CN113319883B - Anti-skidding mechanical arm suitable for bearing grabbing and working method thereof - Google Patents
Anti-skidding mechanical arm suitable for bearing grabbing and working method thereof Download PDFInfo
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- CN113319883B CN113319883B CN202110716586.1A CN202110716586A CN113319883B CN 113319883 B CN113319883 B CN 113319883B CN 202110716586 A CN202110716586 A CN 202110716586A CN 113319883 B CN113319883 B CN 113319883B
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- clamping jaw
- clamping
- mechanical arm
- bearing
- hinged
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention relates to an anti-skidding mechanical arm suitable for bearing grabbing and a working method thereof, which are characterized in that: the mechanical arm comprises a mechanical arm (5), wherein the mechanical arm (5) can simultaneously clamp the inner ring and the outer ring of the bearing (6) respectively. The manipulator can simultaneously and respectively clamp the inner ring and the outer ring of the bearing, and synchronously clamp the inner ring and the outer ring by using one driving mechanism, so that the clamping accuracy and stability are ensured, and the manufacturing cost and the arrangement space are saved.
Description
Technical Field
The invention relates to a clamping mechanical arm, in particular to an anti-skidding mechanical arm suitable for bearing clamping and a working method thereof.
Background
The existing heavy object for part machining is pulled and is produced after the factory and finished, and is moved out of the machining equipment, but the quality is heavier after the part machining, and the part is difficult to classify in the pulling and pulling process, so that the package in the later period is disordered, the working time is increased, the whole flexibility of the existing device is poor, the angle can be changed at any time during machining, and the device cannot be adjusted according to external factors.
Therefore, a mechanical arm is used for assisting the handling and loading and unloading of parts in production, but for parts such as bearings, the clamping jaws are required to clamp with larger pressure due to smooth appearance, but damage can be caused to the outer rings of the bearings, and therefore the existing clamping jaws are not suitable for clamping the bearing parts.
Disclosure of Invention
The invention designs an anti-skidding mechanical arm suitable for bearing grabbing and a working method thereof, and solves the technical problem that clamping jaws are required to clamp a bearing with smooth appearance under higher pressure, but the outer ring of the bearing is possibly damaged, so that the existing clamping jaws are not suitable for grabbing bearing parts.
In order to solve the technical problems, the invention adopts the following scheme:
the utility model provides an it snatchs anti-skidding robotic arm to be applicable to bearing, includes manipulator (5), manipulator (5) can press from both sides tightly respectively to the inner circle and the outer lane of bearing (6) simultaneously.
Preferably, the manipulator (5) comprises an outer ring clamping mechanism, the outer ring clamping mechanism comprises a left first clamping jaw (541), a right first clamping jaw (551) and a cross-shaped connecting piece (56), the lowest ends of the left first clamping jaw (541) and the right first clamping jaw (551) are used for clamping the outer ring of the bearing (6), the middle parts of the left first clamping jaw (541) and the right first clamping jaw (551) are respectively hinged with two ends of the horizontal part of the cross-shaped connecting piece (56), the highest end of the left first clamping jaw (541) is hinged with the lower end of the left second clamping jaw (542), the highest end of the right first clamping jaw (551) is hinged with the lower end of the right second clamping jaw (552), the upper end of the left second clamping jaw (542) is hinged with the left side of the driving block (53), the upper end of the right second clamping jaw (552) is hinged with the right side of the driving block (53), the middle of the driving block (53) is connected with the air cylinder (51) through an air cylinder rod (52), and the air cylinder rod (52) descends to drive the left first clamping jaw (541) and the right clamping jaw (551) to move towards each other and move from the left side And clamps the outer ring of the bearing (6).
Preferably, the left first clamping jaw (541) is hinged with the cross-shaped connecting piece (56) through a left third connecting shaft (545), and the right first clamping jaw (551) is hinged with the cross-shaped connecting piece (56) through a right third connecting shaft (555); the left first clamping jaw (541) is hinged with the left second clamping jaw (542) through a left second connecting shaft (544), and the right first clamping jaw (551) is hinged with the right second clamping jaw (552) through a right second connecting shaft (554); the left second clamping jaw (542) is hinged with the driving block (53) through a left first connecting shaft (543), and the right second clamping jaw (552) is hinged with the driving block (53) through a right first connecting shaft (553).
Preferably, the manipulator (5) further comprises an inner ring clamping mechanism, the inner ring clamping mechanism comprises a driving rod (57), an axial hole is formed in the vertical portion of the cross-shaped connecting piece (56), the driving rod (57) can move in the axial hole, a left lower inclined surface (571) and a right lower inclined surface (572) are arranged at the lower end of the driving rod (57), two radial holes are formed in the vertical portion of the cross-shaped connecting piece (56), a left clamping block (561) and a right clamping block (562) are respectively arranged in the two radial holes, a left upper inclined surface (563) is arranged on the left clamping block (561), and a right upper inclined surface (564) is arranged on the right clamping block (562); in an initial state, the left clamping block (561) and the right clamping block (562) do not extend out of the vertical part of the cross-shaped connecting piece (56), the left upper inclined surface (563) and the right upper inclined surface (564) are positioned in the axial hole, the uppermost end of the driving rod (57) is positioned outside the cross-shaped connecting piece (56), when the driving block (53) moves downwards, the driving rod (57) is pushed to move downwards, the left lower inclined surface (571) and the left upper inclined surface (563) interact to push out the inner ring of the acting bearing (6) of the left clamping block (561), and the right lower inclined surface (572) and the right upper inclined surface (564) interact to push out the inner ring of the acting bearing (6) of the right clamping block (562); meanwhile, the left first clamping jaw (541) and the right first clamping jaw (551) clamp the outer ring of the bearing (6).
Preferably, the bottom of the axial hole is provided with a first return spring (565) for assisting the return of the driving rod (57), and each radial hole is also provided with a second return spring for assisting the return of the left clamping block (561) and the right clamping block (562).
Preferably, the robot further comprises a lower mechanical arm (31) and an upper mechanical arm (33), wherein the lower mechanical arm (31) and the upper mechanical arm (33) are hinged through a rotating shaft (32), and the upper mechanical arm (33) is hinged with a base of the mechanical arm (5).
Preferably, the lower mechanical arm (31) and the upper mechanical arm (33) can realize the change of the included angle therebetween through a first air cylinder, and the upper mechanical arm (33) and the mechanical arm (5) can realize the change of the included angle therebetween through a second air cylinder.
Preferably, the robot further comprises a base (1), wherein a mounting hole (11) is formed in the base (1), a rotating base (2) is mounted in the mounting hole (11) and can rotate under the action of a first motor, a manipulator mounting hole (21) is formed in the rotating base (2), and the lower end of the lower manipulator (31) is mounted in the manipulator mounting hole (21).
Preferably, the manipulator further comprises a bearing box (4), the bottom of the bearing box (4) is provided with a sliding sleeve (41) and a rotating screw (42), and the second motor can rotate the rotating screw (42) to drive the bearing box (4) to move to a clamping position required by the manipulator (5).
A working method suitable for a bearing grabbing anti-skid mechanical arm comprises the following steps:
step 3, starting an air cylinder, enabling a first clamping jaw (541) and a right first clamping jaw (551) to move oppositely by an air cylinder rod so as to clamp an outer ring of the bearing, and enabling a left clamping block (561) and a right clamping block (562) to move reversely to extend out of a vertical part of the cross-shaped connecting piece (56) to clamp an inner ring of the bearing under the action of the air cylinder rod to move downwards by the driving rod (57);
and 6, starting the air cylinder, enabling the air cylinder rod to contract to enable the left first clamping jaw (541) and the right first clamping jaw (551) to move in the directions, and enabling the left clamping block (561) and the right clamping block (562) to move towards each other synchronously to lower the bearing.
The anti-skidding mechanical arm suitable for bearing grabbing and the working method thereof have the following beneficial effects:
(1) the manipulator can simultaneously and respectively clamp the inner ring and the outer ring of the bearing, and synchronously clamp the inner ring and the outer ring by using one driving mechanism, so that the clamping accuracy and stability are ensured, and the manufacturing cost and the arrangement space are saved.
(2) The distance of the downward movement of the cylinder rod is inversely proportional to the diameter difference of the inner ring and the outer ring of the bearing, so that the indentation caused by the overlarge pressure applied by a manipulator on the surface of the bearing is avoided.
Drawings
FIG. 1: the invention is suitable for the three-dimensional structure schematic diagram of the bearing grabbing anti-skid mechanical arm;
FIG. 2: the invention is suitable for the structural schematic diagram of the clamping mechanism of the bearing grabbing antiskid mechanical arm;
FIG. 3: the schematic diagram of the bearing inner ring clamping device in the invention is in non-working state;
FIG. 4: the schematic diagram of the bearing inner ring clamping device in the invention is in operation;
FIG. 5 is a schematic view of: the invention discloses a schematic clamping diagram of an inner ring and an outer ring of a bearing.
Description of reference numerals:
1-a base; 11-mounting holes; 2-rotating the base; 21-mounting holes of the manipulator; 31-lower mechanical arm; 32-a rotating shaft; 33-upper mechanical arm; 4, bearing box; 41-a sliding sleeve; 42-rotating the screw; 5, a mechanical arm; 51-a cylinder; 52-cylinder rod; 53-drive block; 541-left first jaw; 542-left second jaw; 543-left first connecting shaft; 544 — a left second connecting shaft; 545-a left third connecting shaft; 551-right first jaw; 552-right second jaw; 553 — right first connecting shaft; 554 — a right second connecting shaft; 555-a right third connecting shaft; 56-T type connecting piece; 561-left clamp block; 562-right clamping block; 563 — upper left bevel; 564 — upper right bevel; 565 — a first return spring; 57-a drive rod; 571-lower left inclined plane; 572 — lower right bevel; 6-bearing.
Detailed Description
The invention is further illustrated below with reference to fig. 1 to 5:
as shown in figure 1, the antiskid mechanical arm suitable for bearing grabbing comprises a mechanical arm 5, wherein the mechanical arm 5 can simultaneously clamp an inner ring and an outer ring of a bearing 6 respectively.
The mechanical arm device further comprises a lower mechanical arm 31 and an upper mechanical arm 33, wherein the lower mechanical arm 31 is hinged with the upper mechanical arm 33 through a rotating shaft 32, and the upper mechanical arm 33 is hinged with a base of the mechanical arm 5. The lower mechanical arm 31 and the upper mechanical arm 33 can change the included angle therebetween through the first cylinder, and the upper mechanical arm 33 and the mechanical arm 5 can change the included angle therebetween through the second cylinder.
Still include base 1, be equipped with mounting hole 11 on the base 1, rotating base 2 is installed at mounting hole 11 and can rotate under the first motor effect, is equipped with manipulator mounting hole 21 on rotating base 2, and the lower extreme of lower arm 31 is installed in manipulator mounting hole 21.
The manipulator further comprises a bearing box 4, the bottom of the bearing box 4 passes through a sliding sleeve 41 and a rotating screw 42, and a second motor can enable the rotating screw 42 to rotate so as to drive the bearing box 4 to move to a clamping position required by the manipulator 5.
As shown in fig. 2, the robot 5 includes an outer ring clamping mechanism, the outer ring clamping mechanism includes a left first clamping jaw 541, a right first clamping jaw 551 and a cross-shaped connector 56, the lowest ends of the left first clamping jaw 541 and the right first clamping jaw 551 are used for clamping the outer ring of the bearing 6, the middle portions of the left first clamping jaw 541 and the right first clamping jaw 551 are respectively hinged to two ends of the horizontal portion of the cross-shaped connector 56, the uppermost end of the left first clamping jaw 541 is hinged to the lower end of the left second clamping jaw 542, the uppermost end of the right first clamping jaw 551 is hinged to the lower end of the right second clamping jaw 552, the upper end of the left second clamping jaw 542 is hinged to the left side of the driving block 53, the upper end of the right second clamping jaw 552 is hinged to the right side of the driving block 53, the middle of the driving block 53 is connected to the cylinder 51 through the cylinder rod 52, and the cylinder rod 52 moves downward to drive the left first clamping jaw 541 and the right first clamping jaw 551 to move toward each other so as to clamp the outer ring of the bearing 6.
The left first clamping jaw 541 is hinged with the cross-shaped connecting piece 56 through a left third connecting shaft 545, and the right first clamping jaw 551 is hinged with the cross-shaped connecting piece 56 through a right third connecting shaft 555; the left first clamping jaw 541 and the left second clamping jaw 542 are hinged through a left second connecting shaft 544, and the right first clamping jaw 551 and the right second clamping jaw 552 are hinged through a right second connecting shaft 554; the left second clamping jaw 542 is hinged to the drive block 53 via a left first connecting shaft 543, and the right second clamping jaw 552 is hinged to the drive block 53 via a right first connecting shaft 553.
The manipulator 5 further comprises an inner ring clamping mechanism, the inner ring clamping mechanism comprises a driving rod 57, an axial hole is formed in the vertical portion of the cross-shaped connecting piece 56, the driving rod 57 can move in the axial hole, a left lower inclined surface 571 and a right lower inclined surface 572 are arranged at the lower end of the driving rod 57, two radial holes are formed in the vertical portion of the cross-shaped connecting piece 56, a left clamping block 561 and a right clamping block 562 are respectively arranged in the two radial holes, a left upper inclined surface 563 is arranged on the left clamping block 561, and a right upper inclined surface 564 is arranged on the right clamping block 562.
A first return spring 565 is provided at the bottom of the axial hole to assist in the return of the driving rod 57, and a second return spring is provided in each radial hole to assist in the return of the left and right clamping blocks 561, 562, respectively.
As shown in fig. 3, in the initial state, the left and right clamp blocks 561, 562 do not protrude from the vertical portion of the cross connection 56 and the left and right upper inclined surfaces 563, 564 are located in the axial hole, and the uppermost end of the driving lever 57 is located outside the cross connection 56.
As shown in fig. 4, when the driving block 53 moves downward, the driving rod 57 is pushed downward, the left lower slope 571 and the left upper slope 563 interact with each other to push the left clamping block 561 to act on the inner ring of the bearing 6, and the right lower slope 572 and the right upper slope 564 interact with each other to push the right clamping block 562 to act on the inner ring of the bearing 6; at the same time, the left and right first jaws 541, 551 grip the outer race of the bearing 6.
As shown in fig. 5, the left and right first jaws 541 and 551 move toward each other to clamp the outer race of the bearing 6, and the left and right clamping blocks 561 and 562 move in opposite directions to clamp the inner race of the bearing 6.
The working method or principle of the anti-skid mechanical arm suitable for bearing grabbing comprises the following steps:
step 3, starting the air cylinder, enabling the first clamping jaw 541 and the right first clamping jaw 551 to move oppositely by the air cylinder rod so as to clamp the outer ring of the bearing, and enabling the driving rod 57 to move downwards by the air cylinder rod so as to enable the left clamping block 561 and the right clamping block 562 to move reversely to clamp the inner ring of the bearing;
and 6, starting the air cylinder, enabling the air cylinder rod to contract to enable the left first clamping jaw 541 and the right first clamping jaw 551 to move in the directions, and enabling the left clamping block 561 and the right clamping block 562 to move towards each other synchronously so as to lower the bearing.
The invention is described above with reference to the accompanying drawings, it is obvious that the implementation of the invention is not limited in the above manner, and it is within the scope of the invention to adopt various modifications of the inventive method concept and solution, or to apply the inventive concept and solution directly to other applications without modification.
Claims (2)
1. The utility model provides a be applicable to bearing and snatch anti-skidding robotic arm which characterized in that: the mechanical arm (5) can simultaneously clamp the inner ring and the outer ring of the bearing (6);
the mechanical arm (5) comprises an outer ring clamping mechanism, the outer ring clamping mechanism comprises a left first clamping jaw (541), a right first clamping jaw (551) and a cross-shaped connecting piece (56), the lowest ends of the left first clamping jaw (541) and the right first clamping jaw (551) are used for clamping the outer ring of the bearing (6), the middle parts of the left first clamping jaw (541) and the right first clamping jaw (551) are hinged with two ends of the horizontal part of the cross-shaped connecting piece (56) respectively, the uppermost end of the left first clamping jaw (541) is hinged with the lower end of the left second clamping jaw (542), the uppermost end of the right first clamping jaw (551) is hinged with the lower end of the right second clamping jaw (552), the upper end of the left second clamping jaw (542) is hinged with the left side of a driving block (53), the upper end of the right second clamping jaw (552) is hinged with the right side of the driving block (53), the middle of the driving block (53) is connected with an air cylinder (51) through an air cylinder (52), and the air cylinder (52) can drive the left first clamping jaw (541) and the right first clamping jaw (551) to move in opposite directions so as to clamp a shaft (56) downwards An outer ring of the bearing (6);
the left first clamping jaw (541) is hinged with the cross-shaped connecting piece (56) through a left third connecting shaft (545), and the right first clamping jaw (551) is hinged with the cross-shaped connecting piece (56) through a right third connecting shaft (555); the left first clamping jaw (541) is hinged with the left second clamping jaw (542) through a left second connecting shaft (544), and the right first clamping jaw (551) is hinged with the right second clamping jaw (552) through a right second connecting shaft (554); the left second clamping jaw (542) is hinged with the driving block (53) through a left first connecting shaft (543), and the right second clamping jaw (552) is hinged with the driving block (53) through a right first connecting shaft (553);
the manipulator (5) further comprises an inner ring clamping mechanism, the inner ring clamping mechanism comprises a driving rod (57), an axial hole is formed in the vertical portion of the cross-shaped connecting piece (56), the driving rod (57) can move in the axial hole, a left lower inclined plane (571) and a right lower inclined plane (572) are arranged at the lower end of the driving rod (57), two radial holes are formed in the vertical portion of the cross-shaped connecting piece (56), a left clamping block (561) and a right clamping block (562) are respectively arranged in the two radial holes, a left upper inclined plane (563) is arranged on the left clamping block (561), and a right upper inclined plane (564) is arranged on the right clamping block (562); in an initial state, the left clamping block (561) and the right clamping block (562) do not extend out of the vertical part of the cross-shaped connecting piece (56), the left upper inclined surface (563) and the right upper inclined surface (564) are positioned in the axial hole, the uppermost end of the driving rod (57) is positioned outside the cross-shaped connecting piece (56), when the driving block (53) moves downwards, the driving rod (57) is pushed to move downwards, the left lower inclined surface (571) and the left upper inclined surface (563) interact to push out the inner ring of the acting bearing (6) of the left clamping block (561), and the right lower inclined surface (572) and the right upper inclined surface (564) interact to push out the inner ring of the acting bearing (6) of the right clamping block (562); meanwhile, the left first clamping jaw (541) and the right first clamping jaw (551) clamp the outer ring of the bearing (6);
the bottom of the axial hole is provided with a first return spring (565) for helping the drive rod (57) to return, and each radial hole is also respectively provided with a second return spring for helping the left clamping block (561) and the right clamping block (562) to return;
the mechanical arm mechanism further comprises a lower mechanical arm (31) and an upper mechanical arm (33), wherein the lower mechanical arm (31) is hinged with the upper mechanical arm (33) through a rotating shaft (32), and the upper mechanical arm (33) is hinged with a base of the mechanical arm (5);
the lower mechanical arm (31) and the upper mechanical arm (33) can change an included angle therebetween through a first cylinder, and the upper mechanical arm (33) and the mechanical arm (5) can change the included angle therebetween through a second cylinder;
the mechanical arm mechanism is characterized by further comprising a base (1), wherein a mounting hole (11) is formed in the base (1), a rotating base (2) is mounted in the mounting hole (11) and can rotate under the action of a first motor, a mechanical arm mounting hole (21) is formed in the rotating base (2), and the lower end of the lower mechanical arm (31) is mounted in the mechanical arm mounting hole (21);
the manipulator is characterized by further comprising a bearing box (4), the bottom of the bearing box (4) is connected with a rotating screw (42) through a sliding sleeve (41), and a second motor can enable the rotating screw (42) to rotate so as to drive the bearing box (4) to move to a clamping position required by the manipulator (5).
2. The working method of the anti-skid mechanical arm suitable for bearing grabbing in the claim 1 comprises the following steps:
step 1, starting a second motor to enable a bearing box (4) to move to a proper clamping position and then stop;
step 2, starting the first motor, the first air cylinder and the second air cylinder to enable the manipulator (5) to be adjusted to the optimal clamping position and then stop;
step 3, starting an air cylinder, enabling a left first clamping jaw (541) and a right first clamping jaw (551) to move oppositely by an air cylinder rod so as to clamp an outer ring of the bearing, and enabling a left clamping block (561) and a right clamping block (562) to move reversely by an air cylinder rod to extend out of a vertical part of the cross-shaped connecting piece (56) to clamp an inner ring of the bearing by acting on a driving rod (57) to move downwards;
step 4, the downward movement distance of the cylinder rod is in inverse proportion to the diameter difference of the inner ring and the outer ring of the bearing, so that the phenomenon that the pressure applied by a mechanical hand is too large to cause indentation on the surface of the bearing is avoided;
step 5, starting the first motor, the first cylinder and the second cylinder again to enable the manipulator (5) to be adjusted to the position for unloading the bearing;
and 6, starting the air cylinder, enabling the air cylinder rod to contract to enable the left first clamping jaw (541) and the right first clamping jaw (551) to move reversely, and enabling the left clamping block (561) and the right clamping block (562) to move oppositely to lower the bearing synchronously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110716586.1A CN113319883B (en) | 2021-06-28 | 2021-06-28 | Anti-skidding mechanical arm suitable for bearing grabbing and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110716586.1A CN113319883B (en) | 2021-06-28 | 2021-06-28 | Anti-skidding mechanical arm suitable for bearing grabbing and working method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN113319883A CN113319883A (en) | 2021-08-31 |
| CN113319883B true CN113319883B (en) | 2022-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110716586.1A Active CN113319883B (en) | 2021-06-28 | 2021-06-28 | Anti-skidding mechanical arm suitable for bearing grabbing and working method thereof |
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| CN (1) | CN113319883B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114290152A (en) * | 2021-12-18 | 2022-04-08 | 唐鹏程 | Protection positioning device for inner ring bearing plane grinding and positioning method thereof |
| CN116277105B (en) * | 2023-05-23 | 2023-07-18 | 爱合发工业传动科技(广东)有限公司 | Manipulator for precise gear transfer |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2672834B1 (en) * | 1991-02-18 | 1993-05-21 | Essilor Int | TIGHTENING AND GRIPPING BODY. |
| JP6025291B1 (en) * | 2015-04-06 | 2016-11-16 | 株式会社アラキ製作所 | Work gripping device |
| CN108584425A (en) * | 2018-04-26 | 2018-09-28 | 阜阳盛东智能制造技术研发有限公司 | A kind of Mobile Cargo robot arm |
| CN108972607B (en) * | 2018-07-19 | 2021-05-14 | 深圳市慧传科技有限公司 | Intelligent manipulator device |
| CN209140911U (en) * | 2018-11-26 | 2019-07-23 | 天津市美瑞克智能装备股份有限公司 | A kind of pneumatic clamper formula manipulator |
| CN212372053U (en) * | 2019-12-31 | 2021-01-19 | 徐州东方回转支承有限公司 | Positioning device for assembling slewing bearing |
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