CN103433922B - Three-degree-of-freedom telecentric concurrent type heavy-load posture adjustment mechanism - Google Patents
Three-degree-of-freedom telecentric concurrent type heavy-load posture adjustment mechanism Download PDFInfo
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- CN103433922B CN103433922B CN201310403243.5A CN201310403243A CN103433922B CN 103433922 B CN103433922 B CN 103433922B CN 201310403243 A CN201310403243 A CN 201310403243A CN 103433922 B CN103433922 B CN 103433922B
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Abstract
The invention discloses a three-degree-of-freedom telecentric concurrent type heavy-load posture adjustment mechanism which relates to a posture adjustment mechanism and is used for solving the problems that gravity center shift leads to gravity center torque and motor load increase in a grabbing process of a traditional mechanism. An axial rotation drive mechanism, a turnover drive mechanism, a pitching drive mechanism and a grabbing platform are sequentially arranged from top to bottom; two drive gears are respectively meshed with corresponding longitudinal semicircular gear teeth; four turnover moving sliders are in slip connection with corresponding transverse semicircular tracks; a turnover gear is meshed with transverse semicircular gear teeth; the meshing direction of the turnover gear and the transverse semicircular gear teeth is vertical to the meshing direction of a drive gear and the longitudinal semicircular gear teeth; the four turnover moving sliders are in slip connection with corresponding transverse semicircular tracks; the sliding direction of the turnover moving sliders is vertical to the sliding direction of a pitching moving slider; a rotary shaft is connected with a concave plate. The mechanism disclosed by the invention is applied to the maintenance and posture adjustment on the parts of a large mechanical structure under extreme conditions such as high temperature, high voltage, strong current and the like.
Description
Technical field
The present invention relates to a kind of attitude-adjusting system, be specifically related to a kind of Three-degree-of-freetelecentric telecentric concurrent type heavy-load posture adjustment mechanism.
Background technology
At present, Large Scale Mechanical Structure is applied widely in Industrial Engineering, and this kind of mechanism is usually along with a lot of maximum conditions, such as high temperature, high pressure, heavy current etc., therefore will produce a lot of difficult problems when safeguarding pose adjustment to it.Such as in International Thermal-Nuclear Experimental Reactor device, the job task such as maintenance, replacing of vacuum chamber cladding modular, these safeguard that pose adjustment task not only requires that this mechanism has superpower carrying load ability, but also require that mechanism has very high position shape control accuracy and compact structure size, current existing pose adjustment equipment is gripper structure, during this kind of equipment grabbing workpiece, the center of gravity of workpiece can be shifted, cause producing gravity torque, the burden of increase equipment motor, and structure is compact not.
Summary of the invention
The object of the invention is for solving traditional mechanism in crawl process, the center of gravity moment that the displacement of center of gravity can produce, cause the problem that motor burden increases, loading capacity reduces and structure is not compact, and a kind of Three-degree-of-freetelecentric telecentric concurrent type heavy-load posture adjustment mechanism is provided.
Three-degree-of-freetelecentric telecentric concurrent type heavy-load posture adjustment mechanism of the present invention comprises crawl platform, pitching driving mechanism, turnover driving mechanism, axial-rotation driving mechanism, described crawl platform comprises substrate, platform motor, driving pulley, belt, passive belt wheel, leading screw, dextrorotation feed screw nut, against revolving feed screw nut, two grabbing claw platforms, two longitudinal semi-circular plates and two longitudinal semicircle gear teeth, platform motor is packed on substrate, driving pulley is arranged on the output shaft of platform motor, driving pulley is connected with passive belt wheel by belt, passive belt wheel is arranged on the input of leading screw, dextrorotation feed screw nut and inverse revolve feed screw nut and be installed on the output of leading screw, dextrorotation feed screw nut and inverse minimum spacing of revolving between feed screw nut are 20mm, lower end and the inverse lower end of revolving feed screw nut of dextrorotation feed screw nut are all fixed with a grabbing claw platform, two longitudinal semicircle gear teeth and leading screw be arranged in parallel, and two longitudinal semicircle gear teeth are symmetricly set on the dual-side of substrate, two longitudinal semi-circular plates are symmetricly set on the outside of two longitudinal semicircle gear teeth, each longitudinal semi-circular plate is provided with slideway inside circular arc, described pitching driving mechanism comprises rectangular framework, drive motors, cycloidal reducer, the horizontal semicircle gear teeth, two trochoid decelerators, two driving gears, four pitching moving sliders and two horizontal semi-circular track, drive motors is packed in rectangular framework, the input of cycloidal reducer is connected with the output of drive motors, two trochoid decelerators are symmetricly set on the both sides of cycloidal reducer output, two trochoid decelerators are connected with the output of cycloidal reducer respectively, the output shaft of each trochoid decelerator installs a driving gear, two outsides of rectangular framework are respectively provided with two pitching moving sliders, two pitching moving sliders of homonymy are along same circumference, slideway on two pitching moving sliders of homonymy and corresponding longitudinal semi-circular plate is connected, two horizontal semi-circular track are symmetricly set on the outside of drive motors and decelerator, the horizontal semicircle gear teeth are arranged between drive motors and horizontal semi-circular track, described turnover driving mechanism comprises notch plate, upset motor, upset decelerator, decelerator fixed head, turning gear and four upset moving sliders, the opening down setting of notch plate, upset motor is packed in notch plate, the input of upset decelerator is connected with the output of upset motor, upset decelerator is packed on decelerator fixed head, decelerator fixed head is packed in notch plate, turning gear is arranged on the output shaft of upset decelerator, two leg outer sides of notch plate are respectively provided with two upset moving sliders, two upset moving sliders of homonymy are along same circumference, described axial-rotation driving mechanism comprises rectangular cylinder, vertical rotating motor, vertical rotating decelerator, turning cylinder, first taper roll bearing, second taper roll bearing, the two ends of turning cylinder are supported in rectangular cylinder respectively by the first taper roll bearing and the second taper roll bearing, the input of turning cylinder is connected with the output of vertical rotating motor by vertical rotating decelerator, axial-rotation driving mechanism, turnover driving mechanism, pitching driving mechanism and crawl platform from top to bottom set gradually, two driving gears respectively with corresponding longitudinal semicircle gear teeth meshing, four upset moving sliders and corresponding horizontal semi-circular track are slidably connected, turning gear and horizontal semicircle gear teeth meshing, the engagement direction of turning gear and the horizontal semicircle gear teeth and driving gear and longitudinal semicircle gear teeth to engage direction perpendicular, four upset moving sliders and corresponding horizontal semi-circular track are slidably connected, the glide direction of the upset glide direction of moving slider and pitching moving slider is perpendicular, the lower end of turning cylinder is connected with notch plate.
The present invention compared with prior art has following beneficial effect:
One, the present invention adopts two pairs of orthogonal placements of arc-shaped guide rail, the center of three rotary motions can be made to meet at a bit, and the module position of centre of gravity of this point just in time for capturing, meet at the mechanism of any relative to three axle anon-normal, can ensure that pivot is constant during adjustment position, in crawl process, center of gravity moment can not be produced, thus alleviate motor burden, regulate the speed so fast, be convenient to control, and make structure compacter, succinct.When attended operation attitude-adjusting system in the face of the load of maintenance requirement superelevation, High High Level shape precision and compact structure time, the present invention can meet the demands.
Two, the organization establishes that the heart far away of the present invention crosses can make center of gravity can not produce center of gravity moment in crawl process, and motor is driven only to be needed to export the adjustment that less power just can drive cladding modular.
Three, the present invention has the large feature of loading capacity, and loading capacity can reach 500kg ~ 1000kg.
Accompanying drawing explanation
Fig. 1 is overall structure stereogram of the present invention;
Fig. 2 is the overall structure stereogram capturing platform 1;
Fig. 3 is the overall structure stereogram facing upward driving mechanism 2;
Fig. 4 is the overall structure stereogram of turnover driving mechanism 3 and axial-rotation driving mechanism 4.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 ~ Fig. 4 illustrates present embodiment, present embodiment comprises crawl platform 1, pitching driving mechanism 2, turnover driving mechanism 3, axial-rotation driving mechanism 4, described crawl platform 1 comprises substrate 5, platform motor 11, driving pulley 12, belt 13, passive belt wheel 14, leading screw 15, dextrorotation feed screw nut 16, against revolving feed screw nut 17, two grabbing claw platforms 18, two longitudinal semi-circular plates 19 and two longitudinal semicircle gear teeth 10, platform motor 11 is fixedly mounted with on the substrate 5, driving pulley 12 is arranged on the output shaft of platform motor 11, driving pulley 12 is connected with passive belt wheel 14 by belt 13, passive belt wheel 14 is arranged on the input of leading screw 15, dextrorotation feed screw nut 16 and inverse revolve feed screw nut 17 and be installed on the output of leading screw 15, dextrorotation feed screw nut 16 and inverse minimum spacing of revolving between feed screw nut 17 are 20mm, lower end and the inverse lower end of revolving feed screw nut 17 of dextrorotation feed screw nut 16 are all fixed with a grabbing claw platform 18, two grabbing claw platforms 18 respectively dextrorotation feed screw nut 16 with inverse revolve the drive of feed screw nut 17 under relative or contrary direction motion, two longitudinal semicircle gear teeth 10 be arranged in parallel with leading screw 15, and two longitudinal semicircle gear teeth 10 are symmetricly set on the dual-side of substrate 5, two longitudinal semi-circular plates 19 are symmetricly set on the outside of two longitudinal semicircle gear teeth 10, each longitudinal semi-circular plate 19 is provided with slideway 19-1 inside circular arc, described pitching driving mechanism 2 comprises rectangular framework 21, drive motors 22, cycloidal reducer 23, the horizontal semicircle gear teeth 28, two trochoid decelerators 24, two driving gears 25, four pitching moving sliders 26 and two horizontal semi-circular track 27, drive motors 22 is packed in rectangular framework 21, the input of cycloidal reducer 23 is connected with the output of drive motors 22, two trochoid decelerators 24 are symmetricly set on the both sides of cycloidal reducer 23 output, two trochoid decelerators 24 are connected with the output of cycloidal reducer 23 respectively, the output shaft of each trochoid decelerator 24 installs a driving gear 25, two outsides of rectangular framework 21 are respectively provided with two pitching moving sliders 26, each pitching moving slider 26 is fixedly connected with rectangular framework 21, two pitching moving sliders 26 of homonymy are along same circumference, two pitching moving sliders 26 of homonymy are connected with the slideway 19-1 on corresponding longitudinal semi-circular plate 19, two horizontal semi-circular track 27 are symmetricly set on the outside of drive motors 22 and decelerator 24, the horizontal semicircle gear teeth 28 are arranged between drive motors 22 and horizontal semi-circular track 27, cycloidal reducer 23 and trochoid decelerator 24 all assume responsibility for most power and moment of torsion, alleviate the burden of driving gear 25, add the durability of mechanism, turnover driving mechanism 3 comprises notch plate 31, upset motor 32, upset decelerator 33, decelerator fixed head 34, turning gear 35 and four upset moving sliders 36, the opening down setting of notch plate 31, upset motor 32 is packed in notch plate 31, the input of upset decelerator 33 is connected with the output of upset motor 32, upset decelerator 33 is packed on decelerator fixed head 34, decelerator fixed head 34 is packed in notch plate 31, turning gear 35 is arranged on the output shaft of upset decelerator 33, two leg outer sides of notch plate 31 are respectively provided with two upset moving sliders 36, each upset moving slider 36 is fixedly connected with notch plate 31, two upset moving sliders 36 of homonymy are along same circumference, axial-rotation driving mechanism 4 comprises rectangular cylinder 41, vertical rotating motor 42, vertical rotating decelerator 43, turning cylinder 44, first taper roll bearing 45, second taper roll bearing 46, the two ends of turning cylinder 44 are supported in rectangular cylinder 41 respectively by the first taper roll bearing 45 and the second taper roll bearing 46, the input of turning cylinder 44 is connected with the output of vertical rotating motor 42 by vertical rotating decelerator 43, axial-rotation driving mechanism 4, turnover driving mechanism 3, pitching driving mechanism 2 and crawl platform 1 from top to bottom set gradually, two driving gears 25 engage with corresponding longitudinal semicircle gear teeth 10 respectively, four upset moving sliders 36 are slidably connected with corresponding horizontal semi-circular track 27, turning gear 35 engages with the horizontal semicircle gear teeth 28, the engagement direction of turning gear 35 and the horizontal semicircle gear teeth 28 and driving gear 25 and longitudinal semicircle gear teeth 10 to engage direction perpendicular, four upset moving sliders 36 are slidably connected with corresponding horizontal semi-circular track 27, the glide direction of the upset glide direction of moving slider 36 and pitching moving slider 26 is perpendicular, the lower end of turning cylinder 44 is connected with notch plate 31.Pitching driving mechanism 2 can be engaged with longitudinal semicircle gear teeth 10 by driving gear 25 and pitching moving slider 26 does the motion of pitch orientation, and the angle of elevating movement is-50 ° ~+15 °; Turnover driving mechanism 3 can engage and overturn with the horizontal semicircle gear teeth 28 motion that moving slider 36 does reverses direction by turning gear 35, and the angle of flip-flop movement is ± 15 °.The vertical rotating motor 42 that turnover driving mechanism 3 can be connected by turning cylinder 44 rotates, and its rotational angle is ± 180 °.
Detailed description of the invention two: composition graphs 2 and Fig. 3 illustrate present embodiment, two pitching moving sliders 26 of the homonymy of present embodiment are arranged along same diameter, and this diameter is identical with the diameter of slideway 19-1.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 2 illustrates present embodiment, the described leading screw 15 of present embodiment is the reverse leading screw of double end, rotation direction corresponding dextrorotation feed screw nut 16 and inverse revolve feed screw nut 17 respectively, during enforcement, platform motor 11 drives leading screw 15 to rotate, rotate forward and negative turn can make respectively two grabbing claw platforms 18 do close to each other and away from motion.Other composition and annexation identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 2 illustrates present embodiment, two longitudinal semicircle gear teeth 10 of present embodiment and the axial line of two longitudinal semi-circular plates 19 are the same line.Such design is convenient to and the horizontal semicircle gear teeth 28 and two horizontal semi-circular track 27 spatially vertical distribution.Other composition and annexation identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 3 illustrates present embodiment, the axial line of the horizontal semicircle gear teeth 28 of present embodiment and two horizontal semi-circular track 27 is the same line.Such design is convenient to and longitudinal semicircle gear teeth 10 and longitudinal semi-circular plate 19 spatially vertical distribution.Other composition and annexation identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 3 illustrates present embodiment, two on the crawl platform 1 of present embodiment longitudinal semicircle gear teeth 10 and two longitudinal semi-circular plates 19 and the horizontal semicircle gear teeth 28 spatially vertical distribution on pitching driving mechanism 2, capture two longitudinal semicircle gear teeth 10 on platform 1 and two longitudinal semi-circular plates 19 and two the horizontal semi-circular track 27 spatially vertical distribution on pitching driving mechanism 2, longitudinal axial line of the semicircle gear teeth 10 and the axial line of the horizontal semicircle gear teeth 28 are orthogonal to a bit, the installation site of the corresponding turning cylinder 44 in its joining space.Such design can make the center of three rotary motions meet at a bit, and the module position of centre of gravity of this point just in time for capturing, the mechanism of any is met at relative to three axle anon-normal, can ensure that pivot is constant during adjustment position, center of gravity moment can not be produced in crawl process, thus alleviate motor burden, regulate the speed so fast, be convenient to control, and make structure compacter, succinct.Other composition and annexation identical with detailed description of the invention five.
Detailed description of the invention seven: composition graphs 2 illustrates present embodiment, the crawl platform 1 of present embodiment also comprises two L shape grabbing claws 6, and the opening being provided with grabbing claw 6, two L shape grabbing claws 6 of a L shape below each grabbing claw platform 18 is relative.During enforcement, the grabbing claw 6 of L shape is stretched in workpiece, drive leading screw 15 to rotate by platform motor 11, make the grabbing claw 6 of two L shapes do move toward one another, workpiece is locked.Other composition and annexation identical with detailed description of the invention six.
Detailed description of the invention eight: composition graphs 2 illustrates present embodiment, present embodiment and detailed description of the invention seven also increase unlike it two guide rails 7 and four grabbing claw slide blocks 8, two guide rails 7 and platform motor 11 be arranged in parallel and two guide rails 7 are arranged on below substrate 5 respectively, each guide rail 7 slidably connects two grabbing claw slide blocks 8, one in these two grabbing claw slide blocks 8 is arranged on a grabbing claw platform 18, and another in these two grabbing claw slide blocks 8 is arranged on another grabbing claw platform 18.Such design can make grabbing claw platform 18 move horizontally for 5 times at substrate, and L shape grabbing claw 6 staggered relatively can realize the crawl of keeping in repair workpiece.Other composition and annexation identical with detailed description of the invention seven.
Operation principle
Operationally, grabbing claw platform 18 (or L shape grabbing claw 6) is stretched in workpiece, drives leading screw 15 to rotate by platform motor 11, make two grabbing claw platforms 18 do move toward one another, workpiece is locked.Adjusted by the position of turnover driving mechanism 3 and axial-rotation driving mechanism 4 pairs of workpiece, then platform motor 11 oppositely drives screw mandrel 15 to rotate, and makes two grabbing claw platforms 18 (or two L shape grabbing claws 6) do away from motion, is loosened by workpiece.
Claims (8)
1. a Three-degree-of-freetelecentric telecentric concurrent type heavy-load posture adjustment mechanism, it is characterized in that: described Three-degree-of-freetelecentric telecentric concurrent type heavy-load posture adjustment mechanism comprises crawl platform (1), pitching driving mechanism (2), turnover driving mechanism (3), axial-rotation driving mechanism (4), described crawl platform (1) comprises substrate (5), platform motor (11), driving pulley (12), belt (13), passive belt wheel (14), leading screw (15), dextrorotation feed screw nut (16), against revolving feed screw nut (17), two grabbing claw platforms (18), two longitudinal semi-circular plates (19) and two longitudinal semicircle gear teeth (10), platform motor (11) is packed on substrate (5), driving pulley (12) is arranged on the output shaft of platform motor (11), driving pulley (12) is connected with passive belt wheel (14) by belt (13), passive belt wheel (14) is arranged on the input of leading screw (15), dextrorotation feed screw nut (16) and inverse revolve feed screw nut (17) and be installed on the output of leading screw (15), dextrorotation feed screw nut (16) and inverse minimum spacing of revolving between feed screw nut (17) are 20mm, lower end and the inverse lower end of revolving feed screw nut (17) of dextrorotation feed screw nut (16) are all fixed with a grabbing claw platform (18), two longitudinal semicircle gear teeth (10) be arranged in parallel with leading screw (15), and two longitudinal semicircle gear teeth (10) are symmetricly set on the dual-side of substrate (5), two longitudinal semi-circular plates (19) are symmetricly set on the outside of two longitudinal semicircle gear teeth (10), each longitudinal semi-circular plate (19) is provided with slideway (19-1) inside circular arc, described pitching driving mechanism (2) comprises rectangular framework (21), drive motors (22), cycloidal reducer (23), the horizontal semicircle gear teeth (28), two trochoid decelerators (24), two driving gears (25), four pitching moving sliders (26) and two horizontal semi-circular track (27), drive motors (22) is packed in rectangular framework (21), the input of cycloidal reducer (23) is connected with the output of drive motors (22), two trochoid decelerators (24) are symmetricly set on the both sides of cycloidal reducer (23) output, two trochoid decelerators (24) are connected with the output of cycloidal reducer (23) respectively, the output shaft of each trochoid decelerator (24) installs a driving gear (25), two outsides of rectangular framework (21) are respectively provided with two pitching moving sliders (26), two pitching moving sliders (26) of homonymy are along same circumference, two pitching moving sliders (26) of homonymy are connected with the slideway (19-1) on corresponding longitudinal semi-circular plate (19), two horizontal semi-circular track (27) are symmetricly set on the outside of drive motors (22) and decelerator (24), the horizontal semicircle gear teeth (28) is arranged between drive motors (22) and horizontal semi-circular track (27), described turnover driving mechanism (3) comprises notch plate (31), upset motor (32), upset decelerator (33), decelerator fixed head (34), turning gear (35) and four upsets moving slider (36), the opening down setting of notch plate (31), upset motor (32) is packed in notch plate (31), the input of upset decelerator (33) is connected with the output of upset motor (32), upset decelerator (33) is packed on decelerator fixed head (34), decelerator fixed head (34) is packed in notch plate (31), turning gear (35) is arranged on the output shaft of upset decelerator (33), two leg outer sides of notch plate (31) are respectively provided with two upsets moving slider (36), two upsets moving slider (36) of homonymy are along same circumference, described axial-rotation driving mechanism (4) comprises rectangular cylinder (41), vertical rotating motor (42), vertical rotating decelerator (43), turning cylinder (44), first taper roll bearing (45), second taper roll bearing (46), the two ends of turning cylinder (44) are supported in rectangular cylinder (41) respectively by the first taper roll bearing (45) and the second taper roll bearing (46), the input of turning cylinder (44) is connected with the output of vertical rotating motor (42) by vertical rotating decelerator (43), axial-rotation driving mechanism (4), turnover driving mechanism (3), pitching driving mechanism (2) and crawl platform (1) from top to bottom set gradually, two driving gears (25) are engaged with corresponding longitudinal semicircle gear teeth (10) respectively, four upsets moving slider (36) are slidably connected with corresponding horizontal semi-circular track (27), turning gear (35) engages with the horizontal semicircle gear teeth (28), the engagement direction of turning gear (35) and the horizontal semicircle gear teeth (28) and driving gear (25) and longitudinal semicircle gear teeth (10) to engage direction perpendicular, four upsets moving slider (36) are slidably connected with corresponding horizontal semi-circular track (27), glide direction and the glide direction of pitching moving slider (26) of upset moving slider (36) are perpendicular, the lower end of turning cylinder (44) is connected with notch plate (31).
2. Three-degree-of-freetelecentric telecentric concurrent type heavy-load posture adjustment mechanism according to claim 1, is characterized in that: two pitching moving sliders (26) of described homonymy are arranged along same diameter, and this diameter is identical with the diameter of slideway (19-1).
3. Three-degree-of-freetelecentric telecentric concurrent type heavy-load posture adjustment mechanism according to claim 1 or 2, it is characterized in that: described leading screw (15) is the reverse leading screw of double end, rotation direction respectively corresponding dextrorotation feed screw nut (16) and inversely revolve feed screw nut (17).
4. Three-degree-of-freetelecentric telecentric concurrent type heavy-load posture adjustment mechanism according to claim 3, is characterized in that: the axial line of described two longitudinal semicircle gear teeth (10) and two longitudinal semi-circular plates (19) is the same line.
5. Three-degree-of-freetelecentric telecentric concurrent type heavy-load posture adjustment mechanism according to claim 4, is characterized in that: the axial line of the described horizontal semicircle gear teeth (28) and two horizontal semi-circular track (27) is the same line.
6. Three-degree-of-freetelecentric telecentric concurrent type heavy-load posture adjustment mechanism according to claim 5, it is characterized in that: two on described crawl platform (1) longitudinal semicircle gear teeth (10) and two longitudinal semi-circular plates (19) and the horizontal semicircle gear teeth (28) the spatially vertical distribution on pitching driving mechanism (2), two on described crawl platform (1) longitudinal semicircle gear teeth (10) and two longitudinal semi-circular plates (19) and two horizontal semi-circular track (27) the spatially vertical distribution on pitching driving mechanism (2), longitudinal axial line of the semicircle gear teeth (10) and the axial line of the horizontal semicircle gear teeth (28) are orthogonal to a bit, the installation site of the corresponding turning cylinder (44) in its joining space.
7. Three-degree-of-freetelecentric telecentric concurrent type heavy-load posture adjustment mechanism according to claim 6, it is characterized in that: described crawl platform (1) also comprises two L shape grabbing claws (6), be provided with the grabbing claw (6) of a L shape below each grabbing claw platform (18), the opening of two L shape grabbing claws (6) is relative.
8. Three-degree-of-freetelecentric telecentric concurrent type heavy-load posture adjustment mechanism according to claim 7, it is characterized in that: described crawl platform (1) also comprises two guide rails (7) and four grabbing claw slide blocks (8), two guide rails (7) and platform motor (11) be arranged in parallel and two guide rails (7) are arranged on below substrate (5) respectively, each guide rail (7) slidably connects two grabbing claw slide blocks (8), one in these two grabbing claw slide blocks (8) is arranged on a grabbing claw platform (18), another in these two grabbing claw slide blocks (8) is arranged on another grabbing claw platform (18).
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| CN201310403243.5A CN103433922B (en) | 2013-09-06 | 2013-09-06 | Three-degree-of-freedom telecentric concurrent type heavy-load posture adjustment mechanism |
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| CN201310403243.5A CN103433922B (en) | 2013-09-06 | 2013-09-06 | Three-degree-of-freedom telecentric concurrent type heavy-load posture adjustment mechanism |
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| CN108145730B (en) * | 2018-02-28 | 2024-03-12 | 浙江机电职业技术学院 | Multi-angle grabbing mechanical claw and grabbing method thereof |
| CN108940896A (en) * | 2018-05-31 | 2018-12-07 | 芜湖英特杰智能科技有限公司 | A kind of chip detection cleaning plant |
| CN110385702B (en) * | 2019-07-23 | 2024-01-26 | 唐山学院 | Door beam type metallurgical saw blade automatic overturning manipulator |
| CN110683073B (en) * | 2019-11-08 | 2024-04-12 | 上海上飞飞机装备制造股份有限公司 | Orthogonal parallel platform device for docking aircraft components |
| CN111776669B (en) * | 2020-08-03 | 2021-11-16 | 合肥宇胜信息科技有限公司 | Automatic feeding mechanism for bale breaker of seed |
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| DE3738619A1 (en) * | 1987-11-13 | 1989-06-01 | Daimler Benz Ag | Deburring device for an industrial robot |
| JP3586623B2 (en) * | 2000-06-23 | 2004-11-10 | ファナック株式会社 | Work exchange device and work handling system |
| CN102022127B (en) * | 2010-11-08 | 2013-03-13 | 中铁隧道集团有限公司 | Arch center mounting device for construction of tunnel |
| CN202367759U (en) * | 2011-11-18 | 2012-08-08 | 南昌大学 | Haptic interaction device with automatic gravity compensating mechanism |
| CN202428448U (en) * | 2011-12-27 | 2012-09-12 | 燕山大学 | Three-degree of freedom parallel hybrid overloaded mechanical arm containing complex hinge |
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