CN105033184B - A kind of clamp device in automatic Zhi Kexian manipulators loading depot - Google Patents
A kind of clamp device in automatic Zhi Kexian manipulators loading depot Download PDFInfo
- Publication number
- CN105033184B CN105033184B CN201510541105.2A CN201510541105A CN105033184B CN 105033184 B CN105033184 B CN 105033184B CN 201510541105 A CN201510541105 A CN 201510541105A CN 105033184 B CN105033184 B CN 105033184B
- Authority
- CN
- China
- Prior art keywords
- fixture
- clamp device
- spacing
- kexian
- manipulators
- 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.)
- Expired - Fee Related
Links
Landscapes
- Moulds, Cores, Or Mandrels (AREA)
Abstract
The invention discloses a kind of clamp device in automatic Zhi Kexian manipulators loading depot, belong to automatic shell line equipment technical field processed.Clamp device provided by the present invention includes the fixture seat of honour, the curved support of fixture and linkage.Wherein, bearing is provided with inside the fixture seat of honour, outside is provided with chuck, and chuck is provided with stopper slot；The curved support of fixture is arc-shaped bend structure, and one end is connected by bearing with the fixture seat of honour, to realize that the curved support of fixture is rotated around bearing, and the arc shaped inside of the other end is used for connection mode shell block provided with groove.Linkage is connected by the curved support of spacing lever pin and fixture, by the cooperation realization of spacing kelly and stopper slot and the connection at the fixture seat of honour with separating.The clamp device of the present invention can increase the scope of activities of manipulator, and reduce the difficulty of manual carry.
Description
Technical field
The present invention relates to a kind of clamp device in automatic Zhi Kexian manipulators loading depot, belong to automatic shell line processed and set
Standby technical field.
Background technology
Automation formwork production line is that extensive hot investment casting needs the equipment used at present, and hand is needed in use
Dynamic regulation loading depot is loaded to formwork group, more and more diversified with the casting of production, so the angle to manipulator is adjusted
Section also increasingly diversity, the angle of manipulator crawl needs to make corresponding regulation according to different casting, optimal to reach
Crawl and working condition.The loading hanging frame device of Zhi Ke lines loading depot of the current country is generally vertical pattern, can so give machine
The angle of tool hand brings many limitations, and needs to control multiple mechanisms to realize hanger position when controlling hanging frame device
Change.So not only limited manipulator flexibility ratio but also to manual carry when add difficulty.
The content of the invention
To solve clamp device limit mechanical hand scope of activities, manual carry in existing automatic Zhi Kexian manipulators loading depot
When difficulty it is big, unhandy problem is simple the invention provides a kind of framework, can increase manipulator crawl operating angle and
The clamp device of the convenient control multi-direction positioning of hanger, the technical scheme taken is as follows：
It is an object of the invention to provide a kind of clamp device in automatic Zhi Kexian manipulators loading depot.The fixture
Device includes the fixture seat of honour 2, the curved support 3 of fixture and linkage 4.Wherein, the inside of the fixture seat of honour 2 is provided with bearing 21, outside
Portion is provided with chuck 24, and chuck 24 is provided with stopper slot 241.The curved support 3 of fixture is arc-shaped bend structure, to reduce support to machine
The obstruction of tool hand scope of activities, so as to expand the angle of manipulator activity.This arc-shaped bend structure can be arc structure, can
To be warp architecture that the circular arc of " C " type structure or different radian combines.One end of the curved support 3 of fixture leads to
Cross bearing 21 to be connected with the fixture seat of honour 2, it is possible to achieve the curved support 3 of fixture is rotated around bearing 21, the arc shaped inside of the other end
It is used for connection mode shell block 9 provided with groove 31.Linkage 4 is connected by spacing lever pin 46 with the curved support of fixture 3, by spacing
Kelly 44 coordinates realization and the connection at the fixture seat of honour 2 with separating with stopper slot 241, to realize that clamp device is blocking formwork seat
Fixation and release before and after 9, and fixation and release of the fixture curved support 3 when turning to.
Further, the fixture seat of honour 2 specifically includes bearing 21, shell body 22, flange 23 and chuck 24.The fixture seat of honour
2 are fixed in the loading station rack 1 of loading depot by flange 23, and shell body 22 is assemblied in outside bearing 21, and chuck 24 is fixed on shell
On body 22, the edge of chuck 24 is provided with stopper slot 241, and bearing 21 is passed and is connected on the curved support 3 of fixture.
Preferably, the edge even circumferential distribution of the chuck 24 of the stopper slot 241, quantity is more than or equal to two.Can
Quantity and the position of stopper slot are specifically set according to the situation of transfer is needed in loading process.
Preferably, the place plane of chuck 24 and bearing 21 is axially vertical.
Further, the curved support 3 of the fixture specifically includes two identical Hes of arc-shaped bend support 32 be arrangeding in parallel
Connect the rectangular connecting panels 33 of arc-shaped bend support 32.Wherein, rectangular connecting panels 33 are connected to one end of arc-shaped bend support 32
Outside, provided with round platform 331 for being attached with bearing 21 on the upper surface of rectangular connecting panels 33.It is being connected with rectangle connection
The inner side of the arc-shaped bend support 32 of the one end of plate 33 is provided with spacing hole 34, for fixing linkage 4, the arc-shaped bend of the other end
The inner side of support 32 is provided with groove 31, for being attached with formwork seat 9, in order to the transfer of formwork.
Further, the linkage 4 is specifically included：Formwork seat gag lever post 41, draw ring handle 42, kinematic link 43,
Spacing kelly 44, pin 45, spacing lever pin 46 and spring 47.Wherein, spacing lever pin 46 passes through spacing hole 34 and the curved support 3 of fixture
Connection, one end of spacing kelly 44 is connected on formwork gag lever post 41 by pin 45, and the other end freely make it that spacing kelly 44 can
Rotated around pin 45, the one end of kinematic link 43 is connected with pin 45, the other end is connected with draw ring handle 42, the two ends of spring 47 respectively at
Spacing lever pin 46 or formwork seat gag lever post 41 and spacing kelly 44 are connected.
Preferably, the spring 47 is at compressive state, to realize that kinematic link 43 is pulled after spacing kelly 44, limit
Position kelly 44 position is automatically replied.
It is highly preferred that the spacing kelly 44 is cross, wherein, the length of montant is more than cross bar, one end of montant with
Pin 45 is connected.
Preferably, the spacing kelly 44, block with stopper slot 241 and when, cross bar is located at chuck 24 towards the one of flange 23
Side, to prevent that limiting card bar 44 from departing from from stopper slot 241.
Further, the formwork seat gag lever post 41 is specifically configured to four-part form connection rod set zoarium, and one end of first paragraph is hung down
The straight centre for being fixed on spacing lever pin 46, the other end is connected with second segment, and junction is provided with circular hole, in order to which pin 45 is passed through,
Second segment and the 3rd section of junction also are provided with circular hole, are easy to by pin connection draw ring handle 42, the 3rd section and the 4th section is integrated
It is used for and the fixation of formwork seat 9 provided with fixed groove on the outside of structure, the 4th section of free end.
The present invention is had the beneficial effect that：
Compared to prior art, the supporting structure of main body is set to case of bending by clamp device of the invention, it is to avoid
Limitation of the vertical structure commonly used in the prior art to manipulator activity point of view, expands the scope of activities of manipulator, Ke Yishi
Loading for more casting.
Meanwhile, existing clamp device generally requires at least two frees degree when changing hanger position, and needs many
Individual mechanism could realize the change of hanger position, and complex structure operation inconvenience, the difficulty of manual carry is larger.On the contrary, this hair
Bright clamp device simplifies mechanism setting, by drag link mechanism, and simple and rapid to realize the position transitions such as steering, operation is very
It is convenient.
Brief description of the drawings
Fig. 1 is the main structure diagram of the clamp device of the present invention.
Fig. 2 is the dimensional structure diagram of the clamp device of the present invention.
Fig. 3 is Fig. 1 top view.
Fig. 4 is the structural representation of the curved support of fixture；
(wherein, a, front view；B, right view；C, stereogram).
Fig. 5 is the dimensional structure diagram of linkage.
Fig. 6 is state diagram when formwork seat to be transferred to clamp device manipulator.
Fig. 7 is state when formwork to be transferred to after 90 degree of the curved holder pivots of fixture in Fig. 6 manipulator.
In figure, 1, load station rack；2, the fixture seat of honour；3, the curved support of fixture；4, linkage；9, formwork seat；10, machinery
Hand；21, bearing；22, shell body；23, flange；24, chuck；31, groove；32, arc-shaped bend support；33, rectangular connecting panels；
34, spacing hole；41, formwork seat gag lever post；42, draw ring handle；43, kinematic link；44, spacing kelly；45, pin；46, gag lever post
Pin；47, spring；241, stopper slot；331, round platform.
Embodiment
With reference to specific embodiment, the present invention will be further described, but the present invention should not be limited by the examples.
Following examples material therefor, method and instrument, without specified otherwise, are this area conventional material, method and
Instrument, those of ordinary skill in the art can be obtained by commercial channel.
, it is necessary to explanation in the description below the present invention, term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " top ", " bottom ", " interior ", " outer " and " endways " are based on attached
Orientation or position relationship shown in figure, are for only for ease of the description present invention and simplify description, rather than indicate or imply and be signified
Device or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the present invention
Limitation.
In the description below the present invention, it is necessary to explanation, unless otherwise expressly provided and limit, term " installation ",
" connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or integratedly be connected
Connect；Can be directly connected to, can also be indirectly connected with by intermediary, can be the connection of two components interiors.For
For one of ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
In addition, in the description below the present invention, unless otherwise indicated, " multiple ", " multigroup ", " many " are meant that two
Individual or two or more.
It is described in detail below in conjunction with the accompanying drawings to clamp device provided by the present invention and using the process of the device.
Fig. 1-Fig. 3 is the structural representation of the different angles of clamp device in a kind of preferred scheme of the invention.From Fig. 1-Fig. 3
In as can be seen that the structure of clamp device provided by the present invention mainly includes：The fixture seat of honour 2, the curved support 3 of fixture and connecting rod
Mechanism 4.Wherein, the fixture seat of honour 2 passes through the guide rail bracket (the loading station rack 1 marked) on the bolt and loading depot on ring flange
Connection, so whole clamp device can follow loading depot to move, different formworks is transported into diverse location to realize.
The center at the fixture seat of honour 2 is provided with bearing 21, and one end of bearing 21 is connected with the curved support of fixture 3, so that turning by bearing 21
The rotation of the dynamic drive curved support 3 of fixture, to realize the steering of clamp device.The outside of bearing 21 is provided with shell body 22, outside
Chuck 24 of the housing 22 provided with annular, stopper slot 241 is provided with the edge of chuck 24.From figure 2 it can be seen that on the chuck
At least provided with two stopper slots, wherein the circular arc radian between visible two stopper slots is 90 degree.The lower section at the fixture seat of honour 2
It is provided that the curved support 3 of fixture and linkage 4.
Fig. 4 gives the front view of the curved support 3 of fixture, right view and dimensional structure diagram.From Fig. 1-3 and Fig. 4
As can be seen that the agent structure of the curved support 3 of fixture is made up of two parallel arc-shaped bend supports 32 being C-shaped,
The one end contacted with the fixture seat of honour 2.A rectangular connecting panels 33 are fixedly connected with the outside of two tops of arc-shaped bend support 32.
Provided with a round platform 331 being engaged with bearing 21 in the middle of the upper surface of rectangular connecting panels 33, for being connected with bearing 21.In place
In the lower section of rectangular connecting panels 33 two arc-shaped bend supports 32 arc shaped inside at end points it is corresponding be provided with one it is spacing
Hole 34, in order to be connected with linkage 4.One is each provided with the end points on the inside of the other end of two arc-shaped bend supports 32
The groove 31 of individual " V " type, for being connected with round bar fixed on formwork seat 9, so that holding up formwork is easy to transhipment.
Fig. 5 is the dimensional structure diagram of linkage.As can be seen that linkage 4 includes one from Fig. 1-3 and Fig. 5
The formwork seat gag lever post 41 of individual four-part form, perpendicular to the spacing lever pin 46 of the formwork seat place plane of gag lever post 41, pin 45, one end connects
The spacing kelly 44 on pin 45 is connected on, kinematic link 43, two draw ring handles 42 and two ends are connected to spacing kelly 44
With the spring 47 of formwork seat gag lever post 41 one end.Wherein, four-part form formwork seat gag lever post 41 on the whole with the curved branch of fixture
The c-type structure of frame 3 is close, to avoid the activity of linkage limit mechanical hand.Connecting the one of spacing lever pin 46 and spring 47
Hold as the first paragraph of formwork seat gag lever post 41, circular hole of the pin 45 positioned at the formwork seat first paragraph of gag lever post 41 and the junction of second segment
In, the second segment of formwork seat gag lever post 41 and the 3rd section of junction also are provided with circular hole, and centre passes through larger ring-shaped handle, compared with
Small ring-shaped handle is connected on the outside of circular hole by quarter butt.Kinematic link is connected with the quarter butt being connected with smaller ring-shaped handle
43, the other end of kinematic link 43 is connected on the parallel shelf being connected with pin 45, so that realize by pulling smaller ring-shaped handle,
Kinematic link 43 is driven, so as to drive the spacing kelly 44 being connected on pin 45 to rotate.Formwork seat the 3rd section of gag lever post 41 and
4th section is structure as a whole, in groove 31 of the 4th section of the end outer fix provided with indent, for on formwork seat 9
Round bar is contacted, to fix formwork seat 9 and clamp device, is that formwork is more consolidated in transport process.
The spacing kelly 44 being connected with pin 45 is cross, and the wherein length of montant is more than the length of cross bar.With pin 45
One end of contact, side is connected by parallel quarter butt with kinematic link 43, and opposite side passes through spring 47 and formwork seat gag lever post 41
It is connected with one end connection of spacing lever pin 46.Spring 47 is in compressive state all the time, so outside in opposite side shackle rod 43
There is provided after pulling force, spring 47 can provide a reverse restoring force, to realize automatically replying for the spacing position of kelly 44.
Fig. 6 is state diagram when formwork seat to be transferred to clamp device manipulator, and Fig. 7 is fixture curved support turn in Fig. 6
Formwork is transferred to state during manipulator after dynamic 90 degree.With reference to Fig. 6 and Fig. 7 to the worked of clamp device of the present invention
Journey is illustrated.
Before loading, first clamp device can be fixed in loading station rack 1 by bolt, then passes through the curved support 3 of fixture
Groove 31 and formwork seat 9 on fixed round bar be connected.Larger draw ring handle 42 is pulled to cause formwork seat gag lever post 41 the 4th
Limited impression card on the outside of Duan Duandian is pressed on the round bar of formwork seat 9, so as to fix formwork seat 9 and clamp device.Then, draw
Less draw ring handle 42 is moved, it is driven shackle rod 43, so that spacing kelly 44 is rotated to the direction of kinematic link 43,
Adjusting angle makes spacing kelly 44 unclamp less draw ring handle 42 again after being directed at stopper slot 241 so that spacing kelly 44 exists
Stopper slot 241 is caught in the presence of the restoring force of spring 47, it is simultaneously fixed to realize the connection of linkage 4 and the fixture seat of honour 2
Firmly the curved support 3 of fixture makes it not rotated further around bearing 21.Then, under the drive of loading depot, clamp device transports formwork
Position to where manipulator 10.
After formwork is transported to the position at the place of manipulator 10 by clamp device under the drive of loading depot, formwork seat 9
Position is not complied fully with the position of manipulator.Now, less draw ring handle 42 can be pulled, spacing kelly 44 is departed from limit
Position groove 241 so that clamp device can be rotated around bearing 21.Control clamp device to surround the rotation of bearing 21, be adjusted to
After the position of manipulator 10 and 9 positions of formwork seat are entirely appropriate, less draw ring handle 42 is being unclamped so that spacing kelly 44 exists
Snap into stopper slot 241 to fix clamp device in the presence of spring 47.Last manipulator 10 catches on the circle on formwork seat 9
After bar, larger draw ring handle 42 is pulled, the limited impression of formwork seat gag lever post 41 is departed from round bar, further makes fixture curved
Groove 31 on bent support 3 departs from the round bar of formwork seat 9, so as to realize the separation of clamp device and formwork seat 9.
Although the present invention is disclosed as above with preferred embodiment, it is not limited to the present invention, any to be familiar with this
The people of technology, without departing from the spirit and scope of the present invention, can do various changes and modification, therefore the protection of the present invention
What scope should be defined by claims is defined.
Claims (10)
1. a kind of clamp device in automatic Zhi Kexian manipulators loading depot, it is characterised in that including the fixture seat of honour (2),
The curved support of fixture (3) and linkage (4), wherein, bearing (21) is provided with inside the fixture seat of honour (2), outside is provided with chuck
(24), chuck (24) is provided with stopper slot (241)；The curved support of fixture (3) is arc-shaped bend structure, and one end passes through bearing (21)
It is connected with the fixture seat of honour (2), to realize that the curved support of fixture (3) is rotated around bearing (21), the arc shaped inside of the other end is provided with
Groove (31) is used for connection mode shell block (9)；Linkage (4) is connected by spacing lever pin (46) with the curved support of fixture (3), is led to
Spacing kelly (44) is crossed with the cooperation realization of stopper slot (241) and the connection of the fixture seat of honour (2) with separating.
2. a kind of clamp device in automatic Zhi Kexian manipulators loading depot according to claim 1, it is characterised in that
The fixture seat of honour (2) includes bearing (21), shell body (22), flange (23) and chuck (24), and the fixture seat of honour (2) pass through flange
(23) it is fixed in loading station rack (1), shell body (22) is assemblied in bearing (21) outside, and chuck (24) is fixed on shell body (22)
On, the edge of chuck (24) is provided with stopper slot (241), and bearing (21) is passed and is connected on the curved support of fixture (3).
3. a kind of clamp device in automatic Zhi Kexian manipulators loading depot according to claim 2, it is characterised in that
The edge even circumferential distribution of the chuck (24) of the stopper slot (241), quantity is more than or equal to two.
4. a kind of clamp device in automatic Zhi Kexian manipulators loading depot according to claim 2, it is characterised in that
Plane where the chuck (24) is axially vertical with bearing (21).
5. a kind of clamp device in automatic Zhi Kexian manipulators loading depot according to claim 1, it is characterised in that
The curved support of fixture (3) includes two identical arc-shaped bend supports (32) be arrangeding in parallel and connection arc-shaped bend support
(32) rectangular connecting panels (33), wherein, rectangular connecting panels (33) are connected on the outside of one end of arc-shaped bend support (32), in square
The upper surface of shape connecting plate (33) is connected provided with round platform (331) with bearing (21), is being connected with rectangular connecting panels (33) one end
The inner side of arc-shaped bend support (32) be provided with spacing hole (34), the inner side of the arc-shaped bend support (32) of the other end is provided with groove
(31)。
6. a kind of clamp device in automatic Zhi Kexian manipulators loading depot according to claim 1, it is characterised in that
The linkage (4) includes, formwork seat gag lever post (41), draw ring handle (42), kinematic link (43), spacing kelly (44),
Sell (45), spacing lever pin (46) and spring (47), wherein, spacing lever pin (46) passes through spacing hole (34) and the curved support of fixture
(3) connect, one end of spacing kelly (44) is connected on formwork gag lever post (41) by pin (45), and the other end freely causes spacing
Kelly (44) can be rotated around pin (45), and kinematic link (43) one end is connected with pin (45), and the other end is connected with draw ring handle (42),
The two ends of spring (47) are connected with spacing lever pin (46) or formwork seat gag lever post (41) and spacing kelly (44) respectively.
7. a kind of clamp device in automatic Zhi Kexian manipulators loading depot according to claim 6, it is characterised in that
The spring (47) is in compressive state, to realize that kinematic link (43) is pulled after spacing kelly (44), spacing kelly (44) position
That puts automatically replies.
8. a kind of clamp device in automatic Zhi Kexian manipulators loading depot according to claim 6, it is characterised in that
The spacing kelly (44) is cross, wherein, the length of montant is more than cross bar, and one end of montant is connected with pin (45).
9. a kind of clamp device in automatic Zhi Kexian manipulators loading depot according to claim 8, it is characterised in that
The spacing kelly (44), with stopper slot (241) card and when, cross bar be located at side of the chuck (24) towards flange (23), to prevent
Only spacing kelly (44) departs from from stopper slot (241).
10. a kind of clamp device in automatic Zhi Kexian manipulators loading depot according to claim 6, its feature exists
In, formwork seat gag lever post (41) is that four-part form connection rod set is fit, one end of first paragraph vertically be fixed on spacing lever pin
(46) centre, the other end is connected with second segment, and junction is provided with circular hole, in order to which pin (45) is passed through, second segment and the 3rd section
Junction also is provided with circular hole, is easy to by pin connection draw ring handle (42), the 3rd section and the 4th section is structure as a whole, the 4th section
Provided with fixed groove for fixed with formwork seat (9) on the outside of free end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510541105.2A CN105033184B (en) | 2015-08-28 | 2015-08-28 | A kind of clamp device in automatic Zhi Kexian manipulators loading depot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510541105.2A CN105033184B (en) | 2015-08-28 | 2015-08-28 | A kind of clamp device in automatic Zhi Kexian manipulators loading depot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105033184A CN105033184A (en) | 2015-11-11 |
| CN105033184B true CN105033184B (en) | 2017-07-11 |
Family
ID=54440483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510541105.2A Expired - Fee Related CN105033184B (en) | 2015-08-28 | 2015-08-28 | A kind of clamp device in automatic Zhi Kexian manipulators loading depot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105033184B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2372953A (en) * | 2001-03-09 | 2002-09-11 | Howmet Res Corp | Accurate positioning of a mould in a casting chamber |
| CN201932704U (en) * | 2010-11-30 | 2011-08-17 | 深圳市大族光电设备有限公司 | Automatic bracket grasping device and automatic bracket loading system |
| CN103001406A (en) * | 2012-11-29 | 2013-03-27 | 苏州博德自动化科技有限公司 | Rotor loading mechanism of automatic rotor commutator pressing machine |
| CN204148775U (en) * | 2014-09-29 | 2015-02-11 | 北京航天海鹰星航机电设备有限公司 | A kind of framework welding clamp |
| CN205074477U (en) * | 2015-08-28 | 2016-03-09 | 航天海鹰(哈尔滨)钛业有限公司 | A fixture device that is used for automatic shell line manipulator loading location of making |
-
2015
- 2015-08-28 CN CN201510541105.2A patent/CN105033184B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2372953A (en) * | 2001-03-09 | 2002-09-11 | Howmet Res Corp | Accurate positioning of a mould in a casting chamber |
| CN201932704U (en) * | 2010-11-30 | 2011-08-17 | 深圳市大族光电设备有限公司 | Automatic bracket grasping device and automatic bracket loading system |
| CN103001406A (en) * | 2012-11-29 | 2013-03-27 | 苏州博德自动化科技有限公司 | Rotor loading mechanism of automatic rotor commutator pressing machine |
| CN204148775U (en) * | 2014-09-29 | 2015-02-11 | 北京航天海鹰星航机电设备有限公司 | A kind of framework welding clamp |
| CN205074477U (en) * | 2015-08-28 | 2016-03-09 | 航天海鹰(哈尔滨)钛业有限公司 | A fixture device that is used for automatic shell line manipulator loading location of making |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105033184A (en) | 2015-11-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11904412B2 (en) | Production line of H-shaped steel and production method | |
| JP6882258B2 (en) | Processing station | |
| US9579707B2 (en) | Work processing apparatus and die moving method for work processing apparatus | |
| CN201960566U (en) | Adjustable manipulator for numerical control machine | |
| CN108349649A (en) | Withdrawing device and storage appts | |
| WO2016103299A1 (en) | Automatic object conveyance method and automatic object conveyance system | |
| CN218855625U (en) | Automatic upender numerical control lathe goes up blanking machine | |
| CN105033184B (en) | A kind of clamp device in automatic Zhi Kexian manipulators loading depot | |
| CN104959738B (en) | A kind of seeder frame flexible welding work station | |
| JP3218998U (en) | Circuit board carrier with articulated connection mechanism | |
| CN205074477U (en) | A fixture device that is used for automatic shell line manipulator loading location of making | |
| CN202411705U (en) | Oil filler welding fixture | |
| CN211191895U (en) | Core bar clamp and investment casting manufacturing device | |
| JPS62238032A (en) | Set-up change device for transfer press | |
| CN109789558A (en) | Workpiece handling end effector and Work transfer apparatus | |
| CN102554925A (en) | Adjustable manipulator for numerical control machine | |
| JP2006016163A (en) | Derricking clamp | |
| CN209811466U (en) | Welding system of angle modulation ware | |
| CN207770852U (en) | A kind of truss manipulator switching mechanism | |
| CN206748041U (en) | Tool replacing apparatus | |
| CN105598347A (en) | Riveting loading piece loading mechanism | |
| CN205394089U (en) | Multiaxis linkage cell -phone shell metallic bond processing frock | |
| CN214828388U (en) | Automobile front suspension hanger tool | |
| CN205989271U (en) | A kind of fixture and processing stations | |
| CN109848562A (en) | The welding system and method for angle adjustor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170711 Termination date: 20210828 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |