CN208544820U - Robot sheet-shaped workpiece carrying clamp, robot and transfer assembly line thereof - Google Patents
Robot sheet-shaped workpiece carrying clamp, robot and transfer assembly line thereof Download PDFInfo
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- CN208544820U CN208544820U CN201820936535.3U CN201820936535U CN208544820U CN 208544820 U CN208544820 U CN 208544820U CN 201820936535 U CN201820936535 U CN 201820936535U CN 208544820 U CN208544820 U CN 208544820U
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- sheet
- workpiece
- robot
- support frame
- handling gripper
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- 238000012546 transfer Methods 0.000 title claims abstract description 23
- 239000000463 material Substances 0.000 claims description 6
- 229920002635 polyurethane Polymers 0.000 claims description 4
- 239000004814 polyurethane Substances 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 4
- 210000000078 claw Anatomy 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model discloses a robot flaky workpiece carrying clamp, a robot and a transfer assembly line, wherein the robot flaky workpiece carrying clamp is arranged at the operation part of the robot and comprises a support frame; the clamping jaw is arranged on the supporting frame; and the driving device drives the clamping jaws to clamp two side surfaces of the sheet-shaped workpiece in the thickness direction of the sheet-shaped workpiece. The problem of among the prior art be used for transferring the transport anchor clamps of slice work piece adopt horizontal clamp to get the mode, need the secondary location just can firmly fix the work piece and lead to the work efficiency of transport anchor clamps low and the structure is complicated bulky is solved, and the slice work piece that the level was put still can occupy more construction space, produces the position with other parts easily and interferes is solved.
Description
Technical field
The utility model relates to clamping device technical fields, and in particular to a kind of robot sheet-like workpiece handling gripper and its
Robot and transfer assembly line.
Background technique
Handling gripper refers to for fixing processing object to carry out the device of position transfer to processing object.Flat sheet-like
Workpiece its very common two sides of mechanical manufacturing field it is relatively narrow have be difficult to fixed problem, such as air conditioner condenser,
Display panel or solar panels are sheet-like workpiece, are directed to the production and transport of sheet-like workpiece, and whether fixture can precisely efficiently
Clamping workpiece, fixture whether can accomplish miniaturization to interfere as little as possible with other components and whether it can be
Guarantee that the intact of workpiece is the important indicator for measuring fixture quality during fixed workpiece.
In order to realize the transfer work to sheet-like workpiece, in the prior art such as Chinese patent literature CN201002259Y, such as
Shown in Fig. 6 and Fig. 7, a kind of clamping device of display pannel, including two symmetrical clamping jaws 101 are disclosed, slide unit 102 is divided into
On, and clamping jaw 101 has a fixed jaw 103 and a movable claw 104, and is equipped with one first pneumatic cylinder 105 in each slide unit 102,
The fixed jaw 103 is fixedly arranged on the first pneumatic cylinder 105, and the first pneumatic cylinder 105 can drive the second pneumatic cylinder 106 to be displaced, to execute
The very contracting running opened folder and close folder movement in panel width direction to be pressed from both sides, while second pneumatic cylinder 106 can drive movable claw 104
Displacement, to execute the very contracting running opened folder and close folder movement in plate thickness direction to be pressed from both sides.And the clamping jaw 101 is arranged in machinery
On arm 107.
Above-mentioned clamping device can effectively clamp sheet-like workpiece, but clamping device uses horizontal clamping mode, sheet
The two sides of workpiece are not only thin but also long, and fixed jaw and movable claw by being driven is needed to cooperate to carry out secondary positioning ability
Avoid the occurrence of clamping position deviation the problem of being not fixed firmly, secondary positioning cause operating waste seriously affect production efficiency and
The mode of above-mentioned horizontal clamping sheet-like workpiece can also improve more working spaces of fixture and workpiece, cause the problem of flexibility difference,
Above-mentioned clamping device can not also clamp multiple workpiece, ineffective problem simultaneously simultaneously.
Utility model content
Therefore, the technical problem to be solved by the utility model is in the prior art for transferring the carrying of sheet-like workpiece
For fixture by the way of level clamping, needing secondary positioning that can firmly fix workpiece leads to the working efficiency of handling gripper
Low and structure is complicated bulky problem, and the horizontal sheet-like workpiece put can also occupy more construction spaces, be easy and its
Its component leads to the problem of location conflicts.For this purpose, the utility model provides a kind of robot sheet-like workpiece handling gripper, it is installed on
The operation portion of robot, the handling gripper include
Support frame；
At least one clamping jaw is arranged on support frame as described above；
Driving device drives at least one described clamping jaw to clamp the two of the sheet-like workpiece in the thickness direction of sheet-like workpiece
Side.
Support frame as described above is axially symmetric structure, and the clamping jaw is even number and the symmetry axis for being symmetricly set on support frame as described above
Two sides.
Support frame as described above includes the starting stave and the second riser for being separately positioned on sheet-like workpiece thickness direction two sides,
It is provided with the dynamic clamping plate driven by the driving device on the starting stave, is provided with and the dynamic folder on second riser
The quiet clamping plate that plate is oppositely arranged.
The dynamic clamping plate and/or the quiet clamping plate are buffer board made of polyurethane material.
The driving device is that its cylinder far from the dynamic clamping plate side of the starting stave is arranged in, the cylinder
The telescopic rod driving dynamic clamping plate is mobile.
The fixture of sheet-like workpiece further includes fixing seat, is provided in the fixing seat and inserts for what sheet-like workpiece was inserted perpendicularly into
Slot, each clamping jaw are corresponding equipped with the fixing seat of the sheet-like workpiece with one.
It is provided between the slot and the sheet-like workpiece inclined along its thickness direction generation position for the sheet-like workpiece
The relative gap set.
The side of the starting stave towards the sheet-like workpiece is provided with resilient cushion.
A kind of robot, comprising:
The sheet-like workpiece is transferred to the transfer mechanism of designated position by above-mentioned fixture, and the driving fixture, described
Transfer mechanism is connected by connector with support frame as described above.
The center of the symmetry axis is arranged in the connector.
The transfer mechanism be mechanical arm, the connector be one end be connected with support frame as described above, the other end with it is described
The connected connecting flange of mechanical arm.
A kind of transfer assembly line, including the upper assembly line for conveying sheet-like workpiece and for receiving the sheet-like workpiece
Flow down waterline, and the robot being arranged between the upper assembly line and the dirty waterline.
The technical solution of the utility model has the advantages that
1. robot sheet-like workpiece handling gripper provided by the utility model, by the way that clamping jaw, clamping jaw are arranged on the support frame
The flexible two sides for clamping sheet above shape workpiece of thickness direction for being driven device drives edge sheet-like workpiece carry out sheet-like workpiece
It is fixed to be acted to allow robot to complete above-mentioned carrying, the mode for clamping sheet-like workpiece in the prior art is clamped from level
It is changed to clamp vertically, the both sides that the clamping face of handling gripper is not only thin but also long from clamping sheet-like workpiece are changed to take its face of sheet-like workpiece
The biggish upper and lower surface of product, overcoming sheet-like workpiece, it is difficult to the problem of clamping and without secondary positioning can firmly fix work
Part, the structure that the working efficiency effectively improved while simplifies handling gripper keeps its more flexible reliable, and the application
In sheet-like workpiece be arranged along the vertical direction during transfer and be also effectively reduced the occupied construction space of workpiece, do not allow
Easily and other components generate location conflicts, improve carrying flexibility.
2. robot sheet-like workpiece handling gripper provided by the utility model, by setting axial symmetry knot for support frame
Structure, while the clamping jaw of even number being symmetricly set on to the symmetry axis two sides of support frame, can be with by way of above-mentioned be arranged symmetrically
Effectively the two sides of handling gripper is avoided to vary in weight appearance into cantilever beam, to influence the balance of robot, improves machine
The failure rate and maintenance cost of people.
3. robot sheet-like workpiece handling gripper provided by the utility model, by be driven the dynamic clamping plate of device driving with
And the quiet clamping plate of opposing stationary setting, the two mating reaction step up the two sides of sheet-like workpiece, and a movable dynamic folder is arranged
Plate can effectively reduce fixture volume and weight, so that handling gripper be made to minimize.
4. robot sheet-like workpiece handling gripper provided by the utility model, by the way that dynamic clamping plate and/or quiet clamping plate to be arranged
For flexible material made of polyurethane material, can be effectively protected sheet-like workpiece will not be damaged during transportation.
5. robot sheet-like workpiece handling gripper provided by the utility model is taken by setting cylinder for driving device
For original mutually matched stepper motor and lead screw, the volume of driving device is effectively reduced, carrying is further reduced
Fixture volume and weight improves the flexibility of robot.
6. robot sheet-like workpiece handling gripper provided by the utility model, opposite with clamping jaw for sheet-like workpiece by being arranged
The fixing seat of insertion, fixing seat can limit the position of sheet-like workpiece effectively to facilitate clamping jaw accurately to clamp sheet work
Part.
7. robot sheet-like workpiece handling gripper provided by the utility model, by the way that feed is arranged in the slot of fixing seat
The relative gap of location bias occurs along its thickness direction for shape workpiece, when the clamping jaw in the application is set as dynamic clamping plate and static sets
When the quiet clamping plate set, although effectively handling gripper can be made to minimize, will appear in use sheet-like workpiece with
Jaw position has the problem of minor deviations, sheet-like workpiece can be made to deviate in a certain range to make by above-mentioned relative gap
The above-mentioned clamping jaw of unilateral side driving accurately steps up sheet-like workpiece.
8. robot sheet-like workpiece handling gripper provided by the utility model, by its direction of the starting stave of support frame
Resilient cushion is arranged in the side of the sheet-like workpiece, and clamping jaw does not have during resilient cushion can effectively prevent clamping jaw clamping sheet-like workpiece
There is the inside of sheet-like workpiece and support frame when catching sheet-like workpiece that touching disfiguring workpiece occurs.
9. robot sheet-like workpiece handling gripper provided by the utility model, by by the company of jockey and transfer mechanism
The center of the symmetry axis of support frame is arranged in fitting, so that the sheet-like workpiece handling gripper being connected with transfer mechanism be made to become
Symmetrical structure, the center line of connector are avoided fixture from weight occur and are asymmetrically formed cantilever beam, avoided by the center of gravity of fixture
The balance for influencing robot, reduces the failure rate and maintenance cost of robot.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic perspective view of sheet-like workpiece fixture provided by the utility model；
Fig. 2 is the main view of sheet-like workpiece fixture shown in FIG. 1；
Fig. 3 is the side view of sheet-like workpiece fixture shown in FIG. 1；
Fig. 4 is the top view of sheet-like workpiece fixture shown in FIG. 1；
Fig. 5 is the schematic perspective view of the transfer assembly line with the sheet-like workpiece fixture；
Fig. 6 is the clamping jaw structure schematic diagram of the clamping device of display pannel in the prior art；
Fig. 7 is the schematic perspective view of the clamping device of display pannel in the prior art.
Description of symbols:
1- support frame；2- clamping jaw；3- sheet-like workpiece；4- fixing seat；5- moves clamping plate；The quiet clamping plate of 6-；7- starting stave；8-
Two risers；9- driving device；10- resilient cushion；11- transfer mechanism；12- connector；The upper assembly line of 13-；14- flows down waterline；15-
Solenoid electric valve；101- clamping jaw；102- slide unit；103- fixed jaw；104- movable claw；The first pneumatic cylinder of 105-；The second gas of 106-
Cylinder pressure；107- mechanical arm；201- cabinet；202- left-hand rotation Moving plate；The left push plate of 203-；204- flexible connector；205- left pressing plate；
206- right-hand rotation Moving plate；The right push plate of 207-；208- right pressing plate.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
In addition, as long as technical characteristic involved in the utility model different embodiments disclosed below is each other
Not constituting conflict can be combined with each other.
Embodiment 1
The present embodiment provides a kind of transfer assembly lines, it includes the upper assembly line for conveying sheet-like workpiece 3 as shown in Figure 5
13 and the dirty waterline 14 for receiving the sheet-like workpiece 3, and be arranged in the upper assembly line 13 and the dirty waterline
Transfer robot between 14, fixing seat 4 is provided on the upper assembly line 13, and the fixing seat 4 is equipped with for sheet-like workpiece 3
The slot being inserted perpendicularly into, above-mentioned fixing seat can limit the position of sheet-like workpiece effectively to facilitate robot accurately to clamp
Sheet-like workpiece.The transfer robot includes mechanical arm and the sheet work that is connected by connecting flange with the mechanical arm
Part handling gripper.Sheet-like workpiece handling gripper as shown in Figures 1 to 4 includes:
Clamping jaw 2, including the dynamic clamping plate 5 driven by pneumatic cylinder and the quiet clamping plate 6 being oppositely arranged with the dynamic clamping plate 5, institute
It states clamping plate 5 and the quiet clamping plate 6 clamps the two sides of the sheet-like workpiece 3, clamping jaw clamping in the thickness direction of sheet-like workpiece 3
The two sides of sheet-like workpiece will take the mode of sheet-like workpiece to be changed to clamp vertically from level clamping, and the clamping face of handling gripper is from folder
Taking sheet-like workpiece, thin but also long both sides are changed to take the biggish upper and lower surface of its area of sheet-like workpiece not only, overcome sheet-like workpiece its
Being difficult to the problem of clamping without secondary positioning can firmly fix workpiece, simplify while improving clamping working efficiency
The structure of handling gripper keeps its more flexible reliable, and the sheet-like workpiece in the application the transfer during along the vertical direction
Setting is also effectively reduced the occupied construction space of workpiece, it is not easy to and other components generate location conflicts, improve and remove
Transport flexibility；And it is provided between the slot and the sheet-like workpiece 3 of the fixing seat 4 in the present embodiment for the sheet work
The relative gap of location bias occurs along its thickness direction for part 3.Above-mentioned relative gap can permit sheet-like workpiece in a certain range
Interior generation positional shift avoids the clamping jaw 2 when small deviation occurs in the position of sheet-like workpiece 3 that from capable of also stepping up sheet-like workpiece 3, when dynamic
Positional shift occurs in above-mentioned relative gap for clamping plate 5 to make to press from both sides towards will push sheet-like workpiece 3 in quiet 6 moving process of clamping plate
Pawl 2 steps up sheet-like workpiece 3, and the dynamic clamping plate 5 and the quiet clamping plate 6 are buffer board made of polyurethane material, can be effectively
Protection sheet-like workpiece will not be damaged during transportation；
Support frame 1, support frame as described above 1 include being erected by being separately positioned on the first of the 3 thickness direction two sides of sheet-like workpiece
The axial symmetry of plate 7 and the second riser 8 and the transverse slat being arranged between the starting stave 7 and second riser 8 composition is long
Square structure, the clamping jaw 2 are two, are symmetrical arranged respectively in the two sides of 1 length direction of support frame as described above, the connecting flange
The extended line of axis passes through the position of centre of gravity of support frame as described above 1, and above-mentioned symmetrical structure can support to avoid handling gripper
The problem of frame two sides weight is asymmetrically formed cantilever beam, avoid influence robot balance, reduce robot failure rate and
Maintenance cost, and the dynamic clamping plate 5 is arranged in the starting stave 7 close to dynamic 5 side of clamping plate, for driving dynamic clamping plate 5
Cylinder setting the starting stave 7 its far from dynamic 5 side of clamping plate, the telescopic rod of the cylinder drives the dynamic clamping plate 5
Movement steps up workpiece.By setting cylinder for driving device, instead of original mutually matched stepper motor and lead screw, effectively
The volume for reducing driving device, further reduce handling gripper volume and weight, improve the flexibility of robot.Institute
The side for stating starting stave 7 towards the sheet-like workpiece 3 is additionally provided with resilient cushion 10.Resilient cushion can effectively prevent clamping jaw folder
Take touching disfiguring workpiece in the inside of sheet-like workpiece and support frame when clamping jaw does not have to catch sheet-like workpiece during sheet-like workpiece.
Certainly, the utility model is not especially limited the device for driving dynamic clamping plate 5, in other embodiments, driving dress
It is set to the lead screw for being connected with stepper motor, the distance of stretch out and draw back of lead screw can be accurately controlled by stepper motor, thus accurately
Clamp sheet-like workpiece 3.
Certainly, the utility model is not especially limited the material of the dynamic clamping plate 5 and the quiet clamping plate 6, in other realities
It applies in example, the dynamic clamping plate 5 and the quiet clamping plate 6 are rubber soft material.
Certainly, the utility model is not especially limited the shape and structure of support frame as described above 1, in other embodiments,
Support frame as described above 1 is other axially symmetric structures.
Embodiment 2
The present embodiment the difference from embodiment 1 is that, the clamping jaw 2 be three be separately positioned on the two of support frame as described above 1
Side and middle position.The clamping jaw 2 includes two dynamic clamping plates being driven, and two dynamic clamping plates are stretched out in sheet-like workpiece simultaneously
3 thickness direction clamps the two sides of the sheet-like workpiece 3.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes among the protection scope created still in the utility model.
Claims (12)
1. a kind of robot sheet-like workpiece handling gripper, is installed on the operation portion of robot, which is characterized in that the handling gripper
Including
Support frame (1)；
At least one clamping jaw (2) is arranged on support frame as described above (1)；
Driving device (9) drives at least one described clamping jaw to clamp the sheet-like workpiece in the thickness direction of sheet-like workpiece (3)
(3) two sides.
2. robot sheet-like workpiece handling gripper according to claim 1, which is characterized in that support frame as described above (1) is axis
Symmetrical structure, the clamping jaw (2) are the two sides of even number and the symmetry axis that is symmetricly set on support frame as described above (1).
3. robot sheet-like workpiece handling gripper according to claim 2, which is characterized in that support frame as described above (1) includes
It is separately positioned on the starting stave (7) and the second riser (8) of the sheet-like workpiece (3) thickness direction two sides, the starting stave
(7) it is provided with the dynamic clamping plate (5) driven by the driving device (9) on, is provided with and the dynamic folder on second riser (8)
The quiet clamping plate (6) that plate (5) is oppositely arranged.
4. robot sheet-like workpiece handling gripper according to claim 3, which is characterized in that the dynamic clamping plate (5) and/or
The quiet clamping plate (6) is buffer board made of polyurethane material.
5. robot sheet-like workpiece handling gripper according to claim 3, which is characterized in that the driving device (9) is
It is arranged in its cylinder far from dynamic clamping plate (5) side of the starting stave (7), the telescopic rod driving of the cylinder is described dynamic
Clamping plate (5) is mobile.
6. robot sheet-like workpiece handling gripper according to any one of claims 1-5, which is characterized in that further include solid
Reservation (4), is provided with the slot being inserted perpendicularly into for sheet-like workpiece (3) on the fixing seat (4), each clamping jaw (2) with
One fixing seat (4) equipped with the sheet-like workpiece (3) is corresponding.
7. robot sheet-like workpiece handling gripper according to claim 6, which is characterized in that the slot and the sheet
The relative gap that location bias occurs along its thickness direction for the sheet-like workpiece (3) is provided between workpiece (3).
8. robot sheet-like workpiece handling gripper according to claim 3, which is characterized in that starting stave (7) court
The side of the sheet-like workpiece (3) is provided with resilient cushion (10).
9. a kind of robot characterized by comprising
Fixture described in any one of claim 2-8, and the driving fixture sheet-like workpiece (3) is transferred to it is specified
The transfer mechanism (11) of position, the transfer mechanism (11) are connected by connector (12) with support frame as described above (1).
10. robot according to claim 9, which is characterized in that the symmetry axis is arranged in the connector (12)
Center.
11. robot according to claim 10, which is characterized in that the transfer mechanism (11) is mechanical arm, described
Connector (12) is that one end is connected with support frame as described above (1), the connecting flange that the other end is connected with the mechanical arm.
12. a kind of transfer assembly line, it is characterised in that: including the upper assembly line (13) for conveying sheet-like workpiece (3) and be used for
The dirty waterline (14) of the sheet-like workpiece (3) is received, and is arranged in the upper assembly line (13) and the dirty waterline
(14) robot described in any one of claim 9-11 between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820936535.3U CN208544820U (en) | 2018-06-15 | 2018-06-15 | Robot sheet-shaped workpiece carrying clamp, robot and transfer assembly line thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820936535.3U CN208544820U (en) | 2018-06-15 | 2018-06-15 | Robot sheet-shaped workpiece carrying clamp, robot and transfer assembly line thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208544820U true CN208544820U (en) | 2019-02-26 |
Family
ID=65422901
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820936535.3U Active CN208544820U (en) | 2018-06-15 | 2018-06-15 | Robot sheet-shaped workpiece carrying clamp, robot and transfer assembly line thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208544820U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347238A (en) * | 2020-04-10 | 2020-06-30 | 格力电器（郑州）有限公司 | Cartridge clip type feeding and automatic detection integrated robot mounting device and robot |
| CN115052711A (en) * | 2020-02-04 | 2022-09-13 | 格雷塞尔有限公司 | Re-clamping device and method for re-clamping a workpiece between two clamping devices |
-
2018
- 2018-06-15 CN CN201820936535.3U patent/CN208544820U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115052711A (en) * | 2020-02-04 | 2022-09-13 | 格雷塞尔有限公司 | Re-clamping device and method for re-clamping a workpiece between two clamping devices |
| CN115052711B (en) * | 2020-02-04 | 2024-06-07 | 格雷塞尔有限公司 | Re-clamping device and method for re-clamping a workpiece between two clamping devices |
| CN111347238A (en) * | 2020-04-10 | 2020-06-30 | 格力电器（郑州）有限公司 | Cartridge clip type feeding and automatic detection integrated robot mounting device and robot |
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