CN109940647A - Plug clamping manipulator used in cast tube production process - Google Patents
Plug clamping manipulator used in cast tube production process Download PDFInfo
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- CN109940647A CN109940647A CN201910303875.1A CN201910303875A CN109940647A CN 109940647 A CN109940647 A CN 109940647A CN 201910303875 A CN201910303875 A CN 201910303875A CN 109940647 A CN109940647 A CN 109940647A
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- scissor arms
- plug
- clamping jaw
- clamping
- production process
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 29
- 230000008602 contraction Effects 0.000 claims abstract description 15
- 239000004744 fabric Substances 0.000 claims 1
- 230000000903 blocking effect Effects 0.000 description 6
- 239000004568 cement Substances 0.000 description 5
- 238000005266 casting Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 238000005273 aeration Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention discloses plug clamping manipulator used in a kind of cast tube production process, including clamping device, the telescopic device that is connect with clamping device and the driving device switched between elongation state and contraction state for controlling telescopic device for clamping plug.Plug clamping manipulator used in cast tube production process of the invention, structure is simple, is easy to make, low manufacture cost, and the working efficiency of upper lower end cap in cast tube production process can be improved, reduce labor intensity.
Description
Technical field
The invention belongs to cast tube production equipment technologies, specifically, the present invention relates in a kind of cast tube production process
The plug clamping manipulator used.
Background technique
In cast tube production process, cement lining is important anticorrosion process, is needed before cast tube liner cement to bellmouth and is inserted
Mouth is blocked using plug, guarantees that cement will not overflow during liner.Upper lower end cap is by manually being operated at present,
The bellmouth and spigot for being mounted on cast tube by manually having removed plug, are inflated after installing, after use again by manually deflating,
By manually moving down plug after deflation, plug weight is big, and this mode of operation leads to large labor intensity, and working efficiency
It is low.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention provides a kind of casting
Plug clamping manipulator used in pipe production process, it is therefore an objective to reduce the labor intensity of upper lower end cap in cast tube production process.
To achieve the goals above, the technical scheme adopted by the invention is as follows: plug used in cast tube production process clamping
Manipulator, including clamping device, the telescopic device that is connect with clamping device and for controlling telescopic device for picking up plug
The driving device switched between elongation state and contraction state.
Clamping device includes the first clamping jaw and the second clamping jaw for being inserted into the centre bore of plug, the first clamping jaw and second
Clamping jaw is positioned opposite.
First clamping jaw and the second clamping jaw are connect with the telescopic device, the distance between the first clamping jaw and the second clamping jaw
Reduce as telescopic device switches to elongation state, the distance between the first clamping jaw and the second clamping jaw switch with telescopic device
Increase to contraction state.
The telescopic device includes the first supporting assembly connecting with first clamping jaw, connect with second clamping jaw
Second supporting assembly and the scissor arm component being connect with the first supporting assembly and the second supporting assembly.
The scissor arm component includes the first scissor arms connecting with first supporting assembly and the second support group
Part connection and the second scissor arms being rotatablely connected by jackshaft and the first scissor arms, the third with the rotation connection of the first scissor arms
Scissor arms, with the 4th scissor arms of the second scissor arms rotation connection and connect with the first supporting assembly and the second supporting assembly
Intermediate bar, jackshaft are connect with the driving device and intermediate bar.
First supporting assembly includes for being rotatablely connected with first scissor arms and connecting with first clamping jaw
One connecting rod and the first rocking bar being rotatablely connected with first connecting rod and the intermediate bar, the first rocking bar and the first scissor arms phase
In parallel, first connecting rod is parallel with intermediate bar.
One end of first scissor arms and the first connecting rod are rotatablely connected, the other end of the first scissor arms and described the
The rotation connection of three scissor arms, the jackshaft are located at the position between the both ends of the first scissor arms.
Second supporting assembly includes for being rotatablely connected with second scissor arms and connecting with second clamping jaw
Two connecting rods and the second rocking bar being rotatablely connected with second connecting rod and the intermediate bar, the second rocking bar and the second scissor arms phase
In parallel, second connecting rod is parallel with intermediate bar.
One end of second scissor arms and the second connecting rod are rotatablely connected, the other end of the second scissor arms and described the
The rotation connection of four scissor arms, the jackshaft are located at the position between the both ends of the second scissor arms.
The driving device includes and the push-pull rod of the intermediate axis connection and connect with push-pull rod and control push-pull rod and do
The actuator of linear motion, actuator are electric cylinders.
Plug clamping manipulator used in cast tube production process of the invention, structure is simple, is easy to make, cost of manufacture
It is low, the working efficiency of upper lower end cap in cast tube production process can be improved, reduce labor intensity.
Detailed description of the invention
This specification includes the following drawings, and shown content is respectively:
Fig. 1 is the structural schematic diagram that plug clamping manipulator of the present invention is in elongation state；
Fig. 2 is the structural schematic diagram that plug clamping manipulator of the present invention is in contraction state；
In the figure, it is marked as 1, plug；2, aeration aperture；3, the first clamping jaw；4, pneumatic head；5, shaft；6, first connecting rod；7,
One scissor arms；8, the first rocking bar；9, intermediate bar；10, shaft；11, jackshaft；12, shaft；13, the second scissor arms；14, second
Rocking bar；15, push-pull rod；16, shaft；17, shaft；18, third scissor arms；19, the 4th scissor arms；20, shaft；21, shaft；
22, actuator；23, fixed frame；24, shaft；25, second connecting rod；26, gas tube；27, deflation head；28, the second clamping jaw.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to a specific embodiment of the invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to design of the invention, technical solution
Solution, and facilitate its implementation.
It should be noted that in embodiment disclosed below, " first ", " second ", " third " and " the 4th " simultaneously
Not representative structure and/or absolute differentiation relationship functionally do not represent the successive sequence that executes yet, and just for the sake of description
It is convenient.
As depicted in figs. 1 and 2, the present invention provides plug clamping manipulator used in a kind of cast tube production process, packets
Include the clamping device for picking up plug, the telescopic device connecting with clamping device and for controlling telescopic device in elongation state
The driving device switched between contraction state.
Specifically, as depicted in figs. 1 and 2, plug is cirque structure, in cast tube production process, in cast tube
When wall carries out the coated lining of cement, need plug to be mounted on by plug clamping manipulator the bellmouth or spigot of cast tube.It is casting
Inside pipe after coated lining cement, then by plug clamping manipulator plug is removed from cast tube.Plug clamping manipulator substitution
It manually realizes the installation of plug and removes, labor intensity can be reduced, can also be improved upper lower end cap in cast tube production process
Working efficiency.
As depicted in figs. 1 and 2, clamping device includes the first clamping jaw 3 and the second folder for being inserted into the centre bore of plug
Pawl 28, the first clamping jaw 3 and the second clamping jaw 28 are positioned opposite.First clamping jaw 3 and the second clamping jaw 28 are connect with telescopic device, are stretched
During device switches between elongation state and contraction state, the distance between the first clamping jaw 3 and the second clamping jaw 28
Reduce as telescopic device switches to elongation state, the distance between the first clamping jaw 3 and the second clamping jaw 28 are with telescopic device
It switches to contraction state and increases.It is needing in installed plug on cast tube, the first clamping jaw 3 and the second clamping jaw 28 are inserted into plug
Centre bore in, telescopic device switches to contraction state by elongation state so that between the first clamping jaw 3 and the second clamping jaw 28 away from
From being gradually increased, final first clamping jaw 3 and the second clamping jaw 28 are bonded with the inner headed face of plug, the first clamping jaw 3 and the second clamping jaw 28
Radial along plug applies support force to plug, and the first clamping jaw 3 and the second clamping jaw 28 are matched with stretching plug, realized to plug
Pickup；After plug is mounted on cast tube, plug clamping manipulator need to be separated with plug, in plug clamping manipulator in stifled
When head separation, telescopic device switches to elongation state by contraction state, so that the distance between the first clamping jaw 3 and the second clamping jaw 28
It is gradually reduced, the first clamping jaw 3 is disengaged with the second clamping jaw 28 with plug, and plug is released, and can finally be extracted out from plug
First clamping jaw 3 and the second clamping jaw 28.
As depicted in figs. 1 and 2, the first clamping jaw 3 and the second clamping jaw 28 are in the same straight line with the axis perpendicular of plug
On, the first clamping jaw 3 and the second clamping jaw 28 are to be arranged symmetrically, and the first clamping jaw 3 and the second clamping jaw 28 are L-shaped structure, 3 He of the first clamping jaw
Second clamping jaw 28 all has the blocking portion for playing position-limiting action to plug in the axial direction of plug when picking up plug, the blocking
Portion has the length direction of certain length and blocking portion parallel with the radial direction of plug, and blocking portion is directed away from the center of plug
Place extends, in this way after the first clamping jaw 3 and the second clamping jaw 28 are bonded with the inner headed face of plug, the first clamping jaw 3 and the second clamping jaw 28
Blocking portion in plug end face fitting (end face of plug be plug separate telescopic device one end end face), Jin Erke
To play position-limiting action to plug in the axial direction of plug, plug is maintained between blocking portion and telescopic device, can be to avoid stifled
Head falls off, and improves the reliability of pickup.
As depicted in figs. 1 and 2, telescopic device includes the first supporting assembly connecting with the first clamping jaw 3 and the second clamping jaw 28
Second supporting assembly of connection and the scissor arm component being connect with the first supporting assembly and the second supporting assembly.Scissor arm component
Including connect with the first supporting assembly the first scissor arms 7, connect with the second supporting assembly and cut by jackshaft 11 with first
The third scissor arms 18 and the second scissor arms of the second scissor arms 13 and the rotation connection of the first scissor arms 7 that yoke 7 is rotatablely connected
4th scissor arms 19 of 13 rotation connections and the intermediate bar 9 being connect with the first supporting assembly and the second supporting assembly, jackshaft
11 connect with driving device and intermediate bar 9.First scissor arms 7 are identical with the length scale of the second scissor arms 13, third scissor arms
18 is identical with the length scale of the 4th scissor arms 19, and the length of the first scissor arms 7 and the second scissor arms 13 is greater than third scissor arms
18 and the 4th scissor arms 19 length.First scissor arms 7 and the second scissor arms 13 are realized by jackshaft 11 to be rotatablely connected, and shape
At X-shaped structure, the corner dimension between the first scissor arms 7 and the second scissor arms 13 is variable.Third scissor arms 18 and the 4th scissor
The V-shaped arrangement of arm 19, the corner dimension between third scissor arms 18 and the 4th scissor arms 19 are variable.The length of first scissor arms 7
One end on direction is rotatablely connected by shaft 10 and the first supporting assembly, the other end on the length direction of the first scissor arms 7
It is rotatablely connected by one end on the length direction of shaft 17 and third scissor arms 18, shaft 10 and shaft 17 and 11 phase of jackshaft
Parallel and jackshaft 11 is between shaft 10 and shaft 17；One end on the length direction of second scissor arms 13 passes through shaft 21
It is rotatablely connected with the second supporting assembly, the other end on the length direction of the second scissor arms 13 passes through shaft 16 and the 4th scissor arms
One end rotation connection on 19 length direction, shaft 21 and shaft 16 is parallel with jackshaft 11 and jackshaft 11 is located at shaft
Between 21 and shaft 16, shaft 16 and shaft 17 be in on the same straight line of the axis perpendicular of plug；Third scissor arms 18
Length direction on the other end and the 4th scissor arms 19 length direction on the other end pass through same shaft 20 with it is fixed
Frame 23 is rotatablely connected, the shaft 20 is parallel with jackshaft 11 and the shaft 20 with jackshaft 11 in equal with the axis of plug
On capable same straight line, the axis of jackshaft 11 and the axis perpendicular of plug.Telescopic device switches to elongation by contraction state
When state, the angle between the first scissor arms 7 and the second scissor arms 13 is gradually reduced, third scissor arms 18 and the 4th scissor arms 19
Between angle be gradually reduced, the distance between jackshaft 11 and shaft 20 are gradually reduced；Telescopic device is switched by elongation state
When to contraction state, the angle between the first scissor arms 7 and the second scissor arms 13 is gradually increased, and third scissor arms 18 and the 4th are cut
Angle between yoke 19 is gradually increased, and the distance between jackshaft 11 and shaft 20 are gradually increased.
As depicted in figs. 1 and 2, the first supporting assembly includes being rotatablely connected with the first scissor arms 7 and connecting with the first clamping jaw 3
First connecting rod 6 and the first rocking bar 8 for being rotatablely connected with first connecting rod 6 and intermediate bar 9, the first rocking bar 8 and the first scissor arms 7
Parallel, first connecting rod 6 is parallel with intermediate bar 9.Second supporting assembly includes being rotatablely connected with the second scissor arms 13 and with the
The second connecting rod of two clamping jaws 28 connection and the second rocking bar 14 being rotatablely connected with second connecting rod and intermediate bar 9, the second rocking bar 14
Parallel with the second scissor arms 13, second connecting rod is parallel with intermediate bar 9, intermediate bar 9 be located at first connecting rod 6 and second connecting rod it
Between.One end of first scissor arms 7 and first connecting rod 6 are rotatablely connected, and the other end and third scissor arms 18 of the first scissor arms 7 rotate
Connection, jackshaft 11 are located at the position between the both ends of the first scissor arms 7.One end of second scissor arms 13 and second connecting rod turn
Dynamic connection, the other end of the second scissor arms 13 and the 4th scissor arms 19 are rotatablely connected, and jackshaft 11 is located at the second scissor arms 13
At position between both ends.First supporting assembly is connected with the first scissor arms 7 and intermediate bar 9, the second supporting assembly and second
Scissor arms 13 are connected with intermediate bar 9, form two parallelogram sturcutres, it is integrally-built to help to improve manipulator in this way
Stability, and structure is simple, facilitates production.By the translational motion of first connecting rod 6 and second connecting rod, so that the first clamping jaw 3
Parallel state is remained with the second clamping jaw 28, it is ensured that can accurately clamp plug.
As depicted in figs. 1 and 2, one end on the length direction of the first scissor arms 7 passes through the length of shaft 10 and first connecting rod 6
One end rotation connection on direction is spent, the other end on the length direction of first connecting rod 6 passes through the length of shaft 5 and the first rocking bar 8
One end rotation connection and the end of first connecting rod 6 on degree direction are fixedly connected with the first clamping jaw 3, and the first clamping jaw 3 connects along first
The direction that the length direction of bar 6 is directed away from first connecting rod 6 extends, and shaft 10 is parallel with shaft 5, the length of the first rocking bar 8
The other end on direction is rotatablely connected by one end on the length direction of shaft 12 and intermediate bar 9, the length direction of intermediate bar 9
On the other end connect with jackshaft 11；One end on the length direction of second scissor arms 13 passes through shaft 21 and second connecting rod
One end rotation connection on length direction, the other end on the length direction of second connecting rod pass through shaft 24 and the second rocking bar 14
One end rotation connection and the end of second connecting rod on length direction are fixedly connected with the second clamping jaw 28, and the second clamping jaw 28 is along second
The direction that the length direction of connecting rod is directed away from second connecting rod extends, and shaft 21 is parallel with shaft 24, the length of the second rocking bar 14
The other end on degree direction is also to be rotatablely connected by one end on the length direction of shaft 12 and intermediate bar 9.First rocking bar, 8 He
The V-shaped distribution of second rocking bar 14 and the first rocking bar 8 is identical with the length scale of the second rocking bar 14, first connecting rod 6 and second connecting rod
Length scale it is identical, the length direction of the first rocking bar 8 is parallel with the length direction of the first scissor arms 7, the second rocking bar 14
Length direction is parallel with the length direction of the second scissor arms 13, the first rocking bar 8, the second rocking bar 14, the first clamping jaw 3 and the second folder
Pawl 28 is located at the same side of intermediate bar 9, and third scissor arms 18 and the 4th scissor arms 19 are located at the other side of intermediate bar 9.
As depicted in figs. 1 and 2, driving device include the push-pull rod 15 connecting with jackshaft 11 and connect with push-pull rod 15 and
The actuator 22 that control push-pull rod 15 moves in a straight line, actuator 22 are preferably electric cylinders, and electric cylinders are telescopic component.Actuator
22 are fixedly connected with fixed frame 23, and electric cylinders control push-pull rod 15 and do linear reciprocation fortune along the direction parallel with the axis of plug
It is dynamic, and then realize switching of the telescopic device between elongation state and contraction state.Push-pull rod 15 has certain length, push-and-pull
One end of bar 15 is connect with jackshaft 11, and the other end of push-pull rod 15 is connect with actuator 22.
Plug clamping manipulator of the invention is used cooperatively with industrial robot or Cartesian robot, plug clamping machine
The fixed frame 23 of tool hand is connected with the end effector 22 of the end effector 22 of industrial robot or Cartesian robot,
Plug clamping manipulator is driven integrally to be moved by industrial robot or Cartesian robot, and in the mistake for picking up plug
After in the centre bore of Cheng Zhong, the first clamping jaw 3 and the second clamping jaw 28 insertion plug, driving device controls telescopic device by elongation state
Contraction state is switched to, industrial robot or Cartesian robot drive fixed frame 23 to move closer to plug, make fixed frame 23
The distance between plug is gradually reduced, so that the first clamping jaw 3 and the second clamping jaw 28 are maintained in the centre bore of plug, while the
The distance between one clamping jaw 3 and the second clamping jaw 28 are gradually increased, and finally make the inner circle of the first clamping jaw 3 and the second clamping jaw 28 and plug
Face paste is closed, and pickup to plug is completed, then by industrial robot or Cartesian robot drive plug clamping manipulator and
The plug of pickup is moved at cast tube, carries out the installation of plug.
The present invention is exemplarily described in conjunction with attached drawing above.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as using the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out；Or not
It is improved, above-mentioned conception and technical scheme of the invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (10)
1. plug clamping manipulator used in cast tube production process, it is characterised in that: including the clamping dress for picking up plug
It the telescopic device that set, is connect with clamping device and is switched between elongation state and contraction state for controlling telescopic device
Driving device.
2. plug clamping manipulator used in cast tube production process according to claim 1, it is characterised in that: clamping dress
It sets including the first clamping jaw and the second clamping jaw in the centre bore for being inserted into plug, the first clamping jaw and the second clamping jaw are opposite cloth
It sets.
3. plug clamping manipulator used in cast tube production process according to claim 2, it is characterised in that: described
One clamping jaw and the second clamping jaw are connect with the telescopic device, and the distance between the first clamping jaw and the second clamping jaw are cut with telescopic device
It shifts to elongation state and reduces, the distance between the first clamping jaw and the second clamping jaw increase as telescopic device switches to contraction state
Greatly.
4. plug clamping manipulator used in cast tube production process according to claim 2 or 3, it is characterised in that: institute
State the second support group that telescopic device includes the first supporting assembly connecting with first clamping jaw, connect with second clamping jaw
Part and the scissor arm component being connect with the first supporting assembly and the second supporting assembly.
5. plug clamping manipulator used in cast tube production process according to claim 4, it is characterised in that: described to cut
During yoke component includes the first scissor arms connecting with first supporting assembly, with second supporting assembly connect and pass through
Between axis and the second scissor arms of the first scissor arms rotation connection, with the third scissor arms of the first scissor arms rotation connection, with second
4th scissor arms of scissor arms rotation connection and the intermediate bar being connect with the first supporting assembly and the second supporting assembly, jackshaft
It is connect with the driving device and intermediate bar.
6. plug clamping manipulator used in cast tube production process according to claim 5, it is characterised in that: described
One supporting assembly includes being rotatablely connected with first scissor arms and the first connecting rod that connect with first clamping jaw and with the
First rocking bar of one connecting rod and intermediate bar rotation connection, the first rocking bar is parallel with first scissor arms, first connecting rod
It is parallel with intermediate bar.
7. plug clamping manipulator used in cast tube production process according to claim 6, it is characterised in that: described
One end of one scissor arms and the first connecting rod are rotatablely connected, and the other end of the first scissor arms and third scissor arms rotation connect
It connects, the jackshaft is located at the position between the both ends of the first scissor arms.
8. plug clamping manipulator used in cast tube production process according to claim 6 or 7, it is characterised in that: institute
State the second supporting assembly include be rotatablely connected with second scissor arms and the second connecting rod that is connect with second clamping jaw and
The second rocking bar being rotatablely connected with second connecting rod and the intermediate bar, the second rocking bar is parallel with second scissor arms, and second
Connecting rod is parallel with intermediate bar.
9. plug clamping manipulator used in cast tube production process according to claim 8, it is characterised in that: described
One end of two scissor arms and the second connecting rod are rotatablely connected, and the other end of the second scissor arms and the 4th scissor arms rotation connect
It connects, the jackshaft is located at the position between the both ends of the second scissor arms.
10. according to plug clamping manipulator used in any cast tube production process of claim 5 to 9, feature exists
Include in: the driving device and the push-pull rod of the intermediate axis connection and is connect with push-pull rod and control push-pull rod and do straight line fortune
Dynamic actuator, actuator are electric cylinders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910303875.1A CN109940647A (en) | 2019-04-16 | 2019-04-16 | Plug clamping manipulator used in cast tube production process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910303875.1A CN109940647A (en) | 2019-04-16 | 2019-04-16 | Plug clamping manipulator used in cast tube production process |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109940647A true CN109940647A (en) | 2019-06-28 |
Family
ID=67015413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910303875.1A Pending CN109940647A (en) | 2019-04-16 | 2019-04-16 | Plug clamping manipulator used in cast tube production process |
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| Country | Link |
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| CN (1) | CN109940647A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120039875A (en) * | 2010-10-18 | 2012-04-26 | 추형욱 | A robotic arm assembly |
| JP2012144342A (en) * | 2011-01-13 | 2012-08-02 | Takezawa Aluminum Kogyosho:Kk | Tong suspender |
| CN203956919U (en) * | 2014-07-31 | 2014-11-26 | 秦利明 | A kind of scissor-type gripper |
| CN106892263A (en) * | 2015-12-21 | 2017-06-27 | 董鹏钦 | Manipulator |
| CN107635690A (en) * | 2015-05-22 | 2018-01-26 | 大昌锻造株式会社 | Caterpillar chain trims with the hands robot and utilizes its automation procedure |
| CN107717978A (en) * | 2017-10-11 | 2018-02-23 | 深圳好多彩五金有限公司 | A kind of industrial robot |
| US10059007B1 (en) * | 2017-07-24 | 2018-08-28 | Amazon Technologies, Inc. | Finger-aligned extendable gripping mechanisms for item manipulation |
-
2019
- 2019-04-16 CN CN201910303875.1A patent/CN109940647A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120039875A (en) * | 2010-10-18 | 2012-04-26 | 추형욱 | A robotic arm assembly |
| JP2012144342A (en) * | 2011-01-13 | 2012-08-02 | Takezawa Aluminum Kogyosho:Kk | Tong suspender |
| CN203956919U (en) * | 2014-07-31 | 2014-11-26 | 秦利明 | A kind of scissor-type gripper |
| CN107635690A (en) * | 2015-05-22 | 2018-01-26 | 大昌锻造株式会社 | Caterpillar chain trims with the hands robot and utilizes its automation procedure |
| CN106892263A (en) * | 2015-12-21 | 2017-06-27 | 董鹏钦 | Manipulator |
| US10059007B1 (en) * | 2017-07-24 | 2018-08-28 | Amazon Technologies, Inc. | Finger-aligned extendable gripping mechanisms for item manipulation |
| CN107717978A (en) * | 2017-10-11 | 2018-02-23 | 深圳好多彩五金有限公司 | A kind of industrial robot |
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