CN109877867A - Fixture and robot with it - Google Patents
Fixture and robot with it Download PDFInfo
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- CN109877867A CN109877867A CN201910331748.2A CN201910331748A CN109877867A CN 109877867 A CN109877867 A CN 109877867A CN 201910331748 A CN201910331748 A CN 201910331748A CN 109877867 A CN109877867 A CN 109877867A
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- sandwiched
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- fixture
- support frame
- interconnecting piece
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Abstract
The present invention provides a kind of fixture and with its robot, fixture is for clamping workpiece, comprising: support frame；Sandwiched component, sandwiched component are two, and two sandwiched components connect and are oppositely arranged with support frame, and two sandwiched components are movably disposed with respect to support frame along the first preset direction, to move toward one another or back movement；Wherein, sandwiched component includes interconnecting piece and interposed unit, and interconnecting piece is connect with support frame, and interposed unit and interconnecting piece are connected far from one end of support frame, and at least partly opposing connections of interposed unit are movably disposed along the first preset direction.Fixture of the invention solves the problems, such as fixture narrow scope of application in the prior art.
Description
Technical field
The present invention relates to field of fixtures, in particular to a kind of fixture and with its robot.
Background technique
Condenser is the parts of refrigeration system, belongs to one kind of heat exchanger, gas or steam can be changed into liquid, will managed
Heat in son is conducted in a manner of cracking in air near pipe.It is whether qualified for detection condenser, it usually needs to carry out
Leak test, as helium is examined.
Currently, due to the particularity of air-conditioning condenser structure, also, the size range of the picked up workpiece of existing fixture compared with
It is small and multiple condensers can not be clamped, therefore be difficult to carry out clamping carrying to condenser with existing fixture, it is examined in the helium of condenser
In process, or case, large labor intensity, low efficiency are removed in artificial progress helium inspection.
Summary of the invention
The main purpose of the present invention is to provide a kind of fixture and with its robot, to solve folder in the prior art
Has the problem of narrow scope of application.
To achieve the goals above, according to an aspect of the invention, there is provided a kind of fixture is wrapped for clamping workpiece
It includes: support frame；Sandwiched component, sandwiched component are two, and two sandwiched components connect and are oppositely arranged with support frame, two folders
If component is movably disposed with respect to support frame along the first preset direction, to move toward one another or back movement；Wherein, sandwiched component
Including interconnecting piece and interposed unit, interconnecting piece is connect with support frame, and interposed unit and interconnecting piece are connected far from one end of support frame, sandwiched
At least partly opposing connections in portion are movably disposed along the first preset direction.
Further, interposed unit includes sandwiched plate and first driving device, and first driving device is mounted on interconnecting piece, the
One driving device and sandwiched plate are drivingly connected, to drive sandwiched plate mobile.
Further, interposed unit is at least partially provided with the first elastic component, to pass through in interposed unit sandwiched workpiece
First elastic component is contacted with workpiece.
It further, include the first end face and second end face being oppositely arranged along first the first elastic component of preset direction, the
For being fitted and connected with sandwiched plate, second end face is obliquely installed with respect to first end face direction for one end face；First elastic component also has
The third end face and the 4th end face being oppositely arranged, third end face are located at the first elastic component close to one end of interconnecting piece, in advance along first
Width of the width of set direction third end face less than the 4th end face.
Further, interconnecting piece includes connection riser and the first connection transverse slat, and the one end for connecting riser is connect with support frame,
One end of first connection transverse slat connects transverse slat court with one end connection of the riser far from support frame, the first of a sandwiched component is connect
Extend to another sandwiched component；Wherein, first driving device setting is on the first connection transverse slat.
Further, sandwiched component further include: fixation clip, fixation clip are adjustable along the extending direction position of sandwiched component
Save land setting, to be pressed on workpiece when interposed unit clamps workpiece.
Further, sandwiched component further include: pressing plate fixed part is arranged on interconnecting piece；Connecting rod, connecting rod and pressing plate
Fixed part connects and opposing platen fixed part is movably disposed, and one end of connecting rod is connect with fixation clip；Second elastic component,
It is set in connecting rod and between pressing plate fixed part and fixation clip.
Further, fixation clip is provided with third elastic component far from one end of interconnecting piece, to be pressed in fixation clip
It is contacted by third elastic component with workpiece when on workpiece.
Further, fixture further include: transmission component, transmission component are sequentially connected with two sandwiched components, to drive
Two sandwiched components are mobile；Two sandwiched components include the first sandwiched component and the second sandwiched component, and transmission component includes first
Turn-screw and the first transmission nut, the first transmission nut are connect with the first sandwiched component, and the first turn-screw and support frame connect
It connects, the first transmission nut is set on the first turn-screw；Transmission component further includes the second turn-screw and the second transmission nut,
Second transmission nut is connect with the second sandwiched component, and the second turn-screw is connect with support frame, and the second transmission nut is set in
On two turn-screws；Wherein, the first turn-screw can be rotatably set, and the second turn-screw and the first turn-screw pass through shaft coupling
Device connection, the thread rotary orientation of the first turn-screw are opposite with the thread rotary orientation of the second turn-screw.
According to another aspect of the present invention, a kind of robot, including fixture are provided, wherein fixture is above-mentioned fixture.
Fixture of the invention is particularly suitable for clamping condenser, the sandwiched component of the fixture can phase for clamping workpiece
To movement or back movement, to clamp or discharge workpiece, also, the sandwiched component includes interconnecting piece and interposed unit, interposed unit
At least partly opposing connections are movably disposed along the first preset direction.It is such to be arranged so that fixture is along the first preset direction
Clamping range increase, and by be arranged interconnecting piece make interposed unit to the distance between support frame become larger (i.e. edge perpendicular to
The direction clamping range of first preset direction increases), and then make fixture that can clamp larger-size workpiece, increase the suitable of fixture
With range, production efficiency is improved.
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；
Fig. 2 shows the front views of the embodiment of fixture according to the present invention；
Fig. 3 shows the side view of the embodiment of fixture according to the present invention；
Fig. 4 shows the top view of the embodiment of fixture according to the present invention.
Wherein, the above drawings include the following reference numerals:
30, support frame；31, sandwiched component；311, interconnecting piece；312, interposed unit；313, sandwiched plate；314, the first driving dress
It sets；315, the first elastic component；316, riser is connected；317, the first connection transverse slat；318, the second connection transverse slat；319, the first loss of weight
Hole；320, the second lightening hole；32, fixation clip；321, third elastic component；33, pressing plate fixed part；34, connecting rod；35, second
Elastic component；36, transmission component；361, the first turn-screw；362, the first transmission nut；363, the second turn-screw；364,
Two transmission nuts；365, the second driving device；37, connecting flange；381, electrical appliance kit；382, the first drag chain；383, the second drag chain；
384, solenoid valve；391, the second sliding block；392, third sliding block；393, the second guide rail；394, third guide rail.
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.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
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.
The present invention provides a kind of fixtures, and please refer to figs. 1 to 4, for clamping workpiece, comprising: support frame 30；Interposed unit
Part 31, sandwiched component 31 are two, and two sandwiched components 31 connect and are oppositely arranged with support frame 30, two sandwiched components 31
Opposite support frame 30 is movably disposed along the first preset direction, to move toward one another or back movement；Wherein, sandwiched component 31 wraps
Interconnecting piece 311 and interposed unit 312 are included, interconnecting piece 311 is connect with support frame 30, and interposed unit 312 and interconnecting piece 311 are far from support frame
30 one end connection, at least partly opposing connections 311 of interposed unit 312 are movably disposed along the first preset direction.
Fixture of the invention is particularly suitable for clamping condenser for clamping workpiece, and the sandwiched component 31 of the fixture can be with
It moves toward one another or back movement, to clamp or discharge workpiece, also, the sandwiched component 31 includes interconnecting piece 311 and interposed unit
312, at least partly opposing connections 311 of interposed unit 312 are movably disposed along the first preset direction.It is such setting so that
Fixture increases along the clamping range of the first preset direction, and makes interposed unit 312 to support frame 30 by the way that interconnecting piece 311 is arranged
The distance between become larger and (increase along the direction clamping range perpendicular to the first preset direction), and then make fixture that can clamp size
Biggish workpiece increases the scope of application of fixture, improves production efficiency.
Wherein, which can clamp multiple workpiece simultaneously, improve production efficiency.When workpiece is condenser, condenser
Two be oppositely arranged with installation heat exchanger tube install end face, the first condenser end face that condenser is also oppositely arranged and the
Two condenser end faces, the third condenser end face and the 4th condenser end face being also oppositely arranged, wherein the first condenser end face
Area be greater than third condenser end face, sandwiched component 31 is used to clamp third condenser end face and the 4th condenser of condenser
End face, fixation clip 32 are pressed on the first condenser end face or the second condenser end face.
In order to realize the movement of sandwiched plate 313, interposed unit 312 includes sandwiched plate 313 and first driving device 314, and first
Driving device 314 is mounted on interconnecting piece 311, and first driving device 314 and sandwiched plate 313 are drivingly connected, to drive sandwiched plate
313 is mobile.Wherein, sandwiched plate 313 is located at the lower section of interconnecting piece 311.
Preferably, first driving device 314 is cylinder.
In order to mitigate the weight of fixture, mitigates the load of robot, the second lightening hole 320 is offered on sandwiched plate 313.
In the present embodiment, interposed unit 312 is at least partially provided with the first elastic component 315, to press from both sides in interposed unit 312
If being contacted by the first elastic component 315 with workpiece when workpiece.Such clamping workpiece that is set as provides enough frictional force, protects
The biggish grasp force to workpiece is demonstrate,proved, and it is not frayed to can protect workpiece.
Preferably, the first elastic component 315 is excellent power glue, also known as polyurethane PU elastomer.
When it is implemented, including the first end face and second end being oppositely arranged along first the first elastic component of preset direction 315
Face, for being fitted and connected with sandwiched plate 313, second end face is obliquely installed first end face with respect to first end face direction；First elasticity
Part 315 also has the third end face and the 4th end face being oppositely arranged, and third end face is located at the first elastic component 315 close to interconnecting piece
311 one end, along the first preset direction third end face width less than the 4th end face width.Such setting is further ensured that
To the biggish grasp force of workpiece, so that fixture is more reliable in crawl transportational process.
Preferably, the first elastic component 315 is wedge structure.
In the present embodiment, interconnecting piece 311 includes connection riser 316 and the first connection transverse slat 317, connects riser 316
One end is connect with support frame 30, first connection transverse slat 317 one end with connect riser 316 far from support frame 30 one end connection,
First connection transverse slat 317 of one sandwiched component 31 extends towards another sandwiched component 31；Wherein, first driving device 314
Setting is on the first connection transverse slat 317.
In order to mitigate the weight of fixture, mitigate the load of robot, interconnecting piece 311 (can be connection riser 316, first
Connection transverse slat 317 and second connection transverse slat 318) on offer the first lightening hole 319.
In the present embodiment, interconnecting piece 311 further includes the second connection transverse slat 318, one end of the second connection transverse slat 318 and company
One end connection of the riser 316 far from the first connection transverse slat 317 is connect, is provided with the second sliding block 391 and the on the second connection transverse slat 318
Three sliding blocks 392, support frame 30 include the second guide rail 393 and third guide rail 394, and the second guide rail 393 and third guide rail 394 are set relatively
It sets, the second sliding block 391 matches with the second guide rail 393, and the second sliding block 391 is fastened on the second guide rail 393 and along the second guide rail
393 slidings；Third sliding block 392 matches with third guide rail 394, and third sliding block 392 is fastened on third guide rail 394 and along third
Guide rail 394 slides.
In the present embodiment, sandwiched component 31 further includes fixation clip 32, extension of the fixation clip 32 along sandwiched component 31
Direction position is adjustably arranged, to be pressed on workpiece when interposed unit 312 clamps workpiece.Such setting can be second
The fixation to workpiece is realized on preset direction, wherein the second preset direction and the first preset direction are perpendicular.
When it is implemented, sandwiched component 31 further include: pressing plate fixed part 33 is arranged on interconnecting piece 311；Connecting rod 34,
Connecting rod 34 is connect with pressing plate fixed part 33 and opposing platen fixed part 33 is movably disposed, one end of connecting rod 34 and fixation
Pressing plate 32 connects；Second elastic component 35, is set in connecting rod 34 and between pressing plate fixed part 33 and fixation clip 32.
When it is implemented, pressing plate fixed part 33 is arranged on the first connection transverse slat 317 and is located at the first connection transverse slat 317
Lower section.
In the present embodiment, fixation clip 32 is provided with third elastic component 321 far from one end of interconnecting piece 311, solid
It is contacted by third elastic component 321 with workpiece when fixed pressuring plate 32 is pressed on workpiece.Such clamping workpiece that is set as provides
Enough frictional force guarantees that workpiece does not shift, and it is not frayed to can protect workpiece.
In order to realize that two sandwiched components 31 move toward one another or back movement, fixture further include transmission component 36, transmission group
Part 36 is sequentially connected with two sandwiched components 31, to drive two sandwiched components 31 mobile.
When it is implemented, transmission component 36 is arranged between the second guide rail 393 and third guide rail 394.
When it is implemented, two sandwiched components 31 include the first sandwiched component and the second sandwiched component, transmission component 36 is wrapped
The first turn-screw 361 and the first transmission nut 362 are included, the first transmission nut 362 is connect with the first sandwiched component, the first transmission
Lead screw 361 is connect with support frame 30, and the first transmission nut 362 is set on the first turn-screw 361；Transmission component 36 further includes
Second turn-screw 363 and the second transmission nut 364, the second transmission nut 364 are connect with the second sandwiched component, the second driving wire
Thick stick 363 is connect with support frame 30, and the second transmission nut 364 is set on the second turn-screw 363；Wherein, the first turn-screw
361 can be rotatably set, and the second turn-screw 363 is connect with the first turn-screw 361 by shaft coupling, the first turn-screw
361 thread rotary orientation is opposite with the thread rotary orientation of the second turn-screw 363.Two sandwiched components 31 may be implemented in such setting
It moves simultaneously and movement is opposite.
In the present embodiment, the second driving device 365 is arranged on support frame 30, and the second driving device 365 and first passes
Dynamic lead screw 361 is drivingly connected, to drive the rotation of the first turn-screw 361.Preferably, the second driving device 365 is servo motor.
In the present embodiment, fixture further includes electrical appliance kit 381, and electrical appliance kit 381 is arranged on support frame 30, electrical appliance kit 381
For accommodating cable.
In the present embodiment, fixture further includes the first drag chain 382 and the second drag chain 383, the first drag chain 382 and the second drag chain
383 connect with support frame 30, are used for cabling.
In the present embodiment, fixture further includes solenoid valve 384, and the setting of solenoid valve 384 is connected to first driving device 314
Gas circuit on, to control the on-off of gas circuit.
In order to realize that fixture is connect with robot, fixture further includes connecting flange 37, one end of connecting flange 37 be used for
Robot connection, the other end of connecting flange 37 are connect with support frame 30.
By the way of fixture of the invention is pressed from both sides using side, drives sandwiched plate 313 to clamp condenser from side with three axis cylinders, press from both sides
If plate 313 loads onto the fin contacts of excellent power glue and condenser above.
Beneficial effects of the present invention:
1, the fixture has connecting flange 37, can be attached with robot.
2, the fixture completes the clamping of condenser using screw rod transmission and the cooperation of three axis cylinders and relieving acts, and is suitable for each
The various sizes of condenser of kind, use scope is wide, and clamping is reliable.
3, the excellent power glue of contact portion use wedge shape with condenser of the fixture, it is ensured that chucking power is uniformly reliable.
4, the fixture can once clamp multiple condensers, can significantly improve efficiency.
Case movement is removed in the helium inspection that the fixture is mainly used for air-conditioning condenser, enables air-conditioning condenser according to set direction
It is sent into set position using robot and sends out helium inspection performance box.The helium inspection of air-conditioning condenser removes casing working and is originally pure craft
Operation, labor intensity are high.
By the way of the fixture presss from both sides air-conditioning condenser using side, sandwiched plate 313 is driven to clamp air-conditioning from side with three axis cylinders
Condenser, sandwiched plate 313 load onto the fin contacts of excellent power glue and condenser device above, then fixture under the drive of robot,
Air-conditioning condenser be placed into helium inspection equipment seal box inside go, the fixture the double-deck L-type air-conditioning condenser can be moved in or
Move out helium inspection equipment.
The present invention also provides a kind of robots, including fixture, wherein fixture is the fixture in above-described embodiment.
It can be seen from the above description that the above embodiments of the present invention realized the following chievements:
Fixture of the invention is particularly suitable for clamping condenser for clamping workpiece, and the sandwiched component 31 of the fixture can be with
It moves toward one another or back movement, to clamp or discharge workpiece, also, the sandwiched component 31 includes interconnecting piece 311 and interposed unit
312, at least partly opposing connections 311 of interposed unit 312 are movably disposed along the first preset direction.It is such setting so that
Fixture increases along the clamping range of the first preset direction, and makes interposed unit 312 to support frame 30 by the way that interconnecting piece 311 is arranged
The distance between become larger and (increase along the direction clamping range perpendicular to the first preset direction), and then make fixture that can clamp size
Biggish workpiece increases the scope of application of fixture, improves production efficiency.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units not
Those of be necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for these processes, side
The intrinsic other step or units of method, product or equipment.
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.
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 (10)
1. a kind of fixture, for clamping workpiece characterized by comprising
Support frame (30)；
Sandwiched component (31), the sandwiched component (31) are two, and two sandwiched components (31) are and support frame as described above
(30) it connects and is oppositely arranged, two sandwiched components (31) are removable along the first preset direction with respect to support frame as described above (30)
Ground setting, to move toward one another or back movement；
Wherein, the sandwiched component (31) includes interconnecting piece (311) and interposed unit (312), the interconnecting piece (311) and the branch
Support (30) connection, the interposed unit (312) connect with the interconnecting piece (311) far from the one end of support frame as described above (30), institute
At least partly relatively described interconnecting piece (311) for stating interposed unit (312) is movably disposed along the first preset direction.
2. fixture according to claim 1, which is characterized in that the interposed unit (312) includes sandwiched plate (313) and first
Driving device (314), the first driving device (314) are mounted on the interconnecting piece (311), the first driving device
(314) it is drivingly connected with the sandwiched plate (313), to drive the sandwiched plate (313) mobile.
3. fixture according to claim 2, which is characterized in that the interposed unit (312) is at least partially provided with
One elastic component (315), to pass through first elastic component (315) and the workpiece in the interposed unit (312) sandwiched workpiece
Contact.
4. fixture according to claim 3, which is characterized in that along the first elastic component described in first preset direction
It (315) include the first end face and second end face being oppositely arranged, the first end face is used for and sandwiched plate (313) company of fitting
It connects, the relatively described first end face direction of the second end face is obliquely installed；First elastic component (315), which also has, to be oppositely arranged
Third end face and the 4th end face, the third end face is located at first elastic component (315) close to the interconnecting piece (311)
One end is less than the width of the 4th end face along the width of third end face described in first preset direction.
5. fixture according to claim 2, which is characterized in that the interconnecting piece (311) includes connection riser (316) and the
One end of one connection transverse slat (317), connection riser (316) is connect with support frame as described above (30), the first connection transverse slat
(317) one end and connection riser (316) is connected far from the one end of support frame as described above (30), a sandwiched component
(31) first connection transverse slat (317) extends towards sandwiched component (31) described in another；
Wherein, first driving device (314) setting is in first connection transverse slat (317).
6. fixture according to claim 1, which is characterized in that the sandwiched component (31) further include:
Fixation clip (32), the fixation clip (32) along the sandwiched component (31) extending direction position-adjustable set
It sets, to be pressed on the workpiece when the interposed unit (312) clamp the workpiece.
7. fixture according to claim 6, which is characterized in that the sandwiched component (31) further include:
Pressing plate fixed part (33) is arranged on the interconnecting piece (311)；
Connecting rod (34), the connecting rod (34) connect with the pressing plate fixed part (33) and the relatively described pressing plate fixed part (33)
It is movably disposed, one end of the connecting rod (34) is connect with the fixation clip (32)；
Second elastic component (35) is set on the connecting rod (34) and is located at the pressing plate fixed part (33) and the fixed pressure
Between plate (32).
8. fixture according to claim 6, which is characterized in that the fixation clip (32) is far from the interconnecting piece (311)
One end be provided with third elastic component (321), to pass through described the when the fixation clip (32) is pressed on the workpiece
Three elastic components (321) are contacted with the workpiece.
9. fixture according to claim 1, which is characterized in that the fixture further include:
Transmission component (36), the transmission component (36) are sequentially connected with two sandwiched components (31), to drive two
The sandwiched component (31) is mobile；Two sandwiched components (31) include the first sandwiched component and the second sandwiched component, the transmission
Component (36) include the first turn-screw (361) and the first transmission nut (362), first transmission nut (362) with it is described
The connection of first sandwiched component, first turn-screw (361) connect with support frame as described above (30), first transmission nut
(362) it is set on first turn-screw (361)；The transmission component (36) further include the second turn-screw (363) and
Second transmission nut (364), second transmission nut (364) connect with the second sandwiched component, second driving wire
Thick stick (363) is connect with support frame as described above (30), and second transmission nut (364) is set in second turn-screw (363)
On；
Wherein, first turn-screw (361) can be rotatably set, and second turn-screw (363) and described first passes
Dynamic lead screw (361) are connected by shaft coupling, the thread rotary orientation and second turn-screw of first turn-screw (361)
(363) thread rotary orientation is opposite.
10. a kind of robot, including fixture, which is characterized in that the fixture folder as claimed in any one of claims 1 to 9
Tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910331748.2A CN109877867A (en) | 2019-04-23 | 2019-04-23 | Fixture and robot with it |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910331748.2A CN109877867A (en) | 2019-04-23 | 2019-04-23 | Fixture and robot with it |
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| CN109877867A true CN109877867A (en) | 2019-06-14 |
Family
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110587643A (en) * | 2019-10-18 | 2019-12-20 | 珠海格力智能装备有限公司 | Clamp and transfer robot |
| CN111438507A (en) * | 2020-04-14 | 2020-07-24 | 中车青岛四方车辆研究所有限公司 | Automatic feeding and discharging device, automatic assembling system and method for retaining ring capsules |
| CN112692853A (en) * | 2020-12-10 | 2021-04-23 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN112830233A (en) * | 2020-12-30 | 2021-05-25 | 珠海格力智能装备有限公司 | Anchor clamps and window machine air conditioner production line |
| CN113910283A (en) * | 2021-10-11 | 2022-01-11 | 广州明珞装备股份有限公司 | Clamping device |
| WO2022198967A1 (en) * | 2021-03-21 | 2022-09-29 | 青岛海尔智能技术研发有限公司 | Clamping device for use in clothes-folding machine, and clothes-folding machine |
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| CN103507073A (en) * | 2012-11-23 | 2014-01-15 | 北京理工大学 | Mechanical arm applied to optical jukebox |
| CN203611254U (en) * | 2013-12-20 | 2014-05-28 | 杭州远方光电信息股份有限公司 | Mechanical grabbing device |
| US20150246445A1 (en) * | 2014-02-28 | 2015-09-03 | Liebherr-Verzahntechnik Gmbh | Handling apparatus |
| CN205045479U (en) * | 2015-10-22 | 2016-02-24 | 广州博澳斯电器有限公司 | Refrigerator -freezer box hold anchor clamps tightly |
| CN208163665U (en) * | 2018-04-08 | 2018-11-30 | 珠海市运泰利自动化设备有限公司 | A kind of adaptable and high operating accuracy handgrip mechanism |
| CN208215376U (en) * | 2018-05-12 | 2018-12-11 | 无锡先导智能装备股份有限公司 | Grabbing device |
| CN109132566A (en) * | 2018-09-27 | 2019-01-04 | 珠海格力智能装备有限公司 | Fixture |
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| CN111438507A (en) * | 2020-04-14 | 2020-07-24 | 中车青岛四方车辆研究所有限公司 | Automatic feeding and discharging device, automatic assembling system and method for retaining ring capsules |
| CN111438507B (en) * | 2020-04-14 | 2021-07-20 | 中车青岛四方车辆研究所有限公司 | Automatic feeding and discharging device, automatic assembling system and method for retaining ring capsules |
| CN112692853A (en) * | 2020-12-10 | 2021-04-23 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN112830233A (en) * | 2020-12-30 | 2021-05-25 | 珠海格力智能装备有限公司 | Anchor clamps and window machine air conditioner production line |
| WO2022198967A1 (en) * | 2021-03-21 | 2022-09-29 | 青岛海尔智能技术研发有限公司 | Clamping device for use in clothes-folding machine, and clothes-folding machine |
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| CN113910283B (en) * | 2021-10-11 | 2023-08-04 | 广州明珞装备股份有限公司 | Clamping device |
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