CN113635280A - Tubular part clamping device for industrial robot - Google Patents
Tubular part clamping device for industrial robot Download PDFInfo
- Publication number
- CN113635280A CN113635280A CN202111189475.6A CN202111189475A CN113635280A CN 113635280 A CN113635280 A CN 113635280A CN 202111189475 A CN202111189475 A CN 202111189475A CN 113635280 A CN113635280 A CN 113635280A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The invention relates to the technical field of industrial robots, in particular to a tubular part clamping device for an industrial robot, which comprises a flat plate; the external clamping component is arranged on one side of the flat plate and is used for clamping the tubular part from the outside; the hollow pipe external support driving component is arranged in the middle of the external clamping component; the hollow tube external support driving assembly and the hollow tube internal external support assembly are arranged in the middle of the external clamping assembly, the hollow tube external support driving assembly is connected with the hollow tube internal external support assembly, the external clamping assembly can be used for clamping the outer side of the hollow tube or the solid tube, and the hollow tube internal external support assembly and the hollow tube external support driving assembly can be used for clamping the hollow tube; when the device is used for clamping the tubular component, the tubular component can be supported from the inside to be clamped, the clamping stability is improved, and the device is suitable for clamping pipelines with different pipeline sizes and different pipeline thicknesses.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a tubular part clamping device for an industrial robot.
Background
Industrial robots are widely used in logistics, chemical industry and mechanical equipment production activities, and because the flexibility of the manipulator is high and the working state is stable, the application range is greatly increased, and the industrial robots are not only suitable for industrial production activities, but also widely used in special occasions, such as explosive handling manipulators.
When carrying out the object clamp and getting, current robot adopts the robot hand to press from both sides and gets usually, to some regular or anomalous shape object, comparatively firm when utilizing the manipulator centre gripping, is difficult for droing, nevertheless gets to the clamp of some tubulose, because the special construction of tubulose, when getting the transportation, easily leads to the tubulose part to drop when the manipulator centre gripping, and then causes the part to damage or take place the incident.
Therefore, we propose a tubular part clamping device for an industrial robot to solve the above problems.
Disclosure of Invention
The invention aims to provide a tubular part clamping device for an industrial robot, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a tubular part clamping device for an industrial robot comprises: a flat plate;
the external clamping component is arranged on one side of the flat plate and is used for clamping the tubular part from the outside;
the hollow pipe external support driving component is arranged in the middle of the external clamping component and is used for carrying out support driving adjustment from inside to outside;
the internal external support component of the hollow pipe is arranged in the middle of the external clamping component, and one end of the internal external support component of the hollow pipe is connected with the external support driving component of the hollow pipe and is used for expanding and supporting the hollow tubular component from the inside to the outside so as to clamp and fix the tubular component;
the hollow tube external support driving assembly and the hollow tube internal external support assembly are arranged at the middle part of the external clamping assembly, the hollow tube external support driving assembly is connected with the hollow tube internal external support assembly, the external clamping assembly is used for clamping the outside of the hollow tube or the solid tube, and the hollow tube internal external support assembly and the hollow tube external support driving assembly are used for clamping the hollow tube.
Compared with the prior art, the invention has the beneficial effects that:
utilize the device to press from both sides when getting tubular part, utilize the outside of device in to press from both sides to get the subassembly or inside external stay subassembly can realize respectively that the outside clamp of tubular part gets or the work is got to inside support clamp for stability when pressing from both sides and getting promotes greatly, not only can support from inside and press from both sides and get, improves centre gripping stability, and the device is applicable to the pipeline centre gripping of different pipeline sizes and different pipeline thickness moreover, makes the application scope of device promote.
Drawings
Fig. 1 is a front view of a tubular part gripping device for an industrial robot.
Fig. 2 is a front view of an outer clamping assembly and an inner outer support assembly of a hollow tube of a tubular part clamping device for an industrial robot.
Fig. 3 is a plan view of a threaded connection block of a tubular part gripping device for an industrial robot.
Fig. 4 is a plan view of a slide column of a tubular part gripper for an industrial robot.
Fig. 5 is a front sectional view of a spool sleeve of the tubular part gripper for the industrial robot.
Fig. 6 is a schematic top view of a driving clamping assembly of a tubular part clamping device for an industrial robot.
In the figure: 1-flat plate, 2-universal wheel, 3-positioning hole, 4-supporting leg, 5-rotating table, 6-supporting arm, 7-controller, 8-connecting arm, 901-first driving motor, 902-first gear, 903-first threaded rod, 904-second gear, 905-threaded connecting block, 906-first rotating connecting rod, 907-clamping plate, 908-second driving motor, 909-third gear, 910-second threaded rod, 911-fourth gear, 912-fixing plate, 913-sliding column, 914-slotted plate, 915-sliding chute, 916-sliding connecting block, 917-outer supporting plate, 918-sleeve, 919-second rotating connecting rod, 10-hydraulic supporting rod, 11-connecting frame, 12-inner concave column, 13-empty groove, 14-movable groove, 15-internal external support component of hollow tube, 16-external gripping component.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
Referring to fig. 1 and 2, in an embodiment of the present invention, a tubular part clamping device for an industrial robot includes: a plate 1;
an outer clamping assembly 16, wherein the outer clamping assembly 16 is arranged on one side of the flat plate 1 and is used for clamping the tubular part from the outside;
a hollow tube external support driving component which is arranged in the middle of the external clamping component 16 and is used for carrying out support driving adjustment from inside to outside;
the hollow pipe internal external support component 15 is arranged in the middle of the external clamping component 16, and one end of the hollow pipe internal external support component 15 is connected with the hollow pipe external support driving component and used for expanding and supporting the hollow tubular component from the inside to the outside so as to clamp and fix the tubular component;
the hollow tube external support driving assembly and the hollow tube internal external support assembly 15 are arranged at the middle part of the external clamping assembly 16, the hollow tube external support driving assembly is connected with the hollow tube internal external support assembly 15, the external clamping assembly 16 is utilized to clamp the outer side of the hollow tube or the solid tube, and the hollow tube internal external support assembly 15 and the hollow tube external support driving assembly are utilized to clamp the hollow tube.
In this embodiment, when clamping the tubular component, first select the clamping mode of the component according to the style of the tubular component, if the tubular component is a solid tubular component, then utilize the external clamping component 16 to clamp the tubular component from the outside, if the tubular component is a hollow structure style, then optionally utilize the internal external bracing component 15 of the hollow tube to support the clamping from the inside of the pipeline, or utilize the internal external bracing of the hollow tube and the external clamping to clamp the device and fix, and improve the stability when clamping.
Referring to fig. 1, the embodiment of the invention is characterized by further comprising a clamping support assembly, the clamping support assembly is disposed on one side of the plate 1 and used for clamping and adjusting the end connection of the robot arm, and the clamping support assembly comprises:
the rotating platform 5 is arranged at one side of the flat plate 1, and is used for rotating the device for clamping the pipe fittings;
the supporting arm 6 is rotatably arranged at the top of the rotating platform 5 and used for supporting the pipe feeding clamping;
and the control component is arranged at the other end of the supporting arm 6, and is specifically a controller 7 arranged at one end of the supporting arm 6.
In this embodiment, dull and stereotyped 1 bottom still is provided with universal wheel 2, be provided with locating hole 3 on the universal wheel 2, rotate on the universal wheel 2 and install landing leg 4, be provided with the location structure who corresponds locating hole 3 on landing leg 4, when carrying out the during operation, utilize landing leg 4 to support dull and stereotyped 1, then utilize locating hole 3 to fix a position landing leg 4 and prevent that the device from removing in the course of the work, the during operation utilizes support arm 6 and revolving stage 5 to realize pressing from both sides the extension and the rotation work of getting behind the pipe fitting.
In this embodiment, a hydraulic strut 10 is provided between one side of the support arm 6 and the turntable 5, and the support strength of the support arm 6 is improved by the hydraulic strut 10.
Referring to fig. 1 and fig. 2, in the present embodiment, the method further includes:
the connecting assembly is fixedly arranged at one end of a control assembly in the clamping and supporting assembly and used for realizing the connection between the clamping and supporting assembly and the hollow tube internal external supporting assembly 15 and the external clamping and supporting assembly 16, the connecting assembly is specifically a connecting arm 8, one end of the connecting arm 8 is rotatably arranged at one end of a supporting arm 6, one end of the connecting arm is connected with the external clamping and supporting assembly 16 and the hollow tube internal external supporting assembly 15, a connecting frame 11 is fixedly arranged at one side of the connecting arm 8, and the hollow tube internal external supporting assembly 15 and the external clamping and supporting assembly 16 are fixed at one side of the connecting frame 11;
the inner concave column 12 is fixed on the other side of the connecting component and is used for installing and working the outer clamping component 16;
a movable groove 14, wherein the movable groove 14 is arranged on the column body of the concave column 12 and is used for arranging, positioning and installing an external clamping assembly 16.
In this embodiment, be provided with dead slot 13 simultaneously on the cylinder of indent post 12, the outside of getting the subassembly and running through dead slot 13 to indent post 12 is used for carrying out the outside clamp to the pipe fitting and gets to get the subassembly, activity groove 14 sets up in dead slot 13 cell body, has certain activity space when conveniently carrying out the outside clamp and getting.
Referring to fig. 2, fig. 3 and fig. 4, in the present embodiment, the external clamping assembly includes:
the clamping driving assembly is arranged on the concave column 12 and is used for clamping different tubular parts for adjusting clamping;
the clamping device comprises a first connecting rod piece, a clamping driving assembly and a second connecting rod piece, wherein the first connecting rod piece is rotatably arranged on one side of the clamping driving assembly, the other end of the first connecting rod piece penetrates through a movable groove to the outside of the inner concave column 12, the middle part of the first connecting rod piece is movably arranged in the movable groove, the first connecting rod piece is rotatably connected with a threaded connecting block 905, one side of the threaded connecting block 905 is connected with the clamping driving assembly and used for driving the threaded connecting block 905 to move so as to realize clamping action, the first connecting rod piece is specifically a first rotating connecting rod 906, the first rotating connecting rod 906 penetrates through a hollow groove 13 to the other side of the inner concave column 12, and the middle part of the first rotating connecting rod 906 is slidably arranged in a movable groove 14;
the clamping plate 907 is rotatably installed at the other end, located on the outer side of the concave column 12, of the first connecting rod piece and used for clamping the outside of the tubular piece, one side of the clamping driving assembly is connected with the threaded connecting block 905, the first connecting rod piece is rotatably installed on one side of the threaded connecting block 905, the clamping plate 907 is rotatably installed at the other end of the first connecting rod piece, the clamping driving assembly drives the threaded connecting block 905 to move, the threaded connecting block 905 drives the first connecting rod piece on one side to move, and then the clamping plate 907 is driven to complete clamping work of the pipe fitting.
In this embodiment, the clamping driving assembly drives the first rotating connecting rod 906 to move when operating, so that the first rotating connecting rod 906 rotates with the center of the first rotating connecting rod 906 as a fulcrum, and the clamp plate 907, which is outside the inner concave column 12 and is rotatably connected with the first rotating connecting rod 906, is driven to clamp the pipe, and three groups of the first rotating connecting rod 906 and the clamp plate 907 are uniformly arranged at the center of the clamping driving assembly, so as to clamp the pipe from the outside.
In this embodiment, utilize the threaded connection piece to drive threaded connection pole and rotate to realize that splint press from both sides to the pipe fitting and get other mechanisms of use if utilize cam and splint cooperation, realize that the outside expansion of splint is got, set up the cam on splint one side, set up the spring simultaneously and carry out the return, utilize the irregular shape motion of cam and the pulling of spring, realize splint motion centre gripping, do not do too much here and state.
Referring to fig. 2 and 6, in the present embodiment, the gripping driving assembly includes:
the first driving part is fixedly installed on one side of the concave column 12, and specifically is a first driving motor 901;
drive assembly, drive assembly installs in first driving piece one end for the transmission output that the dynamics of supporting adjusted carries out, drive assembly includes: a first gear 902, wherein the first gear 902 is connected with a first driving motor 901, and a second gear 904 is engaged with one side of the first gear 902;
the spiral component, the spiral component sets up on the indent post 12 of drive assembly opposite side, and one side is connected with the drive assembly, and the opposite side is connected with the head rod spare for drive the spiral component motion through the drive assembly, and then make the splint of head rod spare one side press from both sides the pipe fitting and get, the spiral component specifically is first threaded rod 903, first threaded rod 903 runs through interior indent post 12 other end and is connected with threaded connection piece 905, the tip at first threaded rod 903 is fixed to second gear 904, just first threaded rod 903 is the hollow cylinder.
In this embodiment, when the outside is got, utilize first driving motor 901 work, first driving motor 901 drives first gear 902 and rotates, first gear 902 meshes second gear 904 and makes second gear 904 drive first threaded rod 903 and rotate, first threaded rod 903 drives its threaded connection piece 905 motion that is located indent post 12 when rotating, because the effect of first rotating connecting rod 906, make threaded connection piece 905 up-and-down motion, thereby make first rotating connecting rod 906 drive splint 907 to get by the outside to the tubular member.
In this embodiment, the first driving member includes but is not limited to a driving motor or a pneumatic motor, and the motor drives the threaded rod to rotate so that the threaded rod drives the threaded connection block to move up and down, and then drives the connection rod and the clamp plate on the connection rod to move, the telescopic rod can be used to adjust the clamp plate, the first driving motor 901 drives the first gear 902 to rotate, and other modes can be used, such as belt transmission or chain transmission, to realize transmission, which is not set forth herein.
Referring to fig. 2 and 6, in the present embodiment, the hollow tube outer support driving assembly includes:
a second driving assembly fixedly installed at the other side of the inner recessed column 12, the second driving assembly including: a second driving motor 908, wherein the second driving motor 908 is fixed on the other side of the inner concave column 12, the second driving motor 908 is connected with a third gear 909, and a fourth gear 911 is engaged with the third gear 909;
screw rod subassembly, screw rod subassembly sets up at second drive assembly opposite side, is connected with second drive assembly for prop size and dynamics in the adjustment, screw rod subassembly includes: a second threaded rod 910, wherein the second threaded rod 910 penetrates through the first threaded rod 903 to the middle of the concave column 12;
one end of the sleeve 918 is rotatably installed at the other end of the screw rod assembly, the other end of the sleeve 918 is connected with the external support assembly inside the hollow tube, the second driving assembly is used for driving the sleeve to move on the screw rod assembly, and the sleeve 918 is used for driving the external support assembly 15 inside the hollow tube to move, so that the inner wall of the pipeline is supported and fixed.
In this embodiment, the second driving motor 908 drives the second threaded rod 910 to rotate, so that the second threaded rod 910 drives the sleeve 918 to slide up and down along the sliding column 913, and when the sleeve 918 slides up and down, the hollow tube internal external support assembly 15 is driven to move, so that the hollow tube internal external support assembly 15 completes the inside-out support.
Referring to fig. 2 and 5, in the present embodiment, the external supporting component 15 inside the hollow tube includes:
one end of the second connecting rod is connected with the other end of the sleeve 918 and used for realizing the transmission of the driving force and the adjustment of the inner supporting component, and the second connecting rod is specifically: a second rotating connecting rod 919;
the slip subassembly, the slip subassembly sets up the one end that props the drive assembly outside the hollow tube for the slip supports on pipeline inner wall, drives the member that props the drive assembly with the hollow tube is connected outside and slides and then support inside the pipeline, the slip subassembly specifically is: the fixing plate 912 is fixed on one side of the concave column 12, a sliding column 913 is fixed on the fixing plate 912, a groove plate 914 is fixed on the sliding column 913, a sliding groove 915 is arranged on the groove plate 914, and a sliding connecting block 916 is slidably installed in the sliding groove 915;
support piece, support piece one end is rotated and is installed the other end at the second and connect the member, and support piece one side is connected with the slip subassembly for outwards supporting by the pipeline is inside, the second drive assembly is connected with screw rod assembly, drives sleeve 918 and moves on screw rod assembly, and sleeve 918 moves and drives the second and connect the member, makes the second connect the member to drive the support piece of one side and move along the slip subassembly to utilize support piece to accomplish the pipeline and support, support piece specifically is outer brace 917.
In this embodiment, the external support driving assembly drives the second rotating connecting rod 919 to rotate, so that the second rotating connecting rod 919 drives the external supporting plate 917 to expand outwards, thereby pushing against the inner pipe wall of the pipe fitting, supporting the inside of the pipe fitting through the external supporting plate 917, completing the clamping of the support from the inside to the outside, and improving the support strength.
In this embodiment, the sliding assembly includes, but is not limited to, a sliding motor or a hydraulic rod for pushing the sliding connection block 916 to slide in the sliding groove 915, so as to drive the support of the outer plate 917, which is not described herein in detail.
The working principle of the invention is as follows: when the clamping device works, firstly, the flat plate 1 is supported at a fixed position by the aid of the supporting legs 4, then the supporting arms 6 are controlled to rotate by the aid of the rotating table 5, the supporting arms 6 drive the clamping assemblies to rotate to the upper parts of pipe fittings to be clamped, then the pipe fittings are clamped by the aid of the external clamping assemblies 16 and the internal external support assemblies 15 of the hollow pipe, a clamping mode is selected according to types of the pipe fittings, the clamping mode is divided into external clamping, internal external support or internal and external simultaneous supporting clamping, when the external clamping is carried out, the gear is driven to rotate by the aid of the first driving motor 901, the gear drives the threaded rod, the threaded connecting block 905 is driven to move by the threaded rod, and then the clamping plate 907 is driven to clamp the pipe fittings from the outside; when the internal support clamp is taken, the second driving motor 908 is utilized to drive the gear to rotate, so that the gear drives the threaded rod to rotate, and further the sleeve 918 on the threaded rod moves up and down, and the second rotating connecting rod 919 is driven to drive the outer supporting plate 917 to slide along the sliding groove 915, and the support work is completed inside the pipe fitting.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make several variations and modifications without departing from the concept of the present invention, and these should be considered as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the utility of the patent.
Claims (7)
1. A tubular part clamping device for an industrial robot is characterized by comprising: a flat plate;
the external clamping component is arranged on one side of the flat plate and is used for clamping the tubular part from the outside;
the hollow pipe external support driving component is arranged in the middle of the external clamping component and is used for carrying out support driving adjustment from inside to outside;
the internal external support component of the hollow pipe is arranged in the middle of the external clamping component, and one end of the internal external support component of the hollow pipe is connected with the external support driving component of the hollow pipe and is used for expanding and supporting the hollow tubular component from the inside to the outside so as to clamp and fix the tubular component;
the hollow tube external support driving assembly and the hollow tube internal external support assembly are arranged at the middle part of the external clamping assembly, the hollow tube external support driving assembly is connected with the hollow tube internal external support assembly, the external clamping assembly is used for clamping the outside of the hollow tube or the solid tube, and the hollow tube internal external support assembly and the hollow tube external support driving assembly are used for clamping the hollow tube.
2. The tubular part clamping device for the industrial robot as claimed in claim 1, further comprising a clamping support assembly provided on one side of the plate for clamping adjustment of the end connection of the robot arm, wherein the clamping support assembly comprises:
the rotating platform is arranged at one side of the flat plate and is used for rotating the device for clamping the pipe fittings;
the supporting arm is rotatably arranged at the top of the rotating table and used for supporting the pipe feeding part in a clamping mode;
and the control assembly is arranged at the other end of the supporting arm and used for controlling the clamping assembly to rotate.
3. The tubular part gripping device for an industrial robot according to claim 2, further comprising:
the connecting assembly is fixedly arranged at one end of the control assembly in the clamping and supporting assembly and is used for realizing the connection of the clamping and supporting assembly with the external clamping assembly and the internal external supporting assembly of the hollow tube;
the inner concave column is fixed on the other side of the connecting assembly and is used for installing and working the clamping component;
the movable groove is arranged on the column body of the concave column and used for arranging, positioning and installing the external clamping assembly.
4. The tubular part gripping device for an industrial robot according to claim 3, wherein the outer gripping assembly comprises:
the clamping driving assembly is arranged on the inward concave column and is used for clamping different tubular parts to adjust and clamp;
the clamping driving assembly is rotatably connected with the clamping driving assembly, and the clamping driving assembly drives the threaded connecting block to move so as to realize clamping action;
splint, splint rotate to install the other end that is located the indent post outside at the head rod spare for press from both sides the outside of getting the tubulose piece, press from both sides and get the outside that drive assembly drove the threaded connection piece motion, make the head rod spare motion of threaded connection piece drive one side, and then drive the work of getting of the clamp completion pipe fitting of splint.
5. The tubular part gripping device for an industrial robot according to claim 4, wherein the gripping drive assembly comprises:
the first driving piece is fixedly arranged on one side of the concave column;
the transmission assembly is arranged at one end of the first driving piece and is used for carrying out transmission output adjustment on the clamping force;
the spiral component is arranged on the concave column on the other side of the transmission component, one side of the spiral component is connected with the transmission component, and the other side of the spiral component is connected with the first connecting rod piece and used for driving the spiral component to move through the transmission component, so that the clamping plate on one side of the first connecting rod piece clamps the pipe fitting.
6. The tubular part clamping device for the industrial robot as claimed in claim 3, wherein the hollow tube outer support driving assembly comprises:
the second driving assembly is fixedly arranged on the other side of the concave column;
the screw assembly is arranged on the other side of the second driving assembly, is connected with the second driving assembly and is used for adjusting the size and the force of the inner support;
the sleeve, sleeve one end is rotated and is installed the other end at screw rod subassembly, the sleeve other end is connected with the inside external stay subassembly of hollow tube, second drive assembly is used for driving the sleeve and removes on screw rod subassembly, the sleeve is used for driving the inside external stay subassembly motion of hollow tube to it is fixed to support the pipeline inner wall.
7. The apparatus as claimed in claim 6, wherein the assembly for clamping the tubular member inside the hollow tube comprises:
one end of the second connecting rod piece is connected with the other end of the sleeve and is used for realizing the transmission of driving force and the adjustment of the inner support component;
the sliding assembly is arranged at one end of the hollow pipe outer support driving assembly and is used for being supported on the inner wall of the pipeline in a sliding mode and driving a rod piece connected with the hollow pipe outer support driving assembly to slide so as to support the interior of the pipeline;
support piece, support piece one end is rotated and is installed the other end at the second connection member, and support piece one side is connected with the slip subassembly for outwards supporting by pipeline inside, second drive assembly is connected with screw rod assembly, drives the sleeve and moves on screw rod assembly, and the sleeve motion drives the second and connects the member for the second is connected the support piece that the member drove one side and is moved along the slip subassembly, thereby utilizes support piece to accomplish the pipeline and supports.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111189475.6A CN113635280A (en) | 2021-10-13 | 2021-10-13 | Tubular part clamping device for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111189475.6A CN113635280A (en) | 2021-10-13 | 2021-10-13 | Tubular part clamping device for industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113635280A true CN113635280A (en) | 2021-11-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111189475.6A Withdrawn CN113635280A (en) | 2021-10-13 | 2021-10-13 | Tubular part clamping device for industrial robot |
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| Country | Link |
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| CN (1) | CN113635280A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114603537A (en) * | 2022-05-10 | 2022-06-10 | 江苏鑫美新材料科技有限公司 | Workshop aluminium coiled material transport manipulator |
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| CN110757361A (en) * | 2019-10-15 | 2020-02-07 | 格力电器（武汉）有限公司 | Inner circle clamping adjusting device and cylinder fixing equipment |
| KR102085488B1 (en) * | 2019-09-03 | 2020-03-05 | 라상현 | A Gripper for construct flume tube |
| CN111745674A (en) * | 2020-07-10 | 2020-10-09 | 袁高宇 | Tubular part clamping device for industrial robot |
| CN112606027A (en) * | 2020-12-04 | 2021-04-06 | 江苏伟业铝材有限公司 | Clamp suitable for surface treatment of various section profiles |
| CN213004862U (en) * | 2020-08-07 | 2021-04-20 | 天津顺成石油机械有限公司 | Clamp for maintaining petroleum casing coupling |
| CN113246169A (en) * | 2021-06-10 | 2021-08-13 | 王晓宾 | Automatic clamping mechanism for industrial robot |
| CN214080355U (en) * | 2020-10-21 | 2021-08-31 | 苏州龙宇精密机械有限公司 | Clamp for machining precision metal parts |
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2021
- 2021-10-13 CN CN202111189475.6A patent/CN113635280A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102085488B1 (en) * | 2019-09-03 | 2020-03-05 | 라상현 | A Gripper for construct flume tube |
| CN110757361A (en) * | 2019-10-15 | 2020-02-07 | 格力电器（武汉）有限公司 | Inner circle clamping adjusting device and cylinder fixing equipment |
| CN111745674A (en) * | 2020-07-10 | 2020-10-09 | 袁高宇 | Tubular part clamping device for industrial robot |
| CN213004862U (en) * | 2020-08-07 | 2021-04-20 | 天津顺成石油机械有限公司 | Clamp for maintaining petroleum casing coupling |
| CN214080355U (en) * | 2020-10-21 | 2021-08-31 | 苏州龙宇精密机械有限公司 | Clamp for machining precision metal parts |
| CN112606027A (en) * | 2020-12-04 | 2021-04-06 | 江苏伟业铝材有限公司 | Clamp suitable for surface treatment of various section profiles |
| CN113246169A (en) * | 2021-06-10 | 2021-08-13 | 王晓宾 | Automatic clamping mechanism for industrial robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114603537A (en) * | 2022-05-10 | 2022-06-10 | 江苏鑫美新材料科技有限公司 | Workshop aluminium coiled material transport manipulator |
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Application publication date: 20211112 |