CN111469078A - Flexible mechanical claw - Google Patents
Flexible mechanical claw Download PDFInfo
- Publication number
- CN111469078A CN111469078A CN202010468753.0A CN202010468753A CN111469078A CN 111469078 A CN111469078 A CN 111469078A CN 202010468753 A CN202010468753 A CN 202010468753A CN 111469078 A CN111469078 A CN 111469078A
- Authority
- CN
- China
- Prior art keywords
- elastic sheet
- fixing device
- annular elastic
- assembly
- bottle body
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000078 claw Anatomy 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 230000037452 priming Effects 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Filling Of Jars Or Cans And Processes For Cleaning And Sealing Jars (AREA)
Abstract
The invention discloses a flexible mechanical claw which comprises a fixing device, wherein a clamping assembly is arranged on the fixing device, an annular elastic sheet which can be freely inserted into a bottle body in a natural state is arranged in the clamping assembly, and a driving mechanism which can drive the clamping assembly to move so as to reduce the inner diameter of the annular elastic sheet and clamp the bottle body is further arranged on the fixing device. The clamping assembly is internally provided with the annular elastic sheet which can be freely inserted into the bottle body in a natural state, so that the bottle bodies with different diameters can be clamped, and in the clamping process, the bottle body placed in the clamping assembly can be clamped and fixed as long as pressure is applied to the annular elastic sheet to reduce the inner diameter of the annular elastic sheet, so that the center of the bottle body can not deviate in the processing process of a bottle mouth, the accuracy is improved, and the surface of the bottle body can not be damaged by the elastic sheet.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a flexible mechanical claw.
[ background of the invention ]
When adding man-hour to the bottleneck of packing bottle, can not take place the swing in order to make the bottle add man-hour, often need go fixed bottle through outside fixing device, however current fixing device adopts two semicircular arms of embracing to connect through the pivot, when needing to press from both sides tight bottle, two arms of embracing press from both sides tightly to close, but long-time back of using, the clamping-force of embracing the arm can relax, lead to the bottle can sink at the in-process of centre gripping, skew central point, and then produce the deviation to the processing of bottleneck, reduce the accuracy.
The present invention has been made in view of the above problems.
[ summary of the invention ]
The invention aims to provide a flexible mechanical claw, which can reduce the inner diameter of an annular elastic sheet by extruding the annular elastic sheet when a bottle body is put in so as to clamp the whole bottle body, ensure that the center of the bottle body cannot deviate in the process of processing a bottle opening and improve the accuracy.
In order to solve the technical problems, the invention provides the following technical scheme:
the flexible mechanical claw is characterized by comprising a fixing device, wherein a clamping assembly is arranged on the fixing device, an annular elastic sheet which can be freely inserted into a bottle body in a natural state is arranged in the clamping assembly, and a driving mechanism which can drive the clamping assembly to move so as to reduce the inner diameter of the annular elastic sheet to clamp the bottle body is further arranged on the fixing device.
The flexible mechanical claw is characterized in that the driving mechanism comprises a movable seat which is movably arranged on the fixing device and can drive the clamping assembly to move, the driving mechanism further comprises a pressure spring arranged between the movable seat and the fixing device, the pressure spring drives the movable seat to move downwards when naturally extending so as to enable the annular elastic sheet to deform and clamp the bottle body, and the fixing device is further connected with a pushing mechanism which can drive the movable seat and the clamping assembly to move upwards together so as to enable the annular elastic sheet to restore.
The flexible mechanical claw is characterized in that the clamping assembly comprises an outer cover used for placing an annular elastic sheet, the outer cover is fixedly connected with the movable seat, an inner ring capable of being matched with the outer cover to extrude the annular elastic sheet is movably arranged in the outer cover, and a notch is formed in the outer side of the annular elastic sheet.
The flexible mechanical claw is characterized in that the notch is an annular notch.
The flexible mechanical claw is characterized in that the pushing mechanism comprises a cam swing arm component which can rotate relative to the fixing device, and the pushing mechanism further comprises a guide pillar component which can push the movable seat to move upwards when the cam swing arm component rotates.
The flexible mechanical claw is characterized in that the guide post assembly comprises a guide piece capable of moving up and down along the fixing device and a roller rotatably arranged on the guide piece, the cam swing arm assembly comprises a rotary table on which the roller can roll, the rotary table is provided with a highest point and a lowest point, the guide post assembly can drive the movable seat to move upwards in the process of moving from the lowest point to the highest point, and the rotary table is provided with a swing arm extending out of the fixing device.
The flexible mechanical claw is characterized in that the number of the guide pillar assemblies is three, and the guide pillar assemblies are distributed on the fixing device in an array mode.
The flexible mechanical claw is characterized by further comprising a bottoming push rod assembly capable of bottoming the bottom of the bottle body placed in the clamping assembly; the bottoming push rod assembly comprises a bearing and leaning platform for supporting the bottom of the bottle body to lean against, the bearing and leaning platform is located between the clamping assembly and the fixing device, a telescopic rod capable of moving up and down is arranged on the bearing and leaning platform, and the top of the telescopic rod is provided with a bottoming portion capable of enabling the bottom of the bottle body to form an inner concave portion.
As above a flexible gripper, characterized in that, be provided with the lug on the lateral wall of enclosing cover, the upper end of sliding seat is provided with the chimb to the inside interval, is provided with the recess that can supply the lug to pass between the adjacent chimb, and at the enclosing cover and rotating inserting the sliding seat, the lower extreme of chimb supports to lean on the upper end of lug and then prevents that the enclosing cover breaks away from the sliding seat.
The flexible mechanical claw is characterized in that a base capable of preventing the cam swing arm assembly from being separated is connected below the fixing device, a plane bearing is arranged between the cam swing arm assembly and the base, and a needle bearing is arranged between the cam swing arm assembly and the fixing device.
Compared with the prior art, the flexible mechanical claw has the following beneficial effects:
1. the clamping assembly is internally provided with the annular elastic sheet which can be freely inserted into the bottle body in a natural state, so that the bottle bodies with different diameters can be clamped, and in the clamping process, the bottle body placed in the clamping assembly can be clamped and fixed as long as pressure is applied to the annular elastic sheet to reduce the inner diameter of the annular elastic sheet, so that the center of the bottle body can not deviate in the processing process of a bottle mouth, the accuracy is improved, and the surface of the bottle body can not be damaged by the elastic sheet.
2. The fixing device is also provided with a pushing mechanism which can drive the movable seat and the clamping assembly to move upwards together so as to restore the annular elastic sheet to the original shape, and as long as the pushing mechanism is operated to drive the movable seat to move upwards, the movable seat can compress the pressure spring and drive the clamping assembly to move upwards at the same time, so that the clamping assembly releases the pressure on the annular elastic sheet, the annular elastic sheet can restore to the original shape, the bottle body is released, and the bottle body can be taken out at the moment.
3. The clamping assembly comprises an outer cover and an inner ring movably arranged in the outer cover, wherein an annular elastic sheet is positioned between the outer cover and the inner ring, when the movable seat drives the outer cover to move downwards, the lower end of the inner ring is abutted against a fixing device and is in an immovable state, the outer cover and the inner ring respectively extrude the annular elastic sheet to deform the annular elastic sheet so as to reduce the inner diameter, and when the movable seat drives the outer cover to move upwards, the lower end of the annular elastic sheet pushes the inner ring to move downwards due to the self tension and restores to the original shape.
4. The invention also comprises a bottoming push rod component which can bottom the bottom of the bottle body placed in the clamping component, an inward concave part can be formed by bottoming the bottom of the bottle body, the processed bottle body can be vertically placed, and the pressure intensity in the bottle is ensured to be stable.
[ description of the drawings ]
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings, in which:
FIG. 1 is a perspective view of the present invention;
FIG. 2 is an exploded view of the present invention;
FIG. 3 is a cross-sectional view of the annular elastomeric sheet of the present invention in an uncompressed state;
FIG. 4 is a block diagram of the cam rocker assembly of the present invention;
FIG. 5 is an exploded view of the clamping assembly of the present invention;
FIG. 6 is a cross-sectional view of the ring-shaped elastic sheet of the present invention in a compressed state;
fig. 7 is an enlarged view of a portion a in fig. 6.
[ detailed description ] embodiments
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1 to 7, in the present embodiment, a flexible gripper is characterized by comprising a fixing device 1, a clamping assembly 2 is disposed on the fixing device 1, an annular elastic sheet 3 is disposed in the clamping assembly 2, and the annular elastic sheet 3 can be freely inserted into a bottle body in a natural state, and a driving mechanism 4 capable of driving the clamping assembly 2 to move so as to reduce the inner diameter of the annular elastic sheet 3 to clamp the bottle body is further disposed on the fixing device 1. The clamping assembly is internally provided with the annular elastic sheet which can be freely inserted into the bottle body in a natural state, so that the bottle bodies with different diameters can be clamped, and in the clamping process, the bottle body placed in the clamping assembly can be clamped and fixed as long as pressure is applied to the annular elastic sheet to reduce the inner diameter of the annular elastic sheet, so that the center of the bottle body can not deviate in the processing process of a bottle mouth, the accuracy is improved, and the surface of the bottle body can not be damaged by the elastic sheet.
As shown in fig. 1 to 7, in this embodiment, the driving mechanism 4 includes a movable seat 41 movably disposed on the fixing device 1 and capable of driving the clamping assembly 2 to move, the driving mechanism 4 further includes a pressure spring 42 disposed between the movable seat 41 and the fixing device 1, the pressure spring 42 drives the movable seat 41 to move downward when naturally extending, so as to deform the annular elastic sheet 3 and clamp the bottle body, and the fixing device 1 is further connected with a pushing mechanism 5 capable of driving the movable seat 41 and the clamping assembly 2 to move upward together, so as to restore the annular elastic sheet 3; as long as the pushing mechanism is operated to drive the movable seat to move upwards, the movable seat compresses the pressure spring and drives the clamping assembly to move upwards at the same time, so that the clamping assembly releases the pressure on the annular elastic sheet, the annular elastic sheet can restore to the original state, the bottle body is released, and the bottle body can be taken out at the moment.
In this embodiment, the fixing device 1 includes a first fixing seat 11 and a second fixing seat 12 disposed on the first fixing seat 11, the movable seat 41 is movably disposed between the first fixing seat 11 and the second fixing seat 12, the pressure spring 42 is disposed between the second fixing seat 12 and the movable seat 41, during the moving of the movable seat 41, one end of the sliding seat 41 and the second fixing seat 12 compress the pressure spring 42, and the other end of the movable seat 41 drives the clamping assembly 2 to move upward.
As shown in fig. 1 to 7, in the present embodiment, the clamping assembly 2 includes an outer cover 21 for placing the annular elastic sheet 3, the outer cover 21 is connected and fixed with a movable seat 41, an inner ring 22 capable of cooperating with the outer cover 21 to press the annular elastic sheet 3 is movably disposed in the outer cover 21, and a notch 31 is disposed on an outer side of the annular elastic sheet 3.
In this embodiment, the outer cover 21 is further provided with a clamp spring 23 for preventing the inner ring 22 from being detached from the outer cover 21, the outer cover 21 is further provided with a cushion block 24 for limiting the annular elastic sheet 3, the movable seat 41 drives the outer cover 21 to move downwards, the upper end surface of the outer cover 21 and the inner ring 22 respectively extrude the annular elastic sheet 3 from the upper end and the lower end, so that the annular elastic sheet 3 is deformed under stress, and since the outer side of the annular elastic sheet is provided with the notch 31, the annular elastic sheet is deformed by extrusion towards the other side of the notch when deformed, so as to reduce the inner diameter of the annular elastic sheet, so that the annular elastic sheet 3 clamps the bottle body.
As shown in fig. 1 to 7, in the present embodiment, the notch 31 is an annular notch, and when the annular elastic sheet is pressed, the entire annular elastic sheet is deformed inward to press the bottle body, so as to ensure the fixing effect of the bottle body.
As shown in fig. 1 to 7, in the present embodiment, the pushing mechanism 5 includes a cam swing arm assembly 51 capable of rotating relative to the fixing device 1, and the pushing mechanism 5 further includes a guide post assembly 52 capable of pushing the movable base 41 to move upward when the cam swing arm assembly 51 rotates.
As shown in fig. 1 to 7, in the present embodiment, the guide pillar assembly 52 includes a guide plate 521 capable of moving up and down along the fixing device 1 and a roller 522 rotatably disposed on the guide plate 521, the cam swing arm assembly 51 includes a rotary table 511 on which the roller 522 can roll, the rotary table 511 is provided with a highest point 5111 and a lowest point 5112, the guide pillar assembly 52 can drive the movable seat 41 to move up in the process of moving from the lowest point 5112 to the highest point 5111, and the rotary table 511 is provided with a swing arm 512 extending outside the fixing device 1.
Because the highest point 5111 and the lowest point 5112 are arranged on the rotary table 511, in the process of rotation of the rotary table, the guide pillar assembly 52 can only move up and down, so when the roller 522 rolls from the highest point 5111 to the lowest point 5112, the movable seat 41 moves down under the action of the pressure spring, and simultaneously drives the clamping assembly to press the annular elastic sheet tightly, so that the clamping assembly deforms and clamps the bottle body; when the roller 522 rolls from the lowest point 5112 to the highest point 5111, the movable seat 41 can be pushed to move upwards, and the clamping assembly 2 is driven to move upwards while the pressure spring 42 is squeezed, so that the annular elastic sheet 3 is restored to the original state, and the bottle body is loosened.
As shown in fig. 1 to 5, in the present embodiment, there are three guide pillar assemblies 52, and the guide pillar assemblies are distributed on the fixing device 1 in an array. The movable seat 41 can be uniformly stressed in the upward moving process, and cannot incline.
As shown in fig. 1 to 5, in the present embodiment, a priming push rod assembly 7 is further included, which can prime the bottom of the bottle body placed in the holding assembly 2; the bottoming push rod assembly 7 comprises a bearing platform 71 for supporting the bottom of the bottle body, the bearing platform 71 is located between the clamping assembly 2 and the fixing device 1, a telescopic rod 72 capable of moving up and down is arranged on the bearing platform 71, and a bottoming portion 73 capable of enabling the bottom of the bottle body to form an inward concave portion is arranged at the top of the telescopic rod 72. The bottoming push rod assembly can form an inward concave part on the bottom of the bottle body, so that the stability of the pressure in the finished bottle lifter is ensured, and the finished bottle body can be vertically placed.
As shown in fig. 1 to 5, in this embodiment, a protrusion 211 is disposed on an outer side wall of the outer cover 21, a raised edge 411 is disposed at an interval inward at an upper end of the movable seat 41, a groove 412 through which the protrusion 211 can pass is disposed between adjacent raised edges 411, the outer cover 21 is inserted into the movable seat 41 and rotates, a lower end of the raised edge 411 abuts against an upper end of the protrusion 211 to prevent the outer cover 21 from being separated from the movable seat 41, the protrusion 211 on the outer cover extends into the movable seat 41 through the groove 412, and then the outer cover 21 is rotated to enable the protrusion 211 on the outer cover to rotate above the raised edge 411, so as to prevent the outer cover from being separated from the movable seat; simultaneously be provided with the fixed pin that is used for fixed enclosing cover when the enclosing cover is put into to the sliding seat in on the sliding seat, further fixed enclosing cover prevents that centre gripping subassembly 2 from breaking away from in the sliding seat 41, as long as loosen the fixed pin to rotatory enclosing cover 21 just can take out centre gripping subassembly 2 from the sliding seat 41 fast, is convenient for change not unidimensional centre gripping subassembly, simple structure, convenient operation.
As shown in fig. 1 to 5, in the present embodiment, a base 6 capable of preventing the cam swing arm assembly 51 from being detached is connected to the lower portion of the fixing device 1, a plane bearing 8 is disposed between the cam swing arm assembly 51 and the base 6, and a needle bearing 9 is disposed between the cam swing arm assembly 51 and the fixing device 1. The cam swing arm assembly 51 is ensured to rotate smoothly on the fixing device 1.
A clamping process: when the bottle body enters the clamping assembly, and the cam swing arm assembly 51 is simultaneously shifted, because the first fixed seat 11 and the second fixed seat 12 are connected and do not move, the guide post assembly 52 moves downwards along with the cam track, and the movable seat 41 also moves downwards along with the cam track under the influence of the downward tension of the compression spring 42, so that the clamping assembly 2 is driven to move downwards together; since the priming push rod assembly 7 is fixed, as shown in fig. 6 and 7, the inner ring 22 in the outer cap 21 moves upward relative to the outer cap 21 and presses the annular elastic sheet 3, and the annular elastic sheet 3 is deformed by force, reduces the inner diameter and protrudes inward to clamp the bottle body.
Loosening process: as shown in fig. 3, the cam swing arm assembly 51 is toggled to move the guide post assembly 52 upward, the guide post assembly 52 moves upward to jack up the movable seat 41, because the first fixed seat 11 and the second fixed seat 12 are connected and do not move, the bottoming push rod assembly 7 is fixed, the movable seat 41 moves upward to compress the pressure spring 42 and drive the inner ring 22 and the outer cover 21 to move upward together, the annular elastic sheet 3 recovers deformation and pushes the inner ring 22 to move downward for resetting, the annular elastic sheet 3 recovers deformation to loosen the bottle body, and the telescopic rod on the bottoming push rod assembly 7 drives the bottoming part to push out the bottle body.
Claims (10)
1. The flexible mechanical claw is characterized by comprising a fixing device (1), wherein a clamping assembly (2) is arranged on the fixing device (1), an annular elastic sheet (3) which can be freely inserted into a bottle body in a natural state is arranged in the clamping assembly (2), and a driving mechanism (4) which can drive the clamping assembly (2) to move so as to reduce the inner diameter of the annular elastic sheet (3) and clamp the bottle body is further arranged on the fixing device (1).
2. The flexible mechanical claw according to claim 1, wherein the driving mechanism (4) comprises a movable seat (41) movably arranged on the fixing device (1) and capable of driving the clamping assembly (2) to move, the driving mechanism (4) further comprises a pressure spring (42) arranged between the movable seat (41) and the fixing device (1), the pressure spring (42) drives the movable seat (41) to move downwards when naturally extending so as to enable the annular elastic sheet (3) to deform so as to clamp the bottle body, and the fixing device (1) is further connected with a pushing mechanism (5) capable of driving the movable seat (41) and the clamping assembly (2) to move upwards together so as to enable the annular elastic sheet (3) to restore to the original state.
3. The flexible mechanical gripper as claimed in claim 2, wherein the clamping assembly (2) comprises an outer cover (21) for placing the annular elastic sheet (3), the outer cover (21) is connected and fixed with the movable seat (41), an inner ring (22) capable of being matched with the outer cover (21) to extrude the annular elastic sheet (3) is movably arranged in the outer cover (21), and a notch (31) is formed in the outer side of the annular elastic sheet (3).
4. A flexible gripper according to claim 3, characterised in that said notches (31) are annular notches.
5. A flexible gripper according to claim 2, characterised in that the pushing means (5) comprises a cam swing arm assembly (51) which is rotatable relative to the fixture (1), and the pushing means (5) further comprises a guide post assembly (52) which pushes the movable base (41) upwards when the cam swing arm assembly (51) is rotated.
6. The flexible mechanical claw according to claim 5, wherein the guide post assembly (52) comprises a guide piece (521) capable of moving up and down along the fixing device (1) and a roller (522) rotatably arranged on the guide piece (521), the cam swing arm assembly (51) comprises a rotary table (511) on which the roller (522) can roll, a highest point (5111) and a lowest point (5112) are arranged on the rotary table (511), the guide post assembly (52) can drive the movable seat (41) to move upwards in the process of moving from the lowest point (5112) to the highest point (5111), and a swing arm (512) extending out of the fixing device (1) is arranged on the rotary table (511).
7. Flexible gripper according to claim 6, characterised in that said guide post assemblies (52) are three and distributed in an array on the fixture (1).
8. The flexible gripper according to claim 1, further comprising a priming push rod assembly (7) capable of priming the bottom of a bottle placed in the gripper assembly (2); the bottoming push rod assembly (7) comprises a bearing platform (71) for supporting the bottom of the bottle body to lean against, the bearing platform (71) is located between the clamping assembly (2) and the fixing device (1), a telescopic rod (72) capable of moving up and down is arranged on the bearing platform (71), and a bottoming portion (73) capable of enabling the bottom of the bottle body to form an inner concave portion is arranged at the top of the telescopic rod (72).
9. The flexible mechanical claw according to claim 3, wherein a bump (211) is arranged on the outer side wall of the outer cover (21), the upper end of the movable seat (41) is provided with a convex edge (411) at intervals inwards, a groove (412) through which the bump (211) can pass is arranged between the adjacent convex edges (411), the outer cover (21) is inserted into the movable seat (41) and rotates, and the lower end of the convex edge (411) abuts against the upper end of the bump (211) so as to prevent the outer cover (21) from being separated from the movable seat (41).
10. A flexible gripper according to claim 6, characterised in that a base (6) is connected below the fixture (1) to prevent the cam rocker (51) from disengaging, that a flat bearing (8) is arranged between the cam rocker (51) and the base (6), and that a needle bearing (9) is arranged between the cam rocker (51) and the fixture (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010468753.0A CN111469078A (en) | 2020-05-28 | 2020-05-28 | Flexible mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010468753.0A CN111469078A (en) | 2020-05-28 | 2020-05-28 | Flexible mechanical claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111469078A true CN111469078A (en) | 2020-07-31 |
Family
ID=71765130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010468753.0A Pending CN111469078A (en) | 2020-05-28 | 2020-05-28 | Flexible mechanical claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111469078A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1834111A1 (en) * | 1989-05-05 | 1995-05-20 | Д.Н. Тверской | Lathe chuck |
| DE10331423A1 (en) * | 2003-07-10 | 2005-02-10 | Stark Spannsysteme Gmbh | Clamping process to fix pallets or workpieces involves partly opening clamping device during insertion of drawing-in nipple |
| CN101080583A (en) * | 2004-12-13 | 2007-11-28 | 雄克有限公司 | Clamping device |
| CN101298362A (en) * | 2008-06-25 | 2008-11-05 | 宁波正力药品包装有限公司 | Vertical type bottle making machine |
| CN102259311A (en) * | 2010-05-24 | 2011-11-30 | 汕头市东方科技有限公司 | Pneumatic metal can clamping unit |
| CN102421557A (en) * | 2009-04-26 | 2012-04-18 | 伊斯卡有限公司 | Tool chuck having a rotatable securing mechanism |
| CN103769898A (en) * | 2014-02-14 | 2014-05-07 | 哈尔滨工业大学 | Precision hydraulic grab-clamping mechanism based on tracking and pre-tightening |
| CN106914764A (en) * | 2015-12-25 | 2017-07-04 | 庄旭彬 | Floating type clamping device |
| CN208323180U (en) * | 2018-06-22 | 2019-01-04 | 佛山市欣涛金属制品有限公司 | The clamping device of metal packaging tank |
| CN213498664U (en) * | 2020-05-28 | 2021-06-22 | 广东欧亚包装有限公司 | Flexible mechanical gripper device |
-
2020
- 2020-05-28 CN CN202010468753.0A patent/CN111469078A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1834111A1 (en) * | 1989-05-05 | 1995-05-20 | Д.Н. Тверской | Lathe chuck |
| DE10331423A1 (en) * | 2003-07-10 | 2005-02-10 | Stark Spannsysteme Gmbh | Clamping process to fix pallets or workpieces involves partly opening clamping device during insertion of drawing-in nipple |
| CN101080583A (en) * | 2004-12-13 | 2007-11-28 | 雄克有限公司 | Clamping device |
| CN101298362A (en) * | 2008-06-25 | 2008-11-05 | 宁波正力药品包装有限公司 | Vertical type bottle making machine |
| CN102421557A (en) * | 2009-04-26 | 2012-04-18 | 伊斯卡有限公司 | Tool chuck having a rotatable securing mechanism |
| CN102259311A (en) * | 2010-05-24 | 2011-11-30 | 汕头市东方科技有限公司 | Pneumatic metal can clamping unit |
| CN103769898A (en) * | 2014-02-14 | 2014-05-07 | 哈尔滨工业大学 | Precision hydraulic grab-clamping mechanism based on tracking and pre-tightening |
| CN106914764A (en) * | 2015-12-25 | 2017-07-04 | 庄旭彬 | Floating type clamping device |
| CN208323180U (en) * | 2018-06-22 | 2019-01-04 | 佛山市欣涛金属制品有限公司 | The clamping device of metal packaging tank |
| CN213498664U (en) * | 2020-05-28 | 2021-06-22 | 广东欧亚包装有限公司 | Flexible mechanical gripper device |
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