WO2021035591A1 - Dispositif de serrage - Google Patents

Dispositif de serrage Download PDF

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Publication number
WO2021035591A1
WO2021035591A1 PCT/CN2019/103132 CN2019103132W WO2021035591A1 WO 2021035591 A1 WO2021035591 A1 WO 2021035591A1 CN 2019103132 W CN2019103132 W CN 2019103132W WO 2021035591 A1 WO2021035591 A1 WO 2021035591A1
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WO
WIPO (PCT)
Prior art keywords
clamping
clamping portion
moving
linkage mechanism
moving part
Prior art date
Application number
PCT/CN2019/103132
Other languages
English (en)
Chinese (zh)
Inventor
张亮
贺银增
高腾飞
陶曦
刘海
Original Assignee
西门子（中国）有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 西门子（中国）有限公司 filed Critical 西门子（中国）有限公司
Priority to PCT/CN2019/103132 priority Critical patent/WO2021035591A1/fr
Priority to CN201980096402.7A priority patent/CN113825593B/zh
Publication of WO2021035591A1 publication Critical patent/WO2021035591A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the invention relates to the field of implementing device design, in particular to a clamping device.
  • the clamping process of the target object in production can be realized by a clamping device.
  • a clamping device For example, in the field of robotics, one end of the robotic arm is used to fix the robotic arm on the work site, while the other end of the robotic arm can be connected to the actuator.
  • the execution device can be designed into various devices according to different application scenarios, then the clamping of the target object can be completed by the clamping device.
  • the clamping device installed on the mechanical arm can further move the target object to the target position in space after clamping the target object.
  • a clamping device including:
  • a first clamping part connected to one end of a power unit
  • a second clamping portion connected to the other end of the power unit, so that the second clamping portion can be clamped or separated from the first clamping portion through the power unit;
  • each set of clamping linkage mechanism includes:
  • a moving part which is movably arranged on the first clamping part
  • An elastic plunger which is arranged on the second clamping part
  • a linkage mechanism which is arranged on the first clamping portion, when the second clamping portion is clamped with the first clamping portion, the elastic plunger squeezes the linkage mechanism to make the The linkage mechanism drives the moving component to move to the space between the first clamping portion and the second clamping portion.
  • this application uses the linkage mechanism so that only one power unit can drive the first clamping portion and the second clamping portion to achieve clamping, as well as the movement of the moving parts.
  • the clamping of the first clamping part and the second clamping part and the movement of the moving part realize the secondary positioning of the clamped target object, which solves the problem of the clamping in the prior art.
  • the limitation of the structure of the clamping device and the inconsistency of the spatial position of the target object have led to the technical problem of difficulty in positioning the spatial position of the target object after clamping.
  • the linkage mechanism includes:
  • a driving rod which is hinged on the first clamping part, and the first end of the driving rod abuts against one end of the moving part;
  • the elastic plunger contacts the second end of the driving rod and pushes the driving rod, so that the first end squeezes Pressing the moving member drives the moving member to move to the space between the first clamping portion and the second clamping portion.
  • a specific structure of the linkage mechanism is provided, so that the movement of the moving component is triggered by the clamping action of the first clamping portion and the second clamping portion.
  • the linkage mechanism further includes:
  • the elastic plunger When the second clamping part is far away from the first clamping part, the elastic plunger is disengaged from the second end of the driving rod, and the elastic resetting member makes the movement The component moves in a direction opposite to the space between the first clamping portion and the second clamping portion.
  • This embodiment provides a specific implementation for resetting the moving part.
  • the elastic resetting part provides tension so that when the second clamping part is far away from the first clamping part, the After the elastic plunger is disengaged from the second end of the drive rod, the elastic resetting member causes the moving member to move between the first clamping portion and the second clamping portion through a tensioning force. The space moves in the opposite direction.
  • the elastic reset component includes:
  • a positioning block which is arranged on the first clamping part
  • a return spring one end of which is connected with the positioning block, and the other end of the return spring is connected with the moving part, so as to provide a tension force between the first clamping part and the moving part.
  • the positioning block is fixed on the first clamping part, and the return spring provides the first clamping part and the moving part The tension between.
  • the elastic plunger includes:
  • a squeezing part body which is arranged on the second clamping part, the squeezing part body has an internal cavity, the squeezing part body is provided with an opening, and the squeezing part body passes through the opening Communicate with the internal cavity;
  • a piston head one end of which is set in the internal cavity, the other end of the piston head protrudes out of the main body of the pressing part through the opening, and the piston head and the main body of the pressing part pass through a limiting structure Cooperate installation, so that the piston head can make piston movement in the main body of the extrusion part;
  • a compression spring is arranged in the inner cavity, one end of the compression spring abuts against the piston head, and the other end of the compression spring abuts against the inner wall of the main body of the pressing part in the inner cavity.
  • a specific structure of the elastic plunger is provided. After the first clamping portion and the second clamping portion clamp the target object, the moving part needs to be displaced to the target object. make up.
  • a specific structure for establishing the clamping process of the first clamping portion and the second clamping portion and the response time of the movement of the moving part by a reserved distance is provided, and the reserved distance The response time between the clamping of the first clamping part and the second clamping part and the movement of the moving part are controlled.
  • the at least one set of clamping linkage mechanism is two sets;
  • the moving parts of the two sets of clamping linkage mechanisms are mirrored and movably arranged on both sides of the first clamping portion to realize the space between the first clamping portion and the second clamping portion mobile.
  • a specific structure for clamping the moving part is provided, so as to make the secondary positioning of the clamped target object more accurate.
  • the two moving parts are slidably connected to the first clamping part through the same track.
  • the moving component includes:
  • a first beam which is arranged in the same direction as the track, and the first beam is slidably connected to the track;
  • a second beam one end of which is connected with the first beam, so that the second beams on both sides slide toward each other to sandwich the space area between the first clamping portion and the second clamping portion.
  • the clamping linkage mechanism further includes:
  • a pressing wheel is arranged on the first clamping part, and the outer edge of one side of the moving part is arranged in the same direction along the moving direction of the moving part, so that the pressing wheel is in the moving process of the moving part.
  • the outer circle is rolled and pressed on the outer edge.
  • This embodiment provides a specific structure with a pressure wheel, which can correct the moving direction of the moving part and thereby protect the linear bearing used by the moving part installed on the track.
  • FIG. 1 is a schematic diagram of the overall external structure of a clamping device in an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a side view of the overall external structure of the clamping device in an embodiment of the present invention
  • FIG. 3 is a schematic diagram of the assembly structure of the clamping device after hiding the power unit in an embodiment of the present invention
  • FIG. 4 is a schematic diagram of the assembly of the first clamping portion and the clamping driving structure of the present invention.
  • Figure 5 is a schematic diagram of the internal structure of the elastic plunger of the present invention.
  • the clamping device cannot accurately locate the target object when only clamping in one direction is achieved.
  • the clamping device is connected to one end of a mechanical arm, and then the clamping device is driven by the mechanical arm to realize the clamping of the circuit board, and finally through the mechanical The arm moves the clamped circuit board together with the clamping device to a target position.
  • a plurality of the circuit boards will be transferred to the clamping position one by one through the production line, but the placement angles and placement positions of these circuit boards are different when they are transferred to the clamping position, even if all The placement angle and placement position of the circuit board do not change much, but if the clamping device has only two clamping parts for clamping, then the relative position of the circuit board and the clamping device may also appear after clamping Inconsistency.
  • the mechanical arm clamps the circuit board
  • the motion trajectory of the mechanical arm needs to be programmed.
  • the clamping device may also clamp the circuit board. The geometric center is different from the clamping direction of the clamping device.
  • the relative position between the circuit board and the clamping device is also inconsistent, which seriously affects the subsequent positioning of the circuit board to the target position Positioning of accuracy in spatial position.
  • the direction of movement when the two clamping parts of the clamping device are clamped can be understood as the direction of the first degree of freedom, and the direction of movement of the moving part is defined as the direction of the second degree of freedom, regardless of the direction of the first degree of freedom and the direction of the second degree of freedom. Whether the directions of the two degrees of freedom are the same will have a calibration effect on the target object. It needs to be pointed out that after the secondary calibration and positioning, the position of the circuit board on the clamping device is not completely restricted and accurately positioned, but the relative position between the two is the same every time it is grasped.
  • FIG. 1 is a schematic diagram of the overall external structure of a clamping device in an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a side view of the overall external structure of the clamping device in an embodiment of the present invention.
  • the present application provides a clamping device that includes a first clamping portion 1 and a second clamping portion 3, and at least one Sleeve clamping linkage mechanism 4;
  • the first clamping portion 1 is connected to one end of a power unit 2, and the second clamping portion 3 is connected to the other end of the power unit 2, so that the second clamping portion 3 is connected to the first by the expansion and contraction of the two ends of the power unit 2.
  • the power unit 2 can be understood as an air cylinder, an electric cylinder or a hydraulic cylinder. Either way, the extension end of the cylinder diameter can be connected to the first clamping part 1, and the cylinder block is connected to the second clamping part 2, and finally The first clamping portion 1 and the second clamping portion 2 are clamped or separated.
  • the power unit 2 can be understood as a device that allows the first clamping portion 1 and the second clamping portion 2 to be clamped or separated. For example, two conductive electromagnets are used to install the first clamping portion 1 and the second clamping portion 1 and the second clamping portion 2 respectively.
  • the first clamping part 1 and the second clamping part 2 are slidably mounted on the two ends of the guide rail respectively, and the clamping between the two is realized by generating repulsive force or attractive force by energizing the conductive electromagnet Or stay away.
  • each set of clamping linkage mechanism 4 includes a moving part 41, an elastic plunger 42, and a linkage mechanism 43;
  • the moving part 41 is movably arranged on the first clamping part 3, the elastic plunger 42 is arranged on the second clamping part 3, and the linkage mechanism 43 is arranged on the first clamping part 3.
  • the elastic plunger 42 squeezes the linkage mechanism 43 so that the linkage mechanism 43 drives the moving part 41 to the gap between the first clamping part 1 and the second clamping part (3). Space movement.
  • first clamping portion 1 and the second clamping portion 2 are controlled by the power unit 2 while controlling the movement of the moving part 41.
  • the moving part 41 can be arranged on the first clamping part 3 or on the power unit 2.
  • the power unit 2 adopts an electric cylinder
  • the cylinder body can be connected with the first clamping part 1
  • the extension end of the cylinder bore can be connected with the second clamping part 2.
  • the moving part 41 is installed on the cylinder, the distance between the moving part 41 on the cylinder and the second clamping part 2 can still be changed when the power unit 2 stretches, or the linkage mechanism can be squeezed by the elastic plunger 42 43, and then the linkage mechanism 43 drives the moving part 41 to move, but at this time the first clamping part 1 and the cylinder should be understood as the same rigid body, so the structure of the moving part 41 provided on the power unit 2 should fall into this embodiment Within the scope of protection of the method. In the same way, the structure of the elastic plunger 42 provided on the power unit 2 should also fall within the protection scope of this embodiment.
  • the first clamping portion 1 and the second coupling portion 2 are clamped or separated by the expansion and contraction of the power unit 2, and the elastic plunger 42 is used to squeeze the first clamping portion 1 and the second coupling portion 2 through the distance change.
  • the positional relationship between the clamping target object and the clamping device solves the technical problem that the spatial position of the target object is difficult to locate due to the inconsistent spatial positions of the clamped target object.
  • FIG. 3 is a schematic diagram of the assembly structure of the clamping device in an embodiment of the present invention after the power unit is hidden
  • FIG. 4 is a schematic diagram of the assembly of the first clamping portion and the clamping driving structure of the present invention.
  • the linkage mechanism 43 includes a driving rod 431, and the driving rod 431 is hinged on the first clamping portion 3;
  • the first end 4311 of the driving rod 431 abuts against one end of the moving part 41.
  • the elastic plunger 42 contacts the second end 4312 of the driving rod 431 and pushes the driving rod 431, so that the first end 4311 presses the moving part 41 to drive
  • the moving member 41 moves to the space between the first clamping portion 1 and the second clamping portion 3.
  • a specific structure of the linkage mechanism 43 is provided.
  • the structure of the drive rod 431 can make the moving part 41 that does not move in the direction of clamping with the first clamping portion 1 and the second clamping portion 3 also receive power.
  • the effect of the expansion and contraction of unit 2 enables movement.
  • the elastic plunger 42 can directly squeeze the moving part. 41.
  • the moving part 41 can move to realize the function, but when the direction of the first degree of freedom and the direction of the second degree of freedom are different, it cannot be realized by directly squeezing the moving part 41, and the first degree of freedom direction and the second degree of freedom direction are preferably implemented in the implementation.
  • the directions of the degrees of freedom should be different, so that the first clamping portion 1 and the second clamping portion 3 are realized, and the moving part 41 realizes clamping from multiple directions around the clamped target object.
  • the rotation can be realized by the hinge connection with the first clamping part 3, and then the first degree of freedom direction and the second degree of freedom direction can be clamped.
  • the linkage mechanism 43 further includes an elastic resetting member 432.
  • One end of the elastic resetting member 432 abuts against the moving member 4, and the other end of the elastic resetting member 432 abuts against the first clamping portion 1 to oppose the moving member 41.
  • the elastic reset part 432 can provide tension between the first clamping part 1 and the moving part 41 at any time; when the first clamping part 1 and the third clamping part 3 are clamped by the power unit 2, the elastic plunger 42 The clamping force provided should be greater than the tensioning force. When the first clamping portion 1 and the third clamping portion 3 are far away, they are in a non-contact state, and the tensioning force will move the moving part 41 back.
  • the elastic return member 432 includes a positioning block 4321 and a return spring 4322.
  • the positioning block 4321 is arranged on the first clamping portion 1; one end of the return spring 4322 is connected to the positioning block 4321, and the other end of the return spring 4322 It is connected with the moving part 41 to provide tension between the first clamping part 1 and the moving part 41.
  • a specific structure of the elastic reset component 432 is provided, in which the positioning block 4321 can adjust the distance from the moving component 41 through a long hole provided on the first clamping portion 1, so as to adapt to clamping different target objects. Size, for example, the circuit boards of different widths.
  • FIG. 5 is a schematic diagram of the internal structure of the elastic plunger of the present invention.
  • the elastic plunger 42 includes a pressing part main body 421, a piston head 422, and a compression spring 423,
  • the pressing part main body 421 is disposed on the second clamping part 3, the pressing part main body 421 has an internal cavity 4211, the pressing part main body 421 is provided with an opening 4212, and the pressing part main body 421 is connected to the inner cavity through the opening 4212.
  • the cavity 4211 is connected;
  • One end of the piston head 422 is arranged in the internal cavity 4211, and the other end of the piston head 422 extends out of the main body 421 of the extrusion part through the opening 4212.
  • the piston head 422 and the main body 421 of the extrusion part are installed in cooperation with the stop structure to make the piston head 422 can make a piston movement in the main body 421 of the squeezing part;
  • the compression spring 423 is disposed in the internal cavity 4211, one end of the compression spring 423 abuts against the piston head 422, and the other end of the compression spring 423 and the other end of the compression spring 423 abut against the inner wall of the pressing part main body 421 in the internal cavity 4211.
  • a specific structure of the elastic plunger 42 is provided, because when the elastic plunger 42 and the linkage mechanism 43 are in constant contact, the two will continue to collide with each other, in order to reduce the impact on the elastic plunger 42 and the linkage mechanism 43 during the collision. , Especially the damage of the driving rod 431, so the compression spring 423 is used to buffer, and finally achieve the function of protecting the linkage mechanism 43 and the elastic plunger 42.
  • the moving part 41 needs to perform displacement compensation for the target object, because at this time the first clamping portion 1 and the second clamping portion 2 It can no longer approach, otherwise the target object will be damaged. Therefore, the displacement and movement compensation of the piston head 422 in the elastic plunger 42 is required to make the moving part 41 continue to move to the target object.
  • the tension force of the elastic reset component 432 should be much smaller than the elastic force provided by the compression spring 423.
  • vent hole may be provided on the main body 421 of the pressing part, and the vent hole is in communication with the internal cavity 4211.
  • the vent hole can be used to ventilate the internal cavity 4211 to make elasticity. The force of the plunger is more accurate.
  • a reserved distance a is preset between the first clamping portion 1 and the second clamping portion 3, and the purpose is to realize the movement of the moving part 42 by setting the reserved distance a.
  • the power unit 2 takes a while for the power unit 2 to allow the elastic plunger 42 to contact the linkage mechanism 43, and then the power unit 2 continues to let the elastic plunger 42 squeeze the linkage mechanism 43 to realize the movement of the moving part 41, then the power unit 2 makes the elastic column
  • the contact time of the plug 42 and the linkage mechanism 43 is the response time of the moving part 42.
  • the length of the response time is related to the length of the reserved distance a and the expansion speed of the power unit 2.
  • the response time is set up because when the first clamping part 1 and the third clamping part 3 are clamped, they will interfere with the movement of the moving part 41 in the process of clamping the target object, so the clamping process needs to establish between the two
  • This embodiment provides a specific technical solution for establishing the response time mechanically.
  • the distance a between the adjustment and the linkage mechanism 43 can be adjusted by adjusting the elastic plunger 42.
  • At least one set of clamping linkage mechanism 4 is two sets;
  • the moving parts 41 of the two sets of clamping linkage mechanism 4 are mirrored and movably arranged on both sides of the first clamping portion 3 to realize movement to the space between the first clamping portion 1 and the second clamping portion 3.
  • This embodiment provides a technical solution with two sets of clamping linkage mechanisms 4, and the moving parts 41 in the two sets of clamping linkage mechanisms 4 are arranged in a mirror image, and the two moving parts 41 can move in a mirror image.
  • the direction in which the two moving parts 41 move can be set to a direction perpendicular to the clamping direction of the first clamping portion 1 and the second clamping portion 2.
  • the first clamping part 1 and the second clamping part 2 are clamped in the front and back direction, and the two movable clamping parts 41 can be clamped left and right.
  • the two moving parts 41 are slidably connected to the first clamping portion 1 through the same rail 44.
  • the two moving parts 41 arranged in mirror images can be arranged on the same track 44 to realize the moving arrangement of the moving parts 41. It should be pointed out that the moving part 41 is not limited to only realize the connection with the first clamping part 1 through the rail 44.
  • the moving part 41 includes a first beam 411 and a second beam 412;
  • the first beam 411 is arranged in the same direction as the rail 44, and the first beam 411 is slidably connected to the rail 44;
  • One end of the second beam 412 is connected with the first beam 411, so that the second beams 412 on both sides sandwich the space between the first clamping portion 1 and the second clamping portion 3 when sliding toward each other.
  • the first beam 411 can be connected to the rail 44 to complete the sliding, and the second beam 412 is arranged in a different direction from the first beam 411, and an angle can be formed between the two.
  • the first beam 411 and the rail 44 are arranged in the same direction, for example, the two moving parts 41 are arranged left and right, and the rail 44 is arranged in the left and right direction, that is, the first beam 411 should also be arranged in the left and right direction, then the second beam 412 Then, it can be set up and down to form a form that encloses the space between the first sandwiching portion 1 and the second sandwiching portion 2 that are arranged front and rear.
  • the clamping linkage mechanism 4 further includes a pressing wheel 45;
  • the pressing wheel 45 is arranged on the first clamping part 1, and the outer edge 413 on one side of the moving part 41 is arranged in the same direction along the moving direction of the moving part 41, so that the outer circle of the pressing wheel 45 is rolled and pressed together during the movement of the moving part 41 On the outer edge 413.
  • a specific technical solution for setting the pressing wheel 45 is provided. Since the sliding connection between the moving part 41 and the rail 44 can be connected by a sliding block, and if the sliding block is installed on the rail 44, a bearing will be used. If the moving direction of the moving part 41 cannot follow the sliding direction of the sliding block, the bearing will be damaged. For example, if the moving part 41 should move linearly along the track 44, and a pressing wheel 45 contacting the outer edge 413 is provided on the outer edge 413 of the moving part 41, and the pressing wheel 45 rolls on the contact surface of the outer edge 413, then It is possible to correct the moving direction of the moving part 41 to protect the bearing. This design can effectively extend the service life of the bearing.
  • the power unit 2 can drive the clamping of the first clamping portion 1 and the second clamping portion 2 and the movement of the moving part 41 to realize the secondary correction of the clamping target object.
  • only one power unit 2 drives the clamping of the first clamping portion 1 and the second clamping portion 2 and the movement of the moving component 41.
  • the first clamping portion 1 and the second clamping portion 2 are clamped by the reserved distance a, and the delay response of the movement of the moving part 41 is realized.
  • the elastic plunger 42 can compensate and adjust the reserved distance a, and the adjustment compression spring 423 can adjust the clamping force when the first clamping portion 1 and the second clamping portion 2 clamp the target object, and the clamping force of the moving part 41 relationship.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jigs For Machine Tools (AREA)

Abstract

La présente invention concerne un dispositif de serrage. Le dispositif de serrage comprend : une première partie de serrage (1) et une seconde partie de serrage (3), et au moins un mécanisme de liaison de serrage (4) ; la première partie de serrage (1) est raccordée à une extrémité d'une unité d'alimentation (2), et la seconde partie de serrage (3) est raccordée à l'autre extrémité de l'unité d'alimentation (2) ; le mécanisme de liaison de serrage (4) comprend une partie mobile (41), un piston élastique (42), et un mécanisme de liaison (43) ; la partie mobile (41) est disposée de façon mobile sur la première partie de serrage (1) ; pendant le serrage de la seconde partie de serrage (3) et de la première partie de serrage (1), le piston élastique (42) pousse le mécanisme de liaison (43) pour déplacer la partie mobile (41). La partie mobile (41) effectue un positionnement secondaire sur un objet cible dans le processus de serrage, de sorte que le problème technique de l'état de la technique selon lequel, en raison de la limitation de la structure d'un dispositif de serrage et d'une position spatiale incohérente de l'objet cible avec celui-ci, le positionnement de la position spatiale de l'objet cible après le serrage est difficile, est résolu.
PCT/CN2019/103132 2019-08-28 2019-08-28 Dispositif de serrage WO2021035591A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2019/103132 WO2021035591A1 (fr) 2019-08-28 2019-08-28 Dispositif de serrage
CN201980096402.7A CN113825593B (zh) 2019-08-28 2019-08-28 夹合装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/103132 WO2021035591A1 (fr) 2019-08-28 2019-08-28 Dispositif de serrage

Publications (1)

Publication Number Publication Date
WO2021035591A1 true WO2021035591A1 (fr) 2021-03-04

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WO (1) WO2021035591A1 (fr)

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CN114193356A (zh) * 2021-12-06 2022-03-18 广东和胜工业铝材股份有限公司 夹钳装置

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WO2010002043A1 (fr) * 2008-06-30 2010-01-07 Seoul National University Industry Foundation Robot ayant un bras rotatif
CN206569708U (zh) * 2017-03-03 2017-10-20 腾升科技股份有限公司 一种物件夹持装置
CN207480432U (zh) * 2017-10-10 2018-06-12 广州市嘉特斯机电制造有限公司 一种缸体夹持装置

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CN104290099B (zh) * 2013-07-15 2016-08-10 富泰华工业（深圳）有限公司 夹取装置
US10781056B2 (en) * 2016-12-22 2020-09-22 General Electric Company Adaptive apparatus and system for automated handling of components
CN107745961B (zh) * 2017-10-30 2020-09-25 湖北迪迈威智能装备有限公司 一种轮胎输送过程中的夹持装置
JP3218579U (ja) * 2018-08-10 2018-10-25 裕雄 范 電動挟持装置
CN209001060U (zh) * 2018-10-24 2019-06-18 大族激光科技产业集团股份有限公司 一种隔热垫运送机构

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Publication number Priority date Publication date Assignee Title
US20060242818A1 (en) * 2005-05-02 2006-11-02 Penick William A Multi-axis, processor-controlled, toolhead positioner
WO2010002043A1 (fr) * 2008-06-30 2010-01-07 Seoul National University Industry Foundation Robot ayant un bras rotatif
CN206569708U (zh) * 2017-03-03 2017-10-20 腾升科技股份有限公司 一种物件夹持装置
CN207480432U (zh) * 2017-10-10 2018-06-12 广州市嘉特斯机电制造有限公司 一种缸体夹持装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114193356A (zh) * 2021-12-06 2022-03-18 广东和胜工业铝材股份有限公司 夹钳装置
CN114193356B (zh) * 2021-12-06 2024-06-04 广东和胜工业铝材股份有限公司 夹钳装置

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CN113825593A (zh) 2021-12-21
CN113825593B (zh) 2023-05-26

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