CN203611254U - Mechanical grabbing device - Google Patents
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- CN203611254U CN203611254U CN201320845290.0U CN201320845290U CN203611254U CN 203611254 U CN203611254 U CN 203611254U CN 201320845290 U CN201320845290 U CN 201320845290U CN 203611254 U CN203611254 U CN 203611254U
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Abstract
The utility model provides an adjustable mechanical grabbing device. The mechanical grabbing device comprises an air cylinder, a supporting mechanism, an elastic telescopic rod, upper connection rods, middle connection rods, lower connection rods and grabs, wherein the upper connection rods, the middle connection rods, the lower connection rods and the grabs are symmetrically arranged at the two ends of the air cylinder; the opposite position of the upper connection rods and the middle connection rods and the opposite position of the middle connection rods and the lower connection rods can be adjusted on two dimensions; the mechanical grabbing device can be flexibly adjusted in structure to grab lights and lamps with various shapes and large size difference; meanwhile, the elastic telescopic rod, an elastic contact layer and a grab inner contact face matched with the appearance of a grabbed object are further combined, the problem of deflection caused by clamp sliding and uneven stress can be effectively avoided, the grabbing is more reliable, and the adjustable mechanical grabbing device has the advantages of being adjustable in structure, reliable in grabbing, wide in application range and the like.
Description
[technical field]
The utility model relates to lamp and lamp assembled, detection technique, is specifically related to a kind of light measurer.
[background technology]
Illuminating product, especially the on-line monitoring of LED illuminating product becomes the important means of LED quality control, in its production line assembling and online testing process, generally adopts mechanical gripper to capture assemble products from parts, and carry out upper and lower lamp operation, to improve production testing efficiency.But existing mechanical gripper or structure are fixed, be difficult to adapt to profile, different LED lamp and the light fixture of size; Maybe can only, by cylinder band action inching, adapt to the lamp of size and the crawl of light fixture among a small circle, if publication number is the disclosed a kind of manipulator capturing for LED bulb lamp of CN202684926U patent; Or the clamping device rigidity of manipulator is stronger, the fragile members such as easy damaged lamp housing, lampshade, application has very large limitation.
[utility model content]
In order to overcome the deficiencies in the prior art, the utility model provides the mechanical grabbing device that a kind of structure is adjustable, be applicable to needles of various sizes lamp and light fixture crawl.
For solving the problems of the technologies described above, the utility model has adopted following technical scheme:
A kind of mechanical grabbing device, it is characterized in that, comprise cylinder, supporting mechanism, elastic telescopicing rod, upper connecting rod, middle connecting rod, lower link and handgrip, cylinder is all connected with supporting mechanism with elastic telescopicing rod, cylinder is connected with upper connecting rod, upper connecting rod is connected with middle connecting rod, and middle connecting rod is connected with lower link, and lower link is connected with handgrip; Described middle connecting rod and the relative position of upper connecting rod can regulate along the flexible direction of elastic telescopicing rod, the relative position of lower link and middle connecting rod and/or handgrip can along with the perpendicular direction adjusting of the flexible direction of elastic telescopicing rod.
In the technical program, supporting mechanism supports, fixing cylinder, and cylinder is connected with upper connecting rod, and upper connecting rod is connected with middle connecting rod, and middle connecting rod is connected with handgrip by lower link, and in cylinder control, connecting rod edge and the elastic telescopicing rod perpendicular direction of direction of stretching moves.In the time capturing, elastic telescopicing rod and the first Elastic Contact of top that captures object, after top compresses, connecting rod in cylinder control, drives handgrip to move, and with the perpendicular direction of the flexible direction of elastic telescopicing rod on clamp and capture object, capturing object clamps by the elastic telescopicing rod on plural handgrip and top, clamping firmly, is risen mechanical grabbing device by outside elevating mechanism, can be transferred to other positions by capturing object.
In the time that elastic telescopicing rod vertically arranges, if desired while capturing the larger crawl object of lateral dimension, can along with the perpendicular direction of the flexible direction of elastic telescopicing rod, it is the relative position that horizontal direction regulates lower link and handgrip, or regulate the relative position of lower link and middle connecting rod, or both combinations, widen the horizontal grasp width of mechanical grabbing device; If desired while capturing the larger crawl object of longitudinal size, can along with the flexible direction of elastic telescopicing rod, vertical direction regulate in the relative position of connecting rod and upper connecting rod, increase longitudinal crawl of mechanical grabbing device highly.Thereby by lateral adjustments and longitudinally adjusting, the disclosed mechanical grabbing device of the utility model can be for capturing lamp and the light fixture of various sizes and type.
In the utility model, the various lamps that mechanical gripping grabbing device not only can adapt to change in range of small by the movement of connecting rod in cylinder control and the crawl of light fixture, and, by the upper and lower of middle connecting rod and lower link with move left and right, can be used for all kinds of lamps different, size difference is large and the crawl of light fixture, there is structure feature adjustable, applied widely.
The utility model can pass through the further restriction and perfect of following technical characterictic:
Described cylinder drives upper connecting rod, and along stretching with elastic telescopicing rod, the perpendicular direction of direction moves and the pressure of cylinder is adjustable.Handgrip of the present utility model is moving with the perpendicular direction of the flexible direction of elastic telescopicing rod, and clamping captures object, cylinder directly drives upper connecting rod to move in the same direction, make the overall construction design of mechanical grabbing device more simple and reliable, and the air pressure of cylinder can regulate according to capturing object, it is just clamped and capture object and to be unlikely to pressure excessive, damage captures object, for products such as the bulb lamps of the shell that enbrittles, capture safe and reliable.
Described cylinder is to control the flat-removing air cyclinder or the oscillating cylinder that clamp action; Or for controlling rotation and clamping the rotary cylinder of action and the combination of flat-removing air cyclinder/oscillating cylinder.Described flat-removing air cyclinder is for realizing the control of position translation, and for example parallel cylinder, by a controlled handgrip processed of parallel cylinder parallel in specified dimension, and by controlling multiple handgrips move toward one another in this dimension, clamp and capture object, simple in structure, easy to operate.Described oscillating cylinder comprises more than one turning cylinder, and turning cylinder is connected with upper connecting rod, by controlling the rotation of turning cylinder, drives handgrip to move, and captures object thereby clamp.
Above-mentioned flat-removing air cyclinder or oscillating cylinder can be used in combination with rotary cylinder, flat-removing air cyclinder or oscillating cylinder clamp and capture after object, the crawl object that rotary cylinder control clamps is around referring to fixed-axis rotation, as, can rotate around the vertical axis that captures object, the lamp with hickey is tightened or is unscrewed moves to assigned address.
As a kind of technical scheme, described elastic telescopicing rod and/or handgrip are provided with and make it and the Elastic Contact layer that captures object flexible contact; Described Elastic Contact layer outer surface is friction material.For the illuminating product of the cases that enbrittle such as LED bulb lamp, fluorescent lamp, the Elastic Contact layer of the parts surface setting contacting with it at handgrip can play cushioning effect in the time of clamping, avoids rigid collision to produce case cracked.In addition, this class case generally has irregular curved surface, and Elastic Contact layer can also avoid case because of the damage that unbalance stress produces, and makes to capture more reliable.In addition,, in the time that crawl object has smooth glass bulb outer surface, clamping force is excessive frangible, clamping force is less easily to come off or crooked, therefore, adopts the friction material with certain coefficient of friction at Elastic Contact layer outer surface, can prevent that folder is sliding, further strengthen clamping reliability.
As a kind of technical scheme, comprise the mechanic adjustment unit that can regulate along the flexible direction of elastic telescopicing rod, the mechanic adjustment unit relative position between adjustable elastic expansion link and crawl object that matches with elastic telescopicing rod.The separable setting of mechanic adjustment unit and elastic telescopicing rod, or integrated setting, as long as realize the position adjustments in the flexible direction of elastic telescopicing rod.It is larger that elastic telescopicing rod and adjusting device are used in conjunction with the adjustable range that can make in elastic telescopic direction, make elastic telescopicing rod can with the crawl object close contact of needles of various sizes, crawl scope is larger.For example, the built-in mechanic adjustment unit of elastic telescopicing rod, when the size or the dimension that capture object exceed elastic telescopic scope, can carry out position along elastic telescopic direction by mechanic adjustment unit control elastic telescopicing rod and move, so that compressing, elastic telescopicing rod captures object.
As a kind of technical scheme, described handgrip matches with crawl the object inner surface contacting and the profile that captures object.The structure and the profile that capture object have determined its position of centre of gravity, in the time that the inner surface structure profile of handgrip matches with the profile that captures object, crawl object that can be stable, the contact-making surface that not only can make to capture object is stressed evenly, and posture keeps stable capturing, in mobile and de-process of putting can to make it.For example, in the time that crawl object is bulb lamp, the inner surface of handgrip is spherical structure, and the curvature of sphere is identical or approaching with the curvature that captures object contact-making surface.In the time that crawl object is fluorescent lamp, mechanical grabbing device has two hemispherical handgrips, when two handgrips close up, just fully contacts with fluorescent lamp tube.The interior contact-making surface of above-mentioned handgrip can be the actual sphere with certain curvature, also can be for having certain curvature virtual spherical surface, as long as match with the appearance profile that captures object.
As a kind of technical scheme, described mechanical grabbing device is take the elastic telescopicing rod that is arranged at supporting mechanism below as axial symmetry assembling.Elastic telescopicing rod is arranged at the below of supporting mechanism, and all upper connecting rods, middle connecting rod, lower link and handgrip are all take elastic telescopicing rod as axial symmetry setting, and this mode that is symmetrical arranged can be in the time capturing, make to capture object symmetry stressed, in crawl and moving process, the posture of being kept upright, is difficult for crooked.
As a kind of technical scheme, comprise position adjusting mechanism, described upper connecting rod is all connected by position adjusting mechanism with lower link with middle connecting rod, middle connecting rod.Regulate the relative position of connecting rod and middle connecting rod by position adjusting mechanism, and the relative position of middle connecting rod and lower link, position adjusting mechanism can manual or electronic control.
Described position adjusting mechanism is adjustment screw or railroad or transmitting gear device.In the time that position adjusting mechanism is adjustment screw, on middle connecting rod and upper connecting rod continuously or interval screw is set, middle connecting rod is fixed on upper connecting rod different geometric position place by adjustment screw, realizes the adjusting of relative position, middle connecting rod and lower link are also like this; In the time that position adjusting mechanism is railroad, railroad comprises Liang Ge bindiny mechanism that can relative sliding, Liang Ge bindiny mechanism is connected with middle connecting rod and upper connecting rod respectively, by controlling the relative sliding of Liang Ge bindiny mechanism, connecting rod and upper connecting rod relative sliding in drive, realize the adjusting of relative position, middle connecting rod and lower link are also like this; In the time that position adjusting mechanism is transmitting gear device, it at least comprises two gears that can interlock rotate, two gears are connected with middle connecting rod and upper connecting rod respectively, rotate by the interlock of controlling two gears, in drive, connecting rod and upper connecting rod relatively move, realize the adjusting of relative position, middle connecting rod and lower link are also like this.
As a kind of technical scheme, also comprise rotating mechanism, rotating mechanism is connected with supporting mechanism, and control supporting mechanism drive whole device around capture object vertical axis rotate.Rotating mechanism is connected with supporting mechanism, can control supporting mechanism and rotate around the vertical axis that captures object, for screwing the illuminating product such as bulb lamp with spirality interface, makes its disengaging or is fixed on assigned address.
To sum up, the beneficial effects of the utility model are: by regulating the relative position of upper connecting rod and middle connecting rod, middle connecting rod and lower link, and elastic telescopicing rod and the adjustable cylinder of pressure, the flexible modulation that machinery captures apparatus structure be can realize, different, size difference is large all kinds of lamps and light fixture captured; Simultaneously further combined with Elastic Contact layer and with the interior contact-making surface that captures object profile and match, make to capture more reliable, have structure adjustable, capture the features such as reliable, applied widely.
[accompanying drawing explanation]
Fig. 1 is the structural representation of embodiment 1;
Fig. 2 comprises that Fig. 2 (a), Fig. 2 (b), Fig. 2 (c), Fig. 2 (d) are the state variation schematic diagrames of embodiment 1;
Fig. 3 is the left view of embodiment 1;
Fig. 4 is the upward view of embodiment 1.
1-cylinder; 2-supporting mechanism; 3-elastic telescopicing rod; The upper connecting rod of 4-; Connecting rod in 5-; 6-lower link; 7-handgrip; 8-Elastic Contact layer; 9-position adjusting mechanism; 10-rotating mechanism; 11-captures object; 12-mechanic adjustment unit.
[specific embodiment]
One machinery grabbing device as shown in Figure 1, whole device assembles take elastic telescopicing rod 3 as axial symmetry, comprise cylinder 1, supporting mechanism 2, elastic telescopicing rod 3, be symmetricly set in two of cylinder 1 two ends upper connecting rod 4(and be designated as respectively 4-1 and 4-2), two middle connecting rod 5(are designated as respectively 5-1 and 5-2), two lower link 6(are designated as respectively 6-1 and 6-2) and two handgrip 7(be designated as respectively 7-1 and 7-2), Elastic Contact layer 8 has multiple contact points with crawl object 11, is designated as respectively 8-1,8-2 and 8-3.Upper connecting rod 4 is all connected by position adjusting mechanism 9 with lower link 6 with middle connecting rod 5, middle connecting rod 5, and position adjusting mechanism 9 comprises the first adjustment screw 9-1, the second adjustment screw 9-2 and the 3rd adjustment screw 9-3.
Upper connecting rod 4 is connected by the first adjustment screw 9-1 with middle connecting rod 5, and middle connecting rod 5 is connected by the second adjustment screw 9-2 with lower link 6, and lower link 6 is connected with handgrip 7; Elastic telescopicing rod 3 is connected with supporting mechanism 2 and is positioned at the centres of two upper connecting rods 4, its with capture object 11 contravention that joins and be provided with Elastic Contact layer 8-1.Middle connecting rod 5 can be lower mobile in the vertical direction, and described lower link 6 can move left and right by along continuous straight runs.
Figure 2 shows that four kinds of state diagrams of the present embodiment:
(a) be reset condition;
(b) for driving upper connecting rod, cylinder moves in opposite directions, arrives designated state;
(c) for middle connecting rod 6 is by the move up state of certain distance of the first adjustment screw 9-1;
(d) being the first lower link 6-1 is moved to the left certain distance, the second lower link 6-2 by the move right state of certain distance of the 3rd adjustment screw 9-3 by the second adjustment screw 9-2.
In the present embodiment, capturing object 11 is LED shot-light as shown in Figure 1, in the time capturing, first elastic telescopicing rod 3 contacts with the top that captures object 11, compress and capture after object 11, cylinder 1 is controlled on first connecting rod 4-2 on connecting rod 4-1 and second and is moved in opposite directions, as shown in Fig. 2 (b), and drives the first handgrip 7-1 and the second handgrip 7-2 to move in opposite directions.The first handgrip 7-1 and the second handgrip 7-2 capture inner surface and have the structure matching with the profile of LED shot-light, and have the radian similar to its outer, as shown in Figure 3.Each inner surface is respectively equipped with Elastic Contact layer 8-2 and 8-3, in the time of clamping LED shot-light, under the assistance of elastic telescopicing rod 3, can make its top, left and right and front and back uniform stressed, and clamping is reliable.
When the larger light fixture of the lateral dimension similar to Fig. 1 when needs clampings, the first lower link 6-1 is moved to the left, the second lower link 6-2 is moved right, as shown in Fig. 2 (d), can realize reliable crawl.
When needs clampings is during than the higher light fixture of Fig. 1 shot-light, two middle connecting rods 5 are all moved down,, with rightabout shown in Fig. 2 (c), can realize reliable crawl; Or by the relative position between the mechanic adjustment unit 12 adjustable elastic expansion links 3 on elastic telescopicing rod 3 and crawl object 11, capture object 11 to clamp.
Claims (10)
1. a mechanical grabbing device, it is characterized in that, comprise cylinder (1), supporting mechanism (2), elastic telescopicing rod (3), upper connecting rod (4), middle connecting rod (5), lower link (6) and handgrip (7), cylinder (1) is all connected with supporting mechanism (2) with elastic telescopicing rod (3), cylinder (1) is connected with upper connecting rod (4), upper connecting rod (4) is connected with middle connecting rod (5), middle connecting rod (5) is connected with lower link (6), and lower link (6) is connected with handgrip (7); Described middle connecting rod (5) and the relative position of upper connecting rod (4) can regulate along the flexible direction of elastic telescopicing rod (3), and the relative position of lower link (6) and middle connecting rod (5) or handgrip (7) can be along regulating with the perpendicular direction of the flexible direction of elastic telescopicing rod (3).
2. the mechanical grabbing device of one as claimed in claim 1, it is characterized in that, in described cylinder (1) drive, along stretching with elastic telescopicing rod (3), the perpendicular direction of direction moves connecting rod (4) and the pressure of cylinder (1) is adjustable.
3. the mechanical grabbing device of one as claimed in claim 2, is characterized in that, described cylinder (1) is for controlling the flat-removing air cyclinder or the oscillating cylinder that clamp action; Or for controlling rotation and clamping the rotary cylinder of action and the combination of flat-removing air cyclinder/oscillating cylinder.
4. the mechanical grabbing device of one as claimed in claim 1, is characterized in that, described elastic telescopicing rod (3) and/or handgrip (7) are provided with and the Elastic Contact layer (8) that captures object (11) flexible contact; Described Elastic Contact layer (8) outer surface is friction material.
5. the mechanical grabbing device of one as claimed in claim 1, it is characterized in that, comprise the mechanic adjustment unit (12) that can regulate along the flexible direction of elastic telescopicing rod (3), mechanic adjustment unit (12) relative position between adjustable elastic expansion link (3) and crawl object (11) that matches with elastic telescopicing rod (3).
6. the mechanical grabbing device of one as claimed in claim 1, is characterized in that, the inner surface that described handgrip (7) contacts with crawl object (12) matches with the profile that captures object (11).
7. the mechanical grabbing device of one as claimed in claim 1, is characterized in that, described mechanical grabbing device assembles for axial symmetry take the elastic telescopicing rod (3) that is arranged at supporting mechanism (2) below.
8. the mechanical grabbing device of one as claimed in claim 1, it is characterized in that, comprise position adjusting mechanism (9), described upper connecting rod (4) is all connected by position adjusting mechanism (9) with lower link (6) with middle connecting rod (5), middle connecting rod (5).
9. the mechanical grabbing device of one as claimed in claim 8, is characterized in that, described position adjusting mechanism (9) is adjustment screw or railroad or transmitting gear device.
10. the mechanical grabbing device of one as claimed in claim 1, it is characterized in that, also comprise rotating mechanism (10), rotating mechanism (10) is connected with supporting mechanism (2) and controls supporting mechanism (2) and drives whole device to rotate around the vertical axis that captures object (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320845290.0U CN203611254U (en) | 2013-12-20 | 2013-12-20 | Mechanical grabbing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320845290.0U CN203611254U (en) | 2013-12-20 | 2013-12-20 | Mechanical grabbing device |
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| CN203611254U true CN203611254U (en) | 2014-05-28 |
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| CN201320845290.0U Expired - Lifetime CN203611254U (en) | 2013-12-20 | 2013-12-20 | Mechanical grabbing device |
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| CN105150232A (en) * | 2015-09-28 | 2015-12-16 | 申科谱自动化科技（珠海）有限公司 | Mechanical arm and work head |
| CN105328707A (en) * | 2015-11-24 | 2016-02-17 | 苏州市顺仪五金有限公司 | Movably-adjusted plate jaw with guide function |
| CN105345833A (en) * | 2015-11-24 | 2016-02-24 | 苏州市顺仪五金有限公司 | Movable clamping jaw for adjusting plates |
| CN105345834A (en) * | 2015-11-24 | 2016-02-24 | 苏州市顺仪五金有限公司 | Adjustable panel claw with guiding function |
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| CN106002968A (en) * | 2016-06-12 | 2016-10-12 | 上海咏姿时装有限公司 | Bra clamping device |
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| CN106271494A (en) * | 2015-06-10 | 2017-01-04 | 上海大学 | A kind of handgrip of filtering layer central canal combination |
| CN106730684A (en) * | 2017-01-03 | 2017-05-31 | 上海量明科技发展有限公司 | Flight formula ball picking up device and its pick method |
| CN107150837A (en) * | 2016-03-02 | 2017-09-12 | 上海创司杰医疗科技有限公司 | Vacuum blood collection tube labelling machine |
| CN107442719A (en) * | 2017-09-25 | 2017-12-08 | 中铁隆昌铁路器材有限公司 | Rotary-type opening and closing supporting mechanism |
| CN107825456A (en) * | 2017-12-06 | 2018-03-23 | 馆陶县鑫江电热设备有限公司 | A kind of stirring manipulator |
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| CN108994871A (en) * | 2017-06-06 | 2018-12-14 | 赵运成 | Intelligent precise electronic device processing equipment hand |
| CN109877867A (en) * | 2019-04-23 | 2019-06-14 | 珠海格力智能装备有限公司 | Clamp and robot with same |
| CN110561062A (en) * | 2019-08-07 | 2019-12-13 | 上海西渥电器有限公司 | Precise synthesis device for high-precision high-elasticity miniature ultrathin metal film |
| CN112388663A (en) * | 2020-10-14 | 2021-02-23 | 江西玉祥智能装备制造有限公司 | Special clamp for transfer robot |
| CN112976028A (en) * | 2021-02-24 | 2021-06-18 | 博众精工科技股份有限公司 | Mechanical gripper |
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| CN106271494A (en) * | 2015-06-10 | 2017-01-04 | 上海大学 | A kind of handgrip of filtering layer central canal combination |
| CN106271494B (en) * | 2015-06-10 | 2018-05-25 | 上海大学 | A kind of handgrip of filtering layer central tube combination |
| CN106239294A (en) * | 2015-06-13 | 2016-12-21 | 江苏万里活塞轴瓦有限公司 | Connecting rod polishing lathe |
| CN105150232A (en) * | 2015-09-28 | 2015-12-16 | 申科谱自动化科技（珠海）有限公司 | Mechanical arm and work head |
| CN105150232B (en) * | 2015-09-28 | 2019-01-29 | 申科谱自动化科技（珠海）有限公司 | Manipulator and work head |
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| CN105345834A (en) * | 2015-11-24 | 2016-02-24 | 苏州市顺仪五金有限公司 | Adjustable panel claw with guiding function |
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| CN105345835A (en) * | 2015-11-24 | 2016-02-24 | 苏州市顺仪五金有限公司 | Panel claw with guiding function |
| CN107150837A (en) * | 2016-03-02 | 2017-09-12 | 上海创司杰医疗科技有限公司 | Vacuum blood collection tube labelling machine |
| CN106002968B (en) * | 2016-06-12 | 2018-11-30 | 上海咏姿时装有限公司 | A kind of brassiere clamping device |
| CN106002968A (en) * | 2016-06-12 | 2016-10-12 | 上海咏姿时装有限公司 | Bra clamping device |
| CN106730684A (en) * | 2017-01-03 | 2017-05-31 | 上海量明科技发展有限公司 | Flight formula ball picking up device and its pick method |
| CN108931389A (en) * | 2017-05-27 | 2018-12-04 | 江西光明智能科技有限公司 | A kind of quantitative sampling device |
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| CN108994871A (en) * | 2017-06-06 | 2018-12-14 | 赵运成 | Intelligent precise electronic device processing equipment hand |
| CN107442719A (en) * | 2017-09-25 | 2017-12-08 | 中铁隆昌铁路器材有限公司 | Rotary-type opening and closing supporting mechanism |
| CN107825456A (en) * | 2017-12-06 | 2018-03-23 | 馆陶县鑫江电热设备有限公司 | A kind of stirring manipulator |
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| CN108638022A (en) * | 2018-07-11 | 2018-10-12 | 合肥固泰自动化有限公司 | A kind of suspension type industrial robot |
| CN109877867A (en) * | 2019-04-23 | 2019-06-14 | 珠海格力智能装备有限公司 | Clamp and robot with same |
| CN110561062A (en) * | 2019-08-07 | 2019-12-13 | 上海西渥电器有限公司 | Precise synthesis device for high-precision high-elasticity miniature ultrathin metal film |
| CN112388663A (en) * | 2020-10-14 | 2021-02-23 | 江西玉祥智能装备制造有限公司 | Special clamp for transfer robot |
| CN112976028A (en) * | 2021-02-24 | 2021-06-18 | 博众精工科技股份有限公司 | Mechanical gripper |
| CN115674240A (en) * | 2022-12-29 | 2023-02-03 | 快克智能装备股份有限公司 | Single piece taking and placing mechanism |
| CN117207235A (en) * | 2023-11-08 | 2023-12-12 | 宁德时代新能源科技股份有限公司 | Clamping device, equipment and method for detecting and clamping bottom surface defects of bare cell |
| CN117207235B (en) * | 2023-11-08 | 2024-04-09 | 宁德时代新能源科技股份有限公司 | Clamping device, equipment and method for detecting and clamping bottom surface defects of bare cell |
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