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Automatic loosening/clamping manipulator

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Publication number
CN202097734U
CN202097734U CN 201120149293 CN201120149293U CN202097734U CN 202097734 U CN202097734 U CN 202097734U CN 201120149293 CN201120149293 CN 201120149293 CN 201120149293 U CN201120149293 U CN 201120149293U CN 202097734 U CN202097734 U CN 202097734U
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CN
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Grant
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Prior art keywords
block
manipulator
claws
sliding
automatic
Prior art date
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CN 201120149293
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Chinese (zh)
Inventor
龚仲华
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常州机电职业技术学院
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Abstract

The utility model relates to an automatic loosening/clamping manipulator which comprises two claws and an arm, wherein the claws are rotationally connected with the left end of the arm, the automatic loosening/clamping manipulator also comprises a sliding block, a locking block, a roller wheel, a connecting block, a first spring and a mandril; a notch is arranged in the middle of the locking block, and a limit bayonet is arranged at the lower end of the locking block in the vertical direction; the sliding block capable of sliding left and right is sleeved on the locking block; the roller wheel is rotationally connected with the inside of a groove of the sliding block on the claws; the connecting block runs through the arm to be fixedly connected to the lower side of the sliding block; the first spring and the mandril are sealed in a blind hole of the arm by the claws, and the other end of the mandril reaches against the claws. The structural design of the manipulator is very simple, the automatic loosening/clamping manipulator can be conveniently machined by conventional equipment, the machining and manufacturing cost is low, the action of the manipulator is very reliable, and the manipulator is very easy to adjust and maintain.

Description

自动松/夹机械手 Auto Song / folder robot

技术领域 FIELD

[0001] 本实用新型涉及一种机械手,尤其涉及一种可广泛用于数控机床、机器人、自动生产线的无需动力与控制的多用途自动松/夹机械手。 [0001] The present invention relates to a manipulator, in particular, it relates to a widely used and no power control NC machine tools, robots, automatic production line automatic multi-purpose bulk / folder robot.

背景技术 Background technique

[0002] 机械手是广泛用于数控机床、机器人、自动生产线的物体自动装卸装置,动作快捷可靠、控制简单容易是各行各业对机械手的共性要求。 [0002] The robot object is widely used in the automatic handling device CNC machine, robot, automatic production line, fast and reliable operation, simple and easy to control all walks of life of the common requirements of the manipulator. 机械手通常包括手臂运动(输送)与手爪运动(松/夹)两部分运动,前者可通过气动、液压、伺服驱动、皮带等标准结构实现; 后者的结构与需要装卸的物体有关,但都必须有抓取物体时的夹紧和安放物体时的松开动作。 Generally comprises a robot arm movement (conveyance) of gripper motion (loose / folder) moving the two parts, the former structure may be achieved by standard pneumatic, hydraulic, servo drive, belts and the like; and the latter requires handling structure about the object, but all there must be a clamping and unclamping operation when the object is placed when grasping the object.

[0003] 目前,绝大部分机械手的手爪松开/夹紧都是采用气动、液压或电磁铁等进行控制,这样的手爪不但控制复杂、松/夹范围与夹持力调整困难、生产成本高,而且一旦动力部件发生故障,其物体就有可能跌落;此外,气动、液压或电磁铁等装置的动作都需要有一定的时间,故其动作速度相对较慢。 [0003] Currently, most of the robot gripper release / clamping are employed, such as pneumatic, hydraulic or solenoid control, such control is not only complicated gripper, pine / clip and the clamping force adjustment range is difficult, production high cost, and once the force component failure, it is possible that objects fall; in addition, the operation such as pneumatic, hydraulic or electromagnet apparatus needs to have a certain time, so the operation is relatively slow.

实用新型内容 SUMMARY

[0004] 本实用新型要解决的技术问题是:提供一种无需动力与控制的、多用途自动松/ 夹机械手,它利用了机械手在前后、上下移动时所产生的距离变化与动作顺序区别,自动实现了手爪对物体的夹持与松开动作。 [0004] This technical problem invention to solve is: to provide a no power and control, multi-purpose automatic pine / folder robot, which uses the distance variation operation sequence differences manipulator back and forth, moves up and down generated, automatically the gripper gripping an object with the release operation. 这种机械手的手爪夹持与松开不需要气动、液压、电磁铁等动力部件,无需电气控制;手爪的松/夹范围可变;夹持力可调;夹持与松开动作没有任何延时,其“夹紧”和“松开”动作十分简单、快捷、可靠。 Such a robot gripper holding the release does not require pneumatic, hydraulic, solenoid and other power components, no electrical control; gripper pine / folders variable range; adjustable clamping force; gripping and releasing action is not any delay, its "grip" and "release" action is very simple, fast and reliable.

[0005] 本实用新型解决其技术问题所采用的技术方案是:一种自动松/夹机械手,包括两个手爪、手臂、手爪转动联接于手臂的左端,所述的自动松/夹机械手还包括滑块、锁定块、滚轮、联接块、第一弹簧和顶杆;锁定块的中部有一槽口,下端设有垂直方向的限位卡口;在锁定块上套装一个可以左右滑动的滑块;滚轮转动联接于手爪上置于滑块的凹槽内部;贯穿手臂的联接块固定联接于滑块的下方;手爪把第一弹簧和顶杆封闭在手臂的盲孔内,顶杆的另一端顶在手爪上。 [0005] aspect of the present invention to solve the technical problem is that: an automatic release / folder robot, comprising two gripper arm, gripper rotatably coupled to the left arm, the automatic release / folder robot further comprising a slider, the locking block, the roller, the coupling piece, a first spring and a jack; central locking block has a notch, the lower end of the stopper is provided with vertical bayonet; sleeved on the lock block can slide a slide block; wheel rotatably coupled to a slider disposed inside the groove on the gripper; downward through the coupling arm fixedly connected to the slider block; the first gripper and the jack spring arm blind bore closed, jack on top of the other end of the gripper.

[0006] 本实用新型所述自动松/夹机械手,还包括上盖板和第二弹簧,上盖板固定联接在手臂将第二弹簧封闭在锁定块内部。 [0006] The present invention automatically loose / folder robot, further comprising a cover plate and a second spring, the cover plate coupled to the second arm of the locking block spring enclosed in the interior. 所述自动松/夹机械手,还包括碰珠,下盖板和压块;碰珠固定联接于联接块的下端;套装在锁定块底部的下盖板固定联接于手臂的底端; 压块固定联接于手臂的上端面。 The automatic release / folder robot, further comprising a touch beads, compacts and the lower cover plate; lower touch beads coupled to the coupling block is fixed; bottom cover sleeved fixedly coupled to the bottom of the block lock arm; compact fixed coupled to the upper end surface of the arm.

[0007] 取出物体时,可利用机械手在水平方向接近物体过程中支架对机械手的反作用力,通过机械联锁机构,保证机械手运动到物体安放位置时手爪能够自动夹持物体;此后, 只要机械手向上运动取出物体,手爪将始终保持在夹持状态,以取出物体。 [0007] When removing objects, may utilize the robot close to the object during stent reaction of the manipulator in the horizontal direction, by a mechanical interlocking mechanism, to ensure that the robot is moved to the object mounting position of the gripper can be automatically clamped object when; thereafter, as long as the robot remove the upward movement of the object, the gripper will remain in a clamped state, in order to remove the object. 放置物体时,可利用机械手在上下方向接近物体过程中支架对机械手的反作用力,通过机械联锁机构,保证机械手运动到物体安放位置后,只要机械手在水平方向离开物体,手爪就能够自动松开物体并保持松开状态,完成物体的安放动作。 When placing objects, may utilize the robot close to the object during stent reaction force of the robot in the vertical direction, by a mechanical interlocking mechanism, to ensure that the robot is moved to the object placement, as long as the robot away from the object in the horizontal direction, the gripper can be automatically Pine opening the object and holding a released state mounting operation, the object is completed.

[0008] 上述技术方案所涉及的所有零部件的结构设计均十分简单,其加工可以利用常规设备方便地完成,加工制造成本低,机械手的动作非常可靠,安装调整与维修十分容易。 All parts of the design [0008] The above technical solutions involved are very simple, using conventional processing device which is conveniently accomplished, low manufacturing cost, very reliable operation of the robot, installation and adjustment and maintenance is easy.

[0009] 采用上述技术方案后,机械手的手爪夹紧与松开将不再需要气动、液压、电磁铁等动力部件与控制,做到了无动力、无延时自动松/夹;机械手的手爪夹紧和松开十分简单、 快捷与可靠。 [0009] With the above aspect, the robot gripper and release the clamping force is no longer required and the control member pneumatic, hydraulic, electro-magnet, so that no power, no delay is automatically loose / folders; robot hand claw clamp and release is very simple, fast and reliable.

[0010] 本实用新型的有益效果是,解决了背景技术中存在的缺陷,机械手的手爪松/夹范围、夹持力调整不需要改变任何机构,其调整十分方便;此外,物体一旦被夹持,可以通过机械联锁机构始终将其保持在夹紧锁定状态,因此也不会因为断电或气动、液压故障导致物体的跌落与损坏。 [0010] The beneficial effects of the present invention is to solve the drawbacks present in the background art, the robot gripper pine / clip range, the clamping force adjusting mechanism does not require any change, the adjustment is very convenient; In addition, once the object is clamped holding, it can always be maintained by the mechanical interlocking mechanism in the locked state of the clamp, and therefore will not be a power failure or a pneumatic, hydraulic failure results in damage to the dropped object.

附图说明 BRIEF DESCRIPTION

[0011] 下面结合附图和实施例对本实用新型进一步说明。 [0011] Next, the present invention is further described in conjunction with the accompanying drawings and embodiments pair.

[0012] 图1-1至图1-2为无需动力与控制的多用途自动松/夹机械手结构总图; [0012] FIGS. 1-1 to 1-2 with no power control multipurpose automatic release / total folder robot configuration diagram;

[0013] 图2-1至图2-3为机械手手爪自动夹紧与锁定的动作原理与过程图; [0013] FIG. 2-1 to FIG. 2-3 is a robot gripper automatically lock the clamping operation principle and process of FIG;

[0014] 图3-1至图3-3为机械手手爪自动松开与保持的动作原理与过程图; [0014] FIG. 3-1 to FIG. 3-3 for automatic release of the holding gripper robot operation principle and process of FIG;

[0015] 图中:1.物体,2.钳口,3.手爪,4.手臂,5.锁定块,6.滑块,7.第一弹簧,8.顶杆,9.滚轮,10.压块,11.上盖板,12.第二弹簧,13.联接块,14.碰珠,15.下盖板,16.支架。 [0015] FIG.:..... The object 1, the jaw 2, the gripper 3, the arm 4, the locking block 5, 6 slide, a first spring 7, the jack 8, the rollers 9, 10.... . briquetting, 11 on the cover 12. the second spring 13 is coupled block 14. touch beads, 15 lower cover 16 bracket.

具体实施方式 detailed description

[0016] 现在结合附图和优选实施例对本实用新型作进一步详细的说明。 [0016] now be described in further detail as the present invention and preferred embodiments in conjunction with the accompanying drawings. 这些附图均为简化的示意图,仅以示意方式说明本实用新型的基本结构,因此其仅显示与本实用新型有关的构成。 The drawings are simplified schematic way of illustration only schematically the basic structure of the present invention, therefore shows only the configuration related to the present invention.

[0017] 无需动力与控制的多用途自动松/夹机械手的总体结构见图1-1至图1-2所示。 [0017] The control without power and automatic multi-purpose bulk / folder manipulator general structure shown in Figure 1-1 to Figure 1-2.

[0018] 本实用新型中的机械手主要包括了钳口2、手爪3、手臂4、锁定块5、滑块6、松开第一弹簧7、顶杆8、滚轮9、压块10、上盖板11、锁定第二弹簧12、联接块13、碰珠14、下盖板15等零件,它通过物体装卸时支架16对机械手产生的反作用力,通过机械联锁机构,实现了手爪3对物体1的自动松/夹以及夹紧锁定与松开保持动作。 [0018] The present invention includes a jaw manipulator 2, the gripper 3, the arm 4, the locking block 5, the slider 6 is released first spring 7, the jack 8, the rollers 9, 10 compact, the the cover plate 11, a second lock spring 12, the coupling block 13, touch beads 14, the cover plate 15 and other parts, which bracket 16 pairs of reaction force produced by the robot handling the object, by a mechanical interlocking mechanism, to achieve the gripper 3 the automatic release of the object 1 / clamp and a clamp holding the locking and release operation.

[0019] 机械手的手臂4可与任何能够同时作水平与上下运动的输送装置连接,通过调整机械手的水平移动距离,可随时改变手爪的松/夹范围;通过调整机械手的水平运动力,可直接改变物体的夹持力;而改变钳口(¾则可适应不同材料、不同形状的物体的松/夹要求。 [0019] The robot arm 4 can be attached to any delivery device capable of horizontally and vertically moving the same time, by adjusting the robot horizontal moving distance may be changed at any time loose gripper / Clip range; By adjusting the robot horizontal movement force can be clamping force directly change the object; and change the jaws (¾ can adapt to different materials, different shapes of loose objects / folder requirements.

[0020] 机械手的手爪3松/夹动作通过绕支点0的回转实现,改变其回转角度,便可调整松/夹范围。 [0020] 3 robot gripper pine / folder operation by turning around the fulcrum 0 implementations, changing its angle of rotation, can be adjusted pine / clip range. 手爪的夹紧动力来自滑块6的运动,当滑块6向右运动时,可通过滚轮9推动手爪向内回转,夹持物体。 The clamping force of the gripper 6 from the movement of the slider when the slider 6 moves to the right, pushing the gripper can swing inwardly, gripping the object by the roller 9. 手爪的松开动力来自松开第一弹簧7,当滑块6自由时,松开第一弹簧7可通过顶杆8推动手爪3向外回转,松开物体。 Gripper release from the release force of the first spring 7, when the slider 6 consisting of, a first spring 7 may release the gripper by turning the jack 8 3 outwardly pushed release the object.

[0021] 滑块6的右移动力来自支架16的反作用力;当机械手靠近物体时,它可在碰珠14、联接块13的推动下右移,实现夹紧动作。 Right power [0021] 6 from the reaction force of the slider holder 16; when the robot close to the object, which can be shifted to the right at 14, push the coupling block 13 touch beads, to achieve the clamping action. 滑块6的左移动力来自松开第一弹簧7 ;当机械手离开物体时,松开第一弹簧7、顶杆8将推动手爪3向外旋转,实现松开动作;而固定于手爪上的滚轮9将带动滑块左移。 Slider to the left from the release force of the first spring 6 7; when leaving the object manipulator is released first spring 7, the gripper 3 will push the jack 8 outward rotation, to achieve release action; and is fixed to the gripper 9 will drive the scroll wheel on the slider to the left.

[0022] 锁定块5是实现夹紧锁定与松开保持的关键零件。 [0022] clamping locking block 5 is implemented with a locking key holding part release. 夹紧锁定时,它由锁定第二弹簧12推动下移,此时其中的槽口将与滑块6错位,从而阻止了滑块6的左移运动,物体1将被锁定在夹紧状态。 Clamping lock, it pushes down the lock by a second spring 12, which at this time slot will be misaligned with the slider 6 so as to prevent movement of the left slider 6, the object 1 to be locked in the clamped state. 当机械手向下运动时,锁定块5在支架16反作用力的推动下上移,使其中的槽口与滑块6平移位置对齐,此时只要机械手水平离开物体,滑块6将左移松开物体, 同时,其平移将禁止锁定块5的向下运动,物体1将被保持在松开状态。 When the robot moves downward, the locking block 16 on the lower 5 shift reaction stent push the notch of the slider 6 wherein the translational position of alignment, then just leave the robot object level, the left slider 6 release object, while it will prohibit translational movement of the locking block 5 downward, the object 1 is held in the released state.

[0023] 上盖板11用于锁定第二弹簧12固定和锁定块5的上移限位;下盖板15用于锁定块5的下移限位;压块10用于滑块6的左右运动导向和上下定位。 [0023] The upper cover plate 11 for securing and locking the locking block 5 of the second spring 12 shifts the stopper; under cover 15 for locking the stopper piece 5 down; for about 10 compacts the slider 6 the vertical movement guide and positioning.

[0024] 机械手的手爪自动夹紧与锁定动作原理与过程如图2-1至图2-3所示。 [0024] clamping robot gripper automatically during the locking operation principle and Figure 2-1 to Figure 2-3.

[0025] 当机械手水平方向接近物体时,支架16通过碰珠14和联接块13推动滑块6右移; 滑块6通过滚轮9带动手爪向内回转,夹持物体。 [0025] When the robot close to the object in the horizontal direction, the holder 16 via the coupling block 14 and the touch beads 13 pushes the slider 6 to the right; the slider 6 by a gripper rotation drive roller 9 inwardly, gripping the object. 当机械手向上运动取出物体时,锁定块5 由锁定第二弹簧12推动下移,并到达下盖板15的限位位置,其中的槽口与滑块6错位,从而阻止滑块6的左移运动,将手爪3锁定在夹紧状态。 When the robot is moved upward extraction object, a second locking block 5 by the lock spring 12 pushed down, and reaches the lower limit position 15 of the cover plate, wherein the slider 6 dislocation notch, thereby preventing the left slider 6 movement, the gripper 3 is locked in the clamped state.

[0026] 机械手的手爪自动松开与保持动作原理与过程如图3-1至图3-3所示。 [0026] The robot gripper automatically released during the holding operation principle and Figure 3-1 to Figure 3-3.

[0027] 当夹持有物体的机械手向下运动到安装位置时,支架16将推动锁定块5上移,并到达上盖板11的限位位置,使其中的槽口与滑块6的平移位置对齐,允许滑块6进入槽口。 [0027] When the sandwiched object manipulator moves downward to the mounting position, the bracket 16 will move on the lock push block 5 and the cover plate 11 reaches the upper limit position of the slider with a notch 6 wherein the translational aligned position, allowing the slider 6 into the slot. 当机械手水平方向离开物体的开始阶段,锁定块5被支架16保持在上位,而滑块6及与之连接的联接块13、碰珠14都可以在松开第一弹簧7、顶杆8与手爪3、滚轮9的推动下向左复位;手爪向外回转,物体被自动松开。 When a robot in the horizontal direction away from the beginning of the object, the locking block 5 is held in the upper bracket 16, and the slider 6 and the coupling piece 13 connected thereto, touch beads 14 are in the release of the first spring 7, and the jack 8 gripper 3, 9 resetting left driven wheel; outwardly rotary gripper, the object is automatically released. 滑块6的左移将进入锁定块5的槽口,并禁止其向上的运动,故手爪3可始终保持在松开状态。 6 of the slider to the left to lock into a recess in block 5, and prohibits its upward movement, so that the gripper 3 can be kept in the release state.

[0028] 本实用新型的原理为:利用上述机械联锁机构,取出物体时,可利用机械手在水平接近物体过程中支架所产生的反作用力,保证机械手运动到物体安放位置时手爪能够自动夹持物体,并始终保持在夹紧锁定状态;放置物体时,可利用机械手在向下接近物体过程中支架对机械手的反作用力,保证机械手运动到物体安放位置后,在机械手水平离开物体时能自动松开物体,并始终保持在松开保持状态。 [0028] The principle of the present invention: the use of the mechanical interlock mechanism, when removing the object, may be utilized in the proximity of the object reaction force of the robot during the horizontal scaffold generated, the robot is moved to ensure that the object can be automatically set position of the gripper clamp holding the object, and always keep the clamp locked state; when placing an object, you can use a robot stand the reaction force of the robot downward close to the object process, to ensure that the robot moves to the object placement, manipulator horizontal leaving object can be automatically release the object, and always keep in the release on hold.

[0029] 采用上述技术方案的机械手,其手爪的夹紧与松开不需要气动、液压、电磁铁等动力部件控制,便可实现物体的无延时自动松/夹;而可通过调整水平移动距离与移动力, 就能灵活改变手爪的松/夹范围与夹持力;且其夹紧与松开状态能够自动锁定与保持,故还可防止断电或气动、液压系统故障导致物体的跌落与损坏。 [0029] With the above aspect of the robot gripper which does not require clamping and release of pneumatic, hydraulic, solenoid and other power control member, can be realized without delay automatic release of objects / folders; and by adjusting the level of moving distance of the moving force can be changed flexibly loose gripper / clamp holding force range; and clamped and unclamped state can be automatically locked and held, it is also to prevent a power failure or a pneumatic, hydraulic system failure object It drops and damage.

[0030] 上述技术方案所涉及的所有零部件的结构设计均十分简单,其加工可以利用常规设备方便地完成,加工制造成本低,机械手的动作非常可靠,安装调整与维修十分容易。 All parts of the design [0030] The above technical solutions have involved very simple processing using conventional equipment which is conveniently accomplished, low manufacturing cost, very reliable operation of the robot, installation and adjustment and maintenance is easy.

[0031] 以上说明书中描述的只是本实用新型的具体实施方式,各种举例说明不对本实用新型的实质内容构成限制,所属技术领域的普通技术人员在阅读了说明书后可以对以前所述的具体实施方式做修改或变形,而不背离实用新型的实质和范围。 [0031] In the foregoing specification, the present invention described herein are merely specific embodiments, various illustrative of the present invention is not to be construed as limiting substance, those of ordinary skill in the art can, after reading the previous description of a specific embodiment make modifications or changes without departing from the spirit and scope of the invention.

Claims (3)

1. 一种自动松/夹机械手,包括两个手爪(3)、手臂、手爪(3)转动联接于手臂(4) 的左端,其特征在于:所述的自动松/夹机械手还包括滑块(6)、锁定块(5)、滚轮(9)、联接块(13)、第一弹簧(7)和顶杆(8);锁定块(5)的中部有一槽口,下端设有垂直方向的限位卡口;在锁定块(¾上套装一个可以左右滑动的滑块(6);滚轮(9)转动联接于手爪(3)上置于滑块(6)的凹槽内部;贯穿手臂的联接块(13)固定联接于滑块(6)的下方;手爪⑶把第一弹簧(7)和顶杆⑶封闭在手臂⑷的盲孔内,顶杆⑶的另一端顶在手爪(3) 上。 An automatic release / folder robot, comprising two gripper (3), the arm, the gripper (3) rotatably coupled to the arm (4) of the left end, wherein: said automatic loose / folder manipulator further comprises a slider (6), the locking block (5), the roller (9), the coupling block (13), a first spring (7) and ejector (8); the central locking block (5) has a notch, the lower end is provided with limit vertical bayonet; (¾ set on a slider can slide right and left (6) in the locking block; roller (9) disposed rotatably coupled to the slider (6) (3) of the gripper inner recess ; arm through coupling block (13) fixedly connected to the lower slide (6); ⑶ the first gripper spring (7) and enclosed in a jack arm ⑷ ⑶ blind bore, the other end of the top jack ⑶ (3) on the gripper.
2.根据权利要求1所述的自动松/夹机械手,其特征在于:所述自动松/夹机械手,还包括上盖板(11)和第二弹簧(12),上盖板(11)固定联接在手臂(4)将第二弹簧(1¾封闭在锁定块(5)内部。 According to claim 1, the automatic loose / folder robot, characterized in that: said automatic loose / folder robot, further comprising a cover (11) and a second spring (12), the cover (11) fixed coupling the arm (4) of the second spring (1¾ closed (5) inside the locking block.
3.根据权利要求1或2所述的自动松/夹机械手,其特征在于:所述自动松/夹机械手,还包括碰珠(14),下盖板(15)和压块(10);碰珠(14)固定联接于联接块(13)的下端; 套装在锁定块(5)底部的下盖板(15)固定联接于手臂的底端;压块(10)固定联接于手臂的上端面。 The automatic loose claim 1 or claim 2 / clip manipulator, characterized in that: said automatic loose / folder robot, further comprising a touch beads (14), the cover (15) and the pressure piece (10); lower touch beads (14) fixedly connected to the coupling block (13); the locking set piece (5) at the bottom of the cover (15) is coupled to the bottom end of the arm is fixed; the pressure piece (10) fixedly connected to the arm end face.
CN 201120149293 2011-05-12 2011-05-12 Automatic loosening/clamping manipulator CN202097734U (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102642711A (en) * 2012-04-09 2012-08-22 中国核电工程有限公司 Overload automatic grabbing push head
CN102756303A (en) * 2012-07-19 2012-10-31 大连高金数控有限公司 Self-locking type pneumatic manipulator
CN103802122A (en) * 2014-02-28 2014-05-21 深圳市华龙精密模具有限公司 Mechanical arm structure of rib-cutting forming device
CN103817691A (en) * 2014-03-06 2014-05-28 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof
CN104044153A (en) * 2014-07-09 2014-09-17 苏州晓炎自动化设备有限公司 Tong mechanism of mechanical arm
CN104589363A (en) * 2014-12-06 2015-05-06 无锡高卓流体设备有限公司 Mechanical grabbing hand mechanism
CN104626176A (en) * 2013-11-15 2015-05-20 成都工业学院 Clamping device for medicine bottles
CN104949881A (en) * 2015-04-28 2015-09-30 中山大学 Multifunctional rock hydraulic claw used for full-automatic three-axis tester
CN105856866A (en) * 2016-03-30 2016-08-17 亚杰科技(江苏)有限公司 Marking device for motor rotor production line

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102642711A (en) * 2012-04-09 2012-08-22 中国核电工程有限公司 Overload automatic grabbing push head
CN102756303A (en) * 2012-07-19 2012-10-31 大连高金数控有限公司 Self-locking type pneumatic manipulator
CN104626176B (en) * 2013-11-15 2016-03-02 成都工业学院 Means for holding the vial
CN104626176A (en) * 2013-11-15 2015-05-20 成都工业学院 Clamping device for medicine bottles
CN103802122A (en) * 2014-02-28 2014-05-21 深圳市华龙精密模具有限公司 Mechanical arm structure of rib-cutting forming device
CN103817691A (en) * 2014-03-06 2014-05-28 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof
CN103817691B (en) * 2014-03-06 2015-06-03 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof
CN104044153A (en) * 2014-07-09 2014-09-17 苏州晓炎自动化设备有限公司 Tong mechanism of mechanical arm
CN104589363A (en) * 2014-12-06 2015-05-06 无锡高卓流体设备有限公司 Mechanical grabbing hand mechanism
CN104949881A (en) * 2015-04-28 2015-09-30 中山大学 Multifunctional rock hydraulic claw used for full-automatic three-axis tester
CN104949881B (en) * 2015-04-28 2018-02-06 中山大学 Multifunction hydraulic rock jaw a fully automatic tester for triaxial
CN105856866A (en) * 2016-03-30 2016-08-17 亚杰科技(江苏)有限公司 Marking device for motor rotor production line
CN105856866B (en) * 2016-03-30 2017-09-12 亚杰科技(江苏)有限公司 Rotor-point scale production line apparatus for use

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