CN109079838A - Fixture and transfer robot with it - Google Patents
Fixture and transfer robot with it Download PDFInfo
- Publication number
- CN109079838A CN109079838A CN201811064425.3A CN201811064425A CN109079838A CN 109079838 A CN109079838 A CN 109079838A CN 201811064425 A CN201811064425 A CN 201811064425A CN 109079838 A CN109079838 A CN 109079838A
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- CN
- China
- Prior art keywords
- clamping jaw
- fixture
- clamping
- guide assembly
- connect
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- 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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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of fixture and with its transfer robot, for fixture for grabbing the device on air-conditioning, fixture includes: mounting base；First clamping jaw and the second clamping jaw, the first clamping jaw and the second clamping jaw are opposite to be movably disposed in mounting base with clamping or dispensing device；Guidance set, guidance set are arranged in mounting base, and the first clamping jaw and the second clamping jaw are connect with guidance set, are moved with the guide direction along guidance set.Fixture of the invention solves the problems, such as that air conditioner two-unit in the prior art is inconvenient to carry.
Description
Technical field
The present invention relates to air-conditioning technical fields, in particular to a kind of fixture and with its transfer robot.
Background technique
Stacking or online, manual handling are needed after the completion of air conditioner two-unit (i.e. the evaporator and condenser of air-conditioning) production
Stacking or online large labor intensity, and it is easy the copper pipe damaged on two devices, two devices are carried by robot to be substantially reduced
The operation intensity of employee, and product qualification rate also greatly improves.
But existing clamp structure design grabs the device on air-conditioning using three axis cylinders, since cylinder is for a long time by diameter
Effect to power will lead to the problem of three axis cylinders are easily damaged, in addition, existing fixture carries the mistake of air-conditioning device in high speed
Falling off for device is be easy to cause in journey, the case where so as to cause device is broken.
Summary of the invention
The main purpose of the present invention is to provide a kind of fixture and with its transfer robot, to solve in the prior art
Air conditioner two-unit be inconvenient to the problem of carrying.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of fixture, for grabbing on air-conditioning
Device, fixture include: mounting base；First clamping jaw and the second clamping jaw, the first clamping jaw and the second clamping jaw are opposite to be movably disposed at
With clamping or dispensing device in mounting base；Guidance set, guidance set are arranged in mounting base, and the first clamping jaw and the second clamping jaw are equal
It connect with guidance set, is moved with the guide direction along guidance set.
Further, fixture further include: driving device, driving device are all connected with the first clamping jaw and the second clamping jaw, to drive
Dynamic first clamping jaw and the second clamping jaw are mobile.
Further, driving device includes: the first driving cylinder, and the first driving cylinder is connect with the first clamping jaw, with driving
First clamping jaw is mobile；Second driving cylinder, the second driving cylinder are connect with the second clamping jaw, to drive the second clamping jaw mobile.
Further, the first driving cylinder and/or the second driving cylinder are uniaxial cylinder.
Further, fixture further include: the first floating junction, the first driving cylinder is connect with the first floating junction, with logical
Crossing the first floating junction drives the first clamping jaw mobile；Second floating junction, the second driving cylinder are connect with the second floating junction, with
Drive the second clamping jaw mobile by the second floating junction.
Further, guidance set includes: the first guide assembly, and the first clamping jaw is movably disposed at the first guide assembly
On；Second guide assembly, the second clamping jaw are movably disposed on the second guide assembly；Wherein, the first folder of driving device driving
Pawl is moved along the first guide assembly, and the second clamping jaw is driven to move along the second guide assembly.
Further, fixture further include: the first slide assemblies, the first clamping jaw are connect with the first slide assemblies, and pass through the
One slide assemblies are movably disposed on the first guide assembly；Second slide assemblies, the second clamping jaw and the second slide assemblies connect
It connects, and is movably disposed on the second guide assembly by the second slide assemblies.
Further, the first clamping jaw and the second clamping jaw are equipped with bolster for the side of gripping element, the first clamping jaw and
Second clamping jaw is respectively by corresponding bolster and device contacts, to clamp device.
Further, bolster is made of rubber or elastoplastic or sponge material.
Further, the first clamping jaw and the second clamping jaw include: clamping plate, and clamping plate is for clamping or dispensing device；Supporting plate, support
Plate is arranged in clamping plate bottom, to hold device in clamping plate clamping device.
According to another aspect of the present invention, a kind of transfer robot, including fixture and mechanical arm are provided, fixture is for grabbing
Air-conditioning instrument is taken, to be moved under the drive of mechanical arm, fixture is above-mentioned fixture.
The fixture to apply the technical scheme of the present invention mainly solves evaporator on air conditioner and condenser in the mistake of carrying
The problem of damage is be easy to cause in journey, the fixture include mounting base, the first clamping jaw, the second clamping jaw and guidance set, the first clamping jaw
It can be moved along the guidance set in mounting base with the second clamping jaw, to ensure that the first clamping jaw and the second clamping jaw can
Evaporator or condenser are accurately clamped along scheduled direction and position, avoids fixture during crawl to evaporator
Or the condenser pipe on condenser causes to damage, therefore, fixture of the invention by above-mentioned setting can accurately to air conditioner two-unit into
Row crawl, solves the problems, such as that air conditioner two-unit in the prior art is inconvenient to carry.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the structural schematic diagram of the embodiment of fixture according to the present invention；And
Fig. 2 shows the structural schematic diagrams of the first clamping jaw embodiment of present clip.
Wherein, the above drawings include the following reference numerals:
10, mounting base；20, the first clamping jaw；30, the second clamping jaw；40, guidance set；41, the first guide assembly；42, second
Guide assembly；51, the first driving cylinder；52, the second driving cylinder；511, the first floating junction；521, the second floating junction；
61, the first slide assemblies；62, the second slide assemblies；70, bolster；81, clamping plate；82, supporting plate.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
The present invention provides a kind of fixtures, and for grabbing the device on air-conditioning, as depicted in figs. 1 and 2, fixture includes: peace
Fill seat 10；First clamping jaw 20 and the second clamping jaw 30, the first clamping jaw 20 and the second clamping jaw 30 are movably disposed at mounting base relatively
With clamping or dispensing device on 10；Guidance set 40, guidance set 40 are arranged in mounting base 10, the first clamping jaw 20 and the second folder
Pawl 30 is connect with guidance set 40, is moved with the guide direction along guidance set 40.
Fixture of the invention mainly solves evaporator on air conditioner and condenser be easy to cause damage during carrying
The problem of hurting, the fixture include mounting base 10, the first clamping jaw 20, the second clamping jaw 30 and guidance set 40, the first clamping jaw 20 and
Two clamping jaws 30 can be moved along the guidance set 40 in mounting base 10, to ensure that the first clamping jaw 20 and the second clamping jaw
30 can accurately clamp evaporator or condenser along scheduled direction and position, and it is right during crawl to avoid fixture
Condenser pipe on evaporator or condenser causes to damage, therefore, fixture of the invention can be accurately to air-conditioning by above-mentioned setting
Two devices are grabbed, and solve the problems, such as that air conditioner two-unit in the prior art is inconvenient to carry.
Fixture further include: driving device, driving device are all connected with the first clamping jaw 20 and the second clamping jaw 30, to drive first
Clamping jaw 20 and the second clamping jaw 30 are mobile.Driving device includes: the first driving cylinder 51, the first driving cylinder 51 and the first clamping jaw 20
Connection, to drive the first clamping jaw 20 mobile；Second driving cylinder 52, the second driving cylinder 52 is connect with the second clamping jaw 30, to drive
Dynamic second clamping jaw 30 is mobile.First driving cylinder 51 and/or the second driving cylinder 52 are uniaxial cylinder.Fixture further include: first
Floating junction 511, the first driving cylinder 51 are connect with the first floating junction 511, to pass through the first floating junction 511 driving first
Clamping jaw 20 is mobile；Second floating junction 521, the second driving cylinder 52 is connect with the second floating junction 521, to float by second
Connector 521 drives the second clamping jaw 30 mobile.
As shown in Figure 1, the fixture in the present embodiment is equipped with driving device for driving the first clamping jaw 20 and the second clamping jaw 30
Moved along guidance set 40, specifically, driving device using two cylinders respectively with the first clamping jaw 20 and the second clamping jaw
30 are attached, and the first driving cylinder 51 and the second driving cylinder 52, the first driving cylinder 51 is for driving the first clamping jaw 20 to move
Dynamic, the second driving cylinder 52 is for driving the second clamping jaw 30 mobile, and the cylinder in the present embodiment is using uniaxial cylinder, uniaxial cylinder
Piston rod be equipped with floating junction, with clamping jaw elastic connection so that having a buffering when clamping jaw grabber piece, while gas
Stress between cylinder and clamping jaw is also buffered, and prevents fixture from causing device or cylinder impaired in grabber piece.
Guidance set 40 includes: the first guide assembly 41, and the first clamping jaw 20 is movably disposed at the first guide assembly 41
On；Second guide assembly 42, the second clamping jaw 30 are movably disposed on the second guide assembly 42；Wherein, driving device drives
First clamping jaw 20 is moved along the first guide assembly 41, and the second clamping jaw 30 is driven to move along the second guide assembly 42.Fixture also wraps
Include: the first slide assemblies 61, the first clamping jaw 20 are connect with the first slide assemblies 61, and movably by the first slide assemblies 61
It is arranged on the first guide assembly 41；Second slide assemblies 62, the second clamping jaw 30 are connect with the second slide assemblies 62, and pass through the
Two slide assemblies 62 are movably disposed on the second guide assembly 42.
As shown in Figure 1, the guidance set 40 in the present embodiment includes guide assembly and slide assemblies, with the first clamping jaw 20
For movement, the first guide assembly 41 includes two parallel guide rails, and the first slide assemblies 61 include two sliding blocks and connecting plate,
First clamping jaw 20 is attached with two sliding blocks respectively by two connecting plates, and two sliding blocks are arranged in two correspondingly leads
On rail, the first clamping jaw 20 is moved by sliding block along guide rail, and the second clamping jaw 30 is oppositely arranged with the first clamping jaw 20, movement
Principle is similar with the first clamping jaw 20.
First clamping jaw 20 and the second clamping jaw 30 are equipped with bolster 70 for the side of gripping element, the first clamping jaw 20 and the
Two clamping jaws 30 are respectively by corresponding bolster 70 and device contacts, to clamp device.Bolster 70 uses rubber or elasticity
Plastics or sponge material are made.
As shown in Fig. 2, grasping part is formed in the present embodiment between the first clamping jaw 20 and the second clamping jaw 30, the first clamping jaw 20
Be equipped with bolster 70 with the inside of the second clamping jaw 30, with when clamping the device on air-conditioning, can effectively to device and clamping jaw into
Row protection.
First clamping jaw 20 and the second clamping jaw 30 include: clamping plate 81, and clamping plate 81 is for clamping or dispensing device；Supporting plate 82,
Supporting plate 82 is arranged in 81 bottom of clamping plate, to hold device in 81 clamping device of clamping plate.
As shown in Fig. 2, the first clamping jaw 20 and the second clamping jaw 30 in the present embodiment are L-type, supporting plate 82 is vertically set on folder
The bottom of plate 81, when clamping plate 81 is when the horizontal direction to device is clamped, supporting plate 82 can play the role of lifting device,
So as to effectively prevent the device carried to fall problem in moving process.
The present invention also provides a kind of transfer robot, including fixture and mechanical arm, fixture is used to grab air-conditioning instrument, with
It is moved under the drive of mechanical arm, fixture is above-mentioned fixture.
Transfer robot is additionally provided in the present invention, transfer robot drives fixture to grab the steaming on air-conditioning by mechanical arm
It sends out device or condenser carries out stacking, save human cost, improve production efficiency.
It can be seen from the above description that the above embodiments of the present invention realized the following chievements:
The effect of each components: the effect of the first clamping jaw 20 and the second clamping jaw 30 is two devices of clamping；The effect of mounting base is
Robot and fixture and for installing cylinder and guide rail are connected, and connects robot support frame；The effect of driving device is to drive
Dynamic clamping jaw clamps the device on air-conditioning；Guidance set 40 guarantees the position precision that clamping cylinder is clamped and opened, and guarantees two devices not
Position deviation can be generated because cylinder shakes；The effect of first slide assemblies and the second slide assemblies is connection guide rail and folder
Plate, and share loading force；Floating junction increases the movable property of cylinder, improves the service life of cylinder；Bolster 70
Effect is to prevent from two devices to be pinched to damage；The effect of supporting plate is to prevent two devices from falling during high-speed cruising.
Action process: two devices on the conveyor line in place after, inductor senses two devices, to signal to robot, robot
Start to act the clamping point that fixture runs to two devices of clamping, driving device is initially located in open configuration, robot to two devices of clamping
Designated position after, driving device starts action drives the first clamping jaw 20 and the second clamping jaw 30 and clamps two devices to start to carry, machine
People in the handling process supporting plate support two devices move to designated position.Due to increasing guide rail, fixture clamping position ensure that
Consistency improves the position precision between 30 liang of components of the first clamping jaw 20 and the second clamping jaw, and the first guide assembly and
Two guide assemblies have shared most of loading force of cylinder, improve the service life of cylinder；Robot is in high-speed cruising process
In due to speed it is fast, two devices itself are heavier, only have the risk fallen by two device of chucking power of cylinder, therefore increase supporting plate to hold in the palm
Two devices prevent inclination even slide, improve the qualification rate of product, improve the stability of equipment, save labour, mention
High production efficiency.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each portion shown in attached drawing
The size divided not is to draw according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part of book.In shown here and discussion all examples, any occurrence should be construed as merely illustratively, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need that it is further discussed in figure.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
It must have a particular orientation or be constructed and operated in a specific orientation with the device or element for implying signified, therefore cannot manage
Solution is limiting the scope of the invention；The noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of invention protection scope.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (11)
1. a kind of fixture, for grabbing the device on air-conditioning, which is characterized in that the fixture includes:
Mounting base (10)；
First clamping jaw (20) and the second clamping jaw (30), first clamping jaw (20) and second clamping jaw (30) are relatively movably
It is arranged on the mounting base (10) to clamp or discharge the device；
Guidance set (40), the guidance set (40) are arranged on the mounting base (10), first clamping jaw (20) and institute
It states the second clamping jaw (30) to connect with the guidance set (40), with mobile along the guide direction of the guidance set (40).
2. fixture according to claim 1, which is characterized in that the fixture further include:
Driving device, the driving device is all connected with first clamping jaw (20) and second clamping jaw (30), to drive
It states the first clamping jaw (20) and second clamping jaw (30) is mobile.
3. fixture according to claim 2, which is characterized in that the driving device includes:
First driving cylinder (51), first driving cylinder (51) is connect with first clamping jaw (20), to drive described the
One clamping jaw (20) is mobile；
Second driving cylinder (52), second driving cylinder (52) is connect with second clamping jaw (30), to drive described the
Two clamping jaws (30) are mobile.
4. fixture according to claim 3, which is characterized in that first driving cylinder (51) and/or second drive
Cylinder (52) are taken offence as uniaxial cylinder.
5. fixture according to claim 3, which is characterized in that the fixture further include:
First floating junction (511), first driving cylinder (51) is connect with first floating junction (511), to pass through
First floating junction (511) drives first clamping jaw (20) mobile；
Second floating junction (521), second driving cylinder (52) is connect with second floating junction (521), to pass through
Second floating junction (521) drives second clamping jaw (30) mobile.
6. fixture according to claim 2, which is characterized in that the guidance set (40) includes:
First guide assembly (41), first clamping jaw (20) are movably disposed on first guide assembly (41)；
Second guide assembly (42), second clamping jaw (30) are movably disposed on second guide assembly (42)；
Wherein, it is mobile along first guide assembly (41) to drive first clamping jaw (20) for the driving device, and drives institute
It is mobile along second guide assembly (42) to state the second clamping jaw (30).
7. fixture according to claim 6, which is characterized in that the fixture further include:
First slide assemblies (61), first clamping jaw (20) connect with first slide assemblies (61), and pass through described the
One slide assemblies (61) are movably disposed on first guide assembly (41)；
Second slide assemblies (62), second clamping jaw (30) connect with second slide assemblies (62), and pass through described the
Two slide assemblies (62) are movably disposed on second guide assembly (42).
8. fixture according to claim 1, which is characterized in that first clamping jaw (20) and second clamping jaw (30) are used
It is equipped with bolster (70) in the side for clamping the device, first clamping jaw (20) and second clamping jaw (30) lead to respectively
The corresponding bolster (70) and the device contacts are crossed, to clamp the device.
9. fixture according to claim 8, which is characterized in that the bolster (70) using rubber or elastoplastic,
Or sponge material is made.
10. fixture according to claim 1, which is characterized in that first clamping jaw (20) and second clamping jaw (30)
Include:
Clamping plate (81), the clamping plate (81) is for clamping or discharging the device；
Supporting plate (82), supporting plate (82) setting is in the clamping plate (81) bottom, to clamp the device in the clamping plate (81)
When hold the device.
11. a kind of transfer robot, including fixture and mechanical arm, the fixture is for grabbing air-conditioning instrument, in the machinery
It is moved under the drive of arm, which is characterized in that the fixture is fixture described in any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811064425.3A CN109079838A (en) | 2018-09-12 | 2018-09-12 | Fixture and transfer robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811064425.3A CN109079838A (en) | 2018-09-12 | 2018-09-12 | Fixture and transfer robot with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109079838A true CN109079838A (en) | 2018-12-25 |
Family
ID=64841550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811064425.3A Pending CN109079838A (en) | 2018-09-12 | 2018-09-12 | Fixture and transfer robot with it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109079838A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587643A (en) * | 2019-10-18 | 2019-12-20 | 珠海格力智能装备有限公司 | Clamp and transfer robot |
| CN110722342A (en) * | 2019-11-08 | 2020-01-24 | 格力电器（武汉）有限公司 | A pipeline accessory erecting tool and rigging equipment for air conditioner |
| CN110815276A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Novel carrying manipulator |
| CN110817405A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Novel snatch and carry device |
| CN111300379A (en) * | 2019-11-05 | 2020-06-19 | 浙江省建工集团有限责任公司 | Servo transport guide rail assembly of truss |
| WO2021022805A1 (en) * | 2019-08-06 | 2021-02-11 | 南通跃通数控设备股份有限公司 | Whole-row carrying robot for strip-shaped wood |
| CN112407977A (en) * | 2020-11-26 | 2021-02-26 | 林房均 | Solid waste pretreatment device |
| CN112499228A (en) * | 2020-11-11 | 2021-03-16 | 珠海格力智能装备有限公司 | Combined clamp for air conditioner compressor and middle partition plate |
| CN113084404A (en) * | 2021-04-13 | 2021-07-09 | 珠海格力智能装备有限公司 | Clamp and robot with same |
| CN115722889A (en) * | 2022-11-29 | 2023-03-03 | 陕西法士特齿轮有限责任公司 | Shafting part transport hand claw and robot |
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| CN206527749U (en) * | 2016-12-30 | 2017-09-29 | 北京配天技术有限公司 | A kind of clamp for stacking |
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| JPH08155875A (en) * | 1994-12-07 | 1996-06-18 | Kikkoman Corp | Robot hand |
| CN205290992U (en) * | 2015-12-03 | 2016-06-08 | 无锡普天铁心股份有限公司 | Complete sequence core lamination robot tongs |
| CN106002970A (en) * | 2016-06-16 | 2016-10-12 | 美的集团武汉制冷设备有限公司 | Intelligent transfer fixture |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021022805A1 (en) * | 2019-08-06 | 2021-02-11 | 南通跃通数控设备股份有限公司 | Whole-row carrying robot for strip-shaped wood |
| CN110587643A (en) * | 2019-10-18 | 2019-12-20 | 珠海格力智能装备有限公司 | Clamp and transfer robot |
| CN110815276A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Novel carrying manipulator |
| CN110817405A (en) * | 2019-11-05 | 2020-02-21 | 浙江省建工集团有限责任公司 | Novel snatch and carry device |
| CN111300379A (en) * | 2019-11-05 | 2020-06-19 | 浙江省建工集团有限责任公司 | Servo transport guide rail assembly of truss |
| CN110722342A (en) * | 2019-11-08 | 2020-01-24 | 格力电器（武汉）有限公司 | A pipeline accessory erecting tool and rigging equipment for air conditioner |
| CN112499228A (en) * | 2020-11-11 | 2021-03-16 | 珠海格力智能装备有限公司 | Combined clamp for air conditioner compressor and middle partition plate |
| CN112407977A (en) * | 2020-11-26 | 2021-02-26 | 林房均 | Solid waste pretreatment device |
| CN112407977B (en) * | 2020-11-26 | 2022-12-06 | 福州市福化环保科技有限公司 | Application of solid waste pretreatment device |
| CN113084404A (en) * | 2021-04-13 | 2021-07-09 | 珠海格力智能装备有限公司 | Clamp and robot with same |
| CN115722889A (en) * | 2022-11-29 | 2023-03-03 | 陕西法士特齿轮有限责任公司 | Shafting part transport hand claw and robot |
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Application publication date: 20181225 |