workpiece 16, so that workpiece is fixed first with support column 5 and compression bar 14, when clamping, have floating
Start to refer to 10 one end cylinder compression, other end cylinder finger is motionless, certain has with work piece interface since gripping finger 11 has
Have a constant slope, the characteristic for the floating finger 10 that cooperation adjusting screw 17 is realized, can make gripping finger 11 in optimal manner with
Workpiece 16 contacts, to realize the firm clamping to workpiece 16.The mutually coordinated cooperation of crawl of three paw components, can be efficient
Realization to the grasp handlings of multiple workpiece 16.
The beneficial effects of the present invention are：
Oil pump casing of the present invention machines three paw device of transfer robot, using floating finger and fixed finger
It cooperates, to improve grasp stability, is greatly improved productive temp, improves safety.
Energy fast and stable of the invention carries out grasp handling to workpiece, dramatically saves time cost and cost of labor,
Production efficiency, integrated automation degree are improved, and can be promoted in similar application.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of oil pump casing machines three paw device of transfer robot, which is characterized in that including：
Flange, the flange are equipped with multiple first threaded holes；
Paw flange, the paw flange are arranged in the lower part of the flange, and the paw flange passes through bolt and the flange
On first threaded hole that matches be fastenedly connected, the fixed paw group has been uniformly arranged on the paw flange circle circumferential surface
Multiple second threaded holes of part.
Paw component, the paw component are arranged on the position of the paw circumference of flange.
2. a kind of oil pump casing according to claim 1 machines three paw device of transfer robot, which is characterized in that described
Paw component includes fixed seat and air cylinder fixed plate；
The fixed seat includes fixed bottom plate and the cavity supporting rod that is vertically set on the fixed bottom plate, the fixed bottom plate
It is equipped with the second threaded hole corresponding on the paw flange circle circumferential surface, the air cylinder fixed plate is arranged in the cavity branch
The lower part of strut is simultaneously fixedly connected with the cavity supporting rod.
3. a kind of oil pump casing according to claim 1 machines three paw device of transfer robot, which is characterized in that described
Paw component further includes two finger parallel cylinders and support column, and described two both ends for referring to parallel cylinder are equipped with finger；The support column
It is arranged in the lower part of the air cylinder fixed plate and positioned at the both ends of finger telescopic direction described in the two fingers parallel cylinder.
4. a kind of oil pump casing according to claim 3 machines three paw device of transfer robot, which is characterized in that described
Air cylinder fixed plate is equipped with multiple fixations described two and refers to the third threaded hole of parallel cylinder and fixed the 4th screw thread of support column
The one end in hole, the support column is fastenedly connected by bolt with the 4th threaded hole to match in the air cylinder fixed plate.
5. a kind of oil pump casing according to claim 1 machines three paw device of transfer robot, which is characterized in that also wrap
Trapezoidal connecting plate is included, the trapezoidal connecting plate includes vertical component effect and horizontal part, and the trapezoidal connecting plate is arranged at the fixed bottom
Between plate and the air cylinder fixed plate, the vertical component effect and horizontal part of the trapezoidal connecting plate respectively with the cavity supporting rod and institute
It states air cylinder fixed plate to be fixedly connected, the trapezoidal connecting plate is equipped with multiple rows of hole, the oil pump of the multiple rows of hole for mitigation
Shell machines the weight of three paw device of transfer robot.
6. a kind of oil pump casing according to claim 1 machines three paw device of transfer robot, which is characterized in that described
Paw component is three, each paw component respectively by the fixed bottom plate with phase on the paw flange circle circumferential surface
Corresponding second screw thread is bolted connection.
7. a kind of oil pump casing according to claim 3 machines three paw device of transfer robot, which is characterized in that described
Two finger parallel cylinders are arranged in the lower part of air cylinder fixed plate, and the two fingers parallel cylinder is fixed by bolt and the cylinder
The corresponding third threaded hole is fastenedly connected on plate, and the two fingers parallel cylinder includes setting directly to refer to parallel cylinder described two
The end face of the flexible sliding block of both sides, each flexible sliding block is equipped with the 5th threaded hole for fixing the finger.
8. a kind of oil pump casing according to claim 3 machines three paw device of transfer robot, which is characterized in that described
Finger includes the first cylinder finger and the second cylinder finger, and the first cylinder finger and the second cylinder finger pass through bolt
It is fastenedly connected with the 5th threaded hole to match in the two flexible sliding block both ends of the surface.
9. a kind of oil pump casing according to claim 8 machines three paw device of transfer robot, which is characterized in that described
First cylinder finger includes the first cylinder finger block, rotational pin, adjusting screw and floating finger, and the floating finger is arranged in institute
State the lower part of the first cylinder finger block, one end of the floating finger with the first cylinder finger block by rotating pin connection,
The other end of the floating finger is set there are two gripping finger, and the surface of two gripping fingers is gradient, and the adjusting screw is mounted on
One end of the first cylinder finger block, the adjusting screw are used to adjust the float angle of the floating finger.
The lower part that the second cylinder finger two refers to is equipped with trend tooth form steel ball, and one end of the trend tooth form steel ball is equipped with spiral shell
Line, what the trend tooth form steel ball and being arranged on the inside of the second cylinder finger matched with the screw thread trend tooth form steel ball
Threaded hole is fastenedly connected.
10. a kind of oil pump casing according to claim 3 machines three paw device of transfer robot, which is characterized in that also
Including compression bar cushion block and compression bar, the compression bar cushion block is arranged in the lower part of the air cylinder fixed plate, the compression bar cushion block other end
The embedded locating slot for being provided with the fixed compression bar, the compression bar are fixedly mounted in the locating slot of the compression bar cushion block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810404005.9A CN108608446B (en) | 2018-04-28 | 2018-04-28 | Three-paw device of oil pump shell machining transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810404005.9A CN108608446B (en) | 2018-04-28 | 2018-04-28 | Three-paw device of oil pump shell machining transfer robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108608446A true CN108608446A (en) | 2018-10-02 |
| CN108608446B CN108608446B (en) | 2024-05-28 |
Family
ID=63661755
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810404005.9A Active CN108608446B (en) | 2018-04-28 | 2018-04-28 | Three-paw device of oil pump shell machining transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108608446B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732632A (en) * | 2019-01-21 | 2019-05-10 | 苏州优得精智装备有限公司 | A kind of three positions assembly gripper platform |
| CN112297050A (en) * | 2020-12-30 | 2021-02-02 | 季华科技有限公司 | Clamping range increases large-scale clamping jaw structure and mechanical tongs |
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| CN106078780A (en) * | 2016-08-03 | 2016-11-09 | 天津扬天科技有限公司 | A kind of novel paw of the robot that stacks bricks adapting to many brick |
| CN206029935U (en) * | 2016-09-07 | 2017-03-22 | 浙江凯拓机电有限公司 | Unloading terminal hand claw group on manipulator |
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| CN206811996U (en) * | 2017-05-19 | 2017-12-29 | 四川信息职业技术学院 | A kind of industrial robot loading and unloading paw |
| CN206840135U (en) * | 2017-04-10 | 2018-01-05 | 宁波辛迪自动化科技有限公司 | A kind of robot device |
| CN206857704U (en) * | 2017-06-04 | 2018-01-09 | 无锡维凯科技有限公司 | A kind of diagonal clip manipulator |
| CN208880738U (en) * | 2018-04-28 | 2019-05-21 | 上海发那科机器人有限公司 | A kind of oil pump casing machining three paw device of transfer robot |
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2018
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| GB1469694A (en) * | 1973-05-14 | 1977-04-06 | Skinner F | Multiple prehension mechanism |
| JP2009125868A (en) * | 2007-11-26 | 2009-06-11 | Nachi Fujikoshi Corp | Hand device of industrial robot |
| US20130154293A1 (en) * | 2010-06-07 | 2013-06-20 | Pex Rent B.V. | Gripping device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732632A (en) * | 2019-01-21 | 2019-05-10 | 苏州优得精智装备有限公司 | A kind of three positions assembly gripper platform |
| CN109732632B (en) * | 2019-01-21 | 2024-04-05 | 苏州优得精智装备有限公司 | Three-position assembling paw platform |
| CN112297050A (en) * | 2020-12-30 | 2021-02-02 | 季华科技有限公司 | Clamping range increases large-scale clamping jaw structure and mechanical tongs |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108608446B (en) | 2024-05-28 |
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