CN206925875U - Clamping device and the manipulator with the clamping device - Google Patents
Clamping device and the manipulator with the clamping device Download PDFInfo
- Publication number
- CN206925875U CN206925875U CN201721274731.0U CN201721274731U CN206925875U CN 206925875 U CN206925875 U CN 206925875U CN 201721274731 U CN201721274731 U CN 201721274731U CN 206925875 U CN206925875 U CN 206925875U
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- CN
- China
- Prior art keywords
- clamping device
- fixed
- connector
- actuator
- installing plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The utility model proposes a kind of clamping device,Clamping device includes installing plate,Fixed mount and clamping device,Installing plate is used to be installed on manipulator,Installing plate is provided with least one projection away from the side of manipulator,Fixed mount includes rotating shaft,Two the first fixed plates,Two the second fixed plates and two elastic components,Two the first fixed plates are oppositely arranged,Each second fixed plate connects the both ends that two the first fixed plates are located at the same side,First fixed plate is connected to projection by axis of rotation,Two elastic component both ends flexibly support installing plate and the second fixed plate respectively,Fixed mount can be rotated to adapt to the location of workpiece,Two elastic component resiliency urged fixed mounts, which rotate, to be resetted,Clamping device includes two grip blocks and actuator,Two grip blocks are rotatablely connected and are located in the first fixed plate,Actuator connects two grip blocks,Actuator drives two grip blocks to rotate to grip workpiece.The utility model also provides a kind of manipulator with the clamping device.
Description
Technical field
A kind of clamping device and the manipulator with the clamping device are the utility model is related to, more particularly to one kind can be certainly
The clamping device of dynamic regulation and the manipulator with the clamping device.
Background technology
In automated production, it will usually use manipulator to grip workpiece.Clamping device on existing manipulator leads to
Gripped frequently with hardness, when location of workpiece etc. has error, crawl by force may result in workpiece damage, influence production efficiency
And cause greatly to waste.
Utility model content
In view of the foregoing, it is necessary to provide a kind of clamping device for being automatically adjustable to error and with clamping dress
The manipulator put.
A kind of clamping device, for clamping workpiece, the clamping device includes installing plate, fixed mount and clamping device, the peace
Loading board is used for the actuating arm for being installed on manipulator, and the installing plate is provided with least one projection away from the side of the manipulator, should
Fixed mount includes rotating shaft, two the first fixed plates, two the second fixed plates and two elastic components, and two first fixed plates are relative
Set, each second fixed plate both ends connect the both ends that two first fixed plates are located at the same side respectively, first fixation
Plate is connected to the projection by the axis of rotation, and two elastic component both ends flexibly support the installing plate and second fixation respectively
Plate and it is located at the rotating shaft both sides respectively, the fixed mount can be rotated to adapt to the location of workpiece, and two elastic component resiliency urgeds should
Fixed mount, which rotates, to be resetted, and the clamping device includes actuator and two grip blocks, and two grip blocks are rotatablely connected and are located at this
In first fixed plate, the actuator connects two grip blocks, and the actuator drives two grip blocks to rotate to grip workpiece.
Further, the clamping device also includes connector and two tumblers, the actuator are installed in the fixed mount,
The connector one end is connected to the drive division of the actuator, and the connector other end passes through first fixed plate, two rotations
One end of part is rotationally connected with the connector, and the other end of each tumbler rotates with corresponding grip block respectively to be connected
Connect, the middle part rotation connection of two grip blocks, the actuator drives the connector, and towards two, the clamping Block direction moves, should
Connector makes two tumblers be opened to both sides, and two tumblers drive the free end of two grip blocks mutually to close to clamp
Workpiece.
Further, each grip block includes bare terminal end and the connection end being connected, and the bare terminal end is close to the connection end
Position and another grip block be rotatablely connected, each connection end connects corresponding tumbler respectively.
Further, the width of the bare terminal end is gradually reduced along away from the connection extreme direction.
Further, the one end of the connector away from the actuator is provided with two decorating plates, one end of two tumblers
It is rotationally connected between two decorating plates, the other end of each tumbler rotates with corresponding grip block respectively to be connected
Connect.
Further, the fixed mount also includes two hydraulic cylinders, and each hydraulic cylinder includes connected main body and depression bar, should
Main body is installed in second fixed plate, and the depression bar is held on the installing plate, and each hydraulic cylinder is adjacent to corresponding bullet
Property part, the hydraulic cylinder coordinate the elastic component to enter row buffering and reset.
Further, to an escape groove should be provided with to avoid the projection at projection in second fixed plate.
Further, each first fixed plate extends a mounting blocks towards the side of the installing plate, each peace
Dress block is provided with a mounting hole, and each projection is provided with a connecting hole, and the rotating shaft passes through two mounting holes and two
The connecting hole is so that the mounting blocks and the projection to be rotatablely connected.
A kind of manipulator, the manipulator include actuating arm and clamping device, and the clamping device is on the actuating arm, the drive
Swing arm can drive the clamping device to move, and the clamping device includes installing plate, fixed mount and clamping device, and the installing plate is used for
It is installed on the actuating arm of manipulator, the installing plate is provided with least one projection, the fixed mount bag away from the side of the manipulator
Rotating shaft, two the first fixed plates, two the second fixed plates and two elastic components are included, two first fixed plates are oppositely arranged, often
The individual second fixed plate both ends connect the both ends that two first fixed plates are located at the same side respectively, and first fixed plate passes through this
Axis of rotation is connected to the projection, and two elastic component both ends flexibly support the installing plate and second fixed plate and difference respectively
Positioned at the rotating shaft both sides, the fixed mount can be rotated to adapt to the location of workpiece, two elastic component resiliency urged fixed mounts turn
Dynamic to reset, the clamping device includes actuator and two grip blocks, and two grip blocks are rotatablely connected and are located at first fixation
On plate, the actuator connects two grip blocks, and the actuator drives two grip blocks to rotate to grip workpiece.
Further, the clamping device also includes connector and two tumblers, the actuator are installed in the fixed mount,
The connector one end is connected to the drive division of the actuator, and the connector other end passes through first fixed plate, two rotations
One end of part is rotationally connected with the connector, and the other end of each tumbler rotates with corresponding grip block respectively to be connected
Connect, the middle part rotation connection of two grip blocks, the actuator drives the connector, and towards two, the clamping Block direction moves, should
Connector makes two tumblers be opened to both sides, and two tumblers drive the free end of two grip blocks mutually to close to clamp
Workpiece.
Fixed mount is rotatablely installed on installing plate by clamping device of the present utility model.Deposited in the location of workpiece and predeterminated position
In deviation, fixed mount can rotate the position for being adapted to workpiece.And after gripping workpiece, answered by elastic component driving fixed mount
Position.Clamping device of the present utility model can avoid causing to capture by force as location of workpiece error and caused by workpiece damage.
Brief description of the drawings
Fig. 1 is the schematic perspective view of the manipulator of embodiment of the present utility model.
Fig. 2 is the schematic perspective view of the clamping device of manipulator shown in Fig. 1.
Fig. 3 is the schematic perspective view of another angle of clamping device shown in Fig. 2.
Fig. 4 is the decomposing schematic representation of clamping device shown in Fig. 2.
Main element symbol description
Following embodiment will further illustrate the utility model with reference to above-mentioned accompanying drawing.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole realities
Apply example.Based on the embodiment in the utility model, those of ordinary skill in the art institute under the premise of creative work is not made
The every other embodiment obtained, belong to the scope of the utility model protection.
It should be noted that when an element is considered as " connection " another element, it can be directly to separately
One element may be simultaneously present the element being centrally located.When an element is considered as " being arranged on " another element,
It can be set directly on another element or may be simultaneously present the element being centrally located.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.It is simply in term used in the description of the present utility model herein
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " include
The arbitrary and all combination of one or more related Listed Items.
Referring to Fig. 1, the embodiment of the utility model one provides a kind of manipulator 100 to grip workpiece.Manipulator 100 includes
Actuating arm 10 and clamping device 20.Clamping device 20 is used to grip workpiece on actuating arm 10.Actuating arm 10 can drive folder
Device 20 is held to move to carry workpiece.
Also referring to Fig. 2 to Fig. 4, clamping device 20 includes installing plate 21, fixed mount 23 and clamping device 25.Installing plate
21 are installed on actuating arm 10.Fixed mount 23 is rotatablely installed on installing plate 21.Clamping device 25 is installed on fixed mount 23 and used
In gripping workpiece.Fixed mount 23 can drive clamping device 25 to rotate adjustment to absorb the error of the location of workpiece.
Installing plate 21 is a rectangular panel body, and it is installed on the connection end of actuating arm 10.Installing plate 21 is away from actuating arm 10
Side is provided with least one projection 212 with mounting and fixing support 23.At least one right angle setting plate 21 of projection 212 is set.
In the present embodiment, the quantity of projection 212 is two, and two projections 212 are parallel and are oppositely arranged.
Fixed mount 23 includes 231, two the first fixed plates 233 of rotating shaft and two the second fixed plates 235.Two first fixations
Plate 233 is oppositely arranged.Two the second fixed plates 235 connect the both ends that two the first fixed plates 233 are located at the same side respectively.Two
First fixed plate 233 and two the second fixed plates 235, which join end to end, forms an approximate rectangular framework.Each first fixed plate
233 extend a mounting blocks 2331 towards the side of installing plate 21.Each mounting blocks 2331 are provided with a mounting hole 2330.
Each projection 212 is provided with a connecting hole 2120.Rotating shaft 231 is also cross two mounting holes 2330 and two connecting holes 2120
Mounting blocks 2331 and projection 212 are rotatablely connected.
In the present embodiment, the width of the one end of each mounting blocks 2331 towards installing plate 21 is gradually reduced, generally conical shape
Structure is relatively rotated in order to the first fixed plate 233.It is appreciated that in other embodiments, mounting blocks 2331 can be with
It is rectangular configuration, as long as it is remote enough apart from installing plate 21, will not be collided when rotating.
In the present embodiment, to avoid projection 212, the second fixed plate 235 close to projection 212 is provided with an escape groove
2352.Second fixed plate 235 is divided into two fixed blocks 2354 by the parallel shaft 231 of escape groove 2352.It is appreciated that at it
In his embodiment, escape groove 2352 can also be cancelled, as long as the second fixed plate 235 is remote enough apart from projection 212, when rotating not
It can collide.
In the present embodiment, fixed mount 23 also includes two elastic components 237.Distinguish elasticity and support in the both ends of each elastic component 237
It is held on installing plate 21 and a corresponding fixed block 2354.In the case where two elastic components 237 flexibly support, fixed mount 23 keeps stable
State.Elastic component 237 is used to enter row buffering when rotating and resetted after rotating.
In the present embodiment, fixed mount 23 also includes two hydraulic cylinders 239.Each hydraulic cylinder 239 includes main body and depression bar.Liquid
The main body of cylinder pressure 239 is installed on a corresponding fixed block 2354.The depression bar of hydraulic cylinder 239 is held on installing plate 21.Each
Hydraulic cylinder 239 is adjacent to a corresponding elastic component 237.Hydraulic cylinder 239 is used to coordinate elastic component 237 to enter row buffering and reset.Can be with
Understand, in other embodiments, hydraulic cylinder 239 can also be cancelled, as long as the buffering enough of elastic component 237 resets.
Clamping device 25 includes actuator 252,254, two tumblers 256 of connector and two grip blocks 258.
Actuator 252 is installed in fixed mount 23.In the present embodiment, the main body of actuator 252 is fixedly connected on away from drive
In second fixed plate 235 of swing arm 10.The drive division of actuator 252 is towards installing plate 21.The one end of connector 254 is connected to driving
The drive division of part 252, the other end of connector 254 pass through the first fixed plate 233.First fixed plate 233 is provided with a bit-avoiding slot
2332 to allow connector 254 to move.
Connector 254 is substantially in F types, and its one end away from actuator 252 is provided with two decorating plates 2542.Two tumblers
256 one end is rotationally connected between two decorating plates 2542.Each other end of tumbler 256 respectively with a corresponding grip block
258 rotation connections.In the present embodiment, two one end of tumbler 256 by an axis of rotation be connected to two decorating plates 2542 it
Between.Two other ends of tumbler 256 are respectively connected to a corresponding grip block 258 by another axis of rotation.
Each grip block 258 includes the bare terminal end 2581 being connected and connection end 2583.The section of bare terminal end 2581 is substantially
It is triangular in shape.The width of bare terminal end 2581 is gradually reduced along away from the direction of connection end 2583.Each bare terminal end 2581 is towards another
The side of bare terminal end 2581 is provided with annular knurl to increase clamping stability.Bare terminal end 2581 is close to the portion of connection end 2583 positioned at another
Grip block 258 is rotatablely connected.Connection end 2583 is substantially semicircle.Each connection end connects a corresponding tumbler 256 respectively.
After the driven moving part 252 of connector 254 is driven towards the movement of the direction of grip block 258, connector 254 promotes two to turn
Moving part 256 opens to both sides.Two tumblers 256 promote two connection ends 2583 to be opened to both sides respectively, while make two folders
End 2581 is held to intermediate closed with clamping workpiece.After connector 254 moves to the remote direction of grip block 258, two bare terminal ends
2581 open to discharge workpiece.
During assembling, installing plate 21 is locked in the connection end of actuating arm 10 by screw etc..Then, by the first fixed plate
233 and second are connected between fixed plate 235.Then, by rotating shaft 231 by the first fixed plate 233 and the company of rotation of projection 212
Connect.Two elastic components 237 and two hydraulic cylinders 239 are installed on installing plate 21 and fixed block 2354 respectively again.Afterwards, will drive
Moving part 252 is fixed in the first fixed plate 233 and the second fixed plate 235, by the drive division of connector 254 and actuator 252
It is connected.Afterwards, two tumblers 256 are installed on decorating plate 2542 by axis of rotation, the other end of tumbler 256 difference
Grip block 258 is connected by axis of rotation.Connected between two grip blocks 258 also by axis of rotation, complete installation.
In use, actuating arm 10 drives clamping device 20 to be moved towards workpiece, and make the alignment pieces of bare terminal end 2581.Driving
The drive connection part 254 of part 252 moves towards the direction of grip block 258, and connector 254 promotes two tumblers 256 to be opened to both sides.
Two tumblers 256 promote two connection ends 2583 to be opened to both sides respectively, while make two bare terminal ends 2581 to intermediate closed
With clamping workpiece.If deviation between the location of workpiece and predeterminated position be present, fixed mount 23 can rotate to be adapted to adjusting
The location of workpiece.Afterwards, actuating arm 10 drives clamping device 20 to be moved to preset location.The drive connection part 254 of actuator 252 is remote
Grip block 258, connector 254 promote two tumblers 256 to intermediate closed.Two tumblers 256 promote two connections respectively
End 2583 makes two bare terminal ends 2581 be opened to both sides to discharge workpiece to intermediate closed.
Fixed mount 23 is rotatablely installed on installing plate 21 by manipulator 100 of the present utility model.In the location of workpiece with presetting
When position has deviation, fixed mount 23 can rotate the position for being adapted to workpiece.And after gripping workpiece, by elastic component 237
Driving fixed mount 23 resets.Manipulator 100 of the present utility model can avoid being caused to capture by force and being made by location of workpiece error
Into workpiece damage.
In addition, those skilled in the art can also do other changes in the utility model spirit, certainly, these are according to this reality
The change made of new spirit, it should all be included in the utility model scope claimed.
Claims (10)
1. a kind of clamping device, for clamping workpiece, the clamping device includes installing plate, fixed mount and clamping device, its feature
It is：The installing plate is used for the actuating arm for being installed on manipulator, and the installing plate is provided with least one away from the side of the manipulator
Individual projection, the fixed mount include rotating shaft, two the first fixed plates, two the second fixed plates and two elastic components, two this first
Fixed plate is oppositely arranged, and each second fixed plate both ends connect the both ends that two first fixed plates are located at the same side respectively,
First fixed plate is connected to the projection by the axis of rotation, two elastic component both ends flexibly support respectively the installing plate with
Second fixed plate and it is located at the rotating shaft both sides respectively, the fixed mount can be rotated to adapt to the location of workpiece, two elastic components
The resiliency urged fixed mount, which rotates, to be resetted, and the clamping device includes actuator and two grip blocks, and two grip blocks, which rotate, to be connected
Connect and be located in first fixed plate, the actuator connects two grip blocks, and the actuator drives two grip blocks to rotate
To grip workpiece.
2. clamping device as claimed in claim 1, it is characterised in that：The clamping device also includes connector and two rotations
Part, the actuator are installed in the fixed mount, and the connector one end is connected to the drive division of the actuator, the connector other end
Through first fixed plate, one end of two tumblers is rotationally connected with the connector, the other end point of each tumbler
It is not rotatablely connected with corresponding grip block, the middle part rotation connection of two grip blocks, the actuator drives the connector
Towards two, the clamping Block direction moves, and the connector makes two tumblers be opened to both sides, and two tumblers drive two
The free end of individual grip block is mutually closed with clamping workpiece.
3. clamping device as claimed in claim 2, it is characterised in that：Each grip block includes bare terminal end and the company being connected
End is connect, the bare terminal end is rotatablely connected close to the position of the connection end and another grip block, and each connection end connects pair respectively
Answer the tumbler.
4. clamping device as claimed in claim 3, it is characterised in that：The width of the bare terminal end along away from the connection extreme direction by
It is decrescence small.
5. clamping device as claimed in claim 2, it is characterised in that：The one end of the connector away from the actuator is provided with two
Decorating plate, one end of two tumblers are rotationally connected between two decorating plates, the other end difference of each tumbler
It is rotatablely connected with corresponding grip block.
6. clamping device as claimed in claim 1, it is characterised in that：The fixed mount also includes two hydraulic cylinders, each liquid
Cylinder pressure includes connected main body and depression bar, the main body are installed in second fixed plate, and the depression bar is held on the installing plate, often
The individual hydraulic cylinder coordinates the elastic component to enter row buffering and reset adjacent to corresponding elastic component, the hydraulic cylinder.
7. clamping device as claimed in claim 1, it is characterised in that：To that should be kept away provided with one at projection in second fixed plate
Groove is allowed to avoid the projection.
8. clamping device as claimed in claim 1, it is characterised in that：Each first fixed plate is towards the side of the installing plate
Extend a mounting blocks, each mounting blocks are provided with a mounting hole, and each projection is provided with a connecting hole, this turn
Axle passes through two mounting holes and two connecting holes so that the mounting blocks and the projection to be rotatablely connected.
9. a kind of manipulator, the manipulator includes actuating arm and clamping device, and the clamping device is on the actuating arm, the driving
Arm can drive the clamping device to move, and the clamping device includes installing plate, fixed mount and clamping device, it is characterised in that：Should
Installing plate is used to be installed on actuating arm, and the installing plate is provided with least one projection, the fixed mount away from the side of the actuating arm
Including rotating shaft, two the first fixed plates, two the second fixed plates and two elastic components, two first fixed plates are oppositely arranged,
Each second fixed plate both ends connect the both ends that two first fixed plates are located at the same side respectively, and first fixed plate passes through
The axis of rotation is connected to the projection, and two elastic component both ends flexibly support the installing plate and second fixed plate and divided respectively
Not Wei Yu the rotating shaft both sides, the fixed mount can be rotated to adapt to the location of workpiece, two elastic component resiliency urged fixed mounts
Rotate and reset, the clamping device includes actuator and two grip blocks, and two grip blocks, which are rotatablely connected and are located at this, first to be consolidated
On fixed board, the actuator connects two grip blocks, and the actuator drives two grip blocks to rotate to grip workpiece.
10. manipulator as claimed in claim 9, it is characterised in that：The clamping device also includes connector and two tumblers,
The actuator is installed in the fixed mount, and the connector one end is connected to the drive division of the actuator, and the connector other end is worn
First fixed plate is crossed, one end of two tumblers is rotationally connected with the connector, the other end difference of each tumbler
It is rotatablely connected with corresponding grip block, the middle part rotation connection of two grip blocks, the actuator drives the connector court
To two, the clamping Block direction moves, and the connector makes two tumblers be opened to both sides, and two tumblers drive two
The free end of grip block is mutually closed with clamping workpiece.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721274731.0U CN206925875U (en) | 2017-09-29 | 2017-09-29 | Clamping device and the manipulator with the clamping device |
| PCT/CN2017/106166 WO2019061566A1 (en) | 2017-09-29 | 2017-10-13 | Holding device and mechanical arm having same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721274731.0U CN206925875U (en) | 2017-09-29 | 2017-09-29 | Clamping device and the manipulator with the clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206925875U true CN206925875U (en) | 2018-01-26 |
Family
ID=61355722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721274731.0U Active CN206925875U (en) | 2017-09-29 | 2017-09-29 | Clamping device and the manipulator with the clamping device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN206925875U (en) |
| WO (1) | WO2019061566A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108581209A (en) * | 2018-05-11 | 2018-09-28 | 昆山彰盛奈米科技有限公司 | A kind of internal diameter processor |
| CN110315372A (en) * | 2019-08-19 | 2019-10-11 | 珠海格力智能装备有限公司 | Clamping device and chucking device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111283719B (en) * | 2020-03-31 | 2021-04-20 | 安徽轶记机械科技有限公司 | Intelligent mechanical arm with anti-drop subassembly |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5775755A (en) * | 1997-03-19 | 1998-07-07 | Duratech, Inc. | Tube gripper device |
| KR101682949B1 (en) * | 2014-05-12 | 2016-12-07 | 울산과학기술원 | A force-controllable actuator module for a wearable hand exoskeleton and a hand exoskeleton system using the module |
| CN203831407U (en) * | 2014-05-14 | 2014-09-17 | 上海优爱宝机器人技术有限公司 | Clamp |
| CN204382286U (en) * | 2014-12-16 | 2015-06-10 | 程保星 | Manipulator |
| CN104626172B (en) * | 2014-12-23 | 2019-08-27 | 南京汽车锻造有限公司 | A kind of work holder |
| CN204604344U (en) * | 2015-02-11 | 2015-09-02 | 蓝志全 | A kind of spring mechanical paw |
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2017
- 2017-09-29 CN CN201721274731.0U patent/CN206925875U/en active Active
- 2017-10-13 WO PCT/CN2017/106166 patent/WO2019061566A1/en active Application Filing
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108581209A (en) * | 2018-05-11 | 2018-09-28 | 昆山彰盛奈米科技有限公司 | A kind of internal diameter processor |
| CN110315372A (en) * | 2019-08-19 | 2019-10-11 | 珠海格力智能装备有限公司 | Clamping device and chucking device |
| CN110315372B (en) * | 2019-08-19 | 2020-10-02 | 珠海格力智能装备有限公司 | Clamping device and clamping equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019061566A1 (en) | 2019-04-04 |
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Effective date of registration: 20220126 Address after: 458000 north of Qi Qi Road, Hebi, Henan Province, north of Wei Six Road North. Patentee after: Fulian Technology (Hebi) Co.,Ltd. Address before: 458030 North Weiliu Road, middle section of Heqi Avenue, Heqi Industrial Cluster District, Hebi City, Henan Province Patentee before: FUZHUN PRECISION ELECTRONICS (HEBI) Co.,Ltd. |