TWI629144B - Parallel gripping device having two axial supports - Google Patents
Parallel gripping device having two axial supports Download PDFInfo
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- TWI629144B TWI629144B TW106129163A TW106129163A TWI629144B TW I629144 B TWI629144 B TW I629144B TW 106129163 A TW106129163 A TW 106129163A TW 106129163 A TW106129163 A TW 106129163A TW I629144 B TWI629144 B TW I629144B
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Abstract
本發明係提供一種具雙軸支撐結構之平行開閉式夾爪，其特點主要包括：一夾爪主體，其作用端設有容槽；二夾持件，設於夾爪主體的作用端，各夾持件包括導動座部及夾持部，二夾持件的導動座部設有彼此間隔相對的齒排；二傳動軸，呈彼此間隔配置且軸線相互平行關係設於二夾持件的導動座部之間，二傳動軸均設有齒輪與二夾持件的導動座部所設齒排嚙合；平面抵靠支撐部，設於二夾持件的導動座部具有齒排的同一側面部位；圓柱面抵靠支撐部，設於傳動軸軸身，且令圓柱面抵靠支撐部與二夾持件的導動座部所設平面抵靠支撐部之間呈相互接觸抵靠關係。The invention provides a parallel opening and closing type jaw with a double-axis support structure, and the utility model mainly comprises: a clamping jaw body, the working end is provided with a receiving groove; and two clamping members are arranged at the active end of the clamping jaw body, respectively The clamping member comprises a guiding seat portion and a clamping portion, wherein the guiding seat portion of the two clamping members is provided with a pair of teeth spaced apart from each other; the two transmission shafts are arranged at intervals with each other and the axes are arranged in parallel with each other in the two clamping members. Between the guiding seat portions, the two transmission shafts are respectively provided with gears to mesh with the tooth rows provided by the guiding seat portions of the two clamping members; the plane abuts against the supporting portion, and the guiding portions of the two clamping members have teeth The same side portion of the row; the cylindrical surface abuts against the support portion, is disposed on the shaft body of the transmission shaft, and makes the cylindrical surface abutting between the support portion and the plane of the guiding seat portion of the two clamping members abutting against the supporting portion Respond to the relationship.
Description
本發明係涉及一種夾爪結構；特別是指一種具有雙軸支撐結構之創新平行開閉式夾爪型態揭示者。The present invention relates to a jaw structure; and more particularly to an innovative parallel open jaw jaw type revealer having a dual axis support structure.
按，本發明所謂的夾爪，係指機械加工領域中用以夾持定位工件的裝置。According to the present invention, the term "claw" refers to a device for clamping and positioning a workpiece in the field of machining.
夾爪產品種類眾多，可以依照爪數、驅動源型式以及爪部夾動型態等不同面向而有不同分類，目前既有的夾爪若依其爪部夾動型態不同，主要概分為擺動開閉式以及平行開閉式等型態，而本發明係特別針對其中的平行開閉式型態(下稱平行開閉式夾爪)進行探討與改進。There are many types of jaws, which can be classified according to different types of claws, driving source type and claw clamping type. At present, the existing jaws are different depending on the claw clamping type. The swing opening and closing type and the parallel opening and closing type and the like, and the present invention is particularly directed to the parallel opening and closing type (hereinafter referred to as the parallel opening and closing type jaw).
習知平行開閉式夾爪結構之典型設計，主要設有一對能夠進行相對式平行位移運動的二爪座，該二爪座的間隔相對應導動齒排之間嚙合有一傳動齒輪，使二爪座得以同步開合，然而，此種習知型態架構下，為了防止該二爪座的導動齒排於位移時偏離預設軸線，而與傳動齒輪之間過度配合造成導動不順暢及異常磨損等問題，業界係進一步於該傳動齒輪的相對二側再分設有複數根滾柱，用以呈可滾動式抵撐於二爪座的導動齒排之間，以期達到穩定所 述導動齒排位移狀態之作用。A typical design of a conventional parallel open jaw type jaw structure is mainly provided with a pair of two-claw seats capable of performing relative parallel displacement movement, and the two claw seats are spaced apart from each other to have a transmission gear meshed between the guide tooth rows to make the two claws The seat can be opened and closed simultaneously. However, in this conventional structure, in order to prevent the guiding teeth of the two-claw from deviating from the preset axis when displaced, the excessive cooperation with the transmission gear causes the guiding to be unsmooth and In the case of abnormal wear and the like, the industry further divides a plurality of rollers on opposite sides of the transmission gear for rollingly resisting between the guide teeth of the two-claw seat, in order to achieve stability. The role of the displacement of the tooth row.
然而，前段所述習知平行開閉式夾爪結構於實際應用經驗中發現仍舊存在一些問題與缺弊，舉例而言，組構件數量過多係為其主要為人所詬病之處，概因其傳動齒輪相對二側通常各別分設有兩根滾柱，因此滾柱數量即有四根，而為了穩定限位該等滾柱，還必須增設有相配合的底座及抵靠蓋等限位構件(註：通常須再配置具有穿孔之一抵靠蓋，讓其傳動齒輪透過穿孔傳動導動齒排，並藉由非穿孔部位提供滾柱平順抵靠)，如此一來，勢必造成其組構件數量過多、製造組立成本及瑕疵率均相對大幅提高等問題及缺弊；習知結構另一個缺點，則是關於構件作動平穩度的問題，由於所述滾柱與傳動齒輪之間為圓柱面與齒形面相抵靠接觸狀態，因此其兩者間於相互運動過程中，並無法獲得持續性之平面狀穩定磨擦效果，因其齒形面會呈現間續式之抵靠狀態，這使得該二爪座的導動齒排於位移過程中會出現振動不平穩且噪音過大等問題及缺弊。However, the conventional parallel-opening jaw structure described in the previous paragraph finds that there are still some problems and shortcomings in the practical application experience. For example, the number of components is too much for the main problem, due to its transmission. There are usually two rollers on the opposite sides of the gear, so there are four rollers. In order to stabilize the rollers, a matching base and a stop member such as a cover must be added. (Note: It is usually necessary to configure one of the perforations against the cover so that its transmission gear can drive the tooth row through the perforation drive, and the roller can be smoothly abutted by the non-perforated part), which will inevitably result in its group components. There are too many problems, the manufacturing cost and the enthalpy rate are relatively increased, and the shortcomings; the other shortcoming of the conventional structure is the problem of the smoothness of the component movement, because the roller and the transmission gear are cylindrical and The tooth-shaped surface abuts against the contact state, so that the two sides can not obtain a continuous planar stable friction effect during the mutual movement, because the tooth-shaped surface will exhibit a continuous abutting state, which The nail holder have two rows of teeth of the movable guide during the displacement of vibration does not occur smoothly and problems such as excessive noise and mischief.
是以，針對上述習知平行開閉式夾爪技術所存在之問題點，如何研發出一種能夠更具理想實用性之創新構造，實有待相關業界再加以思索突破之目標及方向者；有鑑於此，發明人本於多年從事相關產品之製造開發與設計經驗，針對上述之目標，詳加設計與審慎評估後，終得一確具實用性之本發明。Therefore, in view of the problems existing in the above-mentioned conventional parallel-opening jaw technology, how to develop an innovative structure that can be more ideal and practical, and the relevant industry should further consider the goal and direction of breakthrough; The inventor has been engaged in the manufacturing development and design experience of related products for many years. After detailed design and careful evaluation of the above objectives, the inventor has finally obtained the practical invention.
本發明之主要目的，係在提供一種具雙軸支撐結構之平行開閉式夾爪，其所欲解決之技術問題，係針對如何研發出一種更具理想實用性之新式夾爪支撐結構為目標加以思索創新突破。The main object of the present invention is to provide a parallel opening and closing type jaw with a double-axis support structure, and the technical problem to be solved is to aim at how to develop a new type of jaw supporting structure which is more ideal and practical. Think about innovation breakthroughs.
本發明解決問題之技術特點，在於所述平行開閉式夾爪係包括：一夾爪主體，具一作用端，該作用端設有容槽；二夾持件，呈可相對平行位移運動狀態設於夾爪主體的作用端，各夾持件包括導動座部及凸設於導動座部一側之夾持部，二夾持件的夾持部呈彼此間隔相對關係，二夾持件的導動座部設有彼此間隔相對的齒排；二傳動軸，呈彼此間隔配置且軸線相互平行關係設於二夾持件的導動座部之間，二傳動軸被驅動裝置所連接帶動，且二傳動軸均設有齒輪與二夾持件的導動座部所設齒排相嚙合，以當二傳動軸轉動時係透過齒輪與齒排之嚙動，驅使二夾持件同步作方向相反的位移運動；平面抵靠支撐部，呈平面型態設於二夾持件的導動座部具有齒排的同一側面部位；圓柱面抵靠支撐部，呈圓柱面型態設於傳動軸軸身至少一區段處，且令圓柱面抵靠支撐部與二夾持件的導動座部所設平面抵靠支撐部之間呈相互接觸抵靠關係。The technical feature of the present invention is that the parallel opening and closing type clamping jaw comprises: a clamping jaw body having an active end, the working end is provided with a receiving groove; and the two clamping members are arranged to be relatively parallel and movable. Each of the clamping members includes a guiding seat portion and a clamping portion protruding from a side of the guiding seat portion at the active end of the clamping body, and the clamping portions of the two clamping members are spaced apart from each other, and the two clamping members The guide seat portion is provided with a pair of teeth spaced apart from each other; the two transmission shafts are arranged at intervals with each other and the axes are arranged in parallel with each other between the guide seat portions of the two clamping members, and the two transmission shafts are connected by the driving device. And the two transmission shafts are respectively provided with gears and meshing with the tooth rows provided by the guiding seat portions of the two clamping members, so as to drive the two clamping members to move synchronously when the two transmission shafts rotate through the gears and the tooth rows. a displacement movement in the opposite direction; the plane abuts against the support portion, and is disposed in a plane shape on the same side portion of the tooth row of the guide seat portion of the two clamping members; the cylindrical surface abuts against the support portion and is disposed in the cylindrical shape The shaft shaft is at least one section, and the cylindrical surface is supported by the support Two movable guide holding the seat member being provided as a planar abutting contact with each other between the support portions abutting relationship.
本發明之主要效果與優點，係能夠讓平行開閉式夾爪達到組構件數量大幅減少，製造組立成本及瑕疵率均相對大幅降低之優點，且透過該二傳動軸設置型態搭配所述圓柱面抵靠支撐部與平面抵靠支撐部相互抵靠關係，令二夾持件於位移運動過程中獲得持續性之平面狀穩定磨擦效果，使二夾持件的導動座部於位移過程中的振動不穩及噪音等問題可大幅改善而特具實用進步性。The main effects and advantages of the present invention are that the parallel opening and closing type jaws can greatly reduce the number of components, and the manufacturing cost and the twist rate are relatively greatly reduced, and the cylindrical surface is matched with the two transmission shafts. The abutting relationship between the supporting portion and the plane abutting support portion enables the two clamping members to obtain a continuous planar stable friction effect during the displacement movement, so that the guiding seat portion of the two clamping members is in the displacement process. Problems such as vibration instability and noise can be greatly improved and are particularly practical and progressive.
請參閱第1、2、3、4、5圖所示，係本發明具雙軸支撐結構之平行開閉式夾爪之較佳實施例，惟此等實施例僅供說明之用，在專利申請上並不受此結構之限制。Please refer to the first, second, third, fourth, and fifth figures, which are preferred embodiments of the parallel opening and closing jaws of the present invention having a biaxial support structure, but the embodiments are for illustrative purposes only, and the patent application is It is not restricted by this structure.
所述平行開閉式夾爪A係包括下述構成：一夾爪主體10，具有一作用端11，該作用端11設有一容槽12；二夾持件20，呈可相對平行位移運動狀態設於該夾爪主體10的作用端11，各該夾持件20包括一導動座部21及凸設於該導動座部21一側之一夾持部22，該二夾持件20的夾持部22呈彼此間隔相對關係，該二夾持件20的導動座部21則設有彼此間隔相對的齒排23；二傳動軸30，呈彼此間隔配置且軸線相互平行關係設於該二夾持件20的導動座部21之間，該二傳動軸30係被一驅動裝置40所連接帶動，且該二傳動軸30均設有齒輪31與該二夾持件20的導動座部21所設齒排23相嚙合，以當該二傳動軸30轉動時，係透過該齒輪31與該齒排23之嚙動，驅使該二夾持件20同步作方向相反的位移運動；平面抵靠支撐部50，呈平面型態設於該二夾持件20的導動座部21具有該齒排23的同一側面部位；圓柱面抵靠支撐部60，呈圓柱面型態設於該傳動軸30的軸身至少一區段處，且令該圓柱面抵靠支撐部60與該二夾持件20的導動座部21所設平面抵靠支撐部50之間呈相互接觸抵靠關係。The parallel opening and closing jaw A comprises the following structure: a jaw body 10 having an active end 11 , the working end 11 is provided with a receiving groove 12 , and two clamping members 20 are arranged in a state of relative parallel displacement movement. Each of the clamping members 20 includes a guiding seat portion 21 and a clamping portion 22 protruding from the side of the guiding seat portion 21, and the clamping members 20 of the clamping member 20 The clamping portion 22 is in a spaced relationship with each other, and the guiding seat portion 21 of the two clamping members 20 is provided with a pair of teeth 23 spaced apart from each other; the two transmission shafts 30 are disposed at intervals from each other and the axes are disposed in parallel relationship with each other. The two transmission shafts 30 are connected by a driving device 40, and the two transmission shafts 30 are respectively provided with gears 31 and the guiding of the two clamping members 20. The tooth row 23 of the seat portion 21 is engaged to engage the gear row 31 and the tooth row 23 when the two transmission shafts 30 are rotated to drive the two clamping members 20 to rotate in opposite directions in synchronization; a plane abutting against the support portion 50, and the guide seat portion 21 of the two clamping members 20 having a planar shape has the same side portion of the tooth row 23; The supporting portion 60 is disposed at least in a section of the shaft body of the transmission shaft 30 in a cylindrical shape, and the cylindrical surface is disposed against the supporting portion 60 and the guiding seat portion 21 of the two clamping members 20 The planes abut each other in abutting contact relationship between the support portions 50.
如第3圖所示，本例中，該傳動軸30的設置軸線(如L1所示)係與該夾持件20的導動座部21位移運動方向(如箭號L2所示)呈相互垂直關係。As shown in Fig. 3, in this example, the set axis of the drive shaft 30 (shown as L1) is in mutual displacement with the direction of movement of the guide seat portion 21 of the clamp member 20 (as indicated by arrow L2). Vertical relationship.
如第2、3圖所示，本例中，該二夾持件20的導動座部21所設齒排23係為二排間隔配置型態，該平面抵靠支撐部50則設於該二齒排23中間處；又該二傳動軸30所設齒輪31係為二個間隔配置型態，以與該二齒排23對位嚙合，該圓柱面抵靠支撐部60則設於該二齒輪31中間處。本例中所揭單一傳動軸30即設有雙齒輪31與導動座部21所設雙齒排23相搭配之實施型態，具有傳動力度更佳且能夠直接對該二夾持件20的導動座部21產生限位作用，一舉兩得之優點與進步性，如第3圖中所揭夾持件20的導動座部21，其於圖中的上下方向係可直接藉由各傳動軸30所設上、下間隔配置的雙齒輪31嚙合於相對應導動座部21所設雙齒排23而獲得限位效果。As shown in the second and third figures, in the present embodiment, the tooth row 23 provided in the guiding seat portion 21 of the two clamping members 20 is arranged in a two-row spaced arrangement, and the plane abutting the supporting portion 50 is disposed on the The second gear row 23 is disposed at the middle of the second gear row 23; the gear shaft 31 of the two transmission shafts 30 is disposed in two spaced configurations to be in position with the two tooth row 23, and the cylindrical surface abutting the support portion 60 is disposed at the second In the middle of the gear 31. The single transmission shaft 30 disclosed in this example is provided with an embodiment in which the double gear 31 is matched with the double tooth row 23 provided by the guide seat portion 21, and has a better transmission force and can directly directly face the two clamping members 20. The guiding seat portion 21 generates a limiting function, and the advantages and progress of the two-in-one are obtained. For example, the guiding seat portion 21 of the clamping member 20 disclosed in FIG. 3 can be directly driven by the respective transmission shafts in the vertical direction in the figure. The double gear 31 provided with the upper and lower intervals is engaged with the double tooth row 23 provided in the corresponding guide seat portion 21 to obtain the limit effect.
如第2圖所示，本例中，各該夾持件20的導動座部21外側面(註：圖中為上方位置)係更鎖組有一蓋板70，所述蓋板70係將與其對應的齒排23加以遮蓋呈隱藏狀態，因此具有防護、防塵垢以及美觀工整性考量等優點。As shown in FIG. 2, in this example, the outer side of the guide seat portion 21 of each of the clamping members 20 (note: the upper position in the figure) is a lock plate having a cover plate 70, and the cover plate 70 will be The corresponding tooth row 23 is covered and hidden, so it has the advantages of protection, dustproofness and aesthetical consideration.
如第3圖所示，本例中，該二傳動軸30所設齒輪31係位在相同高度，且如第5圖所示，令該二傳動軸30之軸心線間距(如W1所示)大於各該傳動軸30之軸心線至該齒輪31任一側齒尖所形成間距(如W2所示)的2倍。As shown in Fig. 3, in this example, the gears 31 provided by the two transmission shafts 30 are at the same height, and as shown in Fig. 5, the axial spacing of the two transmission shafts 30 is as shown by W1. ) is greater than twice the pitch formed by the axis of each of the drive shafts 30 to the tip of either side of the gear 31 (as indicated by W2).
其中，該二傳動軸30所設齒輪31係位在不同高度呈相互錯置關係(註：本例圖面省略繪示)，且令該二傳動軸30之軸心線間距小於各該傳動軸30之軸心線至該齒輪31任一側齒尖所形成間距的2倍；本例所揭實施型態之功效，是在相同夾爪主體10寬度條件下，得以增加其二夾持件20位移行程。Wherein, the gears 31 of the two transmission shafts 30 are in a mutually dislocated relationship at different heights (note: the illustration is omitted in the drawing), and the axial spacing of the two transmission shafts 30 is smaller than each of the transmission shafts. The axial line of 30 is twice the distance formed by the tooth tip on either side of the gear 31; the effect of the embodiment disclosed in the present embodiment is that the two clamping members 20 can be increased under the same width of the same jaw body 10. Displacement stroke.
藉由上述結構結構組成型態與技術特徵，本發明所揭平行開閉式夾爪A實際使用上，當該二傳動軸30被驅動裝置40所連接帶動時，請對照第5、6圖之差異所示，各齒輪31會嚙動與其對應的齒排23，如此即可連動二夾持件20朝彼此相反方向位移，進而產生開合的動作；又該二夾持件20進行開合位移運動過程中，該二傳動軸30會形成雙軸式的穩固支撐效果，確保二夾持件20能夠沿著預設的運作軸線平穩位移，且該傳動軸30軸身所設圓柱面抵靠支撐部60與該二夾持件20的導動座部21所設平面抵靠支撐部50之間呈圓柱面與平直面相互接觸抵靠關係之型態設計，更能大幅降低二夾持件20的導動座部21於位移過程中的振動不穩現象及噪音量，從而大大提高平行開閉式夾爪A產品的品質及效能，且支撐及導動構件的數量相較於習知而言精簡許多，其中所述齒排23係由夾持件20的導動座部21結構一體成型，所述齒輪31則直接設在傳動軸30結構上，因此製造及組立成本可大幅降低而符合較佳產業經濟效益。According to the structural configuration and technical features of the above structure, the parallel opening and closing jaw A of the present invention is actually used. When the two transmission shafts 30 are connected by the driving device 40, please compare the differences between the fifth and sixth figures. As shown, each of the gears 31 will engage the corresponding tooth row 23, so that the two clamping members 20 are displaced in opposite directions to each other, thereby generating an opening and closing motion; and the two clamping members 20 are engaged and displaced. During the process, the two transmission shafts 30 form a two-axis stable support effect, ensuring that the two clamping members 20 can be smoothly displaced along the preset operating axis, and the cylindrical surface of the shaft 30 of the transmission shaft 30 abuts against the support portion. 60 and the plane of the guiding seat portion 21 of the two clamping members 20 abutting against the supporting portion 50, the cylindrical surface and the flat surface are in contact with each other, and the two clamping members 20 can be greatly reduced. The vibration instability and the amount of noise of the guiding seat portion 21 during the displacement process greatly improve the quality and performance of the parallel opening and closing jaw A product, and the number of supporting and guiding members is much simpler than that of the conventional one. Where the row of teeth 23 is comprised by the gripping member 20 Moving the seat structure 21 integrally formed with the gear 31 provided on the drive shaft 30 directly to the structure, and thus manufacturing costs can be greatly reduced set upright and in line with the preferred industrial economic efficiency.
本發明之優點說明： 本發明所揭「具雙軸支撐結構之平行開閉式夾爪」主要藉由所述夾爪主體、夾持件、傳動軸、平面抵靠支撐部及圓柱面抵靠支撐部等所構成之創新獨特結構型態與技術特徵，使本發明對照[先前技術]所提習知結構而言，能夠讓平行開閉式夾爪達到組構件數量大幅減少，製造組立成本及瑕疵率均相對大幅降低之優點，且透過該二傳動軸設置型態搭配所述圓柱面抵靠支撐部與平面抵靠支撐部相互抵靠關係，令二夾持件於位移運動過程中獲得持續性之平面狀穩定磨擦效果，使二夾持件的導動座部於位移過程中的振動不穩及噪音等問題可大幅改善而特具實用進步性。Advantages of the Invention: The "parallel opening and closing jaws with a biaxial support structure" disclosed in the present invention mainly supports the jaw body, the clamping member, the transmission shaft, the plane abutting support portion and the cylindrical surface. The innovative unique structural form and technical features of the Department and the like enable the present invention to reduce the number of components of the parallel opening and closing jaws to a large number of components in comparison with the conventional structure proposed in the [Prior Art], and to manufacture the assembly cost and the defect rate. The advantages of relatively large reduction are achieved, and through the two transmission shaft setting patterns, the cylindrical surface abutting support portion and the plane abutting support portion abut each other, so that the two clamping members are sustained during the displacement movement. The planar stable friction effect can greatly improve the vibration instability and noise during the displacement of the guiding seat of the two clamping members, and is particularly practical and progressive.
Ａ‧‧‧平行開閉式夾爪
１０‧‧‧夾爪主體
１１‧‧‧作用端
１２‧‧‧容槽
２０‧‧‧夾持件
２１‧‧‧導動座部
２２‧‧‧夾持部
２３‧‧‧齒排
３０‧‧‧傳動軸
３１‧‧‧齒輪
４０‧‧‧驅動裝置
５０‧‧‧平面抵靠支撐部
６０‧‧‧圓柱面抵靠支撐部
７０‧‧‧蓋板A‧‧‧Parallel opening and closing jaws 10.‧‧Clamping body 11‧‧‧Working end 12‧‧‧Groove 20‧‧‧Clamping parts 21‧‧‧ Guide seat 22‧‧‧ clamping part 23‧‧‧Tooth row 30‧‧‧Drive shaft 31‧‧‧ Gear 40‧‧‧Drive 50‧‧‧ Planar abutment support 60‧‧‧Cylinder surface against support 70‧‧‧ cover
第1圖係本發明平行開閉式夾爪較佳實施例之組合立體圖。 第2圖係本發明平行開閉式夾爪較佳實施例之局部分解立體圖。 第3圖係本發明較佳實施例之局部構件配置關係立體圖。 第4圖係本發明平行開閉式夾爪較佳實施例之局部結構剖視圖。 第5圖係本發明之二夾持件作動狀態平面示意圖一。 第6圖係本發明之二夾持件作動狀態平面示意圖二。BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing the combination of preferred embodiments of the parallel opening and closing jaw of the present invention. Figure 2 is a partially exploded perspective view of a preferred embodiment of the parallel openable jaw of the present invention. Figure 3 is a perspective view showing the configuration of a partial member of a preferred embodiment of the present invention. Figure 4 is a partial cross-sectional view showing a preferred embodiment of the parallel-opening jaw of the present invention. Figure 5 is a plan view of the second embodiment of the present invention. Figure 6 is a plan view 2 showing the state of action of the two clamping members of the present invention.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW106129163A TWI629144B (en) | 2017-08-28 | 2017-08-28 | Parallel gripping device having two axial supports |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW106129163A TWI629144B (en) | 2017-08-28 | 2017-08-28 | Parallel gripping device having two axial supports |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TWI629144B true TWI629144B (en) | 2018-07-11 |
| TW201912317A TW201912317A (en) | 2019-04-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW106129163A TWI629144B (en) | 2017-08-28 | 2017-08-28 | Parallel gripping device having two axial supports |
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| TW (1) | TWI629144B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI671979B (en) * | 2018-11-13 | 2019-09-11 | 高明鐵企業股份有限公司 | Linear motor assembly with rolling supporting structure |
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Also Published As
| Publication number | Publication date |
|---|---|
| TW201912317A (en) | 2019-04-01 |
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