CN205023494U - Clamping device - Google Patents
Clamping device Download PDFInfo
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- CN205023494U CN205023494U CN201520764149.7U CN201520764149U CN205023494U CN 205023494 U CN205023494 U CN 205023494U CN 201520764149 U CN201520764149 U CN 201520764149U CN 205023494 U CN205023494 U CN 205023494U
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- clamping arm
- pilot bar
- hole
- drive part
- telescopic drive
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 40
- 230000000712 assembly Effects 0.000 claims description 14
- 238000000429 assembly Methods 0.000 claims description 14
- 230000001681 protective effect Effects 0.000 claims description 9
- 238000004804 winding Methods 0.000 claims description 2
- 238000003466 welding Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model provides a clamping device. This clamping device includes: a pedestal. First centre gripping subassembly, first centre gripping subassembly include first flexible driving piece and first centre gripping arm, and first flexible driving piece sets up in the first end of base, and fixed connection is held with the removal of first flexible driving piece to first centre gripping arm, second centre gripping subassembly, second centre gripping subassembly include flexible driving piece of second and second centre gripping arm, and the flexible driving piece of second sets up in the second end relative with first end of base, the removal end fixed connection of the flexible driving piece of second centre gripping arm and second, first centre gripping arm and second centre gripping arm can be between the first end of base and second end reciprocal linear the removal. This clamping device can be in narrow and small space the centre gripping object, and the commonality is good.
Description
Technical field
The utility model relates to haulage equipment field, particularly relates to a kind of holding device.
Background technology
In commercial production workshop (especially IGBT module workshop), the carrying of product, usually by means of clamping tooling, contributes to like this promoting work efficiency, reduces labor strength.But existing clamping tooling is not usually suitable for and uses under the environment that working space is less, and the clamping tooling of majority is special tooling, namely for needing the product of clamping to carry out targeted design, this makes the commonality of clamping tooling poor.Chinese patent CN203495801U discloses a kind of swing arm type pneumatic clamping, and this patent mainly realizes the folding between two clamping limbs by the rotation controlling single armed, and then realizes clamp operation.This clamping tooling in the course of the work clamping limb rotates its stroke comparatively greatly around hinge, need larger space, and its structure is not suitable for horizontal-clamping operation.In addition, this clamping tooling only by an air cylinder driven, can not clamp workpiece more heavier.
Utility model content
Embodiment of the present utility model provides a kind of holding device, to solve the problem of the inapplicable narrower and small working environment of clamping tooling of the prior art.
For achieving the above object, embodiment of the present utility model provides a kind of holding device, and it comprises: pedestal; First clamp assemblies, the first clamp assemblies comprises the first telescopic drive part and the first clamping arm, and the first telescopic drive part is arranged at the first end of pedestal, and the first clamping arm is fixedly connected with the mobile terminal of the first telescopic drive part; Second clamp assemblies, the second clamp assemblies comprises the second telescopic drive part and the second clamping arm, and the second telescopic drive part is arranged at second end relative with first end of pedestal, and the second clamping arm is fixedly connected with the mobile terminal of the second telescopic drive part; First clamping arm and the second clamping arm can reciprocal linear move between a first end and a second end.
Further, the first clamping arm is arranged on pedestal by the first pilot bar, and the second clamping arm is arranged on pedestal by the second pilot bar.
Further, pedestal is provided with the first pilot hole, the first pilot bar is located in the first pilot hole movably, and the first clamping arm is fixedly connected with the first pilot bar; Pedestal is also provided with the second pilot hole, and the second pilot bar is located in the second pilot hole movably, and the second clamping arm is fixedly connected with the second pilot bar.
Further, first pilot bar and the second pilot bar parallel interval are arranged, the end winding support of the first clamping arm is provided with the first adapter plate for being connected with the mobile terminal of the first telescopic drive part, the first end of the first adapter plate is fixedly installed the first guide rod seat for being fixedly connected with the first pilot bar.
Further, the second end of the first adapter plate is provided with the first axle sleeve be located in the second pilot hole, the first axle sleeve is provided with the first through hole, the second pilot bar being axially movably located in the first through hole along the first through hole.
Further, first pilot bar and the second pilot bar parallel interval are arranged, the first end of the second clamping arm is fixedly installed the second adapter plate for being connected with the mobile terminal of the second telescopic drive part, the first end of the second adapter plate is provided with the second guide rod seat for being fixedly connected with the second pilot bar.
Further, the second end of the second adapter plate is provided with the second axle sleeve be located in the first pilot hole, the second axle sleeve is provided with the second through hole, the first pilot bar being axially movably located in the second through hole along the second through hole.
Further, the first clamping arm and the second clamping arm side are toward each other nip side, and the nip side of the first clamping arm and/or the nip side of the second clamping arm are provided with protective cover.
Further, one end away from pedestal of the first clamping arm and one end away from pedestal of the second clamping arm be provided with toward each other embrace grab projection or embrace grab groove.
Further, pedestal is fixedly installed the first actuator seat for installing the first telescopic drive part and the second actuator seat for installing the second telescopic drive part.
Two clamping arms of the holding device of embodiment of the present utility model only need Linear-moving in clamping process, mobile are formed little, thus can clamp larger workpiece under comparatively microenvironment.
Accompanying drawing explanation
Fig. 1 is the perspective view of the holding device of embodiment of the present utility model;
Fig. 2 is the upward view of the holding device in Fig. 1;
Fig. 3 is that the A-A of holding device in Fig. 2 is to cutaway view;
Fig. 4 is the left view of the holding device in Fig. 2 with clamping arm.
Description of reference numerals:
10, pedestal; 11, collateral fagging; 12, intermediate support plate; 13, the first actuator seat; 14, the second actuator seat; 21, the first telescopic drive part; 22, the first clamping arm; 221, the first adapter plate; 222, the first guide rod seat; 223, the first axle sleeve; 31, the second telescopic drive part; 32, the second clamping arm; 321, the second adapter plate; 322, the second guide rod seat; 323, the second axle sleeve; 41, the first pilot bar; 51, the second pilot bar; 60, protective cover.
Detailed description of the invention
Be described in detail below in conjunction with the holding device of accompanying drawing to the utility model embodiment.
Holding device of the present utility model is a kind of industrial pneumatic gripping device in the present embodiment, and its arm can parallelly stretch, and is mainly used in the medium-sized or high-precision parallel clamping operation of large item in industrial plant under less operating environment.It can use in narrow space, is particularly useful for IGBT module and rolls off the production line and pile up operation, namely the IGBT module of having produced can be carried to need pile up position from manufacturing line.The principle that this holding device can use at small space is: a telescopic drive part correspondence drives a clamping arm Linear-moving, two clamping arms can movement separately, during folding, the linearly moving stroke of clamping arm is very little, and the working space thus needed is very little.On the other hand, two clamping arms all carry out Linear-moving and thus can clamp the larger object of span, can realize level clamping.
As shown in Figure 1, holding device comprises pedestal 10, first clamp assemblies, the second clamp assemblies, the first pilot bar 41 and the second pilot bar 51.
Wherein, pedestal 10 for carrying other parts, simultaneously pedestal 10 also can as required with other anatomical connectivity.Such as, pedestal 10 can be connected on other manipulator, drives the lifting of whole holding device, translation or upset by manipulator.
Pedestal 10 comprise a square-section base plate, be fixedly installed on the collateral fagging 11 of the relative both sides of base plate and be fixedly installed on the intermediate support plate 12 etc. at middle part of base plate.Collateral fagging 11, can be connected by modes such as welding, bolt connection, riveted joints between intermediate support plate 12 and base plate.Be parallel to each other and interval between two collateral faggings 11 and intermediate support plate 12.Certainly, non-essentially between three to be parallel to each other, as long as can guarantee that whole holding device is reliable and stable.
In the present embodiment, base plate is a plain plate, and material is Q235 steel.Collateral fagging 11 is connected to the left and right sides of base plate, and it is connected with base plate by welding manner.Collateral fagging 11 is L-type steel plate, and its material is Q235 steel, and the two ends, left and right of each collateral fagging 11 offer the first pilot hole and the second pilot hole.Intermediate support plate 12 is a plain plate, and it is installed vertically on the centre of base plate, and connection mode is welding, intermediate support plate 12 offers through hole corresponding with the first pilot hole and the second pilot hole respectively.
In other embodiments, pedestal 10 can be the block etc. of a rectangular block or plate body or other shape.
First clamp assemblies and the second clamp assemblies are arranged on pedestal 10.First clamp assemblies comprises the first telescopic drive part 21 and the first clamping arm 22.Second clamp assemblies comprises the second telescopic drive part 31 and the second clamping arm 32.
First telescopic drive part 21 moves for driving the first clamping arm 22, to regulate the distance between two clamping arms, to clamp or to unclamp gripped object.
The first telescopic drive part 21 and the second telescopic drive part 31 is respectively equipped with at the two ends of the base plate of pedestal 10.This two telescopic drive part is bolted on base plate, also can be connect by gluing or utilized magnet adsorption on base plate, as long as ensure and base plate secure and reliable connection.
Preferably, being fixedly installed the first actuator seat 13, first actuator seat 13 in one end of base plate is L-type, and the transverse slat of the first actuator seat 13 is fixed on base plate, and the riser of the first actuator seat 13 is used for fixing the first telescopic drive part 21.
In the present embodiment, the first telescopic drive part 21 is cylinder, and its cylinder barrel is fixed on the riser of the first actuator seat 13, and its piston rod is through the riser of the first actuator seat 13, and one end of stretching out cylinder barrel of piston rod is mobile terminal.
In other embodiments, the first telescopic drive part 21 can be the structure of hydraulic actuating cylinder or other controllable extensible, such as linear electric motors etc.
In conjunction with see Fig. 2 and Fig. 3, the first clamping arm 22 is fixedly connected with the mobile terminal of the first telescopic drive part 21.In order to ensure that clamping is reliable, both connect for being rigidly connected, such as, and welding, bolt connection etc.
As shown in Figure 3 and Figure 4, in the present embodiment, the first end (upper end in Fig. 3) of the first clamping arm 22 is fixedly installed the first adapter plate 221 for being connected with the mobile terminal of the first telescopic drive part 21.First adapter plate 221 is provided with contiguous block, and contiguous block is used for piston rod to be connected with the first adapter plate 221.First clamping arm 22 can be connected with the first adapter plate 221 by welding, screwing, clamping or other mode that can achieve a fixed connection.In the present embodiment, the first clamping arm 22 and the first adapter plate 221 are connected by screw.
As shown in Figure 1, the second telescopic drive part 31 moves for driving the second clamping arm 32, to make the second clamping arm 32 and the first clamping arm 22 coordinate, realizes clamping.
Preferably, being fixedly installed the second actuator seat 14, second actuator seat 14 at the other end of base plate is L-type, and the transverse slat of the second actuator seat 14 is fixed on base plate, and the riser of the second actuator seat 14 is used for fixing the second telescopic drive part 31.
In the present embodiment, the second telescopic drive part 31 is cylinder, and its cylinder barrel is fixed on the riser of the second actuator seat 14, and its piston rod is through the riser of the second actuator seat 14, and one end of stretching out cylinder barrel of piston rod is mobile terminal.
In other embodiments, the second telescopic drive part 31 can be the structure of hydraulic actuating cylinder or other controllable extensible, such as linear electric motors etc.
See Fig. 2 and Fig. 3, the second clamping arm 32 is fixedly connected with the mobile terminal of the second telescopic drive part 31.In order to ensure that clamping is reliable, both connect for being rigidly connected, such as, and welding, bolt connection etc.
As shown in Figure 3, in the present embodiment, the first end (upper end in Fig. 3) of the second clamping arm 32 is fixedly installed the second adapter plate 321 (see Fig. 2) for being connected with the mobile terminal of the second telescopic drive part 31.Second adapter plate 321 is provided with contiguous block, and contiguous block is used for piston rod to be connected with the second adapter plate 321.The connection mode of the second clamping arm 32 and the second adapter plate 321 can be multiple, such as: welding, screw-nut connection, riveted joint etc.
During use, the first clamping arm 22 and/or the second clamping arm 32 just can be made to move by the flexible of the piston rod of control cylinder, with make both close to each other or mutual away from.In order to ensure that clamping is reliable, the first clamping arm 22 and the second clamping arm 32 are on the same line.
Preferably, the first clamping arm 22 and the second clamping arm 32 side are toward each other nip side (in the present embodiment, the nip side of the first clamping arm 22 and the second clamping arm 32 is vertical end face).In order to protect gripped object, prevent from damaging gripped object, the nip side of the first clamping arm 22 and/or the nip side of the second clamping arm 32 are provided with protective cover 60.More preferably, the nip side of two clamping arms is provided with protective cover 60.
Preferably, protective cover 60 is flexible material.Such as, protective cover 60 is nylon layer, and it is fixed on clamping arm by bolt etc.Protective cover 60 also can be rubber layer or other flexible protective material layer.
Preferably, in order to expand the range of use of holding device, make holding device not only can realize clamping but also can realize embracing to grab.One end away from pedestal 10 of first clamping arm 22 and one end away from pedestal 10 of the second clamping arm 32 be provided with toward each other embrace grab projection, or, the first clamping arm 22 and the second clamping arm 32 side be toward each other provided with embrace grabs groove.Such as: the first clamping arm 22 and the second clamping arm 32 can be L or hook-shaped, realize thus embracing grabbing.
Preferably, in order to ensure the first clamping arm 22 and the linearly moving reliability of the second clamping arm 32, prevent skew, the first clamping arm 22 is arranged on pedestal 10 by the first pilot bar 41, and the second clamping arm 32 is arranged on pedestal 10 by the second pilot bar 51.
Particularly, the first pilot bar 41 is fixedly connected with the first clamping arm 22, and successively through the first guide through hole of the first guide through hole of one of them collateral fagging 11, the through hole of intermediate support plate 12 and another collateral fagging 11.When the first clamping arm 22 to drive by the first telescopic drive part 21 and mobile time, the first pilot bar 41 moves thereupon, because itself and multiple through-hole wall are spacing, thus can ensure that guide effect is good.
In the present embodiment, the first pilot bar 41 and the first clamping arm 22 are achieved a fixed connection by the first guide rod seat 222.First guide rod seat 222 is fixedly installed on the first end (front side in Fig. 1) of the first adapter plate 221, is provided with through hole, and the first pilot bar 41 is located in through hole.First pilot bar 41 can be interference fit with this through hole.Also can be achieved a fixed connection by bonded adhesives between the two.
Correspondingly, the first pilot bar 41 and the second pilot bar 51 parallel interval are arranged.Second pilot bar 51 is fixedly connected with the second clamping arm 32, and successively through the second guide through hole of the second guide through hole of one of them collateral fagging 11, the through hole of intermediate support plate 12 and another collateral fagging 11.When the second clamping arm 32 to drive by the second telescopic drive part 31 and mobile time, the second pilot bar 51 moves thereupon, because itself and multiple through-hole wall are spacing, thus can ensure that guide effect is good.
In the present embodiment, the second pilot bar 51 and the second clamping arm 32 are achieved a fixed connection by the second guide rod seat 322.Second guide rod seat 322 is fixedly installed on the first end (rear side in Fig. 1) of the second adapter plate 321, is provided with through hole, and the second pilot bar 51 is located in through hole.Second pilot bar 51 can be interference fit with this through hole.Also can be achieved a fixed connection by bonded adhesives between the two.
Preferably, the axle sleeve of guiding is provided with at second end (rear side in Fig. 1) of the first adapter plate 221 and second end (front side in Fig. 1) of the second adapter plate 321, to improve guide effect.Particularly, the second end of the first adapter plate 221 is provided with the first axle sleeve 223 be located in the second pilot hole (pilot hole on the collateral fagging 11 of the first clamping arm 22).First axle sleeve 223 is provided with the first through hole, the second pilot bar 51 being axially movably located in the first through hole along the first through hole.First adapter plate 221 is fixedly installed a short sleeve (length is shorter than the first axle sleeve 223), the first axle sleeve 223 is located in short sleeve, and it can be fixedly connected with short sleeve, also can short sleeve is removable relatively.
Similarly, the second end of the second adapter plate 321 is provided with the second axle sleeve 323 be located in the first pilot hole (pilot hole on the collateral fagging 11 of the second clamping arm 32).Second axle sleeve 323 is provided with the second through hole, the first pilot bar 41 being axially movably located in the second through hole along the second through hole.Second adapter plate 321 is fixedly installed a short sleeve (length is shorter than the second axle sleeve 323), the second axle sleeve 323 is located in short sleeve, and it can be fixedly connected with short sleeve, also can short sleeve is removable relatively.
Preferably, be provided with axle sleeve in the through hole of intermediate support plate 12, the first pilot bar 41 is located in axle sleeve, to improve guide effect further.More preferably, first pilot bar 41 is also provided with axle sleeve with the cooperation place of the first pilot hole near the first clamping arm 22, second pilot bar 51 is also provided with axle sleeve with the cooperation place of the second pilot hole near the second clamping arm 32, ensure that pilot bar moves with this stable, prevent shake, and guarantee guide effect.
The working process of this holding device is as follows:
As shown in Figures 1 to 4, during gripping objects, stretch by making the piston rod of the first telescopic drive part 21 and/or the second telescopic drive part 31, drive the first clamping arm 22 with this and the second clamping arm 32 is close to each other or away from, to make two clamping arms that horizontal workpiece can be clamped, realize the clamping of workpiece, clamping operation.In the process of the first clamping arm 22 and/or the second clamping arm 32 relative movement, pilot bar fixed thereon can move thereupon, realize leading with coordinating of the hole on axle sleeve by pilot bar, make clamp precision high, and accurate clamping can be met or embrace and grab operation.And owing to only needing clamping arm to carry out parallel motion in whole clamping process, do not relate to rotary motion, save operational space, and the size of the object that can clamp according to actual needs changes the size of two clamping arms, there is good applicability.
Holding device of the present utility model has following effect:
This holding device within the scope of less working space, can clamp larger workpiece;
On the guide bar, pilot bar precision of walking on axle sleeve is high, therefore uses longer clamping arm to clamp large workpiece in clamping arm fixed installation, also can ensure the precision clamped;
By change the clamping arm with different clamping end face can realize clamping operation with embrace grab operation switching (can clamping operation be carried out when end face is plane, end face be channel-shaped or hook-shaped time can carry out embracing grab operation).
This holding device design is reasonable, compact conformation, is more suitable for using within the scope of little working space, and two pilot bars lead to clamping arm in both sides, more can ensure clamp precision.
The above; be only detailed description of the invention of the present utility model; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; change can be expected easily or replace, all should be encompassed within protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain of described claim.
Claims (10)
1. a holding device, is characterized in that, comprising:
Pedestal (10);
First clamp assemblies, described first clamp assemblies comprises the first telescopic drive part (21) and the first clamping arm (22), described first telescopic drive part (21) is arranged at the first end of described pedestal (10), and described first clamping arm (22) is fixedly connected with the mobile terminal of described first telescopic drive part (21);
Second clamp assemblies, described second clamp assemblies comprises the second telescopic drive part (31) and the second clamping arm (32), described second telescopic drive part (31) is arranged at second end relative with first end of described pedestal (10), and described second clamping arm (32) is fixedly connected with the mobile terminal of described second telescopic drive part (31);
Described first clamping arm (22) and described second clamping arm (32) reciprocal linear can move between described first end and described second end.
2. holding device according to claim 1, it is characterized in that, described first clamping arm (22) is arranged on described pedestal (10) by the first pilot bar (41), and described second clamping arm (32) is arranged on described pedestal (10) by the second pilot bar (51).
3. holding device according to claim 2, is characterized in that,
(10) are provided with the first pilot hole to described pedestal, described first pilot bar (41) is located in described first pilot hole movably, and described first clamping arm (22) is fixedly connected with described first pilot bar (41);
(10) are also provided with the second pilot hole to described pedestal, described second pilot bar (51) is located in described second pilot hole movably, and described second clamping arm (32) is fixedly connected with described second pilot bar (51).
4. holding device according to claim 3, it is characterized in that, described first pilot bar (41) and described second pilot bar (51) parallel interval are arranged, the end winding support of described first clamping arm (22) is provided with the first adapter plate (221) for being connected with the mobile terminal of described first telescopic drive part (21), the first end of described first adapter plate (221) is fixedly installed the first guide rod seat (222) for being fixedly connected with described first pilot bar (41).
5. holding device according to claim 4, it is characterized in that, second end of described first adapter plate (221) is provided with the first axle sleeve (223) be located in described second pilot hole, described first axle sleeve (223) is provided with the first through hole, described second pilot bar (51) being axially movably located in described first through hole along described first through hole.
6. the holding device according to any one of claim 3 to 5, it is characterized in that, described first pilot bar (41) and described second pilot bar (51) parallel interval are arranged, the first end of described second clamping arm (32) is fixedly installed the second adapter plate (321) for being connected with the mobile terminal of described second telescopic drive part (31), the first end of described second adapter plate (321) is provided with the second guide rod seat (322) for being fixedly connected with described second pilot bar (51).
7. holding device according to claim 6, it is characterized in that, second end of described second adapter plate (321) is provided with the second axle sleeve (323) be located in described first pilot hole, described second axle sleeve (323) is provided with the second through hole, described first pilot bar (41) being axially movably located in described second through hole along described second through hole.
8. holding device according to claim 1; it is characterized in that; described first clamping arm (22) and described second clamping arm (32) side are toward each other nip side, and the nip side of described first clamping arm (22) and/or the nip side of described second clamping arm (32) are provided with protective cover (60).
9. the holding device according to claim 1 or 8, it is characterized in that, one end away from described pedestal (10) of described first clamping arm (22) and one end away from described pedestal (10) of described second clamping arm (32) be provided with toward each other embrace grab projection or embrace grab groove.
10. holding device according to claim 1, it is characterized in that, described pedestal (10) being fixedly installed the first actuator seat (13) for installing described first telescopic drive part (21) and the second actuator seat (14) for installing described second telescopic drive part (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520764149.7U CN205023494U (en) | 2015-09-29 | 2015-09-29 | Clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520764149.7U CN205023494U (en) | 2015-09-29 | 2015-09-29 | Clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205023494U true CN205023494U (en) | 2016-02-10 |
Family
ID=55256046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520764149.7U Active CN205023494U (en) | 2015-09-29 | 2015-09-29 | Clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205023494U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105858192A (en) * | 2016-05-19 | 2016-08-17 | 苏州吉成智能科技有限公司 | Box taking and placing mechanical arm |
-
2015
- 2015-09-29 CN CN201520764149.7U patent/CN205023494U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105858192A (en) * | 2016-05-19 | 2016-08-17 | 苏州吉成智能科技有限公司 | Box taking and placing mechanical arm |
| CN105858192B (en) * | 2016-05-19 | 2018-08-24 | 苏州吉成智能科技有限公司 | Box body pick-and-place manipulator |
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