CN105538306A - Pneumatic manipulator - Google Patents
Pneumatic manipulator Download PDFInfo
- Publication number
- CN105538306A CN105538306A CN201610087164.1A CN201610087164A CN105538306A CN 105538306 A CN105538306 A CN 105538306A CN 201610087164 A CN201610087164 A CN 201610087164A CN 105538306 A CN105538306 A CN 105538306A
- Authority
- CN
- China
- Prior art keywords
- sliding rack
- rack
- pneumatic manipulator
- jaw
- valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- JEGUKCSWCFPDGT-UHFFFAOYSA-N h2o hydrate Chemical compound O.O JEGUKCSWCFPDGT-UHFFFAOYSA-N 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052802 copper Inorganic materials 0.000 claims description 4
- 239000010949 copper Substances 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims 2
- 239000000463 material Substances 0.000 claims 1
- 229910001220 stainless steel Inorganic materials 0.000 claims 1
- 239000010935 stainless steel Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 10
- 239000003921 oil Substances 0.000 description 9
- 238000009776 industrial production Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 206010043458 Thirst Diseases 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000005923 long-lasting effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 230000036651 mood Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000035922 thirst Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 208000016254 weariness Diseases 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- 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 a manipulator, in particular to a pneumatic manipulator. The pneumatic manipulator is characterized by comprising a screw rod, a piston, a cylinder, a double-side rack, upper gears, lower gears, a sliding rack and the like. The screw rod is connected to an arm of the manipulator through a fine thread; the upper gears and the lower gears form duplicate gears; the double-side rack is meshed with the upper gears; the lower gears are meshed with the sliding racks comprising the left sliding rack and the right sliding rack; the left sliding rack is exactly the same as the right sliding rack, and a spring is arranged between the left sliding rack and the right sliding rack; a right replaceable holding jaw and a left replaceable holding jaw are mounted on upper sliding blocks through bolts; two round holes with the diameter of 16 millimetres are formed in each of the right and left replaceable holding jaws; a rectangular sliding groove is formed in each jaw body; each sliding groove is 0.05 millimetre wider than each sliding rack. Through adoption of the manipulator provided by the invention, the efficiency is improved, the yield is stabilized, and the quality is improved. The manipulator is high in degree of automation.
Description
Technical field
The present invention relates to a kind of manipulator, be specifically related to pneumatic manipulator.
Background technology
In current mechanic factory workers, particularly streamline, often need fetching parts.Adopt original manpower transport not only inefficiency, cost height also easily causes security incident, manually get thing and have many shortcomings, such as: machinery equipment each production cycle irregular (quality is influenced), the impact of human factor (as mood), effectively cannot calculate production quantity (production efficiency decline), production period mould is easily damaged (destructive high), effectively cannot keep the uniformity of each product, time waste (production capacity waste) during changing shifts, continuation operation that manually cannot be long-term or lasting, machinery equipment as in random situation processing ease break down, thus add maintenance cost, easily there is maloperation, then heavy damage machinery equipment also causes the major accidents such as production line stopping, if inventing a kind of manipulator replaces artificial, the industrial accident because staff's weariness working causes can be avoided.
If design a kind of pneumatic manipulator, particularly mechanical industry processing enterprise, on streamline.Current a lot of enterprise thirsts for just.
Summary of the invention
The present invention is directed to above-mentioned existing problems, devise a kind of manipulator, it comprises pneumatic control part and robot section.
The technical solution that the present invention relates to:
As shown in Figure 1, pneumatic manipulator, is characterized in that: this manipulator by screw rod 1, piston 2, cylinder 3, the two-sided rack 4, cog 5, lower gear 6, sliding rack 7, right replaceable jaw 8, left replaceable jaw 9, spring 10, corpus unguis 11, screw 13, slide block 14, air compressor 20, aerial cooler 21, point water water trap 22, gas tank 23, air cleaner 24, stroke valve 25, pressure-reducing valve 26, oil sprayer 27, reversal valve 28, single groove seat point 30, many groove seats point 31, self-alignment is pointed 32 and formed; Described screw rod 1 is connected on the arm of manipulator by fine thread, and described piston 2 sealing is arranged in cylinder 3; Described cog 5 and lower gear 6 form duplicate gear, described the two-sided rack 45 to engage with cogging, and described lower gear 6 engages with sliding rack 7, and described sliding rack about 7 two pieces is identical, and is provided with spring 10 between the sliding rack 7 of two, left and right; Described sliding rack 7 and slide block 14 are connected by tenon and carry out fastening with screw; The replaceable jaw in the described right side 8 and the replaceable jaw 9 in a left side are installed on slide block 14 by screw 13, and the replaceable jaw in the described right side 8 and the replaceable jaw 9 in a left side all have the circular hole that two diameters are 16 millimeters; Described corpus unguis 11 is provided with rectangle chute, larger than the width 7 of sliding rack 0.05 millimeter of the width of chute; Described air compressor 20, aerial cooler 21, point water water trap 22, gas tank 23, air cleaner 24, pressure-reducing valve 26, oil sprayer 27, reversal valve 28 are connected, stroke valve 25 and reversal valve 28 are connected in parallel in gas circuit, and described aerial cooler 21 is water-cooled cooler.
The further technical solution of the present invention is:
Described air compressor 20 is rotary positive displacement compressor.There are in rotary positive displacement compressor two rotors with screw type gear engage each other, make two rotor engagement place volumes from large to small, thus gas compression is discharged.Its reliability and performance can guarantee that the running expense of compressor is always extremely low within the operating period.
Described cog 5 and the modulus of the two-sided rack 4 be 2 millimeters; The modulus of lower gear 6 and sliding rack 7 is 1.5 millimeters.Select the less gear of modulus that transmission can be made more accurate.
The filter core of described air cleaner 24 is copper pearl slug type.Air cleaner 24, by selecting different copper pearl diameters, can reach different filtering accuracies.Generally there are 5 microns, 20 microns, 50 microns, 100 microns 4 kinds of filtering accuracies.The advantage of copper pearl filter core repeatedly can clean use.
Described reversal valve 28 is two-position four-way solenoid valve.
The replaceable jaw in the described right side (8) and the replaceable jaw in a left side (9) can be changed according to gripping different workpieces, and the jaw of replacing is respectively single groove seat finger (30), many groove seats finger (31), self-alignment finger (32).Use different jaws, the difform article of more effective gripping.Can enhance productivity, make industrial production more safe and reliable.
The channel structure of described aerial cooler 21 is flange form.This structure is applicable to mesolow production environment, as industrial production.
Described pressure-reducing valve 26 is spring diaphragm reducing valve.This equipment is made up of parts such as regulating spring, diaphragm, piston, valve seat, flaps.Utilize diaphragm direct pick-up downstream pressure to drive flap, control the object that flap aperture completes pressure-reduced and-regulated.
Described screw 13 is sunk screw.Screw cap can be screwed in slide block 14, jaw can be made to operate in narrow space freely, make jaw more flexible, avoid the head of a nail exposed in operating process to take larger space.
Beneficial effect of the present invention:
One, apparatus of the present invention adopt pneumatic control, and the accuracy of pneumatic control is high, use air as working media, convenient sources, free from environmental pollution.Working environment adaptability is good.Air viscosity is little, and long-distance sand transport energy loss is few.Pneumatic control is swift in motion, and reaction is fast, can reach required pressure and speed in the short period of time.
Two, robot manipulator structure of the present invention is exquisite, saves artificial, to reduce workman labor intensity; Security is high, with manually getting the danger that product may have hand clamping, uses manipulator then can ensure safety in production.And can raise the efficiency, constant rate of production, lifting quality.
Three, the present invention has wide popularizing application prospect, and can be widely used in the enterprises such as machinery plant, Electronics Factory, chemical plant, Metallurgical Factory, the automaticity of pneumatic manipulator is high.
Accompanying drawing explanation
Accompanying drawing 1 is general structure schematic diagram of the present invention;
In Fig. 1: screw rod 1, piston 2, cylinder 3, the two-sided rack 4, cog 5, lower gear 6, sliding rack 7, right replaceable jaw 8, left replaceable jaw 9, spring 10, corpus unguis 11, screw 13, slide block 14, air compressor 20, aerial cooler 21, point water water trap 22, gas tank 23, air cleaner 24, stroke valve 25, pressure-reducing valve 26, oil sprayer 27, reversal valve 28.
Accompanying drawing 2 is the schematic diagram of replaceable jaw of the present invention;
Single groove seat finger 30, many groove seats finger 31, self-alignment finger 32.
Detailed description of the invention
As shown in Figure 1, produce compressed air by air compressor 20, its temperature is very high, can reach 160 ~ 180 degrees Celsius, and containing large quantity of moisture and oil content.So need to cool through aerial cooler 21, after discharging steam in air and mist of oil, be stored in gas tank 23, eliminate pressure oscillation to ensure the output gas flow of continuous and stable, and adiabatic expansion can be relied on and naturally cool, separate the moisture in compressed air and oil content further.Again after air cleaner 24 filter solid contaminants, dust granule, water droplet and oil droplet, by pressure-reducing valve 26 higher air pressure reduced and be adjusted to meet this manipulator for the production of time required pressure, and play pressure stabilization function.Liquid lubricant atomization is transported in reversal valve 28 through oil sprayer 27 by air-flow, lubricating sliding sections position.When there being part impact stroke valve 25, opening or closing up of jaw can be controlled.When left cylinder port air inlet, right cylinder port is given vent to anger, piston 2 promotes the two-sided rack 4 and moves right, drive cogs and 5 to rotate counterclockwise (overlooking), because cog 5 and lower gear 6 form duplicate gear, so lower gear 6 drives sliding rack 7 to move right, just band movable slider 14 opens, and now jaw opens; Otherwise jaw closes.
Described screw rod 1 is connected on the arm of manipulator by fine thread, and described piston 2 sealing is arranged in cylinder 3, promotes piston control jaw folding by gas circuit; Described cog 5 and lower gear 6 form duplicate gear, described the two-sided rack 45 to engage with cogging, and described lower gear 6 engages with sliding rack 7, and described sliding rack about 7 two pieces is identical, and is provided with spring 10 between the sliding rack 7 of two, left and right; Described sliding rack 7 and slide block 14 are connected by tenon and carry out fastening with screw; The replaceable jaw in the described right side 8 and the replaceable jaw 9 in a left side are installed on slide block 14 by screw 13, and the replaceable jaw in the described right side 8 and the replaceable jaw 9 in a left side all have the circular hole that two diameters are 16 millimeters; Described corpus unguis 11 is provided with rectangle chute, larger than the width 7 of sliding rack 0.05 millimeter of the width of chute; Described air compressor 20, aerial cooler 21, point water water trap 22, gas tank 23, air cleaner 24, pressure-reducing valve 26, oil sprayer 27, reversal valve 28 are connected, and stroke valve 25 and reversal valve 28 are connected in parallel in gas circuit.
As shown in Figure 2, described single groove seat finger 30, many groove seats finger 31, self-alignment finger 32 are for changing right replaceable jaw 8, left replaceable jaw 9.Use different jaws, the difform article of more effective gripping.Can enhance productivity, make industrial production more safe and reliable.
To sum up, the pneumatic manipulator designed by the present invention, can reach the object of expection.
Claims (10)
1. pneumatic manipulator, it is characterized in that: this manipulator is by screw rod (1), piston (2), cylinder (3), the two-sided rack (4), cog (5), lower gear (6), sliding rack (7), right replaceable jaw (8), left replaceable jaw (9), spring (10), corpus unguis (11), screw (13), slide block (14), air compressor (20), aerial cooler (21), divide water water trap (22), gas tank (23), air cleaner (24), stroke valve (25), pressure-reducing valve (26), oil sprayer (27), reversal valve (28), single groove seat finger (30), many groove seats finger (31), self-alignment finger (32) composition, described screw rod (1) is connected on the arm of manipulator by fine thread, and described piston (2) sealing is arranged in cylinder (3), described cogs (5) and lower gear (6) composition duplicate gear, described the two-sided rack (4) engages with cog (5), described lower gear (6) engages with sliding rack (7), two pieces described, sliding rack (7) left and right is identical, and is provided with spring (10) between the sliding rack (7) of two, left and right, described sliding rack 7 and slide block 14 are connected by tenon and carry out fastening with screw, the replaceable jaw in the described right side 8 and the replaceable jaw 9 in a left side are installed on slide block 14 by screw 13, and the replaceable jaw in the described right side 8 and the replaceable jaw 9 in a left side all have the circular hole that two diameters are 16 millimeters, described corpus unguis 11 is provided with rectangle chute, larger than the width 7 of sliding rack 0.05 millimeter of the width of chute, described air compressor (20), aerial cooler (21), point water water trap (22), gas tank (23), air cleaner (24), pressure-reducing valve (26), oil sprayer (27), reversal valve (28) series connection, stroke valve (25) and reversal valve (28) are connected in parallel in gas circuit, and described aerial cooler (21) is water-cooled cooler.
2. pneumatic manipulator according to claim 1, is characterized in that: described air compressor (20) is rotary positive displacement compressor.
3. pneumatic manipulator according to claim 1, is characterized in that: described to cog (5) and the modulus of the two-sided rack (4) is 2 millimeters; The modulus of lower gear (6) and sliding rack (7) is 1.5 millimeters.
4. pneumatic manipulator according to claim 1, is characterized in that: the filter core of described air cleaner (24) is copper pearl slug type.
5. pneumatic manipulator according to claim 1, is characterized in that: described reversal valve (28) is two-position four-way solenoid valve.
6. the mechanical grabbing device of air pressure control according to claim 1, it is characterized in that: the replaceable jaw in the described right side (8) and the replaceable jaw in a left side (9) can be changed according to gripping different workpieces, the jaw of replacing is respectively single groove seat finger (30), many groove seats finger (31), self-alignment finger (32).
7. pneumatic manipulator according to claim 1, is characterized in that: the channel structure of described aerial cooler (21) is flange form.
8. pneumatic manipulator according to claim 1, is characterized in that: described pressure-reducing valve (26) is spring diaphragm reducing valve.
9. pneumatic manipulator according to claim 1, is characterized in that: described gas tank (23) tank body material is stainless steel.
10. pneumatic manipulator according to claim 1, is characterized in that: described screw (13) is sunk screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610087164.1A CN105538306A (en) | 2016-01-27 | 2016-01-27 | Pneumatic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610087164.1A CN105538306A (en) | 2016-01-27 | 2016-01-27 | Pneumatic manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105538306A true CN105538306A (en) | 2016-05-04 |
Family
ID=55818097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610087164.1A Pending CN105538306A (en) | 2016-01-27 | 2016-01-27 | Pneumatic manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105538306A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379735A (en) * | 2016-09-09 | 2017-02-08 | 惠州Tcl移动通信有限公司 | Device and method for transmitting mobile phone between adjacent stations |
| CN106392582A (en) * | 2016-11-09 | 2017-02-15 | 南京航空航天大学 | Gripper mechanism of press-fitting mechanical arm |
| CN106550654A (en) * | 2016-11-09 | 2017-04-05 | 广西大学 | A kind of fixed mechanism of cutting Caulis Sacchari sinensis |
| CN107357182A (en) * | 2017-08-12 | 2017-11-17 | 高飞 | A kind of intelligent things net means |
| WO2018107408A1 (en) * | 2016-12-15 | 2018-06-21 | 深圳市安耐佳电子有限公司 | Full-automatic transverse clamping type support |
| CN108521956A (en) * | 2018-04-04 | 2018-09-14 | 东北农业大学 | Rack reverse drive formula alms bowl seedling seedling taking end effector mechanism |
| CN108724227A (en) * | 2018-04-28 | 2018-11-02 | 山东鲁能智能技术有限公司 | Prefastening storage entity part clamping manipulator and method |
| CN108908384A (en) * | 2018-08-21 | 2018-11-30 | 褥玲燕 | It can be used for the clamping manipulator of cylindrical body or sphere article |
| CN109230516A (en) * | 2018-09-29 | 2019-01-18 | 芜湖中义玻璃有限公司 | A kind of clamping device of vial processing |
| CN109318250A (en) * | 2018-10-31 | 2019-02-12 | 宁波杰立化妆品包装用品有限公司 | A kind of cosmetic pencil mechanical grip mechanism |
| CN110154075A (en) * | 2019-06-20 | 2019-08-23 | 三峡大学 | Parallel-moving mechanical gripper and operation method based on double gears |
| CN110465828A (en) * | 2019-08-11 | 2019-11-19 | 嘉兴勤慎智能技术有限公司 | Industrial robot is used in a kind of handling |
| CN110668162A (en) * | 2019-10-10 | 2020-01-10 | 南京荧河谷科技有限公司 | Position-variable gripping device |
| CN110877857A (en) * | 2019-11-11 | 2020-03-13 | 神华粤电珠海港煤炭码头有限责任公司 | Novel grab bucket ship unloader pinch roller ware |
| WO2020193279A1 (en) * | 2019-03-25 | 2020-10-01 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Clamping or gripping device with extended stroke |
| CN112478761A (en) * | 2020-12-11 | 2021-03-12 | 平江县鼎峰激光模具有限公司 | Grabbing mechanism |
| CN114599490A (en) * | 2019-11-29 | 2022-06-07 | 信浓绢糸株式会社 | robotic hand |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379735A (en) * | 2016-09-09 | 2017-02-08 | 惠州Tcl移动通信有限公司 | Device and method for transmitting mobile phone between adjacent stations |
| CN106392582A (en) * | 2016-11-09 | 2017-02-15 | 南京航空航天大学 | Gripper mechanism of press-fitting mechanical arm |
| CN106550654A (en) * | 2016-11-09 | 2017-04-05 | 广西大学 | A kind of fixed mechanism of cutting Caulis Sacchari sinensis |
| WO2018107408A1 (en) * | 2016-12-15 | 2018-06-21 | 深圳市安耐佳电子有限公司 | Full-automatic transverse clamping type support |
| CN107357182A (en) * | 2017-08-12 | 2017-11-17 | 高飞 | A kind of intelligent things net means |
| CN108521956B (en) * | 2018-04-04 | 2020-10-30 | 东北农业大学 | Rack reverse driving type potted seedling taking tail end executing mechanism |
| CN108521956A (en) * | 2018-04-04 | 2018-09-14 | 东北农业大学 | Rack reverse drive formula alms bowl seedling seedling taking end effector mechanism |
| CN108724227A (en) * | 2018-04-28 | 2018-11-02 | 山东鲁能智能技术有限公司 | Prefastening storage entity part clamping manipulator and method |
| CN108908384A (en) * | 2018-08-21 | 2018-11-30 | 褥玲燕 | It can be used for the clamping manipulator of cylindrical body or sphere article |
| CN109230516A (en) * | 2018-09-29 | 2019-01-18 | 芜湖中义玻璃有限公司 | A kind of clamping device of vial processing |
| CN109318250A (en) * | 2018-10-31 | 2019-02-12 | 宁波杰立化妆品包装用品有限公司 | A kind of cosmetic pencil mechanical grip mechanism |
| CN109318250B (en) * | 2018-10-31 | 2022-03-25 | 宁波杰立化妆品包装用品有限公司 | Mechanical clamping jaw mechanism of cosmetic pencil |
| CN113924193A (en) * | 2019-03-25 | 2022-01-11 | 雄克有限公司 | Clamping or holding devices with extended stroke |
| WO2020193279A1 (en) * | 2019-03-25 | 2020-10-01 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Clamping or gripping device with extended stroke |
| EP3927504B1 (en) * | 2019-03-25 | 2022-09-28 | Schunk GmbH & Co. KG Spann- und Greiftechnik | Clamping or gripping assembly with increased range |
| CN113924193B (en) * | 2019-03-25 | 2022-11-22 | 雄克有限公司 | Clamping or holding devices |
| US11766763B2 (en) | 2019-03-25 | 2023-09-26 | Schunk Gmbh & Co.Kg Spann-Und Greiftechnik | Clamping or gripping device with extended stroke |
| CN110154075A (en) * | 2019-06-20 | 2019-08-23 | 三峡大学 | Parallel-moving mechanical gripper and operation method based on double gears |
| CN110465828A (en) * | 2019-08-11 | 2019-11-19 | 嘉兴勤慎智能技术有限公司 | Industrial robot is used in a kind of handling |
| CN110668162A (en) * | 2019-10-10 | 2020-01-10 | 南京荧河谷科技有限公司 | Position-variable gripping device |
| CN110668162B (en) * | 2019-10-10 | 2021-07-02 | 南京荧河谷科技有限公司 | A variable position grabbing device |
| CN110877857A (en) * | 2019-11-11 | 2020-03-13 | 神华粤电珠海港煤炭码头有限责任公司 | Novel grab bucket ship unloader pinch roller ware |
| CN114599490A (en) * | 2019-11-29 | 2022-06-07 | 信浓绢糸株式会社 | robotic hand |
| CN112478761A (en) * | 2020-12-11 | 2021-03-12 | 平江县鼎峰激光模具有限公司 | Grabbing mechanism |
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Application publication date: 20160504 |
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