CN202151863U - Manipulator device - Google Patents
Manipulator device Download PDFInfo
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- CN202151863U CN202151863U CN2011201780657U CN201120178065U CN202151863U CN 202151863 U CN202151863 U CN 202151863U CN 2011201780657 U CN2011201780657 U CN 2011201780657U CN 201120178065 U CN201120178065 U CN 201120178065U CN 202151863 U CN202151863 U CN 202151863U
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Abstract
The embodiment of the utility model relates to a manipulator device. The manipulator device is used in the manufacturing process of a battery metal shell body and used for gripping and conveying a battery metal shell to realize the purpose of automatically conveying the battery metal shell to a next station in such manufacturing processes as blanking, stretching, trimming, printing and the like. The manipulator device comprises a hand clamper component; the hand clamper component comprises more than one pair of hand clampers and a hand clamper supporting fame for installing the hand clampers; and the manipulator device is installed on a mould composed of an upper template and a lower template and also comprises a sliding block, a guide rail and a driving unit. The embodiment of the utility model mainly solves the problems of high cost, complicated structure and complicated manufacturing and assembly procedures of the existing manipulator device and achieves the purposes of simple structure, simple manufacturing and assembly procedures and low cost.
Description
Technical field
The utility model embodiment relates to a kind of robot device, especially a kind of robot device that is applied in the battery metal housing manufacturing process.
Background technology
In the technology of using diel manufacturing battery metal housing; Need use robot device carries out gripping to the housing in the steps such as blanking, stretching, side cut and printing and is sent to next station processing; The existing robot device that is used for gripping transmission housing is full-automatic device; But it involves great expense, complex structure, and it is numerous and diverse to make linkage editor.
The utility model content
The utility model embodiment technical problem to be solved is: a kind of robot device is provided, and it is simple in structure, and it is easy to make linkage editor, and cheap.
For solving the problems of the technologies described above; The utility model embodiment adopts following technical scheme: a kind of robot device; Comprise the tong assembly, this tong assembly includes a pair of above tong that is used for the gripping workpiece, and the tong support that is used to install tong; This robot device is installed on the mould that includes cope match-plate pattern and lower bolster, and said robot device also includes:
Slide block which is provided with X axle chute, and said tong assembly is slidingly installed in the said X axle chute;
Guide rail is fixed on the said lower bolster, which is provided with Y axle chute, and said slide block is slidingly installed in this Y axle chute;
And driver element, this driver element is used to drive said a pair of above tong gripping or pine is unloaded workpiece, and it is installed on said tong assembly or the slide block.
Further; Said tong assembly is provided with two tong supports, a carrier base; This tong support is provided with the slideway that supplies tong to slide; Each two tong to tong is installed on two tong supports with screw respectively; Said carrier base be provided with two be parallel to each other along X axle axial bracket chute and the movable rod between two bracket chute, this movable rod is hingedly mounted on the carrier base, said two tong supports are slidingly installed in said two bracket chute respectively and are connected by means of said movable rod; Said tong support reciprocatingly slides in bracket chute by means of first cylinder assembly, makes each to two tongs of tong in opposite directions or reverse motions and clamp or pine is unloaded workpiece.
Further; Said driver element is first cylinder assembly; Include first cylinder, the first cylinder holder and first connector; This first cylinder is fixed on the said carrier base by means of this first cylinder holder, and the end that this first cylinder has a piston rod is connected by means of one in said first connector and the said tong support.
Further, said tong assembly is slidingly installed in the said X axle chute by means of said carrier base.
Further; Said robot device also includes second cylinder assembly; This second cylinder assembly includes second cylinder, the second cylinder holder and second connector; This second cylinder is fixed on the said slide block by means of this second cylinder holder, and the end that this second cylinder has piston rod is connected with said carrier base by means of said second connector, and said carrier base utilizes this second cylinder assembly to be implemented in X axle axially reciprocating.
Further; Said robot device also includes the 3rd cylinder assembly; The 3rd cylinder assembly includes the 3rd cylinder, the 3rd cylinder holder and the 3rd connector; This second cylinder is fixed on the said guide rail by means of the 3rd cylinder holder, and the end that the 3rd cylinder has piston rod is connected with said slide block by means of said the 3rd connector, and said slide block utilizes the 3rd cylinder assembly to be implemented in Y axle axially reciprocating.
Further; Said tong assembly is provided with a tong support and a carrier base; Each two tong to tong is installed in respectively on tong support and the carrier base with screw, and said carrier base correspondence is provided with one along the axial bracket chute of X axle, and said tong support is slidedly arranged on the said bracket chute; Utilize the active force of four-cylinder assembly to make the tong support in chute, slide, make each clamp in opposite directions to tong or mutually from and pine is unloaded workpiece.
Further; Said tong assembly is slidingly installed in the X axle chute of said slide block by means of said carrier base; Also be provided with on this slide block along the axial draw-in groove of X axle; Said four-cylinder assembly includes four-cylinder, cylinder holder and connector; This four-cylinder is fixed in the said draw-in groove by means of this cylinder holder, and the end that this four-cylinder has piston rod is connected with said tong support by means of said connector, and said tong assembly utilizes this four-cylinder assembly to be implemented in X axle axially reciprocating.
Further, said slide block carves block assembly by means of one and a spring assembly is implemented in the axial reciprocating motion of Y axle, and this is carved block assembly and by cope match-plate pattern power is provided.
Further; The said block assembly of carving includes and carves post, carves the post fixed block, carves piece, carves the piece bearing and carve the piece rotating shaft; The said post of carving is fixed on and carves on the post fixed block, saidly carves the piece bearing and said slide block is connected to a fixed, and utilizes to carve post and with the active force of carving piece slide block is moved along Y axle negative direction; Said spring assembly includes latch, spring and is fixed on the spring fixed column on the said guide rail; Latch is inserted in to be carved in the piece bearing; Spring one end links to each other with latch, and the other end links to each other with spring fixed column, and the said piece of carving utilizes the active force of spring to reset together with slide block.
The beneficial effect of the utility model embodiment is: be provided with the carrier base that supplies the tong support in its chute, to slide through use; The tong support reciprocatingly slides in chute by means of a cylinder assembly, through in opposite directions or reverse motions so that corresponding a pair of above tong clamping work pieces or pine are unloaded workpiece, tong is installed in respectively on the two tong supports; Or be installed in respectively on tong support and the carrier base; It is simple in structure for this robot device, and it is easy to make linkage editor, and cheap.
Below in conjunction with accompanying drawing the utility model embodiment is made further detailed description.
Description of drawings
Fig. 1 is the scheme of installation one of the utility model embodiment robot device.
Fig. 2 is the scheme of installation two of the utility model embodiment robot device.
Fig. 3 is the explosive view of Fig. 2.
Fig. 4 is the stereogram one of the utility model embodiment master manipulator device.
Fig. 5 is the stereogram two of the utility model embodiment master manipulator device.
Fig. 6 is the explosive view of the utility model embodiment master manipulator device.
Fig. 7 is the stereogram of the secondary robot device of the utility model embodiment.
Fig. 8 is the explosive view of the secondary robot device of the utility model embodiment.
Fig. 9 is the sketch map in each stage in the metal shell process for making.
The specific embodiment
To shown in Figure 8, the utility model embodiment provides a kind of robot device 4 like Fig. 1, and this robot device comprises main frame arm device 41 and secondary robot device 41.It is applied in the manufacturing process of battery metal housing; The manufacturing equipment of this battery metal shell comprises progressive die device 2, printing mechanism 3 and robot device 4; This progressive die device 2 is installed on the said hydraulic press 1, and printing mechanism 3 then is installed on the progressive die device 2 with robot device 4.
With reference to Fig. 1, the vertical punch press of said hydraulic press 1 preferred employing comprises support 11, workbench 12, slide block 13, spindle motor 14, roller 15 and control system.
With reference to Fig. 2, Fig. 3, said progressive die device 2 comprises blanking die 5, drawing die 6, shaving die 7, is connected transition mechanism 8 and mould bases 9.Said linking transition mechanism 8 is arranged on the said progressive die device 2, between said stretching die 6 and edger 7, is used for being transported to elementary housing F from the working face that is positioned at master manipulator device 41 places the working face at secondary robot device 42 places.Said mould bases 9 comprises cope match-plate pattern 901, lower bolster 902, guide pillar 903 and guide pin bushing 904, and cope match-plate pattern 901 is fixed on slide block 13 lower ends of punch press 1, and lower bolster 902 is fixed on the workbench 12 of punch press 1.
With reference to Fig. 9, each form in the manufacture process of battery metal shell at first utilizes blanking die 5 to carry out the blanking stretching step; Blanking die 5 is a compund die, and stretching immediately generated the first housing A after blanking generated tablet X, then the first housing A was carried out stretching step; Being undertaken 5 times by drawing die 6 stretches; The respectively corresponding second housing B, the 3rd housing C, the 4th housing D, the 5th housing E and the elementary housing F of generating utilizes shaving die 7 step of cutting edge again, obtains sub-housings G after excising narrow limit burr and broadside burr; Print step by printing mechanism 3 at last, obtain into product shell H.In actual production is made; The drawing numbers of battery metal shell can be adjusted according to the actual requirements; And be not limited to 6 stretching step that present embodiment is given an example; Can as long as satisfying, the battery metal housing after stretching after the side cut step, can reach the desired size of sub-housings G greater or less than 6 times.
With reference to Fig. 4 to Fig. 6, said master manipulator device 41 comprises tong assembly 411, slide block 412, guide rail 413, guide rail backing plate 414, cylinder assembly 415, cylinder 416 assemblies and cylinder assembly 417.
Said tong assembly 411 comprises left tong support 4111, left tong 4112, right tong support 4113, right tong 4114, carrier base 4115 and movable rod 4116; Said left tong 4112 forms a pair of tong with right tong 4114; Left side tong support 4111 has groove 41111, slideway 41112 and fixing hole 41113; Groove 41111 is positioned at the medium position that left tong support 4111 is; Slideway 41112 is used to install left tong 4112, and correspondingly, right tong support 4113 has groove 41131, slideway 41132, fixing hole 41133 and groove 41134; Left side tong 4112 and right tong 4114 are slidingly installed in respectively in the slideway 41132 of slideway 41112 and right tong support 4113 of left tong support 4111, and are separately fixed in fixing hole 41113 and the fixing hole 41123 with screw; Left tong support 4111 then is connected through a movable rod 4116 with right tong support 4113, and an end and the groove 41111 of this movable rod 4116 are hinged, and the other end then is hinged with groove 41131.Said carrier base 4115 is provided with that twice are parallel to each other and along the axial bracket chute 41151 of X axle, left tong support 4111 is slidingly mounted on respectively in the bracket chute 41151 of support support 4115 with right tong support 4113; Carrier base 4115 middle parts also are provided with and are used for groove 41152 ccontaining and the said movable rod 4116 in location; This movable rod 4116 can rotate in groove 41152; By means of this rotation of movable rod 4116 in groove, the left tong 4112 of master manipulator device 1 can reach clamping or loose purpose of unloading workpiece respectively with right tong 4114 move toward one another or reverse motions; The bottom of carrier base 4115 also is provided with the T shape slide rail 41153 that is used to be installed in slide block 412.
Said slide block 412 includes the T-slot 4123 of U-lag 416, superposed X axle chute 417 and bottom, T shape slide rail 41153 sliding the establishing in the X axle chute 417 that is installed in slide block 412 of carrier base 4115.Said guide rail 413 is provided with Y axle chute 4131, and slide block 412 sliding establishing in the Y axle chute 4131 that is installed in guide rail 413.Said guide rail 413 is fixed on the guide rail backing plate 414, and guide rail backing plate 414 then is fixed on the lower bolster 902 of mould bases 9.
With reference to Figure 10; Said cylinder 415 assemblies comprise cylinder 4151, cylinder saddle 4152, connector 4153, connector 4154, and cylinder 4151 is fixed on the cylinder saddle 4152, and cylinder saddle 4152 then is fixedly mounted on the right tong support 4113; One end of connector 4153 and the piston rod of cylinder 4151 are fixed; One end is then fixing with connector 4154, and connector 4154 is connected with right tong support 4113 and fixes, and it is installed in the groove 41134 of right tong support 4113.
Said cylinder assembly 416 comprises cylinder 4161, cylinder saddle 4162, connector 4163, connector 4164; Cylinder 4161 is fixed on the cylinder saddle 4162; Cylinder saddle 4162 then is fixedly mounted on the slide block 412; One end of connector 4163 and the piston rod of cylinder 4161 are fixed, and an end is then fixing with connector 4164, and connector 4164 is connected with carrier base 4115 and fixes.
Said cylinder assembly 417 comprises cylinder 4171, cylinder saddle 4172, connector 4173; Cylinder 4171 is fixed on the cylinder saddle 4172; Cylinder saddle 4172 then is fixedly mounted on the guide rail backing plate 414; One end of connector 4173 and the piston rod of cylinder 4171 are fixed, and connector 4173 is fixed on the slide block 412.
During work; Behind the induction installation induced signal; Be dynamically connected part 4154 and then drive right tong support 4113 and right tong 4114 moves to X axle positive direction of control system control cylinder 4151 startup work zones; Simultaneously because the existence of movable rod 4116, left tong support 4111 of its stressed pulling and left tong 4112 phase left movements thereof, left tong 4112 gets final product clamping work pieces with right tong 4114.In like manner, if cylinder 4151 startup work drive right tong support 4113 and right tong 4114 moves to X axle negative direction, movable rod 4116 receives force urges left side tong support 4111 and 4112 motions of left tong thereof simultaneously, can unload workpiece by pine.Similarly; Cylinder 4161 startup work drive carrier base 4115 and in the T-slot hole 417 of slide block 412, move to X axle negative direction; The left tong 4112 that promptly drives clamping work pieces and right tong 4114 be to the motion of X axle negative direction, moves to next station thereby pinch workpiece.In like manner, part 4164 and then drive carrier base 4115 integral body promptly drive left tong 4112 and right tong 4114 homings after pine is unloaded workpiece to the motion of X axle positive direction if cylinder 4161 startup work zones are dynamically connected.Similarly, cylinder 4171 startup work zone movable slider 412 integral body are to Y axle positive direction motion, thus carrier base 4115 and on left tong support 4111 and left tong 4112 thereof and right tong support 4113 and right tong 4114 thereof send original position back to.In like manner; Cylinder 4171 startup work zone movable slider 412 integral body are to Y axle negative direction motion, thus carrier base 4115 and on left tong support 4111 and left tong 4112 thereof and right tong support 4113 and right tong 4114 thereof the transfer path of pulling out workpiece interfere each other to avoid tong and workpiece.
With reference to Fig. 7 to Fig. 8, said secondary manipulator 42 devices comprise tong assembly 421, slide block 422, guide rail 423, cylinder assembly 424, carve block assembly 425 and spring assembly 426.
Said tong assembly 421 comprises support 4254, dials hand 4212, left tong 424, right tong 426 and carrier base 4215.Said support 4254 is provided with groove 42541, fixing hole 42542 and chute 42543; Its shape is like " worker " font; Groove 42541 is used for being connected with cylinder assembly 4212, and group hand 4212 is slidingly installed in the chute 42543 with left tong 424 and is screwed in the fixing hole 42542 on support 4254; Carrier base 4215 is a T type piece, which is provided with chute 42151, and support 4254 is slidingly mounted in this chute 42151.
Said slide block 422 is a T type piece, which is provided with X axle chute 4221 and draw-in groove 4222, and said carrier base 4215 is slidingly mounted in the X axle chute 4221.
Said guide rail 423 is provided with Y axle chute 4231, and slide block 422 is slidingly mounted on the said Y axle chute 4231.
Said cylinder assembly 424 contains cylinder 4241, cylinder saddle 4242 and connector 4243; Cylinder 4241 is fixed in the draw-in groove 4222 of said slide block 422 by means of cylinder saddle 4242; Connector 4,243 one ends are fastened on the piston rod of cylinder 4241; Another is fixed in the groove 42541 of said support 4254, and this moment, the piston rod generation thrust of cylinder 4241 made left tong 424 and right tong 426 be in the state that clamps housing, and establishing this position is X axle initial position; The said block assembly 425 of carving comprises and carves post 4251, carves post fixed block 4252, carves piece 4253, carves piece bearing 4254, carves piece rotating shaft 4255; The said piece bearing 4254 carved is connected to a fixed with slide block 422, and it is used to drive slide block 422 and on the Y of guide rail 423 axle chute 4231, slides, and carves piece bearing 4254 and is provided with shaft hole 42541, latch fixing hole 42542; The said piece 4253 of carving is provided with shaft hole 42531 and the guide surface 42532 that is provided with predetermined slant, carves piece 4253 and utilizes and carve piece rotating shaft 4255 and carve piece bearing 4254 and be connected; The said post 4251 of carving contains plug surface 42511, groove 42512, and this plug surface 42511 matches with said guide surface 42532, carves post 4251 utilization and carves post fixed block 4252 and be fixed on the cope match-plate pattern 901.
Said spring assembly 426 comprises latch 4261, spring 4262, spring fixed column 4263; Latch 4261 is plugged in the latch fixing hole 42542 of carving piece bearing 4254; Latch 4261 two ends are equipped with spring 4262, and spring 4,262 one ends are connected fixing with latch 4261, and the other end is connected fixing with spring fixed column 4263; Spring fixed column 4263 then is fixed on the backing plate; Spring 4262 has pretightning force when installing, and makes that carving piece bearing 4254 is not strained by spring 4262 when working together with slide block 422, and establishing this position is the initial position on the Y direction.
During work; Cope match-plate pattern 901 moves downward to drive and carves post 4251 and move downward, and carves post 4251 and touches when carving piece 4253, the induction installation induced signal; And through the control cylinder 4241 startup work of control system; The piston rod of cylinder 4241 produces pulling force and drives support 4254 to the motion of X axle positive direction, and support 4254 drives carrier base 4215 again to the motion of X axle positive direction, makes left tong 424 unload housing with right tong 426 pines; Carving post 4251 continues to move downward; Because the interaction force of plug surface 42511 and guide surface 42532; Carving piece 4253 is carved post 4251 extruding and is moved along Y axle negative direction; Carve piece 4253 and drive slide blocks 422, carrier base 4215 and support 4254 and move along Y axle negative direction simultaneously together with carving piece bearing 4254 so that dial hand 4212, left tong 424 and right tong 426 when reseting movement not with station on housing interfere phenomenon; After punching press is accomplished; Carve post 4251 and follow cope match-plate pattern 901 and upwards do reseting movement, carve post 4251 and break away from when carving piece 4253, carve piece 4253, carve piece bearing 4254 and slide block 422 owing to receive the pulling force of spring 4262 and automatically reset; And then; The induction installation induced signal, and through the control cylinder 4241 startup work of control system, the piston rod of cylinder 4241 produces thrust drive support 4254 and moves to X axle negative direction; Support 4254 drives carrier base 4215 again to the motion of X axle negative direction, makes left tong 424 and right tong 426 get back to the initial position that clamps housing.
The above is the specific embodiment of the utility model; Should be pointed out that general expression technical staff, under the prerequisite that does not break away from the utility model principle for the present technique field; Can also make some improvement and retouching, these improvement and retouching also are regarded as the protection domain of the utility model.
Claims (10)
1. robot device; Comprise the tong assembly; This tong assembly includes a pair of above tong that is used for the gripping workpiece, and the tong support that is used to install tong, and this robot device is installed on the mould that includes cope match-plate pattern and lower bolster; It is characterized in that said robot device also includes:
Slide block which is provided with X axle chute, and said tong assembly is slidingly installed in the said X axle chute;
Guide rail is fixed on the said lower bolster, which is provided with Y axle chute, and said slide block is slidingly installed in this Y axle chute;
And driver element, this driver element is used to drive said a pair of above tong gripping or pine is unloaded workpiece, and it is installed on said tong assembly or the slide block.
2. robot device as claimed in claim 1; It is characterized in that: said tong assembly is provided with two tong supports, a carrier base; This tong support is provided with the slideway that supplies tong to slide; Each two tong to tong is installed on two tong supports with screw respectively; Said carrier base be provided with two be parallel to each other along X axle axial bracket chute and the movable rod between two bracket chute, this movable rod is hingedly mounted on the carrier base, said two tong supports are slidingly installed in said two bracket chute respectively and are connected by means of said movable rod; Said tong support reciprocatingly slides in bracket chute by means of first cylinder assembly, makes each to two tongs of tong in opposite directions or reverse motions and clamp or pine is unloaded workpiece.
3. robot device as claimed in claim 2; It is characterized in that: said driver element is first cylinder assembly; Include first cylinder, the first cylinder holder and first connector; This first cylinder is fixed on the said carrier base by means of this first cylinder holder, and the end that this first cylinder has a piston rod is connected by means of one in said first connector and the said tong support.
4. robot device as claimed in claim 2 is characterized in that: said tong assembly is slidingly installed in the said X axle chute by means of said carrier base.
5. robot device as claimed in claim 4; It is characterized in that: said robot device also includes second cylinder assembly; This second cylinder assembly includes second cylinder, the second cylinder holder and second connector; This second cylinder is fixed on the said slide block by means of this second cylinder holder; The end that this second cylinder has piston rod is connected with said carrier base by means of said second connector, and said carrier base utilizes this second cylinder assembly to be implemented in X axle axially reciprocating.
6. robot device as claimed in claim 4; It is characterized in that: said robot device also includes the 3rd cylinder assembly; The 3rd cylinder assembly includes the 3rd cylinder, the 3rd cylinder holder and the 3rd connector; This second cylinder is fixed on the said guide rail by means of the 3rd cylinder holder, and the end that the 3rd cylinder has piston rod is connected with said slide block by means of said the 3rd connector, and said slide block utilizes the 3rd cylinder assembly to be implemented in Y axle axially reciprocating.
7. robot device as claimed in claim 1; It is characterized in that: said tong assembly is provided with a tong support and a carrier base; Each two tong to tong is installed in respectively on tong support and the carrier base with screw; Said carrier base correspondence is provided with one along the axial bracket chute of X axle; Said tong support is slidedly arranged on the said bracket chute, utilizes the active force of four-cylinder assembly to make the tong support in chute, slide, make each clamp in opposite directions to tong or mutually from and pine is unloaded workpiece.
8. robot device as claimed in claim 7; It is characterized in that: said tong assembly is slidingly installed in the X axle chute of said slide block by means of said carrier base; Also be provided with on this slide block along the axial draw-in groove of X axle; Said four-cylinder assembly includes four-cylinder, cylinder holder and connector; This four-cylinder is fixed in the said draw-in groove by means of this cylinder holder, and the end that this four-cylinder has piston rod is connected with said tong support by means of said connector, and said tong assembly utilizes this four-cylinder assembly to be implemented in X axle axially reciprocating.
9. robot device as claimed in claim 8 is characterized in that: said slide block carves block assembly by means of one and a spring assembly is implemented in the axial reciprocating motion of Y axle, and this is carved block assembly and by cope match-plate pattern power is provided.
10. robot device as claimed in claim 9; It is characterized in that: the said block assembly of carving includes and carves post, carves the post fixed block, carves piece, carves the piece bearing and carve the piece rotating shaft; The said post of carving is fixed on and carves on the post fixed block; Saidly carve the piece bearing and said slide block is connected to a fixed, utilize and carve post and slide block is moved along Y axle negative direction with the active force of carving piece; Said spring assembly includes latch, spring and is fixed on the spring fixed column on the said guide rail; Latch is inserted in to be carved in the piece bearing; Spring one end links to each other with latch, and the other end links to each other with spring fixed column, and the said piece of carving utilizes the active force of spring to reset together with slide block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201780657U CN202151863U (en) | 2011-05-30 | 2011-05-30 | Manipulator device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201780657U CN202151863U (en) | 2011-05-30 | 2011-05-30 | Manipulator device |
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| CN202151863U true CN202151863U (en) | 2012-02-29 |
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| CN2011201780657U Expired - Fee Related CN202151863U (en) | 2011-05-30 | 2011-05-30 | Manipulator device |
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| CN102962720A (en) * | 2012-11-29 | 2013-03-13 | 江苏爱动力自动化设备有限公司 | Manipulator of automatic molding machine for long frame of solar cell module |
| CN103317502A (en) * | 2013-07-11 | 2013-09-25 | 机械科学研究总院先进制造技术研究中心 | Mechanical arm and catching mechanism of drying device |
| CN103949538A (en) * | 2014-04-11 | 2014-07-30 | 重庆扬明电子科技有限公司 | Full-automatic stamping die machine integrated system |
| CN104227545A (en) * | 2014-07-23 | 2014-12-24 | 张肖邦 | Automatic feeding and discharging device of rolling rod super finishing machine |
| CN104259490A (en) * | 2014-07-30 | 2015-01-07 | 临海市劳尔机械有限公司 | Automatic feeding device of edging machine |
| CN104626181A (en) * | 2015-02-07 | 2015-05-20 | 芜湖安普机器人产业技术研究院有限公司 | Tail end clamping device of hollow brick transfer robot |
| CN104802176A (en) * | 2015-04-24 | 2015-07-29 | 山东大学（威海） | Gripping device and mechanical hand applying gripping device |
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| CN105923382A (en) * | 2016-06-24 | 2016-09-07 | 苏州博众精工科技有限公司 | Connecting rod clamping mechanism |
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| CN102962720A (en) * | 2012-11-29 | 2013-03-13 | 江苏爱动力自动化设备有限公司 | Manipulator of automatic molding machine for long frame of solar cell module |
| CN103317502B (en) * | 2013-07-11 | 2016-03-09 | 机械科学研究总院先进制造技术研究中心 | The manipulator of drying plant and grasping mechanism |
| CN103317502A (en) * | 2013-07-11 | 2013-09-25 | 机械科学研究总院先进制造技术研究中心 | Mechanical arm and catching mechanism of drying device |
| CN103949538A (en) * | 2014-04-11 | 2014-07-30 | 重庆扬明电子科技有限公司 | Full-automatic stamping die machine integrated system |
| CN104227545A (en) * | 2014-07-23 | 2014-12-24 | 张肖邦 | Automatic feeding and discharging device of rolling rod super finishing machine |
| CN104227545B (en) * | 2014-07-23 | 2017-02-22 | 张肖邦 | Automatic feeding and discharging device of rolling rod super finishing machine |
| CN104259490A (en) * | 2014-07-30 | 2015-01-07 | 临海市劳尔机械有限公司 | Automatic feeding device of edging machine |
| WO2016033781A1 (en) * | 2014-09-04 | 2016-03-10 | 惠州市吉瑞科技有限公司 | Atomizer retrieval apparatus and atomizer resistance testing apparatus |
| CN104626181A (en) * | 2015-02-07 | 2015-05-20 | 芜湖安普机器人产业技术研究院有限公司 | Tail end clamping device of hollow brick transfer robot |
| CN104802176A (en) * | 2015-04-24 | 2015-07-29 | 山东大学（威海） | Gripping device and mechanical hand applying gripping device |
| CN104889224A (en) * | 2015-05-18 | 2015-09-09 | 雄华机械(苏州)有限公司 | Fork trimming device with fork carrying mechanism |
| CN105923382A (en) * | 2016-06-24 | 2016-09-07 | 苏州博众精工科技有限公司 | Connecting rod clamping mechanism |
| CN109465708A (en) * | 2018-12-19 | 2019-03-15 | 台州北平机床有限公司 | A kind of cutter and tool grinding machine |
| CN111618887A (en) * | 2019-02-28 | 2020-09-04 | 北京京东尚科信息技术有限公司 | Robot gripper and robot |
| CN111618887B (en) * | 2019-02-28 | 2024-02-02 | 北京京东尚科信息技术有限公司 | Robot paw and robot |
| CN109746935A (en) * | 2019-04-01 | 2019-05-14 | 重庆赛科机电技术服务有限公司 | A kind of taking mechanical hand |
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