CN108839046A - A kind of clamp assemblies and flexible retainer - Google Patents
A kind of clamp assemblies and flexible retainer Download PDFInfo
- Publication number
- CN108839046A CN108839046A CN201810955314.5A CN201810955314A CN108839046A CN 108839046 A CN108839046 A CN 108839046A CN 201810955314 A CN201810955314 A CN 201810955314A CN 108839046 A CN108839046 A CN 108839046A
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- flexible hinge
- clamp assemblies
- actuator
- driving
- flexible
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- 230000000712 assembly Effects 0.000 title claims abstract description 41
- 238000000429 assembly Methods 0.000 title claims abstract description 41
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000004033 plastic Substances 0.000 claims description 7
- 229920003023 plastic Polymers 0.000 claims description 7
- 229920001296 polysiloxane Polymers 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
-
- 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
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Clamps And Clips (AREA)
Abstract
The invention discloses a kind of clamp assemblies and flexible retainers, clamp assemblies of the invention, including symmetrically arranged left clamping part and right clamping part, fixed part below the left clamping part and the right clamping part, the left side, right clamping part includes flexible hinge, 5th flexible hinge is connected with the middle part of the fixed part and right end including clamp assemblies respectively, driving assembly below clamp assemblies, Power Component below driving assembly, clamp assemblies include symmetrically arranged left clamping part and right clamping part, fixed part below left clamping part and right clamping part；Driving assembly includes set on the left actuator of top and right actuator, the connecting rod for being horizontally arranged at lower section, and left actuator and right actuator are symmetrical set.The present invention is a kind of clamper that can flexibly grab article.
Description
Technical field
The present invention relates to clamper field more particularly to a kind of clamp assemblies and flexible retainers.
Background technique
The clamper people that can help pick up article, are widely used in completing industry, the crawl task in daily life,
Present common clamper adaptive ability is low, cannot steadily grab the different article of shape, can only generally grab rectangular
Article can only grab round or spherical objects, inflexible for use.
Summary of the invention
The technical problem to be solved by the present invention is to：A kind of clamper that can flexibly grab article is provided.
The solution that the present invention solves its technical problem is：
A kind of clamp assemblies, including symmetrically arranged left clamping part and right clamping part, it is set to the left clamping part and described
Fixed part below right clamping part, the right clamping part include the top supporting rod being vertically arranged, top supporting rod lower end
Left side, right side be connected separately with the first flexible hinge, the second flexible hinge, first flexible hinge, the second flexible hinge
Lower end is connected separately with inside supporting rod, outboard beam, and the inside supporting rod, outboard beam lower end are connected separately with third flexible hinge
Chain, the 4th flexible hinge, the 4th flexible hinge lower end are connected with the clamping drive rod being laterally arranged, the clamping drive rod
Left end is connected with the 5th flexible hinge, the third flexible hinge, the 5th flexible hinge respectively with the middle part of the fixed part and
Right end is connected.
As a further improvement of the above technical scheme, the plastic member that the clamp assemblies are integrally formed.
As a further improvement of the above technical scheme, the clamp assemblies are silicone member.
As a further improvement of the above technical scheme, first flexible hinge, the second flexible hinge, third flexible hinge
Chain, the 4th flexible hinge, the 5th flexible hinge are straight round flexible hinge.
As a further improvement of the above technical scheme, limiting component, the limit are equipped on the left of the outboard beam lower end
Gap is equipped between component and the clamping drive rod.
A kind of flexible retainer, including clamp assemblies described in any one of claim 1 to 5, be set to the clamp assemblies
The driving assembly of lower section, the Power Component below the driving component；
The driving component includes the left actuator and right actuator, the connecting rod for being horizontally arranged at lower section for being set to top,
The left and right ends of the connecting rod are respectively articulated with the left actuator and the right actuator, the upper end of the right actuator and institute
The right end for stating clamping drive rod is hinged, and the left actuator and the left clamping part are hinged, the left actuator and the right drive
Moving part is symmetrical set；
The Power Component includes：The fixing seat for the hollow cylindrical being vertically arranged is set in the fixing seat vertically
Driving device, the pars contractilis being vertically arranged, the output end of the driving device are connected with the bottom end of the pars contractilis, described flexible
The top in portion and connecting rod are affixed, fixing seat connection opposite with the fixed part.
As a further improvement of the above technical scheme, the driving device is motor, and the pars contractilis includes screw rod, set
Feed screw nut outside screw rod, the output end of the motor is connected with the bottom end of the screw rod, in feed screw nut and connecting rod
The heart is affixed, and the Power Component further includes shaft coupling, and the screw rod is connect with motor by shaft coupling.
It as a further improvement of the above technical scheme, further include driving joint element for bar that two pieces is symmetrical set, institute
It states driving joint element for bar upper and lower ends and is separately connected the clamp assemblies and the driving component, the drive rod positioned at right part connects
The upper end of part and the right end of clamping drive rod are affixed, hinged positioned at the lower end of the driving joint element for bar of right part and right actuator.
As a further improvement of the above technical scheme, the Power Component includes the symmetrically arranged driving assembly of two pieces
Seat, two pieces the driving component seat are respectively arranged on front side and the rear side of the connecting rod, the top of two pieces the driving component seat
It is affixed with the fixed part respectively, the connection opposite with the fixing seat of the lower part of two pieces the driving component seat.
As a further improvement of the above technical scheme, the Power Component further includes shell, and the shell is cylindrical in shape, institute
Casing is stated outside the fixing seat, the top and bottom of the shell are solid with the driving component seat and the fixing seat respectively
It connects.
The beneficial effects of the invention are as follows：Both it can grab, can also be grabbed with envelope in parallel, it is used suitable for crawl life
The most of article arrived；Since clamp assemblies are connected by flexible hinge everywhere, when grabbing article, flexible hinge can
The thrust of buffered-display driver component, after crawl object has been clamped, driving assembly continues to act on, and is also not easy to weigh crawl wounded
Object.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described.Obviously, described attached drawing is a part of the embodiments of the present invention, rather than is all implemented
Example, those skilled in the art without creative efforts, can also be obtained according to these attached drawings other designs
Scheme and attached drawing.
Fig. 1 is a kind of perspective view of flexible retainer of the present invention；
Fig. 2 is the schematic diagram of clamp assemblies of the invention；
Fig. 3 is a kind of explosive view of flexible retainer of the present invention；
Fig. 4 is the schematic diagram of limiting component of the invention；
Fig. 5 is schematic diagram when clamp assemblies of the invention clamp object in parallel；
Schematic diagram when Fig. 6 is clamp assemblies envelope clamping object of the invention.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid
Other embodiments obtained, belong to the scope of protection of the invention under the premise of creative work.In addition, be previously mentioned in text
All connections or connection relationship not singly refer to that component directly connects, and referring to can be added deduct according to specific implementation situation by adding
Few couple auxiliary, to form more preferably coupling structure.Each technical characteristic in the present invention, in the premise of not conflicting conflict
Under can be with combination of interactions.
It is the embodiment of the present invention, specifically referring to figs. 1 to Fig. 6：
A kind of clamp assemblies, including symmetrically arranged left clamping part and right clamping part, it is set to the left clamping part and described
Fixed part 7 below right clamping part, the right clamping part include the top supporting rod 1 being vertically arranged, under the top supporting rod 1
Left side, the right side at end are connected separately with the first flexible hinge 21, the second flexible hinge 22, first flexible hinge 21, second
22 lower end of flexible hinge is connected separately with inside supporting rod 2, outboard beam 3, and the inside supporting rod 2,3 lower end of outboard beam connect respectively
It is connected to third flexible hinge 23, the 4th flexible hinge 24,24 lower end of the 4th flexible hinge is connected with the clamping being laterally arranged
Drive rod 4,4 left end of clamping drive rod are connected with the 5th flexible hinge 25, the third flexible hinge 23, the 5th flexible hinge
Chain 25 is connected with the middle part of the fixed part 7 and right end respectively.
Further, the plastic member that the clamp assemblies are integrally formed.Plastic member and at low cost, and integrally at
The plastic member of type is molding high-efficient, eliminates many assembling procedures, has the benefit for reducing cost.
Further, the clamp assemblies are silicone member.Silicon rubber flexibility with higher, after multiple deformation
The ability of reinstatement is stronger, can adapt to biggish deformation.
Further, first flexible hinge 21, the second flexible hinge 22, third flexible hinge 23, the 4th flexible hinge
Chain 24, the 5th flexible hinge 25 are straight round flexible hinge.Straight round flexible hinge.Integrally formed plastic member is come
It says, straight round flexible hinge has structure simple, and stability is good, the easy benefit of injection molding.
Further, limiting component 5 is equipped on the left of 3 lower end of outboard beam, the limiting component 5 drives with the clamping
Gap is equipped between bar 4.When the clamp assemblies are in original state, the first flexible hinge 21, the second flexible hinge 22, third
Quadrangle composed by flexible hinge 23, the 5th flexible hinge 25 is parallelogram.The shape of parallelogram is unstable, folder
Angular deformation range is big, and setting limiting component 5 can limit outboard beam 3 and clamp the minimum angle between drive rod 4, to guarantee
In parallel clamping process, top supporting rod keeps plumbness, to realize stable holding.
The present invention also proposes a kind of flexible retainer, including appeals described in any item clamp assemblies, is set to the clamping
Driving assembly below component, the Power Component below the driving component；The driving component includes being set to top
Left actuator 11 and right actuator 12, the connecting rod 13 for being horizontally arranged at lower section, the left and right ends of the connecting rod 13 are cut with scissors respectively
Connect the left actuator 11 and the right actuator 12, the right end of the upper end of the right actuator 12 and the clamping drive rod 4
Hingedly, the left actuator 11 and the left clamping part are hinged, 12 bilateral symmetry of the left actuator 11 and the right actuator
Setting；The Power Component includes：The fixing seat 19 for the hollow cylindrical being vertically arranged is set in the fixing seat 19 vertically
The output end of driving device 20, the pars contractilis being vertically arranged, the driving device 20 is connected with the bottom end of the pars contractilis, described
The top of pars contractilis and connecting rod 13 are affixed, and the fixing seat 19 is opposite with the fixed part 7 to be connect.
Further, the driving device 20 is motor, and the pars contractilis includes screw rod 15, the screw rod covered outside screw rod 15
Nut 14, the output end of the motor are connected with the bottom end of the screw rod 15, and feed screw nut 14 and the center of connecting rod 13 are affixed,
The Power Component further includes shaft coupling 16, and the screw rod 15 is connect with motor by shaft coupling 16.Above-mentioned Power Component drives
Dynamic principle is simple, and structure is simple, at low cost.
It further, further include driving joint element for bar 9 that two pieces is symmetrical set, about the 9 driving joint element for bar
Both ends are separately connected the clamp assemblies and the driving component, drive positioned at the upper end of the driving joint element for bar 9 of right part and clamping
The right end of lever 4 is affixed, hinged positioned at the lower end of the driving joint element for bar 9 of right part and right actuator 12.Due to driving assembly
Intensity requirement is higher than clamp assemblies, and setting driving joint element for bar 9 facilitates integrally formed plastics clamp assemblies and a variety of materials system
At driving assembly be attached.
Further, the Power Component includes the symmetrically arranged driving assembly seat 17 of two pieces, two pieces the driving component
Front side and the rear side that seat 17 is respectively arranged on the connecting rod 13, the top of two pieces the driving component seat 17 respectively with the fixation
Portion 7 is affixed, and the lower part of two pieces the driving component seat 17 is opposite with the fixing seat 19 to be connect.Above structure can the company of limitation
The axis direction of 13 wire winding rod 15 of extension bar rotates, to realize the guiding role of upper and lower translational motion.
Further, the Power Component further includes shell 18, and the shell 18 is cylindrical in shape, and 18 sets of the shell is described
Outside fixing seat 19, the top and bottom of the shell 18 are affixed with the driving component seat 17 and the fixing seat 19 respectively.Outside
Shell 18 mainly plays a part of to be connected and fixed seat 19 and driving assembly seat 17.
The working principle of the invention is as follows：
When the clamping object in parallel of top supporting rod 1, the schematic diagram of clamp assemblies is as shown in Figure 5.The output of driving device 20
End drives pars contractilis flexible up and down, since pars contractilis and connecting rod 13 are affixed, so connecting rod 13 is transported up and down with pars contractilis
Dynamic, then, driving assembly generates motive force upward or downward to clamp assemblies；Connect since fixing seat 19 is opposite with fixed part 7
It connects, so 7 position of fixed part is fixed, and the right end for clamping drive rod 4 is pushed by right about 12 actuator, and right clamping part is with folder
It holds the movement of drive rod 4 and deforms, Fig. 5 is the schematic diagram of mechanism in parallel clamping process, the folder of outboard beam 3 and clamping drive rod 4
Angle is in reduction trend, in addition, as seen from Figure 2, when clamp assemblies are in original state, the first flexible hinge 21, second is soft
Property hinge 22, third flexible hinge 23, quadrangle composed by the 5th flexible hinge 25 be parallelogram, thus with clamping
The variable angle of drive rod 4 and fixed part 7, top supporting rod be able to maintain plumbness with realize clamp in parallel it is different size of
Square objects.
When envelope clamps object, the schematic diagram of clamp assemblies is as shown in Figure 6.Initially, driving device 20 operates, and will clamp group
Part is opened, so that crawl object grabs object and inside supporting rod 2 is close not by the blocking of top supporting rod 1；Inside supporting rod
2 move to touch crawl object when, crawl object abutted with inside supporting rod 2；Clamping drive rod 4 pushes outboard beam 3 to move；
Top supporting rod 1 realizes that envelope is entire until reaching stable holding state with crawl object contact under the promotion of outer side lever 3
The holding action of object.
The invention has the benefit that：Including grabbing the grasp mode with envelope crawl in parallel, suitable for crawl life
Used most of article；Since clamp assemblies are connected by flexible hinge everywhere, when grabbing article, flexible hinge
It is capable of the thrust of buffered-display driver component, after crawl object has been clamped, driving assembly continues to act on, and is also not easy to weigh wounded
Grab object；And the present invention only needs to control the rotation direction of motor, so that it may it realizes crawl and puts down the function of article, behaviour
Make simply, so the present invention has the benefit of flexibly crawl article.Meanwhile mechanism of the present invention is simple, Power Component can use
Motor and screw rod and feed screw nut or cylinder, oil cylinder etc., the part that driving assembly includes is few, and driving principle is simple, drives
It is dynamic to constitute simply, so the present invention also has benefit at low cost.
Better embodiment of the invention is illustrated above, but the invention is not limited to the implementation
Example, those skilled in the art can also make various equivalent modifications on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent variation or replacement are included in the claim of this application limited range.
Claims (10)
1. a kind of clamp assemblies, it is characterised in that：Including symmetrically arranged left clamping part and right clamping part, it is set to the left clamping
Fixed part (7) below portion and the right clamping part, the right clamping part includes the top supporting rod (1) being vertically arranged, described
The left side, right side of top supporting rod (1) lower end are connected separately with the first flexible hinge (21), the second flexible hinge (22), described
First flexible hinge (21), the second flexible hinge (22) lower end are connected separately with inside supporting rod (2), outboard beam (3), described interior
Side supporting rod (2), outboard beam (3) lower end are connected separately with third flexible hinge (23), the 4th flexible hinge (24), and the described 4th
Flexible hinge (24) lower end is connected with the clamping drive rod (4) being laterally arranged, and clamping drive rod (4) left end is connected with the 5th
Flexible hinge (25), the third flexible hinge (23), the 5th flexible hinge (25) respectively with the middle part of the fixed part (7) and
Right end is connected.
2. a kind of clamp assemblies according to claim 1, it is characterised in that：The plastics that the clamp assemblies are integrally formed
Component.
3. a kind of clamp assemblies according to claim 1, it is characterised in that：The clamp assemblies are silicone member.
4. a kind of clamp assemblies according to claim 3, it is characterised in that：It is first flexible hinge (21), second soft
Property hinge (22), third flexible hinge (23), the 4th flexible hinge (24), the 5th flexible hinge (25) be straight round flexible hinge
Chain.
5. a kind of clamp assemblies according to claim 4, it is characterised in that：Limit is equipped on the left of outboard beam (3) lower end
Position component (5) is equipped with gap between the limiting component (5) and the clamping drive rod (4).
6. a kind of flexible retainer, it is characterised in that：Including clamp assemblies described in any one of claim 1 to 5, set on described
Driving assembly below clamp assemblies, the Power Component below the driving component；
The driving component includes the left actuator (11) and right actuator (12), the connection for being horizontally arranged at lower section for being set to top
Bar (13), the left and right ends of the connecting rod (13) are respectively articulated with the left actuator (11) and the right actuator (12), institute
The upper end for stating right actuator (12) and the right end of clamping drive rod (4) are hinged, the left actuator (11) and the left folder
It is hinged to hold portion, the left actuator (11) and the right actuator (12) are symmetrical set；
The Power Component includes：The fixing seat (19) for the hollow cylindrical being vertically arranged is set to the fixing seat (19) vertically
The pars contractilis that interior driving device (20), is vertically arranged, the output end of the driving device (20) and the bottom end of the pars contractilis
It is connected, the top of the pars contractilis and connecting rod (13) are affixed, and the fixing seat (19) is opposite with the fixed part (7) to be connect.
7. a kind of flexible retainer according to claim 6, it is characterised in that：The driving device (20) is motor, institute
Pars contractilis is stated to include screw rod (15), cover the feed screw nut (14) outside in screw rod (15), the output end of the motor and the screw rod
(15) bottom end is connected, and feed screw nut (14) and the center of connecting rod (13) are affixed, and the Power Component further includes shaft coupling
(16), the screw rod (15) is connect with motor by shaft coupling (16).
8. a kind of flexible retainer according to claim 6, it is characterised in that：It further include the drive that two pieces is symmetrical set
Lever connector (9), driving joint element for bar (9) upper and lower ends are separately connected the clamp assemblies and the driving component,
Positioned at right part driving joint element for bar (9) upper end with clamping drive rod (4) right end it is affixed, positioned at right part drive rod connect
The lower end and right actuator (12) of part (9) are hinged.
9. a kind of flexible retainer according to claim 6, it is characterised in that：The Power Component includes that two pieces is symmetrically set
The driving assembly seat (17) set, two pieces the driving component seat (17) are respectively arranged on front side and the rear side of the connecting rod (13),
The top of two pieces the driving component seat (17) is affixed with the fixed part (7) respectively, two pieces the driving component seat (17)
Lower part is opposite with the fixing seat (19) to be connect.
10. a kind of flexible retainer according to claim 9, it is characterised in that：The Power Component further includes shell
(18), the shell (18) is cylindrical in shape, the shell (18) cover the fixing seat (19) outside, the top of the shell (18) and
Bottom is affixed with the driving component seat (17) and the fixing seat (19) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810955314.5A CN108839046A (en) | 2018-08-21 | 2018-08-21 | A kind of clamp assemblies and flexible retainer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810955314.5A CN108839046A (en) | 2018-08-21 | 2018-08-21 | A kind of clamp assemblies and flexible retainer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108839046A true CN108839046A (en) | 2018-11-20 |
Family
ID=64188201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810955314.5A Pending CN108839046A (en) | 2018-08-21 | 2018-08-21 | A kind of clamp assemblies and flexible retainer |
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| Country | Link |
|---|---|
| CN (1) | CN108839046A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539257A (en) * | 2019-08-05 | 2019-12-06 | 中山大学 | Multifunctional bionic clamp holder |
| CN110539262A (en) * | 2019-09-06 | 2019-12-06 | 佛山科学技术学院 | Parallel-driven flexible under-actuated clamp holder |
| CN110561478A (en) * | 2019-09-30 | 2019-12-13 | 佛山科学技术学院 | Rigid-flexible coupling clamp holder |
| CN111702686A (en) * | 2020-08-20 | 2020-09-25 | 湖南工业职业技术学院 | Special-shaped part clamping is with adding clamping apparatus |
| CN113183168A (en) * | 2021-04-22 | 2021-07-30 | 常州工学院 | Clamping mechanism |
| CN114833511A (en) * | 2022-05-19 | 2022-08-02 | 南京工业职业技术大学 | Traditional Chinese medicine dryer keel welding system and welding method thereof |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539257A (en) * | 2019-08-05 | 2019-12-06 | 中山大学 | Multifunctional bionic clamp holder |
| CN110539257B (en) * | 2019-08-05 | 2021-01-01 | 中山大学 | Multifunctional bionic clamp holder |
| CN110539262A (en) * | 2019-09-06 | 2019-12-06 | 佛山科学技术学院 | Parallel-driven flexible under-actuated clamp holder |
| CN110561478A (en) * | 2019-09-30 | 2019-12-13 | 佛山科学技术学院 | Rigid-flexible coupling clamp holder |
| CN111702686A (en) * | 2020-08-20 | 2020-09-25 | 湖南工业职业技术学院 | Special-shaped part clamping is with adding clamping apparatus |
| CN111702686B (en) * | 2020-08-20 | 2020-11-10 | 湖南工业职业技术学院 | Special-shaped part clamping is with adding clamping apparatus |
| CN113183168A (en) * | 2021-04-22 | 2021-07-30 | 常州工学院 | Clamping mechanism |
| CN114833511A (en) * | 2022-05-19 | 2022-08-02 | 南京工业职业技术大学 | Traditional Chinese medicine dryer keel welding system and welding method thereof |
| CN114833511B (en) * | 2022-05-19 | 2023-10-17 | 南京工业职业技术大学 | Keel welding system and welding method for traditional Chinese medicine dryer |
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