CN110328683A - A kind of clamp device of intellect service robot - Google Patents
A kind of clamp device of intellect service robot Download PDFInfo
- Publication number
- CN110328683A CN110328683A CN201910728395.XA CN201910728395A CN110328683A CN 110328683 A CN110328683 A CN 110328683A CN 201910728395 A CN201910728395 A CN 201910728395A CN 110328683 A CN110328683 A CN 110328683A
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- firmly connected
- fixed
- push rod
- plate
- article
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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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of clamp devices of intellect service robot, including fixed plate, the upside of the fixed plate is equipped with the connector sleeve being firmly connected with it, the downside of the fixed plate is equipped with the first fixed link and the second fixed link being firmly connected with it, first fixed link is equipped with the U-shaped frame being firmly connected with it far from one end of fixed plate, the lower end of the U-shaped frame is equipped with the connecting plate being firmly connected with it, the vertical direction of the connecting plate is set there are three through-hole, and the rotating bar being rotatablely connected with it is equipped in the through-hole.The advantage of the invention is that design is multiple for clamping the clamp device of article, to the article for having corner angle, article is clamped by gripper jaw, the first auxiliary stopper device is added on gripper jaw simultaneously, the ability of gripper jaw clamping article is improved, while adding air bag on gripper jaw, so that in the higher article of clamping surface quality requirement, it is contacted by air bag with article, reduces damage of the gripper jaw to article surface.
Description
Technical field
The present invention relates to a kind of clamping of intellect service robot technical field more particularly to intellect service robot dresses
It sets.
Background technique
With the development of science and technology, various robots are developed, and are replaced manual operation by robot, are engaged in
The work of some risk, intellect service robot is mainly that there are many intelligent equipments that high-tech integrates, in many industries
It is applied；
In industrial processes, need to carry article, but since requirement when article clamps is different, if any
Article be containing corner angle, some articles have been free from corner angle, while the quality requirement of article surface is not also identical, some articles
, cannot be in article surface there are marking etc. it is required that when clamping, the article of article of different shapes, different surfaces quality requirement, with
And different quality article clamp when, to the more demanding of clamping device, existing intellect service robot when clamping article,
Since clamping device is single, it is unable to satisfy the clamping of the article to different clamping requirements, if article is from clamping in carrying
It is fallen in device, will lead to article damage, cause economic loss.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, such as: requirement when due to article clamping is not
One, if any article be containing corner angle, some articles have been free from corner angle, while the quality requirement of article surface is not also identical,
, cannot be in article surface there are marking etc. when some article requirements clamp, article of different shapes, different surfaces quality requirement
When the article of article and different quality clamps, to the more demanding of clamping device, existing intellect service robot is being clamped
When article, since clamping device is single, it is unable to satisfy the clamping of the article to different clamping requirements, if the article in carrying
It is fallen from clamping device, will lead to article damage, a kind of clamping for the intellect service robot for causing economic loss, and proposing
Device.
To achieve the goals above, present invention employs following technical solutions:
A kind of clamp device of intellect service robot, including fixed plate, the upside of the fixed plate, which is equipped with, to be secured to
The connector sleeve of connection, the downside of the fixed plate are equipped with the first fixed link and the second fixed link being firmly connected with it, and described the
One fixed link is equipped with the U-shaped frame being firmly connected with it far from one end of fixed plate, and the lower end of the U-shaped frame is equipped with the company of being secured to
The connecting plate connect, the vertical direction of the connecting plate are set there are three through-hole, and the rotation being rotatablely connected with it is equipped in the through-hole
Bar；
The lateral wall of the rotating bar is equipped with the first supporting rod being firmly connected with it, and first supporting rod, which is located at, to be connected
The downside of fishplate bar, the lower end of first supporting rod are equipped with the second supporting rod being firmly connected with it, the second supporting rod phase
To side be equipped with the grip block that is firmly connected with it, be additionally provided with the transmission being firmly connected with it on the lateral wall of the rotating bar
Plate, the side of the driver plate are equipped with driving hole, and it is electronic that the upside of the connecting plate is equipped with the first push rod being firmly connected with it
The output shaft of machine, the first push rod motor is plugged in driving hole, and it is electronic that the diameter of the driving hole is greater than the first push rod
The output shaft diameter of machine；
Second supporting rod is equipped with the first fixed case for being firmly connected with it far from one end of the first supporting rod, and described the
The first limiting device is equipped in one fixed case, the lower end of second fixed link is equipped with the clamping cylinder being firmly connected with it, described
It clamps and is symmetrically arranged with the first connecting rod being firmly connected with it on the lateral wall of cylinder, the outer other end of the first connecting rod is equipped with
The second connecting rod being firmly connected with it, the lower end of second connecting rod are equipped with the second limiting device being firmly connected with it.
Preferably, the side of the grip block is equipped with connecting hole, is equipped with air bag in the connecting hole, the grip block it is another
Side is equipped with the air pump being firmly connected with it, and one end of the air pump is connected to air bag.
Preferably, first limiting device is pushed away by oil cylinder, the first stripper plate, the second stripper plate, the first block and second
Bar motor is equipped with the oil cylinder being firmly connected with it in first fixed case, is equipped in the oil cylinder and is slidably connected with it
First stripper plate and the second stripper plate, first stripper plate are located at the side of the second stripper plate, first stripper plate and
Hydraulic oil is equipped between two stripper plates.
Preferably, one end inner sidewall of first fixed case is equipped with the second push rod motor being firmly connected with it,
The output shaft of the second push rod motor passes through one end side wall of oil cylinder and is fixedly connected with the side of the first stripper plate, described
The other end of first fixed case is inserted with the first block being slidably connected with it, and one end of first block passes through the one of oil cylinder
End side wall is simultaneously fixedly connected with the side of the second stripper plate.
Preferably, second limiting device is by the second fixed case, electromagnet, baffle, push rod, the second block and group of magnets
In groups at equipped with the connection ring being slidably connected with it in second fixed case, interior be equipped with of the connection ring is firmly connected with it
Electromagnet, the baffle being firmly connected with it is equipped in second fixed case, the baffle is located at the left side of connection ring, described
The horizontal direction of baffle runs through the push rod for being equipped with and being slidably connected with it, and one end of the push rod is fixedly connected with electromagnet, described
The opposite one end of second fixed case is inserted with the second block being slidably connected with it, the other end of the push rod and the second block
Side is fixedly connected.
Preferably, the fixed block being firmly connected with it is symmetrically arranged on the lateral wall of the push rod, the fixed block is located at
Between baffle and electromagnet, the spring being slidably connected with it is also socketed on the push rod, the spring is located at baffle and fixation
Between block, the inner sidewall of second fixed case one end is equipped with the magnet being firmly connected with it, the magnet and electromagnet position
In in same horizontal line.
Compared with prior art, the beneficial effects of the present invention are:
1, multiple clamp devices for being used to clamp article are designed first, to the article for there are corner angle, by gripper jaw to article
It is clamped, while adding the first auxiliary stopper device on gripper jaw, improved the ability of gripper jaw clamping article, clamp simultaneously
Air bag is added on pawl, so that contacting by air bag with article in the higher article of clamping surface quality requirement, reduces gripper jaw
Damage to article surface；
2, secondly the article of not corner angle clamps article by clamping cylinder, by being added on clamping cylinder
Second auxiliary stopper device limits the lower end for clamping article in cylinder, to realize the pickup to article.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the clamp device of intellect service robot proposed by the present invention；
Fig. 2 is the structural schematic diagram in Fig. 1 at A；
Fig. 3 is the structural schematic diagram in Fig. 1 at B.
In figure: 1 fixed plate, 2 connector sleeves, 3 first fixed links, 4U shape frame, 5 connecting plates, 6 rotating bars, 7 first supporting rods, 8
Second supporting rod, 9 driver plates, 10 first push rod motor, 11 grip blocks, 12 air pumps, 13 air bags, 14 first fixed cases, 15 oil
Cylinder, 16 first stripper plates, 17 second stripper plates, 18 first blocks, 19 second push rod motor, 20 second fixed links, 21 clamp
Cylinder, 22 first connecting rods, 23 second connecting rods, 24 second fixed cases, 25 connection rings, 26 electromagnet, 27 baffles, 28 push rods, 29
Fixed block, 30 springs, 31 second blocks, 32 magnet.
Specific embodiment
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 description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
Referring to Fig.1-3, a kind of clamp device of intellect service robot, including fixed plate 1, the upside of fixed plate 1 are equipped with
The connector sleeve 2 being firmly connected with it, the downside of fixed plate 1 are equipped with the first fixed link 3 and the second fixed link that are firmly connected with it
20, the first fixed link 3 is equipped with the U-shaped frame 4 being firmly connected with it far from one end of fixed plate 1, and the lower end of U-shaped frame 4 is equipped with and it
The connecting plate 5 being fixedly connected, the vertical direction of connecting plate 5 are set there are three through-hole, and the angle between three through-holes is 120 °, through-hole
In be equipped with the rotating bar 6 that is rotatablely connected with it, the lateral wall of rotating bar 6 is equipped with the first supporting rod 7 being firmly connected with it, the
One supporting rod 7 is located at the downside of connecting plate 5, and the lower end of the first supporting rod 7 is equipped with the second supporting rod 8 being firmly connected with it, the
The opposite side of two supporting rods 8 is equipped with the grip block 11 being firmly connected with it；
The side of grip block 11 is equipped with connecting hole, is equipped with air bag 13 in connecting hole, the other side of grip block 11 is equipped with and it
One end of the air pump 12 being fixedly connected, air pump 12 is connected to air bag 13, is inflated by air pump 12 to air bag 13, so that air bag 13 is swollen
The swollen connecting hole from grip block 11 stretches out, so that passing through air bag when the article for needing Surface Quality more demanding clamps
13 directly contact instead of grip block 11 with article, so that the surface of article be avoided to be pinched；
The driver plate 9 being firmly connected with it is additionally provided on the lateral wall of rotating bar 6, the side of driver plate 9 is equipped with driving hole,
The upside of connecting plate 5 is equipped with the first push rod motor 10 being firmly connected with it, and the output shaft of the first push rod motor 10 plugs
In driving hole, the diameter of driving hole is greater than the output shaft diameter of the first push rod motor 10, passes through the first push rod motor 10
It pushes driver plate 9 to rotate, with the rotation of driver plate 9, rotates the first supporting rod 7 connecting with rotating bar 6, the second folder
It holds bar 8 and is equipped with the first fixed case 14 for being firmly connected with it far from one end of the first supporting rod 7, the is equipped in the first fixed case 14
One limiting device, the first limiting device are pushed away by oil cylinder 15, the first stripper plate 16, the second stripper plate 17, the first block 18 and second
Bar motor 19 is equipped with the oil cylinder 15 being firmly connected with it in first fixed case 14, is equipped in oil cylinder 15 and is slidably connected with it
First stripper plate 16 and the second stripper plate 17, the first stripper plate 16 are located at the side of the second stripper plate 17；
One end inner sidewall of first fixed case 14 is equipped with the second push rod motor 19 being firmly connected with it, the second push rod
The output shaft of motor 19 passes through one end side wall of oil cylinder 15 and is fixedly connected with the side of the first stripper plate 16, the first fixed case
14 other end is inserted with the first block 18 being slidably connected with it, and one end of the first block 18 passes through one end side wall of oil cylinder 15
And be fixedly connected with the side of the second stripper plate 17, it is equipped with hydraulic oil between the first stripper plate 16 and the second stripper plate 17, passes through
Second push rod motor 19 pushes the first stripper plate 16 mobile towards the direction of the first block 18, then is driven by hydraulic oil, makes
It obtains the first block 18 connecting with the second stripper plate 17 to move toward one another, by the first block 18 to the object between the second supporting rod 8
Product bottom is limited, so that clamping of the second supporting rod 8 of auxiliary to article, clamps the second supporting rod 8 heavier
Article, clamps simultaneously for the higher article of surface quality requirements, and the support by the first block 18 to bottom of article can subtract
Clamping force between small second supporting rod 8, so that article surface be avoided to be pinched；
The lower end of second fixed link 20 is equipped with the clamping cylinder 21 being firmly connected with it, and clamps and symmetrically sets on the lateral wall of cylinder 21
There is the first connecting rod 22 being firmly connected with it, the outer other end of first connecting rod 22 is equipped with the second connection being firmly connected with it
Bar 23, the lower end of the second connecting rod 23 are equipped with the second limiting device being firmly connected with it, and the second limiting device is fixed by second
Case 24, electromagnet 26, baffle 27, push rod 28, the second block 31 and the composition composition of magnet 32, be equipped in the second fixed case 24 and its
The connection ring 25 being slidably connected is equipped with the electromagnet 26 being firmly connected with it in connection ring 25, be equipped in the second fixed case 24 with
Its baffle 27 being fixedly connected, baffle 27 are located at the left side of connection ring 25, and the horizontal direction of baffle 27 runs through to be equipped with to be slided with it
One end of the push rod 28 of connection, push rod 28 is fixedly connected with electromagnet 26；
The fixed block 29 being firmly connected with it is symmetrically arranged on the lateral wall of push rod 28, fixed block 29 is located at baffle 27 and electricity
Also be socketed with the spring 30 being slidably connected with it between magnet 26, on push rod 28, spring 30 be located at baffle 27 and fixed block 29 it
Between, after electromagnet 26 powers off, electromagnet 26 loses magnetism, and the magnetic force between electromagnet 26 and magnet 32 disappears, in spring 30
Elastic force effect under, push the push rod 28 that is fixedly connected with fixed block 29 to automatically reset, and then drive the reset of the second block 31, the
Two blocks 31 disappear to the position-limiting action of article, so as to take out article out of clamping cylinder 21；
The inner sidewall of 24 one end of the second fixed case is equipped with the magnet 32 that is firmly connected with it, magnet 32 with electromagnet 32
In in same horizontal line, the opposite one end of the second fixed case 24 is inserted with the second block 31 being slidably connected with it, push rod 28
The other end is fixedly connected with the side of the second block 31, since electromagnet 26 is identical as one end magnetic pole that magnet 32 is opposite, according to
The magnet principle that identical charges repel each other drives the second block connecting with push rod 28 so that electromagnet 26 drives push rod 28 to move toward one another
31 move toward one another, and are limited by the second block 31 to the article lower end being located in clamping cylinder 21, prevent article from clamping cylinder
It is fallen in 21, is suitable for clamping no corner angle either valuables.
Embodiment 1:
When robot needs the article clamped to have corner angle (square, cuboid etc.), lighter weight, the surface quality of article
It when of less demanding, is clamped by gripper jaw, i.e., by the second supporting rod 8 and article to be clamped in robot clamp device
Then appearance face contact starts the first push rod motor 10, push driver plate 9 to turn outward by the first push rod motor 10
It is dynamic, with the rotation of driver plate 9, the rotating bar 6 connecting with driver plate 9 will be driven to rotate, so that the first supporting rod 7 and the
Two supporting rods 8 move toward one another, and contact and clamp with article surface by the grip block 11 on the second supporting rod 8, carry out to article
Clamping；
Embodiment 2:
When robot needs the article that clamps to have corner angle, when quality is larger, surface quality requirements are higher, by gripper jaw into
Row clamping, first booster air pump 12, are inflated air bag 13 by air pump 12, so that air bag 13 expands and passes through grip block 11
Stretched out in the connecting hole of side, then start the first push rod motor 10, by the first push rod motor 10 push driver plate 9 to
Outside rotation will drive the rotating bar 6 connecting with driver plate 9 to rotate with the rotation of driver plate 9, so that the first clamping
Bar 7 and the second supporting rod 8 move toward one another, and contact and clamp with article surface by the air bag 13 on grip block 11, restart
Two push rod motor 19 push the first stripper plate 16 to move in oil cylinder 15 and squeeze hydraulic by the second push rod motor 19
Oil is driven by hydraulic oil, so that the second stripper plate 17 moves towards, the first block 18 connecting with the second stripper plate 17 is from
One end of one fixed case 14 is stretched out, to limiting on the downside of the article of clamped block 11 clamping, to clamp to article；
Embodiment 3:
When the article that robot needs to clamp is not article (cylindrical body etc.) of corner angle, pass through robot clamp device
In clamping cylinder 21 clamped, i.e., first by clamp cylinder 21 be socketed on article to be clamped, then to electromagnet 26 be powered,
Electromagnet 26 is set to obtain magnetism, since electromagnet 26 is identical as one end magnetic pole that magnet 32 is opposite, what according to magnet, identical charges repel each other
Principle, so that the second block 31 connecting with push rod 28 moves towards, passes through so that electromagnet 26 drives push rod 28 to move toward one another
Second block 31 limits the article bottom side being socketed in clamping cylinder 21, to clamp to article.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of clamp device of intellect service robot, including fixed plate (1), which is characterized in that the fixed plate (1) it is upper
Side is equipped with the connector sleeve (2) being firmly connected with it, and the downside of the fixed plate (1) is equipped with the first fixed link being firmly connected with it
(3) and the second fixed link (20), first fixed link (3) are equipped with the U-shaped being firmly connected with it far from the one end of fixed plate (1)
Frame (4), the lower end of the U-shaped frame (4) are equipped with the connecting plate (5) being firmly connected with it, and the vertical direction of the connecting plate (5) is set
There are three through-hole, the rotating bar (6) being rotatablely connected with it is equipped in the through-hole；
The lateral wall of the rotating bar (6) is equipped with the first supporting rod (7) being firmly connected with it, first supporting rod (7)
Positioned at the downside of connecting plate (5), the lower end of first supporting rod (7) is equipped with the second supporting rod (8) being firmly connected with it, institute
It states the opposite side of the second supporting rod (8) and is equipped with the grip block (11) that is firmly connected with it, on the lateral wall of the rotating bar (6)
Be additionally provided with the driver plate (9) being firmly connected with it, the side of the driver plate (9) is equipped with driving hole, the connecting plate (5) it is upper
Side is equipped with the first push rod motor (10) being firmly connected with it, and the output shaft of the first push rod motor (10) is plugged in biography
In dynamic hole, the diameter of the driving hole is greater than the output shaft diameter of the first push rod motor (10)；
Second supporting rod (8) is equipped with the first fixed case (14) being firmly connected with it far from the one end of the first supporting rod (7),
The first limiting device is equipped in first fixed case (14), the lower end of second fixed link (20), which is equipped with, to be firmly connected with it
Clamping cylinder (21), it is described clamp cylinder (21) lateral wall on be symmetrically arranged with the first connecting rod (22) being firmly connected with it, institute
The outer other end for stating first connecting rod (22) is equipped with the second connecting rod (23) being firmly connected with it, second connecting rod (23)
Lower end be equipped with the second limiting device for being firmly connected with it.
2. a kind of clamp device of intellect service robot according to claim 1, which is characterized in that the grip block
(11) side is equipped with connecting hole, is equipped with air bag (13) in the connecting hole, the other side of the grip block (11) is equipped with and it
One end of the air pump (12) being fixedly connected, the air pump (12) is connected to air bag (13).
3. a kind of clamp device of intellect service robot according to claim 1, which is characterized in that first limit
Device is by oil cylinder (15), the first stripper plate (16), the second stripper plate (17), the first block (18) and the second push rod motor
(19), it is equipped with the oil cylinder (15) being firmly connected with it in first fixed case (14), is equipped in the oil cylinder (15) and is slided with it
The first stripper plate (16) and the second stripper plate (17) of dynamic connection, first stripper plate (16) are located at the second stripper plate (17)
Side is equipped with hydraulic oil between first stripper plate (16) and the second stripper plate (17).
4. a kind of clamp device of intellect service robot according to claim 3, which is characterized in that described first is fixed
One end inner sidewall of case (14) is equipped with the second push rod motor (19) being firmly connected with it, the second push rod motor
(19) output shaft passes through one end side wall of oil cylinder (15) and is fixedly connected with the side of the first stripper plate (16), and described first is solid
The other end for determining case (14) is inserted with the first block (18) being slidably connected with it, and one end of first block (18) passes through oil
One end side wall of cylinder (15) is simultaneously fixedly connected with the side of the second stripper plate (17).
5. a kind of clamp device of intellect service robot according to claim 1, which is characterized in that second limit
Device is made of the second fixed case (24), electromagnet (26), baffle (27), push rod (28), the second block (31) and magnet (32)
Composition is equipped with the connection ring (25) being slidably connected with it in second fixed case (24), be equipped in the connection ring (25) with
Its electromagnet being fixedly connected (26), second fixed case (24) is interior to be equipped with the baffle (27) being firmly connected with it, the gear
Plate (27) is located at the left side of connection ring (25), and the horizontal direction of the baffle (27) runs through the push rod for being equipped with and being slidably connected with it
(28), one end of the push rod (28) is fixedly connected with electromagnet (26), and the opposite one end of second fixed case (24) plugs
There are the second block (31) being slidably connected with it, the fixed company of the other end of the push rod (28) and the side of the second block (31)
It connects.
6. a kind of clamp device of intellect service robot according to claim 5, which is characterized in that the push rod (28)
Lateral wall on be symmetrically arranged with the fixed block (29) being firmly connected with it, the fixed block (29) is located at baffle (27) and electromagnet
(26) between, the spring (30) being slidably connected with it is also socketed on the push rod (28), the spring (30) is located at baffle
(27) between fixed block (29), the inner sidewall of described second fixed case (24) one end is equipped with the magnet being firmly connected with it
(32), the magnet (32) and electromagnet (32) are located in same horizontal line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910728395.XA CN110328683B (en) | 2019-08-08 | 2019-08-08 | Clamping device of intelligent service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910728395.XA CN110328683B (en) | 2019-08-08 | 2019-08-08 | Clamping device of intelligent service robot |
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| CN110328683A true CN110328683A (en) | 2019-10-15 |
| CN110328683B CN110328683B (en) | 2020-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910728395.XA Active CN110328683B (en) | 2019-08-08 | 2019-08-08 | Clamping device of intelligent service robot |
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| CN112276979A (en) * | 2020-10-29 | 2021-01-29 | 江苏安全技术职业学院 | A grabbing device for industrial robot |
| CN116280436A (en) * | 2023-03-21 | 2023-06-23 | 佛山协智领航科技有限公司 | Automatic packing device for plate-shaped furniture |
| CN117162416A (en) * | 2023-09-18 | 2023-12-05 | 广州格莱玛电工器材有限公司 | Injection molding product clamping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276979A (en) * | 2020-10-29 | 2021-01-29 | 江苏安全技术职业学院 | A grabbing device for industrial robot |
| CN116280436A (en) * | 2023-03-21 | 2023-06-23 | 佛山协智领航科技有限公司 | Automatic packing device for plate-shaped furniture |
| CN116280436B (en) * | 2023-03-21 | 2023-10-17 | 佛山协智领航科技有限公司 | Automatic packing device for plate-shaped furniture |
| CN117162416A (en) * | 2023-09-18 | 2023-12-05 | 广州格莱玛电工器材有限公司 | Injection molding product clamping device |
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| CN110328683B (en) | 2020-11-13 |
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Application publication date: 20191015 Assignee: Yueqing Taiqi Intellectual Property Service Co.,Ltd. Assignor: Yueqing xuyao Technology Co.,Ltd. Contract record no.: X2022330000341 Denomination of invention: A clamping device for intelligent service robot Granted publication date: 20201113 License type: Common License Record date: 20220726 Application publication date: 20191015 Assignee: Yueqing Xinyi Technology Co.,Ltd. Assignor: Yueqing xuyao Technology Co.,Ltd. Contract record no.: X2022330000340 Denomination of invention: A clamping device for intelligent service robot Granted publication date: 20201113 License type: Common License Record date: 20220726 Application publication date: 20191015 Assignee: Yueqing Shusheng Technology Co.,Ltd. Assignor: Yueqing xuyao Technology Co.,Ltd. Contract record no.: X2022330000339 Denomination of invention: A clamping device for intelligent service robot Granted publication date: 20201113 License type: Common License Record date: 20220726 |