WO2019144355A1 - Mâchoire de serrage électrique - Google Patents

Mâchoire de serrage électrique Download PDF

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Publication number
WO2019144355A1
WO2019144355A1 PCT/CN2018/074182 CN2018074182W WO2019144355A1 WO 2019144355 A1 WO2019144355 A1 WO 2019144355A1 CN 2018074182 W CN2018074182 W CN 2018074182W WO 2019144355 A1 WO2019144355 A1 WO 2019144355A1
Authority
WO
WIPO (PCT)
Prior art keywords
limit portion
rack
support shaft
lower limit
limiting
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.)
Ceased
Application number
PCT/CN2018/074182
Other languages
English (en)
Chinese (zh)
Inventor
李蒙
官辰勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gudsen Technology Co Ltd
Original Assignee
Gudsen Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Gudsen Technology Co Ltd filed Critical Gudsen Technology Co Ltd
Priority to PCT/CN2018/074182 priority Critical patent/WO2019144355A1/fr
Publication of WO2019144355A1 publication Critical patent/WO2019144355A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the present application relates to the field of mechanical equipment, and in particular to an electric gripper for grasping an object.
  • the electric gripper is used as the end gripping device of the robot arm and has a wide range of applications in the field of industrial automation.
  • the electric gripper has two-finger translation type and three-finger type according to the hand index.
  • the movement of the two-finger translation mainly includes rack and pinion transmission, cam transmission and ball. Three implementations of screw drive power.
  • the rack is fixed to the slider, and the slider is two, which is slidably disposed on the slide base, and each of the sliders has a convex claw body.
  • the power of the electric jaw is transmitted to the rack by the drive motor through the 4-stage involute parallel shaft transmission mechanism, and then the power is transmitted to the slider through the shock absorber, thereby driving the motor to drive the claw body toward or away from the movement to complete the object. Clamping and release.
  • the support shaft is usually disposed on the side of the slider away from the sliding seat, and the support shaft and the sliding seat form a limiting structure to prevent the slider from The direction of motion is the rotation of the axis.
  • the rack of the electric gripper is embedded in the middle of the slider.
  • the support shaft needs to be in sliding contact with the slider on the upper and lower sides of the rack to form a limit, so the slider is located.
  • the upper and lower sides of the rack are all protruding from the rack.
  • the portion of the slider below the rack needs to form an opening so that the gear meshes with the rack from the opening.
  • the electric jaw has a complicated structure, and when a large stroke design is required, not only the rack needs to be lengthened, but also the structure of the slider needs to be redesigned according to the rack position.
  • the application provides a novel electric jaw.
  • an electric jaw in an embodiment, including:
  • Driving a motor the driving motor is fixedly disposed on the support base;
  • gear transmission mechanism wherein the gear transmission mechanism is driven by the drive motor
  • Two racks respectively meshing with the output teeth of the gear transmission mechanism for generating a direction or a deviation movement under the driving of the motor
  • the sliding seat comprising a pair of oppositely disposed supporting walls
  • Two sliding members respectively slidably disposed on the two supporting walls, and one sliding member is fixedly connected to one of the racks, the sliding member having an upper limit portion, a lower limit portion and a mounting position And a protruding claw body, the upper limit portion, the lower limit portion and the mounting position are laterally disposed on a side of the sliding member away from the corresponding supporting wall, the rack is fixedly mounted in the mounting position, and the upper limit portion is And the lower limit portion are respectively located on the upper and lower sides of the rack, and the limiting surface of the upper limit portion protrudes from the rack in a direction away from the support wall, and the rack is at least meshed from the lower limit portion
  • the upper direction protrudes away from the support wall and protrudes from the limiting surface of the lower limit portion, so as to prevent the lower limit portion from contacting the output teeth of the gear transmission when the slider moves, the claws of the two sliding members are used for sliding in two directions Clamping or releasing objects when facing or facing away from each other;
  • the short support shaft is vertically disposed, and an outer peripheral surface thereof is engaged with a limit surface of the lower limit portion, and an upper end surface of the short support shaft supports a bottom portion of the rack.
  • the upper limit portion, the mounting position and the lower limit portion form a stepped outer wall, and the mounting surface and the limiting surface of the lower limit portion are located on the same side wall of the first step
  • the limiting surface of the upper limit portion is located on a sidewall of the second step, and the limiting surface of the upper portion is parallel to the limiting surface of the lower portion.
  • the long support shaft is vertically disposed, and an outer peripheral surface thereof is engaged with a limit surface of the upper limit portion, the long support shaft being located between the two sliding members, the two The slider shares the long support shaft.
  • the long support shafts are at least two, and at least one long support shaft is vertically disposed on two sides of the output teeth of the gear transmission mechanism, and the short support shaft is located on the long support shaft and Corresponding between the support walls, and its position is aligned with the long support shaft.
  • the sliding seat comprises a base, two supporting walls are fixedly disposed on two sides of the base, and output gears of the gear transmission mechanism are mounted on the base through bearings.
  • the outer peripheral surface of the bearing cooperates with the limiting surface of the lower limit portion to form a limit to the lower limit portion.
  • the sliding seat further comprises two cover plates, the base and the support wall enclosing a U-shaped groove structure, and the two cover plates are respectively detachably mounted on the U-shaped groove structure Openings at both ends thereof, the sliding seat encloses a cavity, and the upper limit portion, the lower limit portion, the mounting position, the rack, the long support shaft and the short support shaft are all mounted in the cavity, the claw body Extend from the cavity.
  • a guide groove is disposed between the sliding member and the corresponding support wall, and a cross roller bearing is installed in the guide groove.
  • the gear transmission adopts a two-stage involute planetary transmission mechanism driven by an output end of the driving motor, the output end of the two-stage involute planetary transmission mechanism and the rack Engage.
  • the sliding member has an upper limit portion, a lower limit portion and a mounting position laterally disposed on a side of the sliding member away from the corresponding supporting wall, and the rack is fixedly mounted in the mounting position.
  • the limiting surface of the upper limit portion protrudes from the rack in a direction away from the supporting wall from the upper side of the rack, and at least the engaging portion of the rack protrudes from the upper side of the lower limit portion away from the supporting wall by the limiting surface of the lower limit portion .
  • the long support shaft and the short support shaft are further engaged with the limit faces of the upper limit portion and the lower limit portion for limiting the slide member together with the support wall of the slide seat.
  • the lower part of the rack of the electric clamp is a lower limit portion, and the limit surface is entirely retracted toward the support wall side, and the entire limit surface is separated from the output tooth of the gear transmission mechanism, and neither of the entire movement of the sliding member is in progress. It is in contact with the output teeth, so it does not affect the meshing of the output teeth and the rack.
  • the electric gripper adopts two kinds of support shafts for length support, and the support points are more and more reliable.
  • Figure 1 is a cross-sectional view showing an embodiment of the electric gripper of the present application
  • FIG. 2 is a schematic structural view of a sliding part of an embodiment of the electric gripper of the present application
  • Figure 3 is a side cross-sectional view of the slider portion of an embodiment of the electric jaw of the present application.
  • FIG. 4 is a cross-sectional view showing a driving motor and a transmission mechanism in an embodiment of the electric jaw of the present application
  • FIG. 5 is a schematic view showing the internal structure of a driving motor and a transmission mechanism in an embodiment of the electric jaw of the present application
  • FIG. 6 is a top plan view of an involute planetary transmission mechanism in an embodiment of the electric gripper of the present application
  • FIG 7 and 8 are schematic views showing the assembly and disassembly of the cover in an embodiment of the electric gripper of the present application.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the embodiment provides an electric gripper that is driven by a drive motor to achieve gripping and releasing of an object.
  • the electric jaw includes a support base 100 , a drive motor 200 , a gear transmission mechanism 300 , a rack 400 , a slide base 500 , a slider 600 , a long support shaft 710 , and a short support shaft 720 .
  • the drive motor 200 is fixedly disposed on the support base 100.
  • the support base 100 can serve as a support member for the electric jaws, which can form a housing structure in which the drive motor 200 can be housed.
  • the support base 100 may include a plurality of portions that are fixedly coupled together by screws 101 or the like.
  • the gear transmission mechanism 300 is used to complete the transmission of power, which is driven by the drive motor 200, and finally transmits the motion of the output of the drive motor 200 to the rack 400.
  • the rack 400 is two, and the two racks 400 are respectively engaged with the output teeth 301 of the gear transmission mechanism 300 to generate a facing or deviating motion under the driving of the motor.
  • the two racks 400 can be disposed on opposite sides of the output teeth 301 of the gear transmission mechanism 300 in such a manner that the engaging portions are opposite to each other as shown in FIGS. 2 and 3.
  • the two output racks 301 can drive the two racks 400. Achieve opposite or deviation movements.
  • each rack 400 can also be driven by a different output tooth 301.
  • the sliding seat 500 includes a pair of oppositely disposed support walls 510.
  • the sliding seat 500 can be fixedly mounted on the support base 100.
  • the slide base 500 serves as a support for the slider 600.
  • the two sliders 600 are slidably disposed on the two support walls 510, respectively.
  • a slider 600 is fixedly coupled to a rack 400 such that the rack 400 moves to move the slider 600.
  • the slider 600 can be a slider or other structure.
  • the slider 600 has an upper limit portion 610, a mounting position 620, a lower limit portion 630, and a protruding claw body 640.
  • the claws 640 of the two sliders 600 are used to clamp or release an object when the two sliders 600 are facing or facing away from each other.
  • the upper limit portion 610, the lower limit portion 630, and the mounting position 620 are laterally disposed on a side of the slider 600 away from the corresponding support wall 510, and the lateral direction refers to the left-right direction shown in FIG.
  • the rack 400 is fixedly mounted within the mounting location 620.
  • the mounting location 620 can be a variety of structures such as a flat, concave or convex surface.
  • the rack 400 can be fixed to the slider 600 by screws 402.
  • a positioning hole or positioning shaft 401 may also be provided for positioning the rack 400 on the slider 600.
  • the upper limit portion 610 and the lower limit portion 630 are respectively located on the upper and lower sides of the rack 400.
  • the limiting surface 611 of the upper limit portion 610 protrudes from the rack 400 in a direction away from the supporting wall 510 from the rack 400.
  • the long supporting shaft 710 is fixedly disposed and cooperates with the limiting surface 611 of the upper limit portion 610.
  • the slider 600 is restrained together with the support wall 510 of the slider 500. At least the meshing portion of the rack 400 protrudes from the upper side of the lower limit portion 630 away from the support wall 510 by the limiting surface 631 of the lower limit portion 630.
  • the engaging portion refers to a portion of the rack 400 for engaging with the output teeth 301.
  • the limiting surface 631 of the lower limit portion 630 is entirely retracted toward the support wall 510 side, and the entire limiting surface 631 is separated from the output tooth 301 of the gear transmission mechanism 300, and is not outputted during the entire movement of the sliding member 600.
  • the contact of 301 does not affect the engagement of the output teeth 301 with the rack 400.
  • the short support shaft 720 is fixedly disposed and cooperates with the limiting surface of the lower limit portion 630 for limiting the slider 600 together with the support wall 510 of the sliding seat 500.
  • the electric gripper adopts two kinds of support shafts for length support, and the support points are more and more reliable.
  • the upper limit portion 610, the lower limit portion 630, and the mounting position 620 may be entirely penetrating one side of the slider 600, that is, extending from one end (leftmost end) of the slider 600 to the other end (rightmost end) of the slider 600, This is not only simple to manufacture, but also requires only directly increasing the size of the slider 600 when a large stroke is to be made, without changing the positions of the upper limit portion 610, the lower limit portion 630, and the mounting position 620.
  • the short support shaft 720 is vertically disposed, and the outer peripheral surface thereof is engaged with the limiting surface of the lower limit portion 630, and the upper end surface of the short support shaft 720 The bottom of the rack 400 is supported to improve the fixing effect of the rack 400 on the slider 600.
  • the long support shaft 710 may also be vertically disposed, and the outer peripheral surface thereof is engaged with the limit surface of the upper limit portion 610.
  • the long support shaft 710 is longer than the short support shaft 720 and is relatively farther from the support wall 510 than the short support shaft 720.
  • the long support shaft 710 is located between the two sliding members 600, and the two sliding members 600 share the long support shaft 710, so that the structure of the electric jaws is more compact.
  • the long support shaft 710 and the short support shaft 720 can employ an optical axis, which can reduce the friction between the slider 600 and the long support shaft 710 and the short support shaft 720.
  • the long support shafts 710 are at least two. At least one long support shaft 710 is vertically disposed on two sides of the output gear 301 of the gear transmission mechanism 300, and the short support shaft 720 is located between the long support shaft 710 and the corresponding support wall 510, and its position is aligned with the long support shaft 710. . As shown in Fig. 2, the alignment here means that one long support shaft 710 and a corresponding one short support shaft 720 are in the same straight line in the Y-axis direction.
  • the short support shaft 720 can also be non-aligned with the long support shaft 710.
  • the number may be the same or different from the long support shaft 710.
  • the length of the long support shaft 710 and the short support shaft 720 are two, which are symmetrically distributed on both sides of the output tooth 301.
  • the two long support shafts 710 are on the same straight line in the X-axis direction, the distance between them is L1, and the two short support shafts 720 are also on the same straight line in the X-axis direction.
  • the length of the sliding space of the slider 600 in the X-axis direction is L2
  • the length of the sliding member 600 in the X-axis direction plus the total length of the sliding space thereof is L
  • the length of L1 satisfies: L1 ⁇ L-2 ⁇ L2, which allows the end of the slider 600 to fall out of the space defined by the one side long support shaft 710 when the slider 600 is slid to the extreme position.
  • the upper limit portion 610, the mounting location 620, and the lower limit portion 630 form a stepped outer wall.
  • the mounting surface 620 and the limiting surface of the lower limit portion 630 are located on the same sidewall of the first step A.
  • the limiting surface of the upper limit portion 610 is located on the side wall of the second step B, and the limiting surface 611 of the upper limit portion 610 is parallel to the limiting surface 631 of the lower limit portion 630.
  • This configuration is easier to machine for the slider 600, and a sufficient space is formed between the lower limit portion 630 and the rack 400 to mount the short support shaft 720.
  • the sliding base 500 includes a base 520, and two supporting walls 510 are fixedly disposed on both sides of the base 520, and the output teeth 301 of the gear transmission mechanism 300 pass through the bearing.
  • the 650 is mounted on the base 520.
  • the bearing 650 can be designed to cooperate with the limiting surface of the lower limit portion 630 to form a limit on the lower limit portion 630, thereby improving the limiting effect on the sliding member 600.
  • the base 520 can be mounted on the support base 100, for example, as shown in FIG. 1, fixedly connected by screws 501, thereby enclosing a closed space with the support base 100.
  • the driving motor 200 is installed in the closed space, and the gear transmission mechanism 300 is extended from the base 520 except for the output gear 301, and other parts are also accommodated in the closed space, thereby protecting the driving motor 200 and the gear transmission mechanism 300. It also prevents dust and other debris from entering.
  • a rail slot is disposed between the sliding member 600 and the corresponding supporting wall 510 , and a cross roller bearing 810 is mounted in the rail slot.
  • other manners of guiding structure can be used for guiding and limiting between the sliding member 600 and the supporting wall 510.
  • an electric caliper is installed in a common electric gripper, and the electric caliper refers to a device that can determine whether the size of the gripping position of the workpiece is within a set dimensional tolerance when the workpiece is gripped.
  • the gearing mechanism 300 employs a two-stage involute planetary transmission that is driven by the output of the drive motor 200.
  • the output of the two-stage involute planetary transmission meshes with the rack 400.
  • the two-stage involute planetary transmission mechanism includes an output pinion 301, a snap spring 302, a gasket 303, an internal tooth casing 304, an oil bearing 305, and an output frame. 306.
  • the output teeth 201 of the drive motor 200 are coupled to a planetary transmission.
  • the drive motor 200 has a copper sleeve 202 and a signal magnet 203.
  • the encoder 900 senses the angle at which the magnet 203 coupled to the output shaft of the drive motor 200 is rotated. Power is amplified by the two-stage involute planetary transmission mechanism 300 and transmitted through the output teeth 301 to the two oppositely placed racks 400.
  • the rack 400 is rigidly coupled to the slider 600.
  • the embodiment improves the impact resistance of the transmission portion by adopting an involute planetary transmission, and the rack and pinion 400 adopts a rigid coupling, which not only makes the rack 400 can omit the shock absorber when being mounted to the sliding member 600, but also realizes the The motor rotation angle is linearly consistent with the height of the movement of the sliding member 600, so that the electric caliper function can be realized without additionally adding a distance sensor at the output end, thereby saving the customer's use cost.
  • the number of the planetary transmission portion gears 314 in this embodiment is three.
  • the number of uniforms of the planetary transmission portion gears 314 may also be four or more.
  • the sliding seat 500 further includes two cover plates 530.
  • the base 520 and the support wall 510 enclose a U-shaped groove structure.
  • the two cover plates 530 are respectively detachably mounted at the opening ends of the U-shaped groove structure, so that the sliding seat 500 encloses a cavity.
  • the upper limit portion 610, the lower limit portion 630, the mounting position 620, the rack 400, the long support shaft 710, and the short support shaft 720 are all mounted in the cavity, and the claw body 640 protrudes from the cavity.
  • the side cover 530 can be coupled to the support wall 510 by two screws 540.
  • the cover 530 can also employ a detachable rubber plug. When the electric gripper needs maintenance, the screw can be removed, and the cover 530 can be removed to facilitate cleaning or adding grease.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une mâchoire de serrage électrique. Un élément coulissant (600) de la mâchoire de serrage électrique est pourvu d'une partie de limitation supérieure (610), d'une partie de limitation inférieure (620) et d'une position de montage (630), une crémaillère (400) étant agencée de façon fixe dans la position de montage. Au moins une partie d'engrènement de la crémaillère fait saillie d'une face de limitation (631) de la partie de limitation inférieure dans une direction à l'écart d'une paroi de support (510) depuis le côté supérieur de la partie de limitation inférieure. En outre, un arbre de support long (710) et un arbre de support court (720) sont utilisés pour coopérer avec la partie de limitation supérieure et la partie de limitation inférieure, afin de limiter l'élément coulissant conjointement avec une paroi de support d'un siège coulissant (500). La partie inférieure de la crémaillère dans la mâchoire de serrage électrique est la partie de limitation inférieure, et la face de limitation de celle-ci est intégralement rétractée vers un côté de la paroi de support, toute la face de limitation est séparée de la dent de sortie (301) d'un mécanisme d'entraînement par engrenage, et n'est pas en contact avec la dent de sortie pendant tout le processus de déplacement de l'élément coulissant, de sorte que l'engrènement de la dent de sortie et de la crémaillère ne peut pas être influencé. Lorsqu'une conception à grande course doit être réalisée, seuls l'élément coulissant, la crémaillère et d'autres parties ont besoin d'être allongés selon la course nécessaire, et les positions des arbres de support n'ont pas besoin d'être changées. En outre, en fonction de la mâchoire de serrage électrique, les deux arbres de support ayant une grande longueur et une courte longueur sont adoptés pour limiter le support, de sorte que les points de support sont augmentés et plus fiables.
PCT/CN2018/074182 2018-01-25 2018-01-25 Mâchoire de serrage électrique Ceased WO2019144355A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/074182 WO2019144355A1 (fr) 2018-01-25 2018-01-25 Mâchoire de serrage électrique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/074182 WO2019144355A1 (fr) 2018-01-25 2018-01-25 Mâchoire de serrage électrique

Publications (1)

Publication Number Publication Date
WO2019144355A1 true WO2019144355A1 (fr) 2019-08-01

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111943033A (zh) * 2020-08-27 2020-11-17 武汉宝钢华中贸易有限公司 一种用于钢材窄卷的转运吊具及其使用方法
CN112873262A (zh) * 2021-03-17 2021-06-01 江苏龙城精锻有限公司 一种电动夹爪
DE102023132197A1 (de) * 2023-11-20 2025-05-22 Schunk Se & Co. Kg Spanntechnik Greiftechnik Automatisierungstechnik Greif- und/oder Spannvorrichtung mit einem hemmenden Getriebe
DE102023132192A1 (de) * 2023-11-20 2025-05-22 Schunk Se & Co. Kg Spanntechnik Greiftechnik Automatisierungstechnik Antriebseinheit für eine Spann- oder Greifvorrichtung, Spann- oder Greifvorrichtung

Citations (8)

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Publication number Priority date Publication date Assignee Title
US5163729A (en) * 1991-08-22 1992-11-17 Nicky Borcea Parallel gripper assembly
US6264419B1 (en) * 1998-10-15 2001-07-24 Tecan Schweig Ag Robot arm
CN103662828A (zh) * 2013-11-26 2014-03-26 杭州电子科技大学 一种钢管辅助夹持装置
CN205058063U (zh) * 2015-10-14 2016-03-02 东南大学 一种机械抓手装置
CN206244032U (zh) * 2016-11-24 2017-06-13 瑞安市中凯自动化科技有限公司 机械夹具
CN206677969U (zh) * 2017-04-17 2017-11-28 宁波中哲医疗科技有限公司 一种夹料机械手活动装置
CN108214479A (zh) * 2018-01-25 2018-06-29 深圳市固胜智能科技有限公司 电动夹爪
CN207841328U (zh) * 2018-01-25 2018-09-11 深圳市固胜智能科技有限公司 电动夹爪

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5163729A (en) * 1991-08-22 1992-11-17 Nicky Borcea Parallel gripper assembly
US6264419B1 (en) * 1998-10-15 2001-07-24 Tecan Schweig Ag Robot arm
CN103662828A (zh) * 2013-11-26 2014-03-26 杭州电子科技大学 一种钢管辅助夹持装置
CN205058063U (zh) * 2015-10-14 2016-03-02 东南大学 一种机械抓手装置
CN206244032U (zh) * 2016-11-24 2017-06-13 瑞安市中凯自动化科技有限公司 机械夹具
CN206677969U (zh) * 2017-04-17 2017-11-28 宁波中哲医疗科技有限公司 一种夹料机械手活动装置
CN108214479A (zh) * 2018-01-25 2018-06-29 深圳市固胜智能科技有限公司 电动夹爪
CN207841328U (zh) * 2018-01-25 2018-09-11 深圳市固胜智能科技有限公司 电动夹爪

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111943033A (zh) * 2020-08-27 2020-11-17 武汉宝钢华中贸易有限公司 一种用于钢材窄卷的转运吊具及其使用方法
CN112873262A (zh) * 2021-03-17 2021-06-01 江苏龙城精锻有限公司 一种电动夹爪
DE102023132197A1 (de) * 2023-11-20 2025-05-22 Schunk Se & Co. Kg Spanntechnik Greiftechnik Automatisierungstechnik Greif- und/oder Spannvorrichtung mit einem hemmenden Getriebe
DE102023132192A1 (de) * 2023-11-20 2025-05-22 Schunk Se & Co. Kg Spanntechnik Greiftechnik Automatisierungstechnik Antriebseinheit für eine Spann- oder Greifvorrichtung, Spann- oder Greifvorrichtung

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