CN114603504A - Machining clamping equipment based on stable clamping - Google Patents
Machining clamping equipment based on stable clamping Download PDFInfo
- Publication number
- CN114603504A CN114603504A CN202210245426.8A CN202210245426A CN114603504A CN 114603504 A CN114603504 A CN 114603504A CN 202210245426 A CN202210245426 A CN 202210245426A CN 114603504 A CN114603504 A CN 114603504A
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- clamping
- holder
- arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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Abstract
The invention provides machining clamping equipment based on stable clamping, which is applied to the field of machining and comprises an adjustable clamp holder, an arm structure, a rotating structure and a moving structure, wherein the moving structure is provided with a sliding block and is connected with the rotating structure; the adjustable clamp comprises a clamp mounting base, a clamp outer cover, a clamping jaw structure and a clamp storage structure, wherein a large bevel gear and a small bevel gear are arranged in the middle of the mounting base; the adjustable clamp holder can adapt to objects needing to be processed in various shapes, and the arm structure can better act in a limited space.
Description
Technical Field
The invention relates to the field of machining, in particular to machining clamping equipment based on stable clamping.
Background
Mechanical equipment's kind is various, and the shape, the structure etc. of the spare part that the machining used all differ, adds the time need have stable centre gripping equipment to fix the spare part centre gripping to improve machining efficiency and precision.
At present, with the continuous development of industrial automation level, the robot can gradually replace manual operation of manpower because of the automatic clamping or processing of the materials can be completed according to preset programs. The important work piece of robot is the manipulator, can realize that the product is automatic to be got, a series of operations such as aversion and unloading, however because the structure of current manipulator is more complicated usually for the cost is high, and maintenance cost are high, simultaneously because the firm clamping of product is ensured in order to guarantee through the straight relative motion of two arm lock, it is great usually to lead to the product to receive the clamp force, to some fragile products, has the potential safety hazard of pressing from both sides garrulous, uses the reliability relatively poor. Moreover, the robot can only singly clamp and convey materials, cannot meet the requirement of further distribution work by matching with a main machine, has limited working space for installing the mechanical arm, and cannot install the mechanical arm, so that the special mechanical clamping jaw and the telescopic adjusting structure similar to the arm structure are designed only according to the design requirement.
Disclosure of Invention
The invention aims to solve the problem and provides machining clamping equipment based on stable clamping.
The invention adopts the following technical means for solving the technical problems:
the invention provides machining clamping equipment based on stable clamping, which comprises an adjustable clamping device, an arm structure, a rotating structure and a moving structure, wherein a sliding block is arranged on the moving structure, the moving structure is connected with the rotating structure through the sliding block, a mounting hole is formed in the rotating structure, the arm structure is fixed on the rotating structure through the mounting hole, a connecting disc is arranged on the arm structure, a plurality of fixing holes are formed in the connecting disc, and the adjustable clamping device is fixed on the fixing holes of the connecting disc through screws;
the adjustable clamp holder comprises a clamp holder installation base, a clamp holder outer cover, a clamping jaw structure and a clamp holder storage structure, a large bevel gear and a small bevel gear, an installation column is arranged in the middle of the installation base, the installation column is connected with the large bevel gear, the large bevel gear is connected with the small bevel gear, the small bevel gear is provided with a motor drive, a spiral groove is formed in the upper portion of the large bevel gear, the clamping jaw structure is connected through the spiral groove, a storage groove is formed in the clamp holder storage structure, and the clamping jaw structure is connected with a clamp holder shell through the storage groove.
Further, the arm structure includes: the electric arm comprises a first arm hand and a second arm hand, wherein a mounting groove is formed in the first arm hand, the second arm hand is connected through the mounting groove, a first electric push rod is arranged on the first arm hand, and one end of the first electric push rod is connected to the second arm hand.
Furthermore, a second electric push rod is arranged in the cavity of the second arm hand, and a square connecting block is further arranged on the side face of the second arm hand.
Further, revolution mechanic, including connecting seat and revolving stage, the inside rectangle installation body that is equipped with of connecting seat, be equipped with the revolving stage mounting groove in the installation body, the revolving stage passes through revolving stage mounting groove fixed connection on the connecting seat.
Further, the connecting seat top is equipped with the screw hole, the inside motor mounting groove that still is equipped with of connecting seat.
Further, the moving structure includes: the device comprises a module, a sliding block, a limiting block, a motor and a coupler; the slider is arranged on the module, the motor is connected with one end of the module through the coupler, and the limiting block is arranged at the other end of the module.
Further, centre gripping clamping jaw structure includes clamping jaw, spring and telescopic cylinder, the clamping jaw is located in the clamping jaw storage device, the clamping jaw lower extreme is located to the spring, the spring is connected with telescopic link for the telescopic cylinder.
Furthermore, the holder storage structure is provided with a connecting seat, the connecting seat is used for connecting the mounting column, and the connecting seat is further provided with a slope groove.
Furthermore, the mounting column is provided with an induction block, and the induction block is connected with the telescopic cylinder through an electric wire.
Furthermore, a plurality of clamping holes are formed in the shell of the clamping device, and the clamping jaw structure can extend out of the clamping holes.
The invention provides machining clamping equipment based on stable clamping, which has the following beneficial effects:
1. the adjustable clamp is adopted, so that external articles can be directly clamped when the clamp is used, the clamp can adapt to objects to be processed in various shapes, and the clamp is beneficial to assisting workers in processing;
2. the arm structure is adopted for carrying the object, and the arm structure can carry the object in a limited space better, so that the working efficiency of workers is improved, and the production efficiency of a production line is further improved.
Drawings
FIG. 1 is a cross-sectional view of the overall structure of one embodiment of the machining clamping device based on stable clamping according to the present invention;
FIG. 2 is a partial block diagram of another embodiment of a machining fixture based on secure clamping according to the present invention;
FIG. 3 is a partial block diagram of another embodiment of a machining fixture based on secure clamping according to the present invention;
FIG. 4 is a partial block diagram of another embodiment of a secure clamp based machining fixture of the present invention;
reference numerals: adjustable clamp 1, arm structure 2, rotating structure 3 and moving structure 4
Clamping jaw structure 101, clamping device receiving structure 102, mounting column 103, connecting seat 301, rotary table 302, module 401, sliding block 402, limiting block 403, motor 404 and coupling 405
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, a stable clamping-based machining clamping device of a stable clamping-based machining clamping device according to an embodiment of the present invention includes: the adjustable clamp holder comprises an adjustable clamp holder 1, an arm structure 2, a rotating structure 3 and a moving structure 4, wherein a sliding block 402 is installed on the moving structure 4, the moving structure 4 is connected with the rotating structure 3 through the sliding block 402, a mounting hole is formed in the rotating structure 3, the arm structure 2 is fixed on the rotating structure 3 through the mounting hole, a connecting disc is arranged on the arm structure 2, a plurality of fixing holes are formed in the connecting disc, and the adjustable clamp holder 1 is fixed on the fixing holes of the connecting disc through screws;
adjustable holder 1 includes holder installation base, holder enclosing cover, centre gripping clamping jaw structure 101, holder storage structure 102, big bevel gear and bevel pinion, be equipped with erection column 103 in the middle of the installation base, big bevel gear is connected to erection column 103, big bevel gear connects bevel pinion, be provided with the drive of motor 404 on the bevel pinion, big bevel gear top is the helicla flute, centre gripping clamping jaw structure 101 passes through the helicla flute and connects, the holder is equipped with on storage structure 102 and accomodates the recess, centre gripping clamping jaw structure 101 is through accomodating the recess and connecting the holder shell.
In this embodiment: the adjustable clamp holder comprises an adjustable clamp holder 1, an arm structure 2, a rotating structure 3 and a moving structure 4, wherein the moving structure 4 is installed on a supporting frame, the supporting frame is connected with a storage table, a sliding block 402 is installed on the moving structure 4, the rotating structure 3 is fixed on the sliding block 402 of the moving structure 4 through a screw, a mounting hole is formed in the rotating structure 3, the arm structure 2 is fixed on the rotating structure 3 through the mounting hole, a connecting disc is arranged on the arm structure 2, a plurality of fixing holes are formed in the connecting disc, and the adjustable clamp holder 1 is fixed on the fixing holes of the connecting disc through screws;
adjustable holder 1 includes holder installation base, holder enclosing cover, centre gripping clamping jaw structure 101, holder and accomodates structure 102, large bevel gear and bevel pinion, be equipped with erection column 103 in the middle of the installation base, large bevel gear is connected to erection column 103, and large bevel gear and bevel pinion's gear groove block each other are provided with motor 404 drive on the bevel pinion, and large bevel gear top is the helicla flute, and the spiral groove position is connected to the clamping jaw below of holder, and the holder is accomodate and is equipped with on the structure 102 and accomodate the recess, centre gripping clamping jaw structure 101 is through accomodating the recess and connecting the holder shell.
In a specific embodiment: the adjustable clamp holder is characterized in that a sliding block 402 is arranged on the moving structure 4, the moving structure 4 is connected with the rotating structure 3 through the sliding block 402, a mounting hole is formed in the rotating structure 3, the arm structure 2 is fixed on the rotating structure 3 through the mounting hole, a connecting disc is arranged on the arm structure 2, a plurality of fixing holes are formed in the connecting disc, and the adjustable clamp holder 1 is fixed on the fixing holes of the connecting disc through screws;
adjustable holder 1 includes holder installation base, holder enclosing cover, centre gripping clamping jaw structure 101, holder storage structure 102, big bevel gear and bevel pinion, be equipped with erection column 103 in the middle of the installation base, big bevel gear is connected to erection column 103, big bevel gear connects bevel pinion, be provided with the drive of motor 404 on the bevel pinion, big bevel gear top is the helicla flute, centre gripping clamping jaw structure 101 passes through the helicla flute and connects, the holder is equipped with on storage structure 102 and accomodates the recess, centre gripping clamping jaw structure 101 is through accomodating the recess and connecting the holder shell, and motor 404 drives bevel pinion motion, and bevel pinion drives big bevel gear motion, and big bevel gear top is connected to the clamping jaw and is the helicla flute, and when big bevel gear moved, it holds through making the clamping jaw to grab through the helicla flute to connect big bevel gear.
In one embodiment: the arm structure 2 includes: the electric arm comprises a first arm hand and a second arm hand, wherein a mounting groove is formed in the first arm hand, the second arm hand is connected through the mounting groove, a first electric push rod is arranged on the first arm hand, and one end of the first electric push rod is connected to the second arm hand.
In this embodiment: second armlet swing joint is in the one end of first armlet, still be equipped with convex connecting block and square connecting block on the first armlet, convex connecting block one end is equipped with the mounting hole, and the installer is connected to the mounting hole, and the installer is connected on the mounting hole of revolving stage 302, and the circular arc connector other end is connected in the draw-in groove of square connector, and through the screw fixation, the square connector other end still is equipped with the spread groove, and first electric putter one end is fixed in the spread groove.
In a specific embodiment: during the work, when first electric putter moved, drove first arm and second arm and moved, the circular arc connector of connecting on the first arm is used for fixed first arm lateral motion's scope.
In one embodiment: and a second electric push rod is arranged in the cavity of the second arm hand, a square connecting block is further arranged on the side surface of the second arm hand, and a mounting groove is formed in the square connecting block.
In this time example: the utility model discloses a square connector, including first arm hand cavity, second arm hand cavity, connecting disc, first electric putter, second electric putter, the connecting disc is connected to second electric putter one end, and the square connecting block that the second arm side set up is equipped with mounting groove on the square connecting block, and first electric putter one end is fixed in the mounting groove, and the other end connection square connector.
In a specific embodiment: the utility model discloses a clamp, including first arm hand cavity, second arm hand cavity, connecting disc below are adjustable holder 1, and the square connecting block that is equipped with the second electric putter in the second arm hand cavity for the up-and-down motion of control second arm, second electric putter one end connection connecting disc, connecting disc below is adjustable holder 1, is used for driving the up-and-down motion of holder, and the square connecting block that the second arm side set up is equipped with mounting groove on the square connecting block, and in first electric putter one end was fixed in mounting groove, other end connection square connector was used for connecting first arm and second arm, and the kinematic position of two fixed arms.
In one embodiment: revolution mechanic 3, including connecting seat 301 and revolving stage 302, the inside rectangle installation body that is equipped with of connecting seat 301, be equipped with revolving stage 302 mounting groove in the installation body, revolving stage 302 passes through revolving stage 302 mounting groove fixed connection on connecting seat 301.
In this embodiment: the two sides of the rectangular installation body are provided with installation grooves of a rotary table 302, gears are arranged on the rotary table 302, an installation seat is further arranged on the rotary table 302, the installation seat is fixed in the clamping groove, an installation hole is formed in the middle of the installation seat, and the rotary table 302 is fixed on the installation seat through the installation hole.
In a specific embodiment: the two sides of the rectangular installation body are provided with installation grooves for installing the rotary table 302, the rotary table 302 is provided with a gear, the gear is used for a pinion to drive the rotary table 302 to rotate, the rotary table 302 is further provided with an installation seat, the installation seat is fixed in the clamping groove, the installation hole is formed in the middle of the installation seat, and the rotary table 302 is fixed on the installation seat through the installation hole.
In one embodiment: a screw hole is formed in the top of the connecting seat 301, a small gear is further arranged on the connecting seat 301, and a motor 404 mounting groove is further formed in the connecting seat 301;
in this embodiment: screw holes are formed in four sides of the top of connecting seat 301, moving structure 4 is fixed through the screw holes, a motor 404 mounting groove is formed in connecting seat 301, motor 404 is mounted in a motor 404 clamping groove, and motor 404 is connected with a small gear arranged on connecting seat 301;
in a specific embodiment: screw holes are formed in four sides of the top of connecting seat 301, a motor 404 mounting groove is formed in connecting seat 301 on fixing moving structure 4 through the screw holes, motor 404 is mounted in a motor 404 clamping groove, motor 404 is connected with a small gear arranged on connecting seat 301, and when motor 404 is powered on, motor 404 drives small gear to move, and the small gear drives large gear to move, so that whole rotary table 302 is rotated.
In one embodiment: the moving structure 4 comprises: the device comprises a module 401, a sliding block 402, a limiting block 403, a motor 404 and a coupling 405; the sliding block 402 is arranged on the module 401, the motor 404 is connected with one end of the module 401 through a coupler 405, and the limiting block 403 is arranged at the other end of the module 401.
In this embodiment: the module 401 is fixed on a frame by screws, the sliding block 402 is arranged on the module 401, a screw hole is further formed in the sliding block 402, the motor 404 is connected with one end of the module 401 through the coupler 405, and the limiting block 403 is arranged at the other end of the module 401.
In a specific embodiment: the motor 404 drives the coupling 405 to rotate, so that the sliding block 402 on the module 401 moves, and when the sliding block 402 slides to the position of the limiting block 403, the sliding block moves in the opposite direction.
In one embodiment: centre gripping clamping jaw structure 101 includes clamping jaw, spring and telescopic cylinder, the clamping jaw is located in the clamping jaw storage device, the clamping jaw lower extreme is located to the spring, the spring is connected with telescopic rod for the telescopic cylinder.
In this embodiment: centre gripping clamping jaw structure 101 includes clamping jaw, spring and telescopic cylinder, and the clamping jaw is placed in the recess of accomodating of clamping jaw accomodating ware, and the clamping jaw lower extreme is provided with telescopic cylinder and spring, and the spring inner chamber is arranged in to the telescopic link, and the telescopic link bottom is connected with telescopic cylinder.
In a specific embodiment: the clamping jaw is placed in the recess of accomodating of clamping jaw accomodating ware, and the clamping jaw lower extreme is provided with telescopic cylinder and spring, and the spring inner chamber is arranged in to the telescopic link, and the telescopic link bottom is connected with telescopic cylinder, and the spring in the clamping jaw ware is used for supporting the clamping jaw for the clamping jaw possesses elastic pressure when the centre gripping object, and when changing the clamping jaw, the telescopic link slides.
In one embodiment: the holder accommodating structure 102 is provided with a connecting seat 301, the connecting seat 301 is used for connecting the mounting column 103, and the connecting seat 301 is further provided with a slope groove.
In this embodiment: be equipped with the mounting hole in the middle of the erection column 103, through mounting hole connection connecting seat 301 and erection column 103, connecting seat 301 is cylindrical, and cylindrical both sides are equipped with the opening, and the opening is equipped with the slope recess in the position to corresponding inductor.
In a specific embodiment: be equipped with the mounting hole in the middle of the erection column 103, through mounting hole connection connecting seat 301 and erection column 103, connecting seat 301 is cylindrical, and cylindrical both sides are equipped with the opening, and the opening is equipped with the slope recess in the position to corresponding inductor, and when wrench movement holder storage structure 102, connecting seat 301 upper groove makes the inductor press down.
In one embodiment: the mounting column 103 is provided with an induction block, and the induction block is connected with the telescopic cylinder through an electric wire.
In this embodiment: be provided with the mounting hole that the response piece corresponds on the erection column 103, the response piece below is provided with the power of connecting in telescopic cylinder, and when the response piece pressed, the power started, the telescopic cylinder of operation.
In a specific embodiment: when changing the holder, rotate the centre gripping and accomodate the ware, the ware will be touched the response piece on the erection column 103 in the centre gripping, and the response piece is with signal transmission to telescopic cylinder's power, and telescopic cylinder moves, drives the telescopic link and carries out concertina movement.
In one embodiment: the clamp holder shell is provided with a plurality of clamping holes, and the clamping jaw structure 101 can extend out through the clamping holes.
In this embodiment: the holder shell is provided with 8 holding holes, and each clamping jaw hole is 90 degrees.
In a specific embodiment: the outer shell of the gripper is provided with 8 gripping holes, each gripping hole is 90 degrees, and when the gripper accommodating structure 102 is rotated, the gripping jaws are changed into a three-jaw structure from a four-jaw structure through the gripper.
In summary, when an article needs to be processed, the article to be processed is placed on the object placing table, the whole clamping structure transversely moves to the position above the article through the sliding block 402, the adjustable clamping structure contacts the article to be processed through the matching of parts between the first arm and the second arm, the motor 404 in the clamping structure is electrified to drive the small bevel gear to rotate, the small bevel gear is meshed with the big bevel gear tooth groove, the big bevel gear rotates to drive the clamping jaw to perform opening and closing motions to grab the article to be processed, after one processed surface of the article to be processed is finished, the first arm and the second arm are driven to rotate by the rotating structure 3, so that the article to be processed is turned over, and at the moment, other processed surfaces can be continuously processed; the adjustable clamp 1 can adapt to various shapes of objects to be processed, and the arm structure 2 can better perform actions in a limited space.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A machining clamping device based on firm centre gripping, its characterized in that includes: the adjustable clamp holder comprises an adjustable clamp holder (1), an arm structure (2), a rotating structure (3) and a moving structure (4), wherein a sliding block (402) is installed on the moving structure (4), the moving structure (4) is connected with the rotating structure (3) through the sliding block (402), a mounting hole is formed in the rotating structure (3), the arm structure (2) is fixed on the rotating structure (3) through the mounting hole, a connecting disc is arranged on the arm structure (2), a plurality of fixing holes are formed in the connecting disc, and the adjustable clamp holder (1) is fixed on the fixing holes of the connecting disc through screws;
adjustable holder (1) is including holder installation base, holder enclosing cover, centre gripping clamping jaw structure (101), holder storage structure (102), big bevel gear and bevel pinion, be equipped with erection column (103) in the middle of the installation base, big bevel gear is connected in erection column (103), big bevel gear connects bevel pinion, be provided with motor (404) drive on the bevel pinion, big bevel gear top is the helicla flute, centre gripping clamping jaw structure (101) are connected through the helicla flute, be equipped with on holder storage structure (102) and accomodate the recess, centre gripping clamping jaw structure (101) are through accomodating the groove connection holder shell.
2. Machining clamping device based on firm clamping according to claim 1, characterized in that said arm structure (2) comprises: first armlet and second armlet, be provided with the mounting groove on the first armlet, the second armlet passes through the mounting groove and connects, be equipped with first electric putter on the first armlet, first electric putter one end is connected in the second armlet.
3. A stable clamping based machining clamping device as claimed in claim 2, wherein a second electric push rod is arranged in the cavity of the second arm, and a square connecting block is arranged on the side of the second arm.
4. The machining clamping device based on stable clamping is characterized in that the rotating structure (3) comprises a connecting seat (301) and a rotary table (302), a rectangular mounting body is arranged inside the connecting seat (301), a rotary table (302) mounting groove is formed in the mounting body, and the rotary table (302) is fixedly connected onto the connecting seat (301) through the rotary table (302) mounting groove.
5. Machining clamping equipment based on firm centre gripping according to claim 4, characterized in that, the connecting seat (301) top is equipped with the screw hole, still is equipped with motor (404) mounting groove inside connecting seat (301).
6. Machining clamping device based on firm clamping according to claim 1, characterized in that said moving structure (4) comprises: the device comprises a module (401), a sliding block (402), a limiting block (403), a motor (404) and a coupling (405); the slider (402) is shot on the module (401), the motor (404) is connected with one end of the module (401) through the coupler (405), and the limiting block (403) is arranged at the other end of the module (401).
7. The machining clamping device based on stable clamping as claimed in claim 1, wherein the clamping jaw is arranged in the clamping jaw container, the spring is arranged at the lower end of the clamping jaw, and the spring is connected with a telescopic rod for the telescopic cylinder.
8. Machining clamping equipment based on firm centre gripping according to claim 1, characterized in that, be equipped with connecting seat (301) on holder receiving structure (102), connecting seat (301) are used for connecting mounting post (103), still be equipped with the slope recess on connecting seat (301).
9. Machining clamping equipment based on firm centre gripping according to claim 1, characterized in that, be equipped with the response piece on erection column (103), the response piece passes through wired connection telescopic cylinder.
10. Machining clamping device based on firm clamping according to claim 1, characterized in that the clamp housing is provided with several clamping holes through which the clamping jaw structure (101) can protrude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210245426.8A CN114603504A (en) | 2022-03-14 | 2022-03-14 | Machining clamping equipment based on stable clamping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210245426.8A CN114603504A (en) | 2022-03-14 | 2022-03-14 | Machining clamping equipment based on stable clamping |
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| Publication Number | Publication Date |
|---|---|
| CN114603504A true CN114603504A (en) | 2022-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210245426.8A Pending CN114603504A (en) | 2022-03-14 | 2022-03-14 | Machining clamping equipment based on stable clamping |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208214947U (en) * | 2018-02-23 | 2018-12-11 | 陈师颖 | A kind of numerically-controlled machine tool mechanical arm |
| CN109732575A (en) * | 2019-01-21 | 2019-05-10 | 合肥市惠华电子有限公司 | A kind of manipulator convenient for band function side-draw |
| CN110142751A (en) * | 2019-06-19 | 2019-08-20 | 湖北军翔信息技术有限公司 | A kind of boosting manipulator arm configuration based on truss robot |
| WO2021118385A1 (en) * | 2019-12-10 | 2021-06-17 | федеральное государственное автономное образовательное учреждение высшего образования "Московский физико-технический институт (национальный исследовательский университет)" | Gripping device and operating method thereof |
| CN214772046U (en) * | 2021-04-19 | 2021-11-19 | 张薪 | Multi-degree-of-freedom mechanical arm capable of stably clamping |
-
2022
- 2022-03-14 CN CN202210245426.8A patent/CN114603504A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208214947U (en) * | 2018-02-23 | 2018-12-11 | 陈师颖 | A kind of numerically-controlled machine tool mechanical arm |
| CN109732575A (en) * | 2019-01-21 | 2019-05-10 | 合肥市惠华电子有限公司 | A kind of manipulator convenient for band function side-draw |
| CN110142751A (en) * | 2019-06-19 | 2019-08-20 | 湖北军翔信息技术有限公司 | A kind of boosting manipulator arm configuration based on truss robot |
| WO2021118385A1 (en) * | 2019-12-10 | 2021-06-17 | федеральное государственное автономное образовательное учреждение высшего образования "Московский физико-технический институт (национальный исследовательский университет)" | Gripping device and operating method thereof |
| CN214772046U (en) * | 2021-04-19 | 2021-11-19 | 张薪 | Multi-degree-of-freedom mechanical arm capable of stably clamping |
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