CN108356846A - A kind of robot clamp for forging automatic production line - Google Patents
A kind of robot clamp for forging automatic production line Download PDFInfo
- Publication number
- CN108356846A CN108356846A CN201810454633.8A CN201810454633A CN108356846A CN 108356846 A CN108356846 A CN 108356846A CN 201810454633 A CN201810454633 A CN 201810454633A CN 108356846 A CN108356846 A CN 108356846A
- Authority
- CN
- China
- Prior art keywords
- collet
- dewclaw
- lower claw
- clamping jaw
- driving mechanism
- 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.)
- Pending
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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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot clamps for forging automatic production line, including collet and holder；Collet is equipped at least two；Collet includes dewclaw, lower claw and collet driving mechanism；Collet driving mechanism is fixed on holder；The front end of dewclaw and lower claw is equipped with tip；Lower claw is fixed in collet driving mechanism；Dewclaw is arranged above lower claw；Collet driving mechanism driving dewclaw is drawn close or realizes opening/closing action far from lower claw.Multiple collets are arranged in the present invention, and each collet independently drives, suitable for the workpiece with the irregular overlap of out-of-flatness, it can effectively solve occur clamping unstable situation when existing clamp clamping, clamp, which can accurately be clamped after blocking/finish-forging, simultaneously does not cut the workpiece before overlap, and workpiece is accurately sent to by next process by robot, avoid the occurrence of the problem of interrupting whole production line.
Description
Technical field
The present invention relates to a kind of robot clamps for forging automatic production line.
Background technology
At present the forming process of the forging technology in China approximately as：Blanking --- heating --- base --- blocking+end
--- --- --- shaping --- heat treatment --- shot-peening and flaw detection, most production processes are all by artificial for punching for trimming for forging
Operation is completed, and labor intensity is big, dangerous big, unstable product quality, high energy consumption；Simultaneously because its flue dust, You Haiqi
The environmental problems such as body, noise and vibration also result in serious threat to employee's physical and mental health.The work situation of forge is severe,
Labor intensity is high, pursues and realizes that automated production is the active demand of each forging enterprise, the application of industrial robot is
Forging enterprise provides a key to put the axe in the helve.The exploitation and application of robot Full-automatic forging production line are produced improving
Product consistency, liberation labour save labour cost, ensure safety in production, improving production efficiency and enterprise modernization
The chance of great-leap-forward development is provided in terms of production level.
Following problem is faced with using the Full-automatic forging production line of industrial robot at present：1) go out blank pre-
After forging/finish-forging, the irregular overlap of shape is will produce, and the variation of the irregular amplitude, size of this shape is to go out at random
Existing, it is unpredictable, it can not also avoid, when being manually clamped at present using clamp, it will usually there is the unstable situation of clamping,
The phenomenon that forging overturning easily occur or being fallen after overturning, interrupts the beat of whole production line；And clamp is clamped to the shape chamber of finish-forging
When, workpiece cannot be accurately positioned on mold, and the product of finish-forging is caused quality problems occur；2) when there is the similar of plurality of specifications
When product, corresponding clamp is needed to change to adapt to the product of different size, it is difficult to realize the purpose of flexible production.
Invention content
The object of the present invention is to provide a kind of robot clamps for forging automatic production line, and it is pre- can to stablize crawl
The workpiece before overlap is not cut after forging/finish-forging.
Realizing the technical solution of the object of the invention is：A kind of robot clamp for forging automatic production line, including
Collet and holder；The collet is equipped at least two；The collet includes dewclaw, lower claw and collet driving mechanism；The collet
Driving mechanism is fixed on holder；The front end of the dewclaw and lower claw is equipped with tip；The lower claw is fixed on collet driving machine
On structure；The dewclaw is arranged above lower claw；Collet driving mechanism driving dewclaw draw close or realized far from lower claw open/
Closed action.
The collet driving mechanism driving dewclaw moves between lower claw and the back upper place position of lower claw.
The type of drive of the collet driving mechanism is pneumatic, hydraulic pressure, it is electronic in one kind.
There are two the collet is set, and the distance between the head of two collets to tail portion gradually increases.
The collet driving mechanism includes clamping jaw fixed plate, transmission component, clamping jaw drive component and unit installing board；It is described
Clamping jaw fixed plate is symmetrical arranged two pieces；The rear portion of the lower claw is fixed between two pieces of clamping jaw fixed plates；The dewclaw setting exists
The rear portion of the top of lower claw, dewclaw is connect by transmission component with lower claw；The unit installing board is symmetrical arranged two pieces, two pieces of groups
The rear end of part mounting plate is fixed on holder, and the front end of two block assembly mounting plates is fixedly connected with two pieces of clamping jaw fixed plates respectively；
The clamping jaw drive component is mounted between two block assembly mounting plates；The clamping jaw drive component driving transmission component drives dewclaw
Movement makes dewclaw realize opening/closing action with lower claw.
The first preferred technical solution：The transmission component includes the first driving member, the second driving member and third transmission
Part；First driving member is set there are three end, wherein first end is hinged with two pieces of clamping jaw fixed plates, second end with
The tail portion of dewclaw is fixedly connected, and third end and one end of the second driving member are hinged；The other end of second driving member with
One end of third driving member is hinged in same connecting shaft；The other end of the third driving member and two pieces of clamping jaw fixed plates are cut with scissors
It connects.
The clamping jaw drive component includes clamping jaw driving cylinder and U-shaped cylinder connector；The cylinder body of the clamping jaw driving cylinder
Both sides and two block assembly mounting plates be rotatablely connected；One end of the U-shaped cylinder connector and the second driving member and third driving member
Between connecting shaft it is hinged, the other end of U-shaped cylinder connector is fixedly connected with the piston rod of clamping jaw driving cylinder.
The holder includes rack body and flange；The flange is fixed on the upper surface of rack body；The collet
Driving mechanism is fixed on the lower face of rack body.
Second of preferred technical solution：The transmission component of the collet includes first connecting rod, second connecting rod, third company
Bar, fourth link and shaft；The first connecting rod, second connecting rod, third connecting rod and fourth link are equipped with two；Described two
First connecting rod is symmetrical arranged in the both sides of dewclaw and lower claw, and the both ends of first connecting rod connect with dewclaw and lower claw rotation respectively
It connects；Two second connecting rods the both sides of dewclaw and lower claw be symmetrical arranged, and the both ends of second connecting rod respectively with dewclaw and
Lower claw is rotatablely connected；The first connecting rod is arranged in parallel with second connecting rod；Two third connecting rods are symmetrical at the both ends of shaft
Setting, one end of two third connecting rods are rotatablely connected with the both ends of shaft respectively, the other ends of two third connecting rods respectively with it is upper
The both sides of pawl are rotatablely connected；Two fourth links are symmetrical arranged at the both ends of shaft, one end difference of two fourth links
It is rotatablely connected with two pieces of clamping jaw fixed plates, the other end of two fourth links is rotatablely connected with the both ends of shaft respectively；The folder
Pawl drive component is connect with shaft.
The clamping jaw drive component includes clamping jaw driving cylinder and U-shaped cylinder connector；The cylinder body of the clamping jaw driving cylinder
Both sides and two block assembly mounting plates be rotatablely connected；One end of the U-shaped cylinder connector is rotatablely connected with shaft, and U-shaped cylinder connects
The other end of head drives the piston rod of cylinder to be fixedly connected with clamping jaw.
The holder includes rack body and flange；The flange is fixed on the rear end face of rack body；The collet
Driving mechanism is fixed on the front end face of rack body.
The both sides of the front end face of the rack body of the holder are equipped with inclined-plane, the central axes on two inclined-planes from front to back away from
From gradually increasing；The tail portion of described two collets is separately fixed on two inclined-planes of the front end face of rack body.
The tail portion of described two collets is respectively and fixedly provided with connecting plate；The connecting plate of described two collets is separately fixed at holder
On two inclined-planes of the front end face of rack body.
Above-mentioned technical proposal is used, the present invention has advantageous effect below：(1) multiple collets are arranged in the present invention, and
And each collet independently drives, the applicable workpiece with the irregular overlap of out-of-flatness, when can effectively solve existing clamp clamping
There is the unstable situation of clamping, while clamp can accurately be clamped after blocking/finish-forging and not cut the workpiece before overlap, and passes through robot
Workpiece is accurately sent to next process, avoids the occurrence of the problem of interrupting whole production line.Correspondingly, when the different rule of appearance
When the similar product of lattice, clamp need not be replaced to adapt to the product of different size, avoid the cumbersome problem of clamp-replacing, it can
Achieve the purpose that flexible production.
(2) automatic production line using the present invention is, it can be achieved that unmanned intervention automated production, has saved a large amount of people
Power, while avoiding the serious prestige constituted to employee's physical and mental health due to environmental problems such as flue dust, pernicious gas, noise and vibrations
The side of body, and eliminate the unstability of the product quality caused by personnel.
(3) front end of dewclaw of the invention and lower claw is equipped with tip, and dewclaw and lower claw is made to can extend into mold and workpiece
Gap in clamping with overlap workpiece.
(4) collet driving mechanism of the invention driving dewclaw moves between lower claw and the back upper place position of lower claw, makes
Pawl can avoid mold in clamping process.
(5) three collets or more can be used in the occasion of generally use double collet of the present invention, big workpiece.
(6) present invention compresses collet using connecting rod Self-locking angle method, and the driving force that very little can be used obtains prodigious clamping
Power, therefore the cylinder of very small size may be used, and then the volume of the present invention is substantially reduced, and saved cost.
Description of the drawings
In order that the present invention can be more clearly and readily understood, right below according to specific embodiment and in conjunction with attached drawing
The present invention is described in further detail, wherein
Fig. 1 is the structural schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the structural schematic diagram of the embodiment of the present invention 2.
Fig. 4 is the stereogram of Fig. 3, and one piece of clamping jaw fixed plate and a block assembly mounting plate are eliminated in figure.
In attached drawing marked as：
Collet 1, dewclaw 1-1, lower claw 1-2, clamping jaw fixed plate 1-3, transmission component 1-4, the first driving member 1-4-1, second
Driving member 1-4-2, third driving member 1-4-3, first connecting rod 1-4-4, second connecting rod 1-4-5, third connecting rod 1-4-6, the 4th connect
Bar 1-4-7, shaft 1-4-8, clamping jaw drive component 1-5, clamping jaw driving cylinder 1-5-1, U-shaped cylinder connector 1-5-2, component installation
Plate 1-6, connecting plate 1-7；
Holder 2, rack body 2-1, flange 2-2.
Specific implementation mode
(embodiment 1)
See Fig. 1 and Fig. 2, the robot clamp of the present embodiment is for forging automatic production line, including collet 1 and holder 2.
Collet 1 is equipped at least two.When collet 1 be arranged two when, the distance between head to tail portion of two collets 1 by
It is cumulative to add.Collet 1 includes dewclaw 1-1, lower claw 1-2 and collet driving mechanism.Collet driving mechanism is fixed on holder 2.Dewclaw
The front end of 1-1 and lower claw 1-2 are equipped with tip.Lower claw 1-2 is fixed in collet driving mechanism.Dewclaw 1-1 is arranged in lower claw 1-2
Top.Collet driving mechanism driving dewclaw 1-1 draws close or realizes opening/closing action far from lower claw 1-2.Preferably, collet
Driving mechanism driving dewclaw 1-1 is moved between lower claw 1-2 and the back upper place position of lower claw 1-2.The driving of collet driving mechanism
Mode is pneumatic, hydraulic pressure, it is electronic in one kind.
Collet driving mechanism includes clamping jaw fixed plate 1-3, transmission component 1-4, clamping jaw drive component 1-5 and unit installing board
1-6.Clamping jaw fixed plate 1-3 is symmetrical arranged two pieces.The rear portion of lower claw 1-2 is fixed between two pieces of clamping jaw fixed plate 1-3.Dewclaw 1-
1 is arranged in the top of lower claw 1-2, and the rear portion of dewclaw 1-1 is connect by transmission component 1-4 with lower claw 1-2.Unit installing board 1-6
Two pieces are symmetrical arranged, the rear end of two block assembly mounting plate 1-6 is fixed on holder 2, the front end difference of two block assembly mounting plate 1-6
It is fixedly connected with two pieces of clamping jaw fixed plate 1-3.Clamping jaw drive component 1-5 is mounted between two block assembly mounting plate 1-6.Clamping jaw drives
Dynamic component 1-5 driving transmission components 1-4 drives dewclaw 1-1 movements, and dewclaw 1-1 and lower claw 1-2 is made to realize opening/closing action.
Transmission component 1-4 includes the first driving member 1-4-1, the second driving member 1-4-2 and third driving member 1-4-3.First
Driving member 1-4-1 is set there are three end, wherein first end is hinged with two pieces of clamping jaw fixed plate 1-3, second end with it is upper
The tail portion of pawl 1-1 is fixedly connected, and third end and one end of the second driving member 1-4-2 are hinged.Second driving member 1-4-2's is another
One end and one end of third driving member 1-4-3 are hinged in same connecting shaft.The other end of third driving member 1-4-3 and two pieces of folders
Pawl fixed plate 1-3 is hinged.
Clamping jaw drive component 1-5 includes clamping jaw driving cylinder 1-5-1 and U-shaped cylinder connector 1-5-2.Clamping jaw drives cylinder 1-
The both sides of the cylinder body of 5-1 are rotatablely connected with two block assembly mounting plate 1-6.One end of U-shaped cylinder connector 1-5-2 and the second driving member
Connecting shaft between 1-4-2 and third driving member 1-4-3 is hinged, and the other end and the clamping jaw of U-shaped cylinder connector 1-5-2 drive cylinder
The piston rod of 1-5-1 is fixedly connected.
Holder 2 includes rack body 2-1 and flange 2-2.Flange 2-2 is fixed on the upper surface of rack body 2-1.Collet
Driving mechanism is fixed on the lower face of rack body 2-1.
The operation principle of the robot clamp of the present embodiment is：When clamping jaw driving cylinder 1-5-1 actions, lower claw 1-2 is
Cooperation campaign fixed, that dewclaw 1-1 passes through U-shaped cylinder connector 1-5-2 and transmission component 1-4.Work as the present embodiment
Robot clamp when being in open state, after dewclaw 1-1 contractings, certain drop is formed with lower claw 1-2, even if in workpiece and mould
In the case of having gap very little, it can also be more convenient, faster grip workpiece.
(embodiment 2)
See Fig. 3 and Fig. 4, the present embodiment is substantially the same manner as Example 1, the difference is that：The transmission component 1-4 of collet 1
Including first connecting rod 1-4-4, second connecting rod 1-4-5, third connecting rod 1-4-6, fourth link 1-4-7 and shaft 1-4-8.First connects
Bar 1-4-4, second connecting rod 1-4-5, third connecting rod 1-4-6 and fourth link 1-4-7 are equipped with two.Two first connecting rod 1-4-
4 the both sides of dewclaw 1-1 and lower claw 1-2 be symmetrical arranged, and the both ends of first connecting rod 1-4-4 respectively with dewclaw 1-1 and lower claw
1-2 is rotatablely connected.Two second connecting rod 1-4-5 are symmetrical arranged in the both sides of dewclaw 1-1 and lower claw 1-2, and second connecting rod 1-
The both ends of 4-5 are rotatablely connected with dewclaw 1-1 and lower claw 1-2 respectively.First connecting rod 1-4-4 is arranged in parallel with second connecting rod 1-4-5.
Two third connecting rod 1-4-6 are symmetrical arranged at the both ends of shaft 1-4-8, one end of two third connecting rod 1-4-6 respectively with shaft
The both ends of 1-4-8 are rotatablely connected, and the other end of two third connecting rod 1-4-6 is rotatablely connected with the both sides of dewclaw 1-1 respectively.Two
Fourth link 1-4-7 is symmetrical arranged at the both ends of shaft 1-4-8, one end of two fourth link 1-4-7 respectively with two pieces of clamping jaws
Fixed plate 1-3 rotation connections, the other end of two fourth link 1-4-7 are rotatablely connected with the both ends of shaft 1-4-8 respectively.Clamping jaw
Drive component 1-5 is connect with shaft 1-4-8.One end of the U-shaped cylinder connector 1-5-2 of clamping jaw drive component 1-5 and shaft 1-4-8
Rotation connection.
Holder 2 includes rack body 2-1 and flange 2-2.Flange 2-2 is fixed on the rear end face of rack body 2-1.Collet
Driving mechanism is fixed on the front end face of rack body 2-1.The both sides of the front end face of rack body 2-1 are equipped with inclined-plane, and two tiltedly
The distance of the central axes in face from front to back gradually increases.The connecting plate 1-7 of two collets 1 is separately fixed at the holder sheet of holder 2
On two inclined-planes of the front end face of body 2-1.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical solution and advantageous effect
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the present invention
Within the scope of shield.
Claims (8)
1. a kind of robot clamp for forging automatic production line, it is characterised in that：Including collet (1) and holder (2)；Institute
It states collet (1) and is equipped at least two；The collet (1) includes dewclaw (1-1), lower claw (1-2) and collet driving mechanism；The folder
Head driving mechanism is fixed on holder (2)；The front end of the dewclaw (1-1) and lower claw (1-2) is equipped with tip；The lower claw
(1-2) is fixed in collet driving mechanism；Dewclaw (1-1) setting is above lower claw (1-2)；The collet driving mechanism is driven
Dynamic dewclaw (1-1) is drawn close or realizes opening/closing action far from lower claw (1-2).
2. a kind of robot clamp for forging automatic production line according to claim 1, it is characterised in that：It is described
Collet driving mechanism driving dewclaw (1-1) moves between lower claw (1-2) and the back upper place position of lower claw (1-2).
3. a kind of robot clamp for forging automatic production line according to claim 1, it is characterised in that：It is described
The type of drive of collet driving mechanism is pneumatic, hydraulic pressure, it is electronic in one kind.
4. a kind of robot clamp for forging automatic production line according to claim 1, it is characterised in that：It is described
There are two collet (1) is set, and the distance between head to the tail portion of two collets (1) gradually increases.
5. a kind of robot clamp for forging automatic production line according to claim 1, it is characterised in that：It is described
Collet driving mechanism includes clamping jaw fixed plate (1-3), transmission component (1-4), clamping jaw drive component (1-5) and unit installing board
(1-6)；The clamping jaw fixed plate (1-3) is symmetrical arranged two pieces；The rear portion of the lower claw (1-2) is fixed on two pieces of clamping jaw fixed plates
Between (1-3)；The dewclaw (1-1) is arranged in the top of lower claw (1-2), and the rear portion of dewclaw (1-1) passes through transmission component (1-4)
It is connect with lower claw (1-2)；The unit installing board (1-6) is symmetrical arranged two pieces, and the rear end of two block assembly mounting plates (1-6) is fixed
On holder (2), the front end of two block assembly mounting plates (1-6) is fixedly connected with two pieces of clamping jaw fixed plates (1-3) respectively；The folder
Pawl drive component (1-5) is mounted between two block assembly mounting plates (1-6)；The clamping jaw drive component (1-5) drives transmission group
Part (1-4) drives dewclaw (1-1) to move, and dewclaw (1-1) is made to realize opening/closing action with lower claw (1-2).
6. a kind of robot clamp for forging automatic production line according to claim 5, it is characterised in that：It is described
Transmission component (1-4) includes the first driving member (1-4-1), the second driving member (1-4-2) and third driving member (1-4-3)；It is described
First driving member (1-4-1) is set there are three end, wherein first end is hinged with two pieces of clamping jaw fixed plates (1-3), second
End is fixedly connected with the tail portion of dewclaw (1-1), and third end and one end of the second driving member (1-4-2) are hinged；Described
The other end of two driving members (1-4-2) is hinged on one end of third driving member (1-4-3) in same connecting shaft；The third passes
The other end of moving part (1-4-3) and two pieces of clamping jaw fixed plates (1-3) are hinged.
7. a kind of robot clamp for forging automatic production line according to claim 5, it is characterised in that：It is described
Clamping jaw drive component (1-5) includes clamping jaw driving cylinder (1-5-1) and U-shaped cylinder connector (1-5-2)；The clamping jaw drives cylinder
The both sides of the cylinder body of (1-5-1) are rotatablely connected with two block assembly mounting plates (1-6)；One end of the U-shaped cylinder connector (1-5-2)
Connecting shaft between the second driving member (1-4-2) and third driving member (1-4-3) is hinged, U-shaped cylinder connector (1-5-2) it is another
One end is fixedly connected with the piston rod of clamping jaw driving cylinder (1-5-1).
8. a kind of robot clamp for forging automatic production line according to claim 1, it is characterised in that：It is described
Holder (2) includes rack body (2-1) and flange (2-2)；The flange (2-2) is fixed on the upper surface of rack body (2-1)
On；The collet driving mechanism is fixed on the lower face of rack body (2-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810454633.8A CN108356846A (en) | 2018-05-11 | 2018-05-11 | A kind of robot clamp for forging automatic production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810454633.8A CN108356846A (en) | 2018-05-11 | 2018-05-11 | A kind of robot clamp for forging automatic production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108356846A true CN108356846A (en) | 2018-08-03 |
Family
ID=63011978
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810454633.8A Pending CN108356846A (en) | 2018-05-11 | 2018-05-11 | A kind of robot clamp for forging automatic production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108356846A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114132729A (en) * | 2021-11-29 | 2022-03-04 | 纽格润(浙江)智能科技有限公司 | Barrel cover clamping mechanism |
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|---|---|---|---|---|
| DE102011018205B3 (en) * | 2011-04-13 | 2012-10-04 | Armin Hofmann | Clamping device for clamping workpieces, has clamping element connected with housing by connecting links, where clamping element is coupled with piston by other connecting links |
| CN202506766U (en) * | 2011-10-17 | 2012-10-31 | 机械科学研究总院先进制造技术研究中心 | Flexible adjustable manipulator for grasping high-temperature steel plates |
| CN106112617A (en) * | 2016-07-21 | 2016-11-16 | 桐乡守敬应用技术研究院有限公司 | A kind of work holder |
| CN205734992U (en) * | 2016-07-08 | 2016-11-30 | 三江学院 | A kind of Simple anti-sliding hydraulic efficiency manipulator |
| CN106239187A (en) * | 2016-07-29 | 2016-12-21 | 安翔泰岳（镇江）航空科技有限公司 | A kind of fixture for wing support bar is processed |
| CN208215388U (en) * | 2018-05-11 | 2018-12-11 | 中新图锐常州科技有限公司 | It is a kind of for forging the robot clamp of automatic production line |
-
2018
- 2018-05-11 CN CN201810454633.8A patent/CN108356846A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011018205B3 (en) * | 2011-04-13 | 2012-10-04 | Armin Hofmann | Clamping device for clamping workpieces, has clamping element connected with housing by connecting links, where clamping element is coupled with piston by other connecting links |
| CN202506766U (en) * | 2011-10-17 | 2012-10-31 | 机械科学研究总院先进制造技术研究中心 | Flexible adjustable manipulator for grasping high-temperature steel plates |
| CN205734992U (en) * | 2016-07-08 | 2016-11-30 | 三江学院 | A kind of Simple anti-sliding hydraulic efficiency manipulator |
| CN106112617A (en) * | 2016-07-21 | 2016-11-16 | 桐乡守敬应用技术研究院有限公司 | A kind of work holder |
| CN106239187A (en) * | 2016-07-29 | 2016-12-21 | 安翔泰岳（镇江）航空科技有限公司 | A kind of fixture for wing support bar is processed |
| CN208215388U (en) * | 2018-05-11 | 2018-12-11 | 中新图锐常州科技有限公司 | It is a kind of for forging the robot clamp of automatic production line |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114132729A (en) * | 2021-11-29 | 2022-03-04 | 纽格润(浙江)智能科技有限公司 | Barrel cover clamping mechanism |
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