CN115556129B - Self-adaptive universal paw - Google Patents
Self-adaptive universal paw Download PDFInfo
- Publication number
- CN115556129B CN115556129B CN202211553480.5A CN202211553480A CN115556129B CN 115556129 B CN115556129 B CN 115556129B CN 202211553480 A CN202211553480 A CN 202211553480A CN 115556129 B CN115556129 B CN 115556129B
- Authority
- CN
- China
- Prior art keywords
- clamping
- block
- clamping jaw
- jaw
- connecting block
- 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.)
- Active
Links
Images
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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of mechanical arms, and discloses a self-adaptive universal paw, which comprises: the base is provided with a through hole; the driving piece is arranged on the base and comprises a telescopic push rod, and a rotatable connecting block is arranged on the push rod; the clamping piece, rotatable setting is provided with the clamping part that passes the through-hole on the connecting block on the clamping piece, and clamping part can surround with the base and form the centre gripping clearance, and the rotation axis of clamping piece and the rotation axis heterofacial of connecting block. The clamping piece is hinged to the connecting block, the connecting block is hinged to the push rod, the rotating axis of the clamping piece is different from the rotating axis of the connecting block, so that the clamping piece has certain mobility, and when the bottom plate is clamped, the clamping piece can incline to a certain degree, so that the clamping part is better attached to the bottom plate, the generation of gaps is avoided, and the claws can firmly clamp the bottom plate.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a self-adaptive universal paw.
Background
The manipulator is capable of mimicking certain motion functions of a human hand and arm for securing a programmed automatic handling device for grasping, handling articles or handling tools. The device can replace heavy labor of people to realize mechanization and automation of production, can be operated in harmful environments to protect personal safety, and is widely applied to parts such as mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like; the manipulator comprises a paw for clamping a workpiece.
When the mechanical arm clamps a shell workpiece with holes, the hand claw is required to extend into the holes of the shell and the bottom plate of the shell is clamped by the hand claw clamping blocks, but due to lower manufacturing precision of the bottom plate, a certain gap exists between the clamping blocks and the bottom plate when the clamping blocks clamp the bottom plate, so that the bottom plate of the hand claw for clamping the workpiece is not firm, and the workpiece is easy to shake.
Disclosure of Invention
The present invention has been made in view of the foregoing problems, and an object of the present invention is to provide an adaptive universal hand claw capable of avoiding the occurrence of a gap and ensuring that the hand claw firmly grips a base plate.
To achieve the above object, the present invention provides an adaptive universal gripper comprising:
the base is provided with a through hole;
the driving piece is arranged on the base and comprises a telescopic push rod, and a rotatable connecting block is arranged on the push rod;
the rotatable setting of clamping piece is in on the connecting block, be provided with on the clamping piece and pass the clamping part of through-hole, clamping part can with the base surrounds and forms the centre gripping clearance, just the rotation axis of clamping piece with the rotation axis heterofacial features of connecting block.
According to the self-adaptive universal paw, the rotation axis of the clamping piece is perpendicular to the rotation axis of the connecting block.
According to the self-adaptive universal paw, the clamping piece comprises a first clamping jaw, a second clamping jaw and a hinging block, the hinging block is hinged with the connecting block, and the middle parts of the first clamping jaw and the second clamping jaw are both hinged with the hinging block; and one ends of the first clamping jaw and the second clamping jaw are respectively arranged in the through hole in a penetrating way, and the other ends of the first clamping jaw and the second clamping jaw are respectively connected with the base in a sliding way.
According to the self-adaptive universal paw, the first clamping jaw and the second clamping jaw penetrate through one end of the through hole and are provided with first clamping blocks, the base is provided with a mounting plate, the through hole is formed in the mounting plate, the mounting plate is provided with second clamping blocks, and the first clamping blocks can form clamping gaps with the second clamping blocks in a surrounding mode.
According to the self-adaptive universal paw, the base is provided with the supporting block, and one ends of the first clamping jaw and the second clamping jaw are respectively connected with two sides of the supporting block in a sliding mode.
According to the self-adaptive universal paw, the first clamping jaw and the second clamping jaw are respectively provided with a rotatable roller, and the rollers are slidably connected with the supporting blocks.
According to the self-adaptive universal paw, a tensioning spring is arranged between one end of the first clamping jaw, which is close to the supporting block, and one end of the second clamping jaw, which is close to the supporting block.
According to the self-adaptive universal paw, two tensioning springs are arranged, and the two tensioning springs are symmetrically arranged.
According to the self-adaptive universal paw, the supporting block is in a convex shape, and the width of the top of the supporting block is smaller than that of the bottom of the supporting block.
According to the self-adaptive universal paw, the driving piece is arranged to be a driving cylinder, the supporting block is provided with a mounting hole, the push rod is arranged in the mounting hole in a penetrating manner, and one end of the push rod is arranged in the driving cylinder in a telescopic manner.
The invention has the following beneficial effects:
1. the clamping piece is hinged to the connecting block, the connecting block is hinged to the push rod, and the rotating axis of the clamping piece is different from the rotating axis of the connecting block, so that the clamping piece has certain mobility, and can incline to a certain extent when the bottom plate is clamped, so that the clamping part is better attached to the bottom plate, the generation of gaps is avoided, and the claws can firmly clamp the bottom plate;
2. one end of the first clamping jaw and one end of the second clamping jaw are slidably arranged on the supporting block, and the supporting block is in a convex shape and can provide a guide for the opening and closing movement of the first clamping jaw and the second clamping jaw;
3. the rollers which can be slidably connected with the supporting blocks are arranged on the first clamping jaw and the second clamping jaw, so that the connection part of the clamping jaw and the supporting blocks is in line contact, and the friction force between the clamping jaw and the supporting blocks can be reduced;
4. the tensioning spring arranged between one end of the first clamping jaw, which is close to the supporting block, and one end of the second clamping jaw, which is close to the supporting block, can provide a pulling force to drive one end of the clamping jaw, which is close to the supporting block, to be attached to the supporting block all the time.
Drawings
FIG. 1 is a schematic view of the first and second jaws of the present invention when closed;
FIG. 2 is a schematic view of the first jaw and the second jaw of the present invention in a separated configuration;
FIG. 3 is a front view of FIG. 2;
FIG. 4 is a schematic view of the structure of the clamping member of the present invention;
FIG. 5 is a schematic illustration of the connection of the articulation block, connection block and push rod of the present invention;
FIG. 6 is a schematic view of the structure of the clamping member of the present invention when tilted left and right;
fig. 7 is a schematic view of the structure of the clamping member of the present invention when it is tilted back and forth.
In the figure: 100. a base; 110. a mounting plate; 111. a second clamping block; 120. a support block; 200. a driving member; 210. a push rod; 211. a connecting block; 220. a drive cylinder; 300. a clamping member; 310. a clamping part; 311. a clamping gap; 320. a first jaw; 321. a first clamping block; 322. a roller; 323. tensioning the spring; 330. a second jaw; 340. and a hinge block.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1 to 7, an adaptive universal gripper, which is mainly installed on a manipulator, is used for clamping a base plate of a shell workpiece, and comprises a base 100, a driving member 200 and a clamping member 300.
The base 100 is provided with a through hole; the driving member 200 is disposed on the base 100, and includes a telescopic push rod 210, and a rotatable connection block 211 is disposed on the push rod 210; the clamping piece 300 is rotatably disposed on the connection block 211, the clamping piece 300 is provided with a clamping portion 310 passing through the through hole, the clamping portion 310 can form a clamping gap 311 with the base 100, and the rotation axis of the clamping piece 300 is different from the rotation axis of the connection block 211. Specifically, the clamping piece 300 can be driven to move by the extension and retraction of the push rod 210 of the driving piece 200, so as to drive the clamping part 310 and the base 100 to complete the workpiece clamping action; through with holder 300 articulated on connecting block 211, connecting block 211 articulates on push rod 210 to the rotation axis of holder 300 and the rotation axis heterofacial of connecting block 211 make holder 300 have certain mobility, and when the centre gripping bottom plate, it can take place certain slope, makes the better laminating of clamping part 310 in the bottom plate, avoids the production in clearance, ensures that the gripper can firm grip bottom plate.
It should be noted that, the manufacturing precision of the bottom plate is lower, and the bottom plate comprises various situations such as uneven thickness of the bottom plate and bending deformation of the bottom plate, when the universal paw is used for clamping the bottom plate, the clamping piece 300 has certain mobility and can incline, so that the universal paw can adapt to the situations of uneven thickness and bending deformation of the bottom plate, avoid the generation of gaps between the clamping part 310 and the bottom plate, and ensure that the paw firmly clamps the bottom plate.
The rotation axis of the holder 300 is perpendicular to the rotation axis of the connection block 211.
As shown in fig. 3 to 5, the clamping member 300 includes a first clamping jaw 320, a second clamping jaw 330, and a hinge block 340, the hinge block 340 being hinged with the connection block 211, the middle portions of both the first clamping jaw 320 and the second clamping jaw 330 being hinged with the hinge block 340; and one end of each of the first clamping jaw 320 and the second clamping jaw 330 is penetrated in the through hole, and the other end is slidably connected with the base 100. Specifically, the first clamping jaw 320 and the second clamping jaw 330 are disposed in a mutually crossing manner, when the bottom plate is clamped, the push rod 210 retracts to drive the first clamping jaw 320 and the second clamping jaw 330 to separate, so that the clamping portion 310 and the base 100 can be surrounded to form a clamping gap 311, and the bottom plate is clamped.
The first clamping jaw 320 and the second clamping jaw 330 are both provided with a first clamping block 321 on one end penetrating through the through hole, the base 100 is provided with a mounting plate 110, the through hole is formed in the mounting plate 110, the mounting plate 110 is provided with a second clamping block 111, and the first clamping block 321 and the second clamping block 111 can be surrounded to form a clamping gap 311.
The base 100 is provided with a supporting block 120, and one ends of the first clamping jaw 320 and the second clamping jaw 330 are respectively connected with two sides of the supporting block 120 in a sliding manner. Specifically, one ends of both the first clamping jaw 320 and the second clamping jaw 330 are slidably disposed on the support block 120, and the support block 120 is capable of providing support for the first clamping jaw 320 and the second clamping jaw 330.
The first clamping jaw 320 and the second clamping jaw 330 are respectively provided with a rotatable roller 322, and the rollers 322 are slidably connected with the supporting blocks 120. Specifically, the rollers 322 are disposed such that the connection between the first clamping jaw 320 and the supporting block 120 and the connection between the second clamping jaw 330 and the supporting block 120 are both in line contact, so that friction force can be reduced.
A tension spring 323 is provided between an end of the first clamping jaw 320 near the supporting block 120 and an end of the second clamping jaw 330 near the supporting block 120. The tension spring 323 can provide a pulling force to drive the end of the clamping jaw near the supporting block 120 to always fit with the supporting block 120.
Preferably, the number of the tension springs 323 is two, and the two tension springs 323 are symmetrically arranged.
As shown in fig. 1-3, the support block 120 has a "convex" shape, and the width of the top of the support block 120 is smaller than the width of the bottom of the support block 120. When the push rod 210 extends out, one ends of the first clamping jaw 320 and the second clamping jaw 330 respectively abut against two sides of the top of the supporting block 120, and the other ends are mutually attached; when the push rod 210 is retracted, one ends of the first and second clamping jaws 320 and 330 respectively abut against both sides of the bottom of the supporting block 120, and the other ends are separated from each other; the support block 120 in the shape of a "convex" can provide a guide for the opening and closing movement of the first jaw 320 and the second jaw 330.
As shown in fig. 1, the driving member 200 is configured as a driving cylinder 220, the supporting block 120 is provided with a mounting hole, the push rod 210 is inserted into the mounting hole, and one end of the push rod 210 is telescopically disposed in the driving cylinder 220. Preferably, the driving cylinder 220 is a cylinder, and the telescopic motion of the push rod 210 is driven by the cylinder, so that stability of the push rod 210 during telescopic motion can be ensured.
The process of clamping the bottom plate of the workpiece by the self-adaptive universal paw is as follows: firstly, the push rod 210 stretches out to drive the first clamping jaw 320 and the second clamping jaw 330 to be closed, then the first clamping jaw 320 and the second clamping jaw 330 are inserted into a hole on a workpiece bottom plate by a mechanical arm, and the second clamping block 111 is abutted with the workpiece bottom plate; the push rod 210 is retracted to drive the first clamping jaw 320 and the second clamping jaw 330 to be separated, and the first clamping jaw 320 and the second clamping jaw 330 are abutted with the bottom plate of the workpiece, so that the bottom plate of the workpiece can be clamped; the clamping piece 300 of the self-adaptive universal paw has certain mobility, and can incline to a certain extent when clamping the bottom plate, so that the clamping part 310 is better attached to the bottom plate, the generation of gaps is avoided, and the paws can firmly clamp the bottom plate.
As shown in fig. 2, 6 and 7, in the present embodiment, the clip 300 has two different tilting states (which is illustrated in the view of fig. 2), and the clip 300 may tilt left and right (as shown in fig. 6) or tilt back and forth (as shown in fig. 7), and in actual use, the left and right tilting and the back and forth tilting of the clip 300 may exist at the same time.
The scheme provides a self-adaptive universal paw which is mainly installed on a manipulator and comprises a base 100, a driving piece 200 and a clamping piece 300; through with holder 300 articulated on connecting block 211, connecting block 211 articulates on push rod 210 to the rotation axis of holder 300 and the rotation axis heterofacial of connecting block 211 make holder 300 have certain mobility, and when the centre gripping bottom plate, it can take place certain slope, makes the better laminating of clamping part 310 in the bottom plate, avoids the production in clearance, ensures that the gripper can firm grip bottom plate.
The technical scheme of the invention is explained in detail above with reference to the accompanying drawings, and the described embodiments are used for helping to understand the idea of the invention. The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions in a similar manner without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those referred to herein as "first," "second," "a," and the like are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or an implicit indication of the number of features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (5)
1. An adaptive universal gripper, comprising:
the base is provided with a through hole and a supporting block;
the driving piece is arranged on the base and comprises a telescopic push rod, and a rotatable connecting block is hinged on the push rod;
the clamping piece is rotatably arranged on the connecting block, a clamping part penetrating through the through hole is arranged on the clamping piece, a clamping gap can be formed by surrounding the clamping part and the base, and the rotating axis of the clamping piece is different from the rotating axis of the connecting block;
the clamping piece comprises a first clamping jaw, a second clamping jaw and a hinging block, the hinging block is hinged with the connecting block, and the middle parts of the first clamping jaw and the second clamping jaw are both hinged with the hinging block; one end of each of the first clamping jaw and the second clamping jaw is arranged in the through hole in a penetrating mode, and the other end of each of the first clamping jaw and the second clamping jaw is connected with the base in a sliding mode;
a first clamping block is arranged at one end of the first clamping jaw and one end of the second clamping jaw, which penetrate through the through hole, a mounting plate is arranged on the base, the through hole is arranged on the mounting plate, a second clamping block is arranged on the mounting plate, and the first clamping block and the second clamping block can form the clamping gap in a surrounding mode;
one end of the first clamping jaw and one end of the second clamping jaw are respectively connected with two sides of the supporting block in a sliding manner; a tensioning spring is arranged between one end of the first clamping jaw, which is close to the supporting block, and one end of the second clamping jaw, which is close to the supporting block;
the driving piece is arranged to be a driving cylinder, the supporting block is provided with a mounting hole, the push rod is arranged in the mounting hole in a penetrating mode, and one end of the push rod is arranged in the driving cylinder in a telescopic mode.
2. An adaptive gimbal hand grip as recited in claim 1, wherein the rotational axis of the gripping member is perpendicular to the rotational axis of the connecting block.
3. The adaptive universal gripper of claim 1, wherein said first jaw and said second jaw are each provided with rotatable rollers slidably coupled to said support blocks.
4. The adaptive universal claw according to claim 1, wherein the number of the tension springs is two, and the two tension springs are symmetrically arranged.
5. The adaptive universal claw according to claim 1 wherein the support block is "convex" shaped and the width of the top of the support block is less than the width of the bottom of the support block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211553480.5A CN115556129B (en) | 2022-12-06 | 2022-12-06 | Self-adaptive universal paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211553480.5A CN115556129B (en) | 2022-12-06 | 2022-12-06 | Self-adaptive universal paw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115556129A CN115556129A (en) | 2023-01-03 |
| CN115556129B true CN115556129B (en) | 2023-05-02 |
Family
ID=84770211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211553480.5A Active CN115556129B (en) | 2022-12-06 | 2022-12-06 | Self-adaptive universal paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115556129B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205703315U (en) * | 2016-04-26 | 2016-11-23 | 成都兴宇精密铸造有限公司 | A kind of square parts processing unit (plant) |
| CN206811990U (en) * | 2017-05-25 | 2017-12-29 | 凯钠迪（上海）科技有限公司 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
| CN107962580A (en) * | 2017-11-22 | 2018-04-27 | 张秀妙 | A kind of Antirust mechanical manual task equipment |
| CN211464721U (en) * | 2019-12-14 | 2020-09-11 | 山东大金锻造有限公司 | Forging manipulator convenient for overturning annular forging and manipulator clamp thereof |
| CN211708511U (en) * | 2020-03-11 | 2020-10-20 | 湖南三一快而居住宅工业有限公司 | Self-adaptation closing device and welding host |
| CN113370094A (en) * | 2020-09-23 | 2021-09-10 | 湖南千源铝业有限公司 | Fixing clamp for aluminum product machining |
| WO2021254400A1 (en) * | 2020-06-17 | 2021-12-23 | 深圳市道通科技股份有限公司 | Clamping device |
| CN216713140U (en) * | 2021-12-09 | 2022-06-10 | 武汉理工大学 | Four-degree-of-freedom clamping manipulator |
| CN217394773U (en) * | 2022-06-13 | 2022-09-09 | 西安精雕精密机械工程有限公司 | Pneumatic tool suitable for thin wall class part clamping |
| CN217453604U (en) * | 2022-04-13 | 2022-09-20 | 苏州市华宏精密铸造有限公司 | Self-adaptive floating clamping mechanism |
-
2022
- 2022-12-06 CN CN202211553480.5A patent/CN115556129B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205703315U (en) * | 2016-04-26 | 2016-11-23 | 成都兴宇精密铸造有限公司 | A kind of square parts processing unit (plant) |
| CN206811990U (en) * | 2017-05-25 | 2017-12-29 | 凯钠迪（上海）科技有限公司 | A kind of adaptive rope drive formula drive lacking three refers to manipulator |
| CN107962580A (en) * | 2017-11-22 | 2018-04-27 | 张秀妙 | A kind of Antirust mechanical manual task equipment |
| CN211464721U (en) * | 2019-12-14 | 2020-09-11 | 山东大金锻造有限公司 | Forging manipulator convenient for overturning annular forging and manipulator clamp thereof |
| CN211708511U (en) * | 2020-03-11 | 2020-10-20 | 湖南三一快而居住宅工业有限公司 | Self-adaptation closing device and welding host |
| WO2021254400A1 (en) * | 2020-06-17 | 2021-12-23 | 深圳市道通科技股份有限公司 | Clamping device |
| CN113370094A (en) * | 2020-09-23 | 2021-09-10 | 湖南千源铝业有限公司 | Fixing clamp for aluminum product machining |
| CN216713140U (en) * | 2021-12-09 | 2022-06-10 | 武汉理工大学 | Four-degree-of-freedom clamping manipulator |
| CN217453604U (en) * | 2022-04-13 | 2022-09-20 | 苏州市华宏精密铸造有限公司 | Self-adaptive floating clamping mechanism |
| CN217394773U (en) * | 2022-06-13 | 2022-09-09 | 西安精雕精密机械工程有限公司 | Pneumatic tool suitable for thin wall class part clamping |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115556129A (en) | 2023-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107414359B (en) | Clamping jaw and material taking mechanism | |
| US5322256A (en) | Tool holder | |
| EP0085549A2 (en) | Lift truck paper roll clamp having automatically adjustable roll positioner for engaging rolls of different diameters | |
| EP1004410B1 (en) | Adjustable stoppers for limiting the opening angle of a gripper | |
| JP2010253571A (en) | Chuck hand with tip movable claw | |
| JPH09504476A (en) | Burner holder for mechanized or automated arc welding burner or arc cutting burner, especially mechanical burner or robot burner | |
| CN213320205U (en) | Manipulator capable of changing size of clamping groove | |
| CN213765908U (en) | Mechanical clamping jaw for mechanical manufacturing | |
| CN115556129B (en) | Self-adaptive universal paw | |
| CA2268058A1 (en) | Interlocking jaw power tongs | |
| CN213890046U (en) | Industrial robot holder damping device | |
| JP2006312530A (en) | Suspending tool | |
| CN111558950A (en) | Arch clamping manipulator | |
| CN111531574B (en) | Clamping mechanism | |
| CN111661636A (en) | Mechanical gripper and cotton spinning conveying line comprising same | |
| EP2406168B1 (en) | Lifting clamp | |
| CN212553887U (en) | Arch clamping manipulator | |
| CN114314326A (en) | Grabbing device and have its transfer equipment | |
| CN112060117A (en) | Connecting joint, self-adaptive clamping jaw mechanism and grabbing device | |
| CN212146468U (en) | Connecting rod formula grabbing device | |
| KR960006115B1 (en) | Grippers for long bodies | |
| CN214828759U (en) | Hydraulic drive rotating clamp holding carrying device for forklift | |
| CN212385499U (en) | Connecting joint, self-adaptive clamping jaw mechanism and grabbing device | |
| KR100247502B1 (en) | Robot hand for handling wheel | |
| CN217620670U (en) | Pneumatic mechanical arm for lifting and clamping materials and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |