CN111844094B - Hard disk clamp holder - Google Patents
Hard disk clamp holder Download PDFInfo
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- CN111844094B CN111844094B CN202010710713.2A CN202010710713A CN111844094B CN 111844094 B CN111844094 B CN 111844094B CN 202010710713 A CN202010710713 A CN 202010710713A CN 111844094 B CN111844094 B CN 111844094B
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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
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Abstract
The invention discloses a hard disk clamper, comprising: the connecting arm body is used for being connected with the mechanical arm; the clamping unit is arranged on the connecting arm body and positions and clamps the hard disk from two sides of the hard disk in the thickness direction; the positioning unit comprises two positioning fingers movably held on the connecting arm body, one end of each positioning finger, far away from the connecting arm body, is provided with a positioning tail end used for being connected with the hard disk hole in a positioning mode, and the clamping unit is located between the two positioning fingers; when the positioning tail end is connected with the hard disk hole in a positioning mode, the two positioning fingers position and clamp the hard disk from two sides of the hard disk in the width direction. The hard disk clamp can realize the accurate positioning and clamping of the hard disk and the accurate alignment of the hard disk hole, so that the hard disk can be safely and quickly plugged in and pulled out of the hard disk hole of the server.
Description
Technical Field
The invention relates to the technical field of hard disk clamping machinery, in particular to a hard disk clamp.
Background
The data center machine room is generally provided with a plurality of servers, each server is provided with a plurality of hard disk holes which are densely arranged, and each hard disk hole is correspondingly plugged with one hard disk. At present, the maintenance of a data center machine room, particularly the replacement and maintenance of a data server hard disk, is mainly completed manually. The number of hard disks of the data server is huge, the maintenance work is simple, tedious and fussy, and a large amount of human resources are required to be occupied. If the mechanical operation is adopted, the hard disk plugging and unplugging action needs to be completed by means of the grabbing end. When the conventional universal grabbing tail end is applied to plugging and unplugging of a hard disk, the hard disk is easily misaligned and damaged by plugging and unplugging, and the requirement of safe operation is difficult to meet.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the hard disk clamp which can realize the accurate positioning and clamping of the hard disk and the accurate alignment of the hard disk and a hard disk hole, so that the hard disk can be safely and quickly plugged in and pulled out of the hard disk hole of the server.
The invention provides a hard disk clamper, comprising:
the connecting arm body is used for being connected with the mechanical arm;
the clamping unit is arranged on the connecting arm body and positions and clamps the hard disk from two sides of the hard disk in the thickness direction;
the positioning unit comprises two positioning fingers movably held on the connecting arm body, one end of each positioning finger, far away from the connecting arm body, is provided with a positioning tail end used for being connected with the hard disk hole in a positioning mode, and the clamping unit is located between the two positioning fingers; when the positioning tail end is connected with the hard disk hole in a positioning mode, the two positioning fingers position and clamp the hard disk from two sides of the hard disk in the width direction.
Optionally, one side of the positioning finger facing the other positioning finger is provided with a positioning portion, and when the positioning tail end is in positioning connection with the hard disk hole, the positioning portion is positioned and clamped on the outer side wall of the hard disk along the width direction of the hard disk; optionally, the positioning part is located in the middle of the positioning finger.
Optionally, the positioning finger comprises a finger body, a positioning tail end and a driving source, one end of the finger body is hinged to the connecting arm body, the other end of the finger body is provided with the positioning tail end, and the driving source is used for driving the finger body to swing.
Optionally, the finger body has an L-shaped configuration, a long arm of the L-shaped configuration is hinged to the connecting arm body, a short arm is connected to the positioning end, and the positioning end protrudes out of a side surface of the short arm away from the connecting arm body; when the positioning tail end is connected with the hard disk hole in a positioning mode, the two long arms position and clamp the hard disk from two sides of the hard disk in the width direction.
Optionally, when the positioning end is connected to the hard disk hole, a side surface of the short arm facing the link arm body is connected to a side surface of the hard disk far away from the link arm body.
Optionally, the positioning end has a cone structure, and a small end of the cone structure is used for positioning connection with the hard disk hole.
Optionally, the clamping unit includes two clamping fingers and a driving mechanism for driving the two clamping fingers to move to open and close, and the two clamping fingers position and clamp the hard disk from two sides of the hard disk in the thickness direction while opening and closing.
Optionally, actuating mechanism include drive assembly and with two transmission assembly that two centre gripping indicate the one-to-one, transmission assembly includes articulated first member, linking arm and second member in proper order, first member with the second member keep parallel and articulate respectively in link on the arm body, the linking arm with the centre gripping indicates fixed connection, drive assembly is used for driving simultaneously two transmission assembly's first member swing.
Optionally, the driving assembly is a linear motion assembly, the middle portion of the first rod is hinged to the connecting arm body, the first rod is connected to the motion output end of the linear motion assembly, the connecting portion of the first rod and the motion output end, and the hinged portion of the first rod and the connecting arm are located on two sides of the hinged portion of the first rod and the connecting arm body, and the linear motion assembly outputs linear reciprocating motion along the length direction of the hard disk.
Optionally, one side of each clamping finger facing the other clamping finger is a positioning surface, and the positioning surfaces of the two clamping fingers are kept parallel.
One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
the clamping unit positions and clamps the hard disk from two sides of the hard disk in the thickness direction to grab the hard disk, so as to position the hard disk in the thickness direction; when the hard disk clamp reaches the position near the target hard disk hole under the drive of the mechanical arm, the positioning tail end of the positioning finger is connected with the hard disk hole in a positioning way, so that the hard disk clamp and the hard disk hole are accurately positioned; meanwhile, the two positioning fingers position and clamp the hard disk from two sides of the width direction of the hard disk so as to position the hard disk in the width direction; the hard disk clamper can accurately position and clamp the hard disk, so that the hard disk can be accurately aligned with the hard disk hole in two directions, and the hard disk clamper can easily realize quick plugging in the hard disk hole of the server, thereby meeting the application requirement of mechanical automatic maintenance operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a first isometric view of a hard disk clamp provided by an embodiment of the present invention;
FIG. 2 is a second isometric view of the hard disk clamp of FIG. 1;
FIG. 3 is a plan view of the hard disk clamp of FIG. 1;
FIG. 4 is a cross-sectional view A-A of the hard disk clamp of FIG. 3;
FIG. 5 is a partial view of the hard disk clamp of FIG. 4 at location M;
FIG. 6 is a partial sectional view B-B of the hard disk clamp of FIG. 3.
Description of the main element symbols:
1-link arm body, 11-link end, 2-clamping unit, 21-clamping finger, 211-positioning surface, 221A-linear motion body, 221B-transmission screw rod, 221 c-screw rod nut, 221 d-guide rod, 221 e-first motor, 221 f-connecting shaft, 221 g-first synchronous belt mechanism, 222A-first transmission component, 222B-second transmission component, 222A-first rod piece, 222B-connecting arm, 222 c-second rod piece, 31A-first positioning finger, 31B-second positioning finger, 311-finger body, 3111-long arm, 3111A-first positioning part, 3112-short arm, 3112A-second positioning part, 312-positioning end, 313-driving source, 314-second synchronous belt mechanism, 4-micro switch.
Detailed Description
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1-2, the present embodiment discloses a specific structure of a hard disk clamp, which includes a connecting arm body 1, a clamping unit 2 and a positioning unit, and is used for positioning and clamping a hard disk so as to realize accurate alignment between the hard disk and a hard disk hole of a server, ensure safe and reliable plugging and unplugging actions, and meet application requirements of mechanical automated maintenance operations.
The arm connecting body 1 is used for serving as a structural foundation of the hard disk clamp and providing structural support for the clamping unit 2 and the positioning unit, and is used for being connected with the mechanical arm to be installed so that the hard disk clamp serves as an execution tail end of the mechanical arm. Exemplarily, one end of the link arm body 1 is provided with a link shaft end 11 connected with a rotation output shaft at the tail end of the mechanical arm, so that the hard disk clamp can rotate relative to the mechanical arm to realize the rotation adjustment of the pose.
The clamping unit 2 is arranged on the connecting arm body 1 and can position and clamp the hard disk from two sides of the hard disk in the thickness direction. In other words, when the hard disk is held by the holding unit 2, the held portion of the hard disk is the outer side walls on both sides in the thickness direction of the hard disk. At the same time, the chucking unit 2 positions the hard disk in position in the thickness direction.
The hard disk to be plugged and unplugged comprises a hard disk box and a hard disk body arranged in the hard disk box, wherein the hard disk body is a storage body, and the hard disk box plays a role in packaging protection. Generally, a hard disk to be plugged and unplugged has a cuboid shape, and is plugged and unplugged by moving forward and backward along the length direction; correspondingly, the opening outline and the cross-sectional outline of the hard disk hole on the server are rectangular and are consistent with the end outline of the hard disk along the length direction. The end contour of the hard disk along the length direction is composed of a width contour and a thickness contour of the hard disk. In some practical applications, after the hard disk is inserted into the hard disk hole, the width direction and the length direction of the hard disk are both located in the horizontal plane.
The clamping unit 2 has rich structural forms and can be of mechanical fingers, pneumatic clamping jaws, suckers and the like. Exemplarily, the clamping unit 2 includes two clamping fingers 21 and a driving mechanism for driving the two clamping fingers 21 to move to open and close, and the two clamping fingers 21 position and clamp the hard disk from two sides of the hard disk in the thickness direction in a moving and opening and closing manner. The opening and closing motion of the two clamping fingers 21 can be linear opening and closing or swinging opening and closing, and the types of the driving mechanisms correspond to each other.
Exemplarily, the driving mechanism includes a driving component and two transmission components (i.e., a first transmission component 222A and a second transmission component 222B). Wherein, two transmission components correspond to two clamping fingers 21 one-to-one, and a transmission component transmits the motion output by the driving mechanism to a clamping finger 21. Referring to fig. 1 to 6, each of the transmission assemblies includes a first rod 222a, a connecting arm 222b and a second rod 222c, which are sequentially hinged to each other, the first rod 222a and the second rod 222c are parallel and respectively hinged to the connecting arm body 1, and the first rod 222a, the connecting arm 222b, the second rod 222c and the connecting arm body 1 are sequentially hinged to form a parallelogram link mechanism. The connecting arm 222b is fixedly connected with the clamping finger 21, transmits the motion to the clamping finger 21, and keeps the posture of the clamping finger 21 unchanged when swinging along with the connecting arm 222b, thereby accurately and reliably acting and clamping the hard disk and ensuring the clamping and positioning accuracy. The driving assembly is used for driving the first rod 222a of the two transmission assemblies to swing at the same time, in other words, the first rods 222a corresponding to the two clamping fingers 21 swing synchronously under the driving of the driving assembly, so that the two clamping fingers 21 move synchronously to realize reliable opening and closing. Exemplarily, two transmission assemblies are symmetrically distributed, and two clamping fingers 21 are symmetrically distributed. Illustratively, either drive assembly may have at least one parallelogram linkage; when a transmission assembly has a plurality of parallelogram linkages, the plurality of parallelogram linkages are distributed in parallel along the thickness direction of the hard disk.
The driving component may be a rotating motor, and directly drives the first rod 222a to swing. Or, the driving assembly is a linear motion assembly exemplarily outputting a linear reciprocating motion along a length direction of the hard disk. The middle part of the first rod 222a is hinged to the connecting arm body 1, the first rod 222a is connected to the motion output end of the linear motion assembly, and the connecting part of the first rod 222a and the motion output end and the hinged part of the first rod 222a and the connecting arm 222b are respectively located at two sides of the hinged part of the first rod 222a and the connecting arm 222b body. In other words, the connecting portion of the first rod 222a and the motion output end of the linear motion assembly, the hinge portion of the first rod 222a and the link body 1, and the hinge portion of the first rod 222a and the link arm 222b are sequentially distributed along the extending direction of the first rod 222 a. The first pin 222a is integrally swung about its hinge axis with the link arm body 1 by the driving of the linear motion assembly.
Wherein, the linear motion component can adopt the structural forms of a telescopic cylinder, an electric push rod, a screw rod-guide rail and the like. For example, the linear motion assembly includes a linear motion body 221a, a driving screw 221b, a screw nut 221c, a guide rod 221d, and a first motor 221 e. The lead screw nut 221c is spirally and rotatably retained on the driving lead screw 221b, the linear moving body 221a is sleeved on the guide rod 221d and fixedly connected with the lead screw nut 221c, the linear moving body 221a is respectively connected with the first rod 222a of the two driving assemblies, the guide rod 221d is arranged along the length direction of the hard disk, and the first motor 221e is used for driving the driving lead screw 221b to rotate. Therefore, the linear motion body 221a can linearly reciprocate on the guide rod 221d along the length direction of the hard disk, and drives the first rod 222a to swing. Accordingly, the motion output end of the linear motion assembly is the linear motion body 221 a. Exemplarily, the driving screw 221b is in transmission connection with the first motor 221e through a synchronous belt mechanism (i.e., the first synchronous belt mechanism 221g), so that the first motor 221e can be flexibly arranged, the whole volume of the hard disk clamp holder is reduced, and the motion interference is avoided.
Exemplarily, the linear moving body 221a has a connecting shaft 221f, and the connecting shaft 221f penetrates through and connects the linear moving body 221a and the first rod 222a, so as to achieve the purpose of transmission. Exemplarily, the number of the connecting shafts 221f is 2, and the connecting shafts correspond to the transmission assemblies one by one. When the transmission assembly is provided with a plurality of parallelogram link mechanisms, the connecting shaft 221f sequentially penetrates through the plurality of parallelogram link mechanisms to ensure synchronous transmission.
Exemplarily, one side of the clamping finger 21 facing the other clamping finger 21 is a positioning surface 211, and the positioning surfaces 211 of the two clamping fingers 21 are kept parallel, so that the positioning is kept accurate, and the clamping is stable and reliable. When the hard disk is clamped in place, the positioning surfaces 211 are attached to and positioned and connected with the outer side wall of the hard disk along the thickness direction, so that the hard disk is clamped between the two positioning surfaces 211, and the two positioning surfaces 211 are opposite to each other along the thickness direction of the hard disk.
The positioning unit includes two positioning fingers, i.e., a first positioning finger 31A and a second positioning finger 31B, which are movably held on the link body 1. The end of the positioning finger far away from the link arm body 1 is provided with a positioning end 312, and the positioning end 312 is used for positioning connection with a hard disk hole so that the hard disk clamp is positioned in place on the hard disk hole. The clamping unit 2 is positioned between the two positioning fingers, so that the hard disk clamped by the clamping unit 2 is positioned between the two positioning fingers.
It should be noted that the two positioning fingers are arranged and configured such that when the positioning end 312 is connected to the hard disk hole, the two positioning fingers position and clamp the hard disk from two sides of the hard disk in the width direction, so that the hard disk is positioned in place in the width direction of the hard disk. At the moment, the hard disk is positioned in place along the width direction and the thickness direction of the hard disk due to the positioning action of the clamping unit 2 and the two positioning fingers; thanks to the positioning function of the positioning tail end 312 and the hard disk hole, the hard disk and the hard disk hole are completely positioned, the end profile of the hard disk falls into the opening profile of the hard disk hole, a foundation is provided for subsequent insertion, and the safe and reliable insertion is ensured.
For example, when actually performing the hard disk insertion operation, the clamping unit 2 may be first positioned to clamp the hard disk, and the hard disk clamp moves to the vicinity of the target hard disk hole to be inserted with the robot arm. The positioning end 312 of the positioning finger is connected with the hard disk hole in a positioning manner, so that the hard disk clamp and the hard disk hole are accurately positioned. Meanwhile, the clamping unit 2 slightly loosens the hard disk, and the two positioning fingers position and clamp the hard disk from two sides of the width direction of the hard disk so as to position the hard disk in the width direction; subsequently, the hard disk is clamped again by the clamping unit 2 so that the hard disk is positioned in place in both the width direction and the thickness direction. It will be appreciated that during the subsequent insertion process, the clamping unit 2 is always holding the hard disk firmly, so that the relative position of the hard disk and the clamping unit 2 remains unchanged. After the positioning is in place, the positioning finger can release the hard disk hole and the hard disk, and the mechanical arm drives the clamping unit 2 to execute the insertion action along the length direction of the hard disk.
Similarly, when the hard disk is actually pulled out, the hard disk clamper moves to the vicinity of the target hard disk hole where the hard disk is to be pulled out, with the robot arm. The alignment tip 312 contacts the eject switch of the target hard disk aperture to eject the end of the hard disk out of the target hard disk aperture. The chucking unit 2 positions and chucks the hard disk from both sides in the thickness direction of the hard disk, and then is driven by the robot arm to perform a pull-out operation in the length direction of the hard disk.
Exemplarily, the positioning finger has a positioning portion (i.e., a first positioning portion 3111a) on a side facing the other positioning finger. When the positioning end 312 is connected to the hard disk hole, the first positioning portion 3111a is positioned and clamped on the outer side wall of the hard disk along the width direction thereof. Exemplarily, the first positioning portion 3111a is located at the middle of the positioning finger. The first positioning portion 3111a may be in the form of an anchor point, a surface, or the like.
The pivoting movements of the two positioning fingers are, for example, independent of one another, so that the positioning movement is easy to implement. The motion mode of the positioning finger can be linear motion, swing and the like, and in the implementation, one end of the positioning finger is hinged with the connecting arm body 1. Exemplarily, the positioning finger includes a finger body 311, a positioning end 312 and a driving source 313, wherein one end of the finger body 311 is hinged to the link arm body 1, the other end is provided with the positioning end 312, and the driving source 313 is used for driving the finger body 311 to swing. The driving source 313 is various in form, and may be a type of a rotary electric machine, a hydraulic motor, or the like. Exemplarily, the driving source 313 is drivingly connected to the finger body 311 through a timing belt mechanism (i.e., a second timing belt mechanism 314).
The finger body 311 has a wide variety of configurations, and exemplarily, the finger body 311 has an L-shaped configuration. Wherein, the long arm 3111 of L-shaped structure is hinged with the connecting arm body 1, the short arm 3112 is connected with the positioning end 312, and the positioning end 312 protrudes out of the side surface of the short arm 3112 far away from the connecting arm body 1. When the positioning end 312 is connected to the hard disk hole, the two long arms 3111 position and clamp the hard disk from two sides of the hard disk in the width direction. Accordingly, the first positioning portion 3111a is located on a side surface of the long arm 3111 facing the adjacent long arm 3111.
Exemplarily, when the positioning end 312 is in positioning connection with the hard disk hole, a side surface of the short arm 3112 facing the arm body 1 is in positioning connection with a side surface of the hard disk far from the arm body 1, and the hard disk is further positioned along the length direction of the hard disk. Exemplarily, a side surface of the short arm 3112 facing the link arm body 1 has a second positioning portion 3112a for positioning a side surface of the hard disk away from the link arm body 1 along a length direction of the hard disk. Exemplarily, the clamping unit 2 is provided with a micro switch 4, and the micro switch 4 and the short arm 3112 are respectively located at two sides of the hard disk along the length direction of the hard disk. When the hard disk is positioned in place along the length direction, the hard disk just touches the micro switch 4, and the surface of one side of the short arm 3112 facing the link arm body 1 is positioned and connected on the surface of one side of the hard disk far away from the link arm body 1, so that the positioning is ensured to be reliably in place.
Exemplarily, the positioning end 312 has a cone structure, and a small end of the cone structure is used for positioning connection with the hard disk hole, so as to ensure positioning accuracy and motion sensitivity. Accordingly, the large end of the cone formation is connected to the finger body 311 (e.g., the short arm 3112 therein).
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (7)
1. A hard disk clamp, comprising:
the connecting arm body is used for being connected with the mechanical arm;
the clamping unit is arranged on the connecting arm body and positions and clamps the hard disk from two sides of the hard disk in the thickness direction;
the positioning unit comprises two positioning fingers movably held on the connecting arm body, one end of each positioning finger, far away from the connecting arm body, is provided with a positioning tail end used for being connected with the hard disk hole in a positioning mode, and the clamping unit is located between the two positioning fingers; when the positioning tail end is connected with the hard disk hole in a positioning mode, the two positioning fingers position and clamp the hard disk from two sides of the hard disk in the width direction;
the clamping unit comprises two clamping fingers and a driving mechanism for driving the two clamping fingers to move to open and close, the two clamping fingers can position and clamp the hard disk from two sides of the hard disk in the thickness direction in a moving and opening and closing manner, the driving mechanism comprises a driving assembly and two transmission assemblies in one-to-one correspondence with the two clamping fingers, each transmission assembly comprises a first rod piece, a connecting arm and a second rod piece which are sequentially hinged, the first rod piece and the second rod piece are kept in parallel and are respectively hinged on the connecting arm body, the connecting arms are fixedly connected with the clamping fingers, the driving assembly is used for simultaneously driving the first rod pieces of the two transmission assemblies to swing, the driving assembly is a linear motion assembly, the middle part of the first rod piece is hinged with the connecting arm body, and the first rod piece is connected with the motion output end of the linear motion assembly, the connecting part of the first rod piece and the motion output end and the hinged part of the first rod piece and the connecting arm are arranged on two sides of the hinged part of the first rod piece and the connecting arm body, and the linear motion assembly outputs linear reciprocating motion along the length direction of the hard disk.
2. The hard disk clamp according to claim 1, wherein the positioning finger has a positioning portion on a side facing the other positioning finger, and when the positioning end is in positioning connection with the hard disk hole, the positioning portion is positioned and clamped on an outer side wall of the hard disk in a width direction thereof; the positioning part is positioned in the middle of the positioning finger.
3. The hard disk clamp according to claim 1, wherein the positioning finger comprises a finger body, a positioning end and a driving source, one end of the finger body is hinged to the link arm body, the other end of the finger body is provided with the positioning end, and the driving source is used for driving the finger body to swing.
4. The hard disk holder according to claim 3, wherein the finger body has an L-shaped configuration, a long arm of the L-shaped configuration is hinged to the link body, a short arm is connected to the positioning tip, and the positioning tip protrudes from a side surface of the short arm away from the link body; when the positioning tail end is connected with the hard disk hole in a positioning mode, the two long arms position and clamp the hard disk from two sides of the hard disk in the width direction.
5. The hard disk holder as claimed in claim 4, wherein when said positioning end is positioned in connection with said hard disk hole, a side surface of said short arm facing said link body is positioned in connection with a side surface of said hard disk facing away from said link body.
6. The hard disk holder as in claim 1, wherein the locating tip has a tapered configuration with a small end for locating connection with the hard disk hole.
7. The hard disk clamp according to claim 1, wherein the side of the clamp finger facing the other clamp finger is a positioning surface, and the positioning surfaces of the two clamp fingers are kept parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010710713.2A CN111844094B (en) | 2020-07-22 | 2020-07-22 | Hard disk clamp holder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010710713.2A CN111844094B (en) | 2020-07-22 | 2020-07-22 | Hard disk clamp holder |
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| CN111844094A CN111844094A (en) | 2020-10-30 |
| CN111844094B true CN111844094B (en) | 2022-03-15 |
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| CN104669288A (en) * | 2015-02-03 | 2015-06-03 | 徐州德坤电气科技有限公司 | Unordered automatic pipe grabbing and inserting manipulator for small U-shaped pipes of fin assembly |
| CN105643322A (en) * | 2015-04-24 | 2016-06-08 | 合肥工业大学 | Precise pneumatic clamping mechanical gripper for thin plate type workpiece |
| CN106541414A (en) * | 2016-10-17 | 2017-03-29 | 苏州科维新型包装有限公司 | A kind of tong |
| CN106990820A (en) * | 2017-06-10 | 2017-07-28 | 刘秋萍 | A kind of hard disc of computer suitable for mobile network service device stores device |
| CN107127778A (en) * | 2017-07-13 | 2017-09-05 | 安徽航大智能科技有限公司 | A kind of new energy electric machine casing positions gripping apparatus |
| CN207710816U (en) * | 2017-12-26 | 2018-08-10 | 宁德时代新能源科技股份有限公司 | Battery core grabbing device |
| CN208246687U (en) * | 2018-03-28 | 2018-12-18 | 东莞市沃德精密机械有限公司 | Solid state hard disk plugs manipulator |
| CN108527426A (en) * | 2018-04-11 | 2018-09-14 | 余云丰 | A kind of Double-linkage manipulator |
| CN108839043A (en) * | 2018-06-05 | 2018-11-20 | 东莞市天合机电开发有限公司 | A kind of band batch roll picking manipulator |
| CN209936958U (en) * | 2019-05-20 | 2020-01-14 | 熊海连 | Mechanical arm clamping device |
| CN111037580A (en) * | 2019-12-30 | 2020-04-21 | 武汉大学 | Multi-purpose carborundum wafer transmission machinery hand |
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