CN114932578B - Flexible mechanical gripper bracket positioning tool - Google Patents
Flexible mechanical gripper bracket positioning tool Download PDFInfo
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- CN114932578B CN114932578B CN202210514395.1A CN202210514395A CN114932578B CN 114932578 B CN114932578 B CN 114932578B CN 202210514395 A CN202210514395 A CN 202210514395A CN 114932578 B CN114932578 B CN 114932578B
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- seat
- clamping
- bearing
- arc
- rod
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0066—Means or methods for maintaining or repairing manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
A flexible mechanical gripper bracket positioning tool is characterized in that a plurality of bearing groups which are arranged in parallel are arranged on a working frame, a fixed seat at the bottom of a positioning module is fixed on a bottom plate, two sides of each bearing group are symmetrically provided with a clamping group, the clamping groups are arranged on the working frame through the structures of the plurality of bearing groups and the clamping groups in parallel, a random adjustment clamping function for mechanical grippers is formed, when the mechanical grippers with uncertain postures are arranged above the working frame, a gripper shell presses a bearing seat in the bearing group to enable the bearing seat to drive a movable rod to move downwards, at the moment, the clamping groups rotate towards two sides by taking a first joint seat therein as a center under the combined action of the lower pressure and roller guide of the bearing seat, the clamping seats at the two sides of the top are folded towards the middle, the gripper shell is simultaneously clamped and fixed by the bearing seats at the bottom and the clamping seats at the two sides, an optimal clamping and fixing posture is formed, and a flexible and stable overhaul supporting platform is provided for various mechanical grippers, and efficient operation of automobile assembly overhaul operation is ensured.
Description
Technical Field
The invention belongs to the technical field of positioning tool manufacturing, and particularly relates to a flexible mechanical gripper bracket positioning tool.
Background
The manipulator is a robot technology which is developed at a high speed in recent years, can replace manual work to finish various flexible operations by utilizing the characteristics of multiple input and multiple output, high precision and control track diversification, and is widely used in the fields of industrial automation, automobile assembly, safety explosion prevention, aerospace and the like.
When the mechanical arm is applied to automobile assembly production operation, a medium-sized or large-sized automatic mechanical arm is often used, and because the mechanical arm is used for grabbing and bearing a large part of a vehicle body, the mechanical arm is required to be disassembled and overhauled frequently, but because an included angle exists between all the joint arms of the arm body when the mechanical arm is in a stop working state, the mechanical arm tilts forward after disassembly and is difficult to support by means of a chassis, if the mechanical arm is directly laid on a common working plane, because the mass of the mechanical arm is large, all the shaft force arms of the mechanical arm are subjected to rigid offset force, the size misplacement and the angle deviation of the force arms even damage the precision of a rotating motor, and the static attitude and the bending angle of each type of mechanical arm are complex, so that corresponding positioning tools are difficult to manufacture. Therefore, a new solution is needed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a flexible mechanical gripper bracket positioning tool which is used for providing flexible and stable overhaul support platforms for various mechanical grippers, ensuring that the joint posture and the motor precision of the mechanical grippers are not affected and ensuring the efficient operation of the automobile assembly overhaul operation.
The invention is implemented by the following technical scheme: the utility model provides a flexible mechanical gripper support location frock, includes work frame, a plurality of group that bear, a plurality of clamp group, wherein, the work frame is the frame structure that roof, bottom plate and a plurality of stand in middle part constitute, be equipped with a plurality of on the work frame and bear the group of arranging side by side, the fixing base that bears the bottom of the group is fixed in on the bottom plate, the fixing base is last to be fixed to be equipped with cylindric fixed cover, the cover is put in and is equipped with the movable rod, the fixed movable seat that is equipped with on the movable rod pole, be equipped with compression spring between movable seat and the fixing base, the movable rod pole body runs through the roof to with its end extension is arranged in roof top, the movable rod end is equipped with a bearing seat through the hinge; the two sides of each bearing group are symmetrically provided with one clamping group, the end parts of the clamping groups are provided with first joint seats, the first joint seats are arranged on a rod body of which the movable rods are arranged above a top plate, a rotating shaft sleeved by the first joint seats is connected with a first arm rod, the end head of the first arm rod is provided with a second joint seat, the second joint seats are provided with idler wheels in a hub assembling mode, and the surfaces of the idler wheels are attached to the top plate; the rotating shaft sleeved by the second joint seat is connected to the second arm rod, and the rotating shaft sleeved by the second joint seat is fixed through a set screw; the rod end of the second arm rod is hinged with the clamping seat through a third joint seat, an arc-shaped sliding rail is fixedly arranged on the second arm rod body, an arc-shaped sliding rod is arranged on the clamping seat, the arc-shaped sliding rail and the arc-shaped sliding rod form a sleeving assembly, an arc-shaped spring is arranged between the arc-shaped sliding rail and the clamping seat, and the arc-shaped spring is sleeved on the arc-shaped sliding rail.
Further, a base is arranged below the bottom plate, a main joint seat is fixedly arranged at one end of the base plate, two vertically arranged supporting rods are arranged at the other end of the base plate, a hinge joint is arranged in the middle of the main joint seat, two end heads of the two ends of the main joint seat are respectively fixed on the bottom plate and the base plate, the two end heads of the supporting rods are mutually supported, wherein the supporting rod at the upper part is fixed on the bottom plate, and the supporting rod at the lower part is fixed on the base plate; the bottom surface of the bottom plate is provided with a plurality of clamping blocks which are arranged at intervals, and the surface of the base is hinged with clamping rods through secondary joint seats.
Further, the extending direction of the first arm rod is directed obliquely downward, and the extending direction of the second arm rod is directed upward or obliquely upward.
Further, the upper surface of the bearing seat is provided with a flexible plane layer, and the flexible plane layer is made of rubber or sponge.
Further, the surface of the clamping seat facing the middle part is provided with a flexible arc surface layer, and the flexible arc surface layer is made of rubber or sponge.
Further, the angle rotation range of the hinged support is +/-60 degrees.
Further, the edge of the working frame is provided with a grab handle which extends transversely.
The beneficial effects of the invention are as follows: according to the invention, through the structural arrangement of the plurality of parallel bearing groups and clamping groups on the working frame, a random adjustment clamping function for the mechanical grippers is formed, when the mechanical grippers with uncertain postures are arranged above the working frame, the bearing seats in the bearing groups are pressed by the gripper shells to drive the movable rods to move downwards, at the moment, the clamping groups rotate towards two sides by taking the first joint seat as the center under the combined action of the downward pressure and the roller guide, the clamping seats at the two sides of the top are folded towards the middle, the gripper shells are simultaneously clamped and fixed by the bottom bearing seats and the clamping seats at the two sides, meanwhile, the bending buffer mechanism of the arc springs can enable the clamping seats to adapt to the mechanical grippers with different models and postures to form an optimal clamping and fixing posture, so that flexible and stable overhaul support platforms are provided for various mechanical grippers, the joint postures and the motor precision of the mechanical grippers are not influenced, and the efficient operation of automobile assembly overhaul operation is ensured.
Drawings
FIG. 1 is a side view of the overall structure of a first embodiment of the invention;
FIG. 2 is a front view of the internal structure of the first embodiment of the present invention;
FIG. 3 is a schematic view of a partial structure of a first embodiment of the present invention;
FIG. 4 is a front view of a bearing state of a first embodiment of the present invention;
FIG. 5 is a side view of a first embodiment of the invention in a loaded state;
fig. 6 is a schematic diagram illustrating a tilting state according to a second embodiment of the present invention.
In the figure: 1-working frame, 1 a-top plate, 1 b-bottom plate, 1 c-upright post, 1 d-grab handle and 1 e-clamping block; 2-bearing group, 2 a-fixing seat, 2 b-fixing sleeve, 2 c-movable rod, 2 d-movable seat, 2 e-compression spring, 2 f-hinged seat, 2 g-bearing seat and 2 h-flexible plane layer; the device comprises a 3-clamping assembly, a 3 a-first joint seat, a 3 b-first arm rod, a 3 c-second joint seat, a 3 d-roller, a 3 e-second arm rod, a 3 f-third joint seat, a 3 g-set screw, a 3h clamping seat, a 3 i-arc slide rail, a 3 j-arc slide rod and a 3 k-arc spring; 4-base, 4 a-secondary joint seat and 4 b-clamping rod; 5-main joint seat, 6-butt pole.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples of the specification.
Example 1
As shown in fig. 1-3, a positioning tool for a flexible mechanical gripper bracket comprises a working frame 1, a plurality of bearing groups 2 and a plurality of clamping groups 3, wherein the working frame 1 is a frame structural member composed of a top plate 1a, a bottom plate 1b and a plurality of upright posts 1c in the middle, the working frame 1 is provided with a plurality of bearing groups 2 which are arranged in parallel, a fixed seat 2a at the bottom of the bearing groups 2 is fixed on the bottom plate 1b, a cylindrical fixed seat 2a is fixedly arranged on the fixed seat 2a, a movable rod 2c is sleeved on the fixed seat 2a, a movable seat 2d is fixedly arranged on the rod body of the movable rod 2c, a compression spring 2e is arranged between the movable seat 2d and the fixed seat 2a, the rod body of the movable rod 2c penetrates through the top plate 1a and is arranged above the top plate 1a in an extending manner by the end head of the movable rod, and the end of the movable rod 2c is hinged with a bearing seat 2g through a hinged seat 2 f; two sides of each bearing group 2 are symmetrically provided with a clamping group 3, the end part of each clamping group 3 is provided with a first joint seat 3a, the first joint seat 3a is arranged on a rod body of a movable rod 2c arranged above a top plate 1a, a rotating shaft sleeved by the first joint seat 3a is connected with a first arm rod 3b, the end head of the rod end of the first arm rod 3b is provided with a second joint seat 3c, the second joint seat 3c is provided with a roller 3d in a hub assembly mode, and the surface of the roller 3d is attached to the top plate 1 a; the rotating shaft sleeved by the second joint seat 3c is connected to the second arm rod 3e, and the rotating shaft sleeved by the second joint seat 3c is fixed through a set screw 3 g; the rod end of the second arm rod 3e is hinged with the clamping seat 3h through a third joint seat 3f, an arc-shaped sliding rail 3i is fixedly arranged on the rod body of the second arm rod 3e, an arc-shaped sliding rod 3j is arranged on the clamping seat 3h, the arc-shaped sliding rail 3i and the arc-shaped sliding rod 3j form a sleeving assembly, an arc-shaped spring 3k is arranged between the arc-shaped sliding rail 3i and the clamping seat 3h, and the arc-shaped spring 3k is sleeved on the arc-shaped sliding rail 3 i.
The working procedure of this embodiment is as follows:
as shown in fig. 4, the mechanical gripper is transferred to the upper part of the working frame 1 through the lifting appliance, and then is slowly put down, the adjusting position avoids the joint part of the mechanical gripper, so that the outer shell presses the bearing plate, the bearing plate drives the movable rod 2c to vertically slide downwards along the fixed seat 2a, meanwhile, the compression spring 2e is compressed, at the moment, the horizontal position of the first joint seat 3a is synchronously moved downwards, and at the moment, the first arm rod 3b is rotatably connected on the first joint seat 3a, meanwhile, the roller 3d at the end part of the first arm rod 3b is constantly attached to the surface of the top plate 1a, so that the first arm rod 3b which is pressed downwards presses the first arm rod 3b in an inclined direction is straightened towards two sides, and the roller 3d rolls towards two sides (as shown by two side arrows in fig. 4). Meanwhile, since the rotation of the second arm rod 3e on the second joint seat 3c is fixed by the set screw 3g (in other embodiments, different arm rod included angles can be adjusted by the set screw 3g to adapt to different types of mechanical grippers), so that the included angle between the second arm rod 3e and the first arm rod 3b remains unchanged, a movement track of the second arm rod 3e and the bearing seat 2g on two sides rotating towards the middle is formed until the bearing seats 2g on two sides are attached to the shell of the mechanical gripper, then the bearing seat 2g is made to rotate along the third joint seat 3f under the attaching action (as shown by the arc arrow in fig. 4), the arc slide rod 3j is made to be accommodated in the arc slide rail 3i, the arc spring 3k is made to be in a compressed state until the arc spring 3k on two sides, the compression spring 2e on the bottom and the mechanical gripper dead weight reach a stress balance state, and the mechanical gripper is made to be flexibly clamped and fixed in all directions under the combined action of the bearing seat 2g on the bottom and the clamping seat 3h on two sides.
As shown in fig. 5, due to the difference between the bending angles and the horizontal heights of the arm levers at each level of the mechanical gripper, the bearing groups 2 can be subjected to different compression states to achieve seamless lamination, when the arm levers at each level of the mechanical gripper are placed on each bearing group 2, the compression amount of the compression spring 2e at the left side by the mechanical gripper is the largest (the direction is according to fig. 5), and then the compression amount of the compression spring 2e at the right side by the bent arm lever is smaller, so that each bearing seat 2g from left to right is automatically laminated on the mechanical gripper shell, and under the extrusion action of the elasticity of the compression spring 2e, the bearing seat 2g rotates along the hinge seat 2f and achieves a seamless lamination state consistent with the bending angle of the mechanical gripper to form the optimal clamping and fixing posture.
After maintenance is completed, the mechanical gripper is lifted again through the lifting appliance, and as the clamping seat 3h has elasticity (the arc spring 3 k) for limiting the mechanical gripper, the arc spring 3k can be further compressed by slowly lifting the mechanical gripper to enable the clamping seat 3h to be bent and opened, so that the mechanical gripper is extruded from the upper part, and one-step lifting and extracting operation is realized.
Through the functions, the lifting appliance only needs to hang down the mechanical gripper and then is loosened, and by utilizing the automatic seamless clamping function, the one-step rapid clamping operation of the mechanical gripper can be completed, so that flexible and stable overhaul support platforms for various mechanical grippers are realized, the joint posture and the motor precision of the mechanical gripper are not influenced, and the efficient operation of the automobile assembly overhaul operation is ensured.
In this embodiment, the extending direction of the first arm 3b faces obliquely downward, and the extending direction of the second arm 3e faces upward or obliquely upward, so as to ensure that the first arm 3b extending toward both sides can smoothly drive the second arm 3e to fold toward the middle when the carrying seat 2g is forced to move downward.
In this embodiment, a flexible planar layer 2h is provided on the upper surface of the carrier 2 g. The flexible planar layer 2h is preferably made of rubber, so that the flexible contact clamping effect on the mechanical gripper is ensured.
In this embodiment, a surface of the clamping seat 3h facing the middle is provided with a flexible arc surface layer, so as to ensure a flexible contact clamping effect on the mechanical gripper.
In the present embodiment, the rotation range of the hinge support 2f is ±60°, and preferably, the rotation range of the hinge support 2f can be limited by the limiting block 1e mechanism, so as to ensure that the upper surface of the bearing support 2g to which the hinge support 2f is connected faces upwards or obliquely upwards as much as possible, prevent the inclination angle from being too large to attach to the mechanical gripper, and ensure that all the bearing supports 2g can be attached to the outer wall of the mechanical gripper seamlessly.
Example two
The present embodiment differs from the first embodiment in that a tilting function of the work frame 1 is provided so as to accommodate different maintenance operations.
As shown in fig. 1, a base is arranged below a bottom plate 1b, a main joint seat 5 is fixedly arranged at one end in a region between the two, two vertically arranged supporting rods 6 are arranged at the other end, a hinge joint is arranged in the middle of the main joint seat 5, two end heads of the main joint seat 5 are respectively fixed on the bottom plate 1b and the base, two supporting rod 6 end heads are mutually supported, wherein the supporting rod 6 above is fixed on the bottom plate 1b, and the supporting rod 6 below is fixed on the base; the bottom surface of the bottom plate 1b is provided with a plurality of clamping blocks 1e which are arranged at intervals, the surface of the base is hinged with a clamping rod 4b through a secondary joint seat 4a, and the edge of the working frame 1 is provided with a grab handle 1d which transversely extends.
The working principle of this embodiment is as follows:
in the maintenance operation of automobile assembly, because the limitation of the maintenance tool needs to set the maintenance working face to be an inclined plane, an operator can hold the grab handle 1d to lift the working frame 1 at this moment, the working frame 1 rotates along the main joint seat 5 at this moment, after a proper inclination angle is reached, the clamping rod 4b is erected and clamped into the clamping block 1e, so that the working frame 1 keeps a fixed inclined state, then, the lifting mechanical grippers are placed on the working frame 1, a plurality of bearing groups 2 and clamping seats 3h form a clamping state (the clamping process is the same as that of the first embodiment) of the mechanical grippers, a state shown in fig. 6 is formed, and because the flexible plane layer 2h on the surface of the bearing seat 2g and the flexible arc layer on the surface of the clamping seat 3h are made of rubber, under the elastic pressure effect of each group of the bearing seat 2g and the clamping seat 3h, a large friction force aiming at the mechanical grippers can be formed, so that the obliquely arranged mechanical grippers can be kept fixed, the operator can use the maintenance tool to adapt to different maintenance working conditions, and the high-efficiency operation of the automobile assembly operation is ensured.
The foregoing description of the preferred embodiment of the invention is not intended to limit the invention in any way, and it is to be understood that the embodiment may be substituted in other ways and equivalents thereof by persons skilled in the art, and is included within the scope of protection of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a flexible mechanical tongs support location frock, includes work frame, a plurality of group, a plurality of clamp dress group, its characterized in that: the working frame is a frame structure formed by a top plate, a bottom plate and a plurality of upright posts in the middle, the working frame is provided with a plurality of bearing groups which are arranged in parallel, a fixed seat at the bottom of each bearing group is fixed on the bottom plate, a cylindrical fixed sleeve is fixedly arranged on the fixed seat, a movable rod is sleeved on the fixed sleeve, a movable seat is fixedly arranged on the movable rod body, a compression spring is arranged between the movable seat and the fixed seat, the movable rod body penetrates through the top plate and extends above the top plate through the end head of the movable rod body, and the end head of the movable rod is hinged with a bearing seat through a hinged seat; the two sides of each bearing group are symmetrically provided with one clamping group, the end parts of the clamping groups are provided with first joint seats, the first joint seats are arranged on a rod body of which the movable rods are arranged above a top plate, a rotating shaft sleeved by the first joint seats is connected with a first arm rod, the end head of the first arm rod is provided with a second joint seat, the second joint seats are provided with idler wheels in a hub assembling mode, and the surfaces of the idler wheels are attached to the top plate; the rotating shaft sleeved by the second joint seat is connected to the second arm rod, and the rotating shaft sleeved by the second joint seat is fixed through a set screw; the rod end of the second arm rod is hinged with the clamping seat through a third joint seat, an arc-shaped sliding rail is fixedly arranged on the second arm rod body, an arc-shaped sliding rod is arranged on the clamping seat, the arc-shaped sliding rail and the arc-shaped sliding rod form a sleeving assembly, an arc-shaped spring is arranged between the arc-shaped sliding rail and the clamping seat, and the arc-shaped spring is sleeved on the arc-shaped sliding rail.
2. The flexible mechanical gripper bracket positioning tool of claim 1, wherein: a base is arranged below the bottom plate, a main joint seat is fixedly arranged at one end in a region between the base plate and the base plate, two vertically arranged supporting rods are arranged at the other end of the main joint seat, a hinge joint is arranged in the middle of the main joint seat, two end heads of the two ends of the main joint seat are respectively fixed on the bottom plate and the base plate, the two end heads of the supporting rods are mutually supported, wherein the supporting rod above is fixed on the bottom plate, and the supporting rod below is fixed on the base plate; the bottom surface of the bottom plate is provided with a plurality of clamping blocks which are arranged at intervals, and the surface of the base is hinged with clamping rods through secondary joint seats.
3. The flexible mechanical gripper bracket positioning tool of claim 1, wherein: the extending direction of the first arm rod is oriented obliquely downwards, and the extending direction of the second arm rod is oriented upwards or obliquely upwards.
4. The flexible mechanical gripper bracket positioning tool of claim 1, wherein: the bearing seat is characterized in that a layer of flexible flat layer is arranged on the upper surface of the bearing seat, and the flexible flat layer is made of rubber or sponge.
5. The flexible mechanical gripper bracket positioning tool of claim 1, wherein: the surface of the clamping seat facing the middle part is provided with a flexible arc surface layer, and the flexible arc surface layer is made of rubber or sponge.
6. The flexible mechanical gripper bracket positioning tool of claim 1, wherein: the angle rotation range of the hinged support is +/-60 degrees.
7. The flexible mechanical gripper bracket positioning tool of claim 1, wherein: the edge of the working frame is provided with a grab handle which transversely extends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210514395.1A CN114932578B (en) | 2022-05-12 | 2022-05-12 | Flexible mechanical gripper bracket positioning tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210514395.1A CN114932578B (en) | 2022-05-12 | 2022-05-12 | Flexible mechanical gripper bracket positioning tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114932578A CN114932578A (en) | 2022-08-23 |
| CN114932578B true CN114932578B (en) | 2023-07-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210514395.1A Active CN114932578B (en) | 2022-05-12 | 2022-05-12 | Flexible mechanical gripper bracket positioning tool |
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| Country | Link |
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| CN (1) | CN114932578B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838938A (en) * | 2017-12-08 | 2018-03-27 | 威海科莱默自动化设备有限公司 | A kind of robot gripper |
| CN213004380U (en) * | 2020-07-24 | 2021-04-20 | 无锡知然和精密机械有限公司 | Processing support of adjustable injection system spare part |
| CN213156550U (en) * | 2020-07-07 | 2021-05-11 | 东阳市人民医院 | Head fixing device for brain surgery |
| CN213782277U (en) * | 2020-12-30 | 2021-07-23 | 武汉市木邦电器有限公司 | Welding wire connection structure for ultrasonic transducer |
| CN113458484A (en) * | 2021-07-03 | 2021-10-01 | 苏涛 | Large-diameter pipe cutting equipment |
| CN214519722U (en) * | 2021-01-06 | 2021-10-29 | 莱芜福泰机械有限公司 | Fixing device for automobile part detection |
| CN114012773A (en) * | 2021-12-06 | 2022-02-08 | 杭州电子科技大学 | Elastic clamping mechanical gripper based on magnetic spring principle and clamping method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2543843B (en) * | 2015-10-31 | 2020-04-29 | Loop Tech Ltd | A system for handling flexible materials |
-
2022
- 2022-05-12 CN CN202210514395.1A patent/CN114932578B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838938A (en) * | 2017-12-08 | 2018-03-27 | 威海科莱默自动化设备有限公司 | A kind of robot gripper |
| CN213156550U (en) * | 2020-07-07 | 2021-05-11 | 东阳市人民医院 | Head fixing device for brain surgery |
| CN213004380U (en) * | 2020-07-24 | 2021-04-20 | 无锡知然和精密机械有限公司 | Processing support of adjustable injection system spare part |
| CN213782277U (en) * | 2020-12-30 | 2021-07-23 | 武汉市木邦电器有限公司 | Welding wire connection structure for ultrasonic transducer |
| CN214519722U (en) * | 2021-01-06 | 2021-10-29 | 莱芜福泰机械有限公司 | Fixing device for automobile part detection |
| CN113458484A (en) * | 2021-07-03 | 2021-10-01 | 苏涛 | Large-diameter pipe cutting equipment |
| CN114012773A (en) * | 2021-12-06 | 2022-02-08 | 杭州电子科技大学 | Elastic clamping mechanical gripper based on magnetic spring principle and clamping method thereof |
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| CN114932578A (en) | 2022-08-23 |
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