CN110640772B - Gripping device - Google Patents
Gripping device Download PDFInfo
- Publication number
- CN110640772B CN110640772B CN201910985292.1A CN201910985292A CN110640772B CN 110640772 B CN110640772 B CN 110640772B CN 201910985292 A CN201910985292 A CN 201910985292A CN 110640772 B CN110640772 B CN 110640772B
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- grabbing
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- gripping
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
Abstract
The invention provides a gripping device for gripping a workpiece, comprising: the main grabbing part is provided with a contact surface matched with the shape of the partial surface of the workpiece, so that the workpiece can be positioned by contacting the contact surface with the partial surface of the workpiece; the auxiliary grabbing part is arranged at intervals with the main grabbing part and comprises an elastic component; the main grabbing part and the auxiliary grabbing part are arranged in a relatively movable mode, so that the workpiece can be grabbed by enabling the contact surface and the elastic component to be in contact with the workpiece, and the elastic component deforms under the action of pressure to adapt to the shape of the workpiece. The gripping device solves the problem that the gripping device in the prior art cannot give consideration to both the gripping positioning precision and the gripping reliability of workpieces.
Description
Technical Field
The invention relates to the field of mechanical production equipment, in particular to a gripping device.
Background
In the mechanized production operation process, it is the operation that needs frequent use to snatch the work piece, and current grabbing device divide into rigidity and snatchs two kinds of modes with the flexibility: the rigid grabbing mode realizes grabbing of the workpiece by contacting the plurality of rigid grabbing structures with the workpiece, has higher grabbing and positioning precision on the workpiece, but has higher requirement on the movement precision of the plurality of rigid grabbing structures, and is easy to damage the workpiece due to operation errors, so the grabbing reliability is poor; the flexible grabbing mode is that a buffering protection pad is arranged on the grabbing structure or the grabbing structure has certain deformation capacity, so that the grabbing structure can better adapt to the shape of a workpiece, the workpiece is prevented from being damaged, and the grabbing positioning precision of the grabbing mode to the workpiece is poor.
Therefore, the grabbing device in the prior art cannot give consideration to grabbing positioning accuracy and grabbing reliability of the workpiece.
Disclosure of Invention
The invention mainly aims to provide a gripping device, which solves the problem that the gripping device in the prior art cannot give consideration to both the gripping positioning precision and the gripping reliability of workpieces.
In order to achieve the above object, the present invention provides a gripping device for gripping a workpiece, comprising: the main grabbing part is provided with a contact surface matched with the shape of the partial surface of the workpiece, so that the workpiece can be positioned by contacting the contact surface with the partial surface of the workpiece; the auxiliary grabbing part is arranged at intervals with the main grabbing part and comprises an elastic component; the main grabbing part and the auxiliary grabbing part are arranged in a relatively movable mode, so that the workpiece can be grabbed by enabling the contact surface and the elastic component to be in contact with the workpiece, and the elastic component deforms under the action of pressure to adapt to the shape of the workpiece.
Further, the auxiliary grabbing parts are multiple, and the main grabbing part and the auxiliary grabbing parts are arranged around a preset axis; wherein the main grasping portion and the plurality of auxiliary grasping portions are each provided movably in directions close to and away from the predetermined axis.
Further, the grasping apparatus includes a grasping drive section; the grabbing driving part is provided with a plurality of driving ends, the driving ends are movably arranged along the direction close to and far away from the preset axis, and the main grabbing part and each auxiliary grabbing part are respectively connected with each driving end of the grabbing driving part so as to drive the main grabbing part and each auxiliary grabbing part to move through each driving end of the grabbing driving part; and/or the grabbing driving parts are multiple, and the main grabbing part and each auxiliary grabbing part are respectively connected with each grabbing driving part so as to drive the main grabbing part and each auxiliary grabbing part to move through each grabbing driving part.
Further, the auxiliary grabbing parts are two, the grabbing driving part is a three-jaw cylinder, and the main grabbing part and the two auxiliary grabbing parts are respectively connected with three cylinder jaws of three cylinders of the three-jaw cylinder so as to drive the main grabbing part and the two auxiliary grabbing parts to move through the respective cylinder jaws.
Further, the contact surface is located on a side of the main grip portion away from the predetermined axis, and the elastic member is located on a side of the main body portion of the auxiliary grip portion away from the predetermined axis.
Furthermore, the outer peripheral surface of the workpiece is provided with a first matching portion, the grabbing device comprises a detection component, one side, facing the preset axis, of the detection component is provided with a second matching portion, when the main grabbing portion and the auxiliary grabbing portions grab the workpiece, the first matching portion is matched with the second matching portion, and the detection component detects whether the first matching portion is matched with the second matching portion or not so as to judge whether the grabbing device grabs the workpiece or not.
Further, the detecting parts are multiple, the detecting parts are arranged around the preset axis, the first matching parts are multiple, and the first matching parts are arranged around the preset axis; when the main grabbing part and the auxiliary grabbing parts grab the workpiece, each first matching part is matched with the second matching part of each detection part respectively, so that whether all the second matching parts are matched with the corresponding first matching parts or not is detected through the detection parts, and whether the grabbing posture of the workpiece is correct or not is judged.
Further, the gripping device comprises a rotary driving part, and the main body part of the gripping device is connected with the rotary driving part so as to drive the main body part of the gripping device to rotate through the rotary driving part.
Further, the grasping apparatus includes a linear driving part, an output end of which is connected to the rotary driving part to drive the rotary driving part and the body portion of the grasping apparatus to move in a preset direction by the linear driving part.
Further, the linear driving part includes: the screw rod extends along the preset direction; the driving motor is connected with the screw rod to drive the screw rod to rotate; a guide member extending in a preset direction; the sliding part is slidably arranged on the guide part along the preset direction and is connected with the rotary driving part so as to drive the rotary driving part and the main body part of the grabbing device to move along the preset direction through the sliding part; the sliding part comprises a screw hole, the screw rod penetrates through the screw hole, and the screw rod is matched with the screw hole to drive the sliding part to move along a preset direction through rotation of the screw rod.
The gripping device applying the technical scheme of the invention is used for gripping workpieces and comprises the following components: the main grabbing part is provided with a contact surface matched with the shape of the partial surface of the workpiece, so that the workpiece can be positioned by contacting the contact surface with the partial surface of the workpiece; the auxiliary grabbing part is arranged at intervals with the main grabbing part and comprises an elastic component; the main grabbing part and the auxiliary grabbing part are arranged in a relatively movable mode, so that the workpiece can be grabbed by enabling the contact surface and the elastic component to be in contact with the workpiece, and the elastic component deforms under the action of pressure to adapt to the shape of the workpiece. Therefore, the contact surface of the main grabbing part is used as a reference surface to be in contact with part of the surface of the workpiece, the grabbing positioning accuracy of the workpiece can be guaranteed, the workpiece is tightly pressed through the elastic component of the auxiliary grabbing part to achieve stable grabbing of the workpiece, and therefore the grabbing positioning accuracy and the grabbing reliability of the workpiece can be considered.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic structural view of a first viewing angle of an embodiment of a gripping device according to the invention;
FIG. 2 shows an enlarged schematic view of a partial region of an embodiment of the grasping device according to FIG. 1;
fig. 3 shows a schematic structural view of an embodiment of a gripping device according to the invention from a second viewing angle;
fig. 4 shows a schematic structural view from a third perspective of an embodiment of a gripping device according to the invention;
fig. 5 shows a schematic structural view from a fourth perspective of an embodiment of a gripping device according to the invention;
fig. 6 shows a schematic structural view of an auxiliary grip portion of an embodiment of the gripping device according to the invention.
Wherein the figures include the following reference numerals:
1. a main grasping portion; 2. an auxiliary grasping section; 21. an elastic member; 22. positioning the projection; 3. a grasping drive section; 4. a detection section; 5. a rotation driving member; 6. a linear drive member; 61. a drive motor; 62. a slider; 7. a wiring pipe.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1 to 6, the present invention provides a gripping device for gripping a workpiece, including: a main gripping part 1, wherein the main gripping part 1 is provided with a contact surface matched with the shape of part of the surface of the workpiece, so that the workpiece can be positioned by contacting the contact surface with the part of the surface of the workpiece; the auxiliary grabbing part 2 is arranged at intervals with the main grabbing part 1, and the auxiliary grabbing part 2 comprises an elastic component 21; wherein, the main grabbing part 1 and the auxiliary grabbing part 2 are arranged in a relatively movable way, so that the workpiece is grabbed by enabling the contact surface and the elastic part 21 to be in contact with the workpiece, and the elastic part 21 is deformed under the pressure action to adapt to the shape of the workpiece.
The gripping device of the present invention is for gripping a workpiece, and includes: a main gripping part 1, wherein the main gripping part 1 is provided with a contact surface matched with the shape of part of the surface of the workpiece, so that the workpiece can be positioned by contacting the contact surface with the part of the surface of the workpiece; the auxiliary grabbing part 2 is arranged at intervals with the main grabbing part 1, and the auxiliary grabbing part 2 comprises an elastic component 21; wherein, the main grabbing part 1 and the auxiliary grabbing part 2 are arranged in a relatively movable way, so that the workpiece is grabbed by enabling the contact surface and the elastic part 21 to be in contact with the workpiece, and the elastic part 21 is deformed under the pressure action to adapt to the shape of the workpiece. Therefore, the contact surface of the main grabbing part 1 is used as a reference surface to be in contact with part of the surface of the workpiece, the grabbing positioning accuracy of the workpiece can be guaranteed, the workpiece is tightly pressed through the elastic part 21 of the auxiliary grabbing part 2 to achieve stable grabbing of the workpiece, and therefore the grabbing positioning accuracy and the grabbing reliability of the workpiece can be considered.
In specific implementation, the main grasping portion 1 is made of rigid material, the contact surface is a rigid surface and is not deformable, and the elastic member 21 is detachably connected with the main body portion of the auxiliary grasping portion 2. The main portion of snatching 1 and supplementary portion of snatching 2 are the bending plate structure, and the board of bending is including being first plate section and the second plate section that predetermined contained angle set up, and first plate section is used for fixed main portion of snatching 1 and supplementary portion of snatching 2, and contact surface and elastomeric element 21 all set up on the second plate section.
Specifically, the auxiliary grasping portions 2 are plural, and the main grasping portion 1 and the plural auxiliary grasping portions 2 are arranged around a predetermined axis; wherein the main grip portion 1 and the plurality of auxiliary grip portions 2 are each provided movably in a direction approaching and departing from a predetermined axis.
Specifically, the grasping apparatus includes a grasping drive portion 3; the grabbing driving part 3 is provided with a plurality of driving ends, the driving ends are movably arranged along the direction close to and far away from a preset axis, and the main grabbing part 1 and each auxiliary grabbing part 2 are respectively connected with each driving end of the grabbing driving part 3 so as to drive the main grabbing part 1 and each auxiliary grabbing part 2 to move through each driving end of the grabbing driving part 3; and/or the grabbing driving parts 3 are multiple, and the main grabbing part 1 and each auxiliary grabbing part 2 are respectively connected with each grabbing driving part 3 so as to drive the main grabbing part 1 and each auxiliary grabbing part 2 to move through each grabbing driving part 3.
In specific implementation, the main grabbing part 1 and the auxiliary grabbing part 2 are both provided with positioning protrusions 22, each driving end of the grabbing driving part 3 is provided with a positioning groove, and the main grabbing part 1 and the auxiliary grabbing part 2 are inserted into the corresponding positioning grooves through the corresponding positioning protrusions 22 to realize positioning; the main grabbing part 1 and the auxiliary grabbing part 2 are respectively provided with a first positioning hole, each driving end of the grabbing driving part 3 is respectively provided with a second positioning hole, and the main grabbing part 1 and the auxiliary grabbing part 2 are respectively connected with the corresponding driving ends through bolts penetrating through the corresponding first positioning holes and the corresponding second positioning holes.
Specifically, the number of the auxiliary grasping portions 2 is two, the grasping drive portion 3 is a three-jaw cylinder, and the main grasping portion 1 and the two auxiliary grasping portions 2 are respectively connected to three cylinder jaws of three cylinders of the three-jaw cylinder to drive the main grasping portion 1 and the two auxiliary grasping portions 2 to move by the respective cylinder jaws.
In order to avoid backlashes on the workpiece, the contact surface is located on the side of the main grip portion 1 away from the predetermined axis, and the elastic member 21 is located on the side of the main body portion of the auxiliary grip portion 2 away from the predetermined axis. Therefore, the workpiece bears the outward expanding force, and the probability of damage or deformation to the workpiece is low.
In concrete implementation, the gripping device comprises a detection part 4, the distance from the detection part 4 to a preset axis is larger than the distance from the main gripping part 1 and the plurality of auxiliary gripping parts 2 to the preset axis, and a detection probe of the detection part 4 is arranged towards the preset axis so as to detect whether the gripping device grips a workpiece or not through the detection part 4. The detecting members 4 are plural, the plural detecting members 4 are arranged around a predetermined axis, and the plural detecting members 4 are each a distance sensor to judge whether the attitude of the workpiece is correct by judging whether the distances to the workpiece detected by the respective detecting members 4 are the same.
Specifically, the outer peripheral surface of the workpiece is provided with a first matching portion, the grabbing device comprises a detection part 4, one side, facing a preset axis, of the detection part 4 is provided with a second matching portion, when the main grabbing portion 1 and the auxiliary grabbing portions 2 grab the workpiece, the first matching portion is matched with the second matching portion, and the detection part 4 judges whether the grabbing device grabs the workpiece or not by detecting whether the first matching portion is matched with the second matching portion or not.
In practice, the detection member 4 is positionally adjustably set in a direction toward and away from the predetermined axis; the detection part 4 is connected with the main body part of the grabbing device through a connecting frame, a strip-shaped hole is formed in the connecting frame, the connecting frame is fixed on the main body part of the grabbing device through a fastener penetrating in the strip-shaped hole, the strip-shaped hole extends in the direction towards the preset axis, and the distance from the detection device to the preset axis is changed by adjusting the position of the fastener in the strip-shaped hole.
Specifically, the detecting members 4 are plural, the plural detecting members 4 are arranged around a predetermined axis, the first engaging portions are plural, and the plural first engaging portions are arranged around the workpiece around the predetermined axis; when the main grasping portion 1 and the plurality of auxiliary grasping portions 2 grasp the workpiece, each of the first engaging portions engages with the second engaging portion of each of the detecting members 4, respectively, to detect whether all of the second engaging portions engage with the corresponding first engaging portion through the plurality of detecting members 4, to determine whether the grasping attitude to the workpiece is correct.
Specifically, the gripping device includes a rotation driving part 5, and a main body part of the gripping device is connected to the rotation driving part 5 to drive the main body part of the gripping device to rotate by the rotation driving part 5.
In a specific implementation, the rotation driving component is a rotation cylinder, and a rotation shaft of the rotation cylinder coincides with the preset axis so as to drive the main body part of the grabbing device to rotate around the preset axis through the rotation cylinder.
Specifically, the grasping apparatus includes a linear driving part 6, and an output end of the linear driving part 6 is connected to the rotary driving part 5 to drive the rotary driving part 5 and a main body portion of the grasping apparatus to move in a preset direction by the linear driving part 6.
In a specific implementation, the extension direction of the predetermined axis coincides with the preset direction. The gripping device also comprises a wiring tube 7, so that the pipelines or wires of the air cylinder, the motor and the detection component pass through the wiring tube 7 and are connected with corresponding external components. Preferably, the driving motor 61 is a servo motor.
Specifically, the linear driving part 6 includes: the screw rod extends along the preset direction; the driving motor 61, the driving motor 61 is connected with the lead screw to drive the lead screw to rotate; a guide member extending in a preset direction; a sliding part 62, the sliding part 62 is slidably mounted on the guiding part along a preset direction, the sliding part 62 is connected with the rotary driving part 5, so that the rotary driving part 5 and the main body part of the grabbing device are driven to move along the preset direction through the sliding part 62; the sliding part 62 comprises a screw hole, the screw rod is arranged in the screw hole in a penetrating mode, and the screw rod is matched with the screw hole to drive the sliding part 62 to move along the preset direction through rotation of the screw rod.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the gripping device of the present invention is for gripping a workpiece, and includes: a main gripping part 1, wherein the main gripping part 1 is provided with a contact surface matched with the shape of part of the surface of the workpiece, so that the workpiece can be positioned by contacting the contact surface with the part of the surface of the workpiece; the auxiliary grabbing part 2 is arranged at intervals with the main grabbing part 1, and the auxiliary grabbing part 2 comprises an elastic component 21; wherein, the main grabbing part 1 and the auxiliary grabbing part 2 are arranged in a relatively movable way, so that the workpiece is grabbed by enabling the contact surface and the elastic part 21 to be in contact with the workpiece, and the elastic part 21 is deformed under the pressure action to adapt to the shape of the workpiece. Therefore, the contact surface of the main grabbing part 1 is used as a reference surface to be in contact with part of the surface of the workpiece, the grabbing positioning accuracy of the workpiece can be guaranteed, the workpiece is tightly pressed through the elastic part 21 of the auxiliary grabbing part 2 to achieve stable grabbing of the workpiece, and therefore the grabbing positioning accuracy and the grabbing reliability of the workpiece can be considered.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may also be oriented 90 degrees or at other orientations and the spatially relative descriptors used herein interpreted accordingly.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A gripping device for gripping a workpiece, comprising:
a main grabbing part (1), wherein the main grabbing part (1) is provided with a contact surface matched with the shape of a part of the surface of the workpiece, so that the workpiece can be positioned by contacting the contact surface with the part of the surface of the workpiece;
the auxiliary grabbing part (2) is arranged at an interval with the main grabbing part (1), and the auxiliary grabbing part (2) comprises an elastic component (21);
wherein the main grabbing part (1) and the auxiliary grabbing part (2) are arranged in a relatively movable manner, so that the contact surface and the elastic component (21) are both in contact with the workpiece to grab the workpiece, and the elastic component (21) is deformed under the action of pressure to adapt to the shape of the workpiece;
the number of the auxiliary grabbing parts (2) is two, and the main grabbing part (1) and the two auxiliary grabbing parts (2) are arranged around a preset axis; wherein the main gripping part (1) and both of the auxiliary gripping parts (2) are movably arranged in a direction approaching and departing from the predetermined axis;
the grabbing device comprises a grabbing driving part (3), the grabbing driving part (3) is a three-jaw cylinder, the main grabbing part (1) and the auxiliary grabbing parts (2) are respectively connected with three cylinder jaws of three cylinders of the three-jaw cylinder, and the main grabbing part (1) and the auxiliary grabbing parts (2) are driven by the cylinder jaws to move.
2. Gripping device according to claim 1, wherein the contact surface is located on the side of the main gripping part (1) facing away from the predetermined axis, and the resilient member (21) is located on the side of the main body part of the auxiliary gripping part (2) facing away from the predetermined axis.
3. The grasping apparatus according to claim 2, wherein the outer peripheral surface of the workpiece is provided with a first engaging portion, the grasping apparatus includes a detecting member (4), the detecting member (4) is provided with a second engaging portion on a side facing the predetermined axis, the first engaging portion engages with the second engaging portion when the main grasping portion (1) and the plurality of auxiliary grasping portions (2) grasp the workpiece, and the detecting member (4) determines whether the grasping apparatus grasps the workpiece by detecting whether the first engaging portion engages with the second engaging portion.
4. The grasping apparatus according to claim 3, wherein the detecting member (4) is plural, a plurality of the detecting members (4) are provided around the predetermined axis, the first engaging portion is plural, and a plurality of the first engaging portions are provided around the workpiece around the predetermined axis; when the main grabbing part (1) and the auxiliary grabbing parts (2) grab the workpiece, the first matching parts are respectively matched with the second matching parts of the detection parts (4), so that whether all the second matching parts are matched with the corresponding first matching parts or not is detected through the detection parts (4), and whether the grabbing posture of the workpiece is correct or not is judged.
5. The gripping device according to any of claims 1 to 4, characterized in that the gripping device comprises a rotation driving member (5), the body part of the gripping device being connected to the rotation driving member (5) for driving the body part of the gripping device to rotate by means of the rotation driving member (5).
6. Gripping device according to claim 5, characterized in that the gripping device comprises a linear drive member (6), the output of the linear drive member (6) being connected to the rotary drive member (5) for driving the rotary drive member (5) and the body part of the gripping device in a preset direction by means of the linear drive member (6).
7. Gripping device according to claim 6, characterized in that the linear drive member (6) comprises:
the screw rod extends along the preset direction;
the driving motor (61), the driving motor (61) is connected with the screw rod to drive the screw rod to rotate;
a guide extending along the preset direction;
a sliding part (62), wherein the sliding part (62) is slidably arranged on the guide part along the preset direction, and the sliding part (62) is connected with the rotary driving part (5) so as to drive the rotary driving part (5) and the main body part of the grabbing device to move along the preset direction through the sliding part (62);
the sliding part (62) comprises a screw hole, the screw rod is arranged in the screw hole in a penetrating mode, and the screw rod is matched with the screw hole so as to drive the sliding part (62) to move along the preset direction through rotation of the screw rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910985292.1A CN110640772B (en) | 2019-10-16 | 2019-10-16 | Gripping device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910985292.1A CN110640772B (en) | 2019-10-16 | 2019-10-16 | Gripping device |
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| CN110640772A CN110640772A (en) | 2020-01-03 |
| CN110640772B true CN110640772B (en) | 2021-08-31 |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1337251A1 (en) * | 1985-01-07 | 1987-09-15 | Экспериментальный научно-исследовательский институт металлорежущих станков | Gripping device |
| CN2629928Y (en) * | 2003-07-24 | 2004-08-04 | 李威 | Aluminium alloy head auto-cooling manipulator |
| CN201421681Y (en) * | 2009-03-31 | 2010-03-10 | 昆山巨林科教实业有限公司 | Manipulator training device |
| CN103620415B (en) * | 2011-06-28 | 2015-03-04 | 株式会社安川电机 | Robot hand and robot |
| CN204131990U (en) * | 2014-10-22 | 2015-02-04 | 河北农业大学 | A kind of four paw formula self adaptation strawberry picking mechanical arms |
| CN205905009U (en) * | 2016-08-05 | 2017-01-25 | 宁劲松 | Production electric automobile manipulator |
| CN207104919U (en) * | 2017-03-31 | 2018-03-16 | 厦门理工学院 | A kind of robot for being used to assemble damper |
| CN209273465U (en) * | 2018-12-24 | 2019-08-20 | 深圳蓝胖子机器人有限公司 | Handgrip and manipulator |
| CN110294364A (en) * | 2019-06-21 | 2019-10-01 | 浙江理工大学 | A kind of grasping mechanism suitable for circular cone tube |
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