CN106737793A - Clamp system - Google Patents
Clamp system Download PDFInfo
- Publication number
- CN106737793A CN106737793A CN201710062614.6A CN201710062614A CN106737793A CN 106737793 A CN106737793 A CN 106737793A CN 201710062614 A CN201710062614 A CN 201710062614A CN 106737793 A CN106737793 A CN 106737793A
- Authority
- CN
- China
- Prior art keywords
- arm
- gear
- clamp system
- master arm
- driving
- 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.)
- Withdrawn
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of clamp system, it is related to the technical field of clamping device, the clamp system includes clamping jaw, clamping jaw is made up of the master arm being oppositely arranged and a slave arm；Master arm and slave arm include clamping part and driving section, and are articulated on pedestal by respective driving section；Driving section at least partially arc, the driving section arch section of master arm is provided with driving tooth, and the driving section arch section of slave arm is provided with the driven tooth engaged with driving tooth, engaged transmission between master arm and slave arm；Master arm is connected with the power unit for driving it to rotate.The clamp system is used to improve clamp system complex structure, relatively costly technical problem in the prior art.
Description
Technical field
The present invention relates to clamping device technical field, more particularly, to a kind of clamp system.
Background technology
Clamp system is widely used in various equipment, conveyance or positioning for material etc..But in the prior art,
The structure of clamp system is typically more complicated, and cost is also higher, does not meet simplified structure, cost-effective demand.Therefore, very
It is necessary a kind of new clamp system of design to alleviate above-mentioned technical problem.
The content of the invention
It is an object of the invention to provide a kind of clamp system, answered with alleviating clamp system structure present in prior art
Miscellaneous, relatively costly technical problem.
The clamp system that the present invention is provided includes：Clamping jaw, the clamping jaw is by the master arm and a slave arm that are oppositely arranged
Constitute；The master arm and the slave arm include clamping part and driving section, and are articulated in by the respective driving section
On pedestal；The driving section at least partially arc, the driving section arch section of the master arm is provided with driving tooth, described
The driving section arch section of slave arm is provided with the driven tooth engaged with the driving tooth, and the master arm is driven with described
Engaged transmission between arm；
The master arm is connected with the power unit for driving it to rotate.
Further, the power unit includes drive component and transmission component, and the transmission component includes and the master
First gear that swing arm driving section is fixedly connected and the second gear engaged with the first gear；The second gear and driving
The drive component connection that it is rotated.
Further, the drive component includes motor and the decelerator matched with the motor, the output of the motor
Axle is fixedly connected with the power intake of the decelerator；The second gear is fixedly connected with the output shaft of the decelerator.
Further, the motor is servomotor, and the second gear is fixed with the output shaft of the servomotor and connected
Connect.
Further, the decelerator is right-angle reduction device.
Further, the first gear is sector gear.
Further, the arch section of the master arm and the gearratio of the arch section of the slave arm are 1：1.
Further, a splined shaft is installed with the pedestal, the master arm and the first gear are closely arranged
In on the axle key of the splined shaft.
Further, the clamping part of the master arm and the slave arm is respectively installed with one is used for the clamping of clamping workpiece
Block, two gripping blocks are oppositely arranged.
Clamp system the having the beneficial effect that compared with prior art that the present invention is provided：
During work, master arm opposite base is driven to pivot by power unit, on the driving tooth and slave arm on master arm
Driven tooth is engaged, so as to drive slave arm to rotate, by engaging for driving tooth and driven tooth, makes that master arm is synchronous with slave arm to be transported
It is dynamic, realize the folding of clamping jaw.Simple structure and compact, cost is relatively low.
Another clamp system that the present invention is provided includes：Clamping jaw and power unit, the clamping jaw by be oppositely arranged one
Master arm and a slave arm are constituted,
The master arm and the slave arm include clamping part and driving section, and are pivotally connected by the respective driving section
In on pedestal；The driving section at least partially arc, the driving section arch section of the master arm is provided with driving tooth, institute
The driving section arch section for stating slave arm is provided with the driven tooth engaged with the driving tooth, the master arm with it is described from
Engaged transmission between swing arm；
The power unit includes servomotor and transmission component, and the transmission component includes that being fixedly arranged on the master arm passes
The first gear in dynamic portion and the second gear engaged with the first gear；The output of the second gear and the servomotor
Axle is fixedly connected.
Clamp system the having the beneficial effect that compared with prior art that the present invention is provided：
The clamp system not only has the beneficial effect of above-mentioned clamp system, and using servomotor as power source, can
To realize by the moment of torsion control to servomotor, speed control, Bit andits control control, the clamp speeds to the clamping force of clamping jaw
Control and jaw openings range size control.The rotating speed of servomotor is reduced further through right-angle reduction device, increases servo
The moment of torsion of motor, makes the clamping force of clamp system bigger.Additionally, because being right-angle reduction device, servomotor is put down with pedestal
Row is set, and the length beyond pedestal is smaller, not only makes the more compact structure of clamp system, also help reduction servomotor and its
The possibility that his equipment is interfered.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the front view of the clamp system that the embodiment of the present invention one is provided；
Fig. 2 is the left view of the clamp system that the embodiment of the present invention one is provided；
Fig. 3 is the top view of the clamp system that the embodiment of the present invention one is provided；
Fig. 4 is a kind of top view of gripping block in the clamp system that the embodiment of the present invention one is provided；
Fig. 5 is the top view of another gripping block in the clamp system that the embodiment of the present invention one is provided；
Fig. 6 is the top view of another gripping block in the clamp system that the embodiment of the present invention one is provided.
Icon：1- clamping jaws；2- pedestals；3- first gears；4- second gears；5- motors；6- decelerators；7- is pressed from both sides
Tight block；11- master arms；12- slave arms.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify describe, rather than indicate imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Embodiment one
As Figure 1-3, the clamp system that the present embodiment is provided includes：Clamping jaw 1, clamping jaw 1 by be oppositely arranged one actively
The slave arm 12 of arm 11 and is constituted；Master arm 11 and slave arm 12 include clamping part and driving section, and by respective transmission
Portion is articulated on pedestal 2；Driving section at least partially arc, the driving section arch section of master arm 11 is provided with driving tooth,
The driving section arch section of slave arm 12 is provided with the driven tooth engaged with driving tooth, between master arm 11 and slave arm 12
Engaged transmission；Master arm 11 is connected with the power unit for driving it to rotate.
During work, master arm opposite base is driven to pivot by power unit, on the driving tooth and slave arm on master arm
Driven tooth is engaged, so as to drive slave arm to rotate, by engaging for driving tooth and driven tooth, makes that master arm is synchronous with slave arm to be transported
It is dynamic, realize the folding of clamping jaw.Simple structure and compact, cost is relatively low.And, in the prior art, clamping jaw is typically and power
Source is arranged on the same length direction of same level, thus mechanism is larger.The clamp system that the present embodiment is provided takes full advantage of
Horizontal and vertical space, compact conformation can also be clamped freely in small space.
The driving section of master arm 11 and slave arm 12 at least partially arc, specifically, the arc can for four/
One circular arc, driving tooth is set in the arch section of master arm 11, is set and can be nibbled with driving tooth in the arch section of slave arm 12
The driven tooth of conjunction, driving tooth and driven tooth are uniform on the circular arc at respective place respectively.Master arm 11 and slave arm 12 it is main
Function is：Can be under the driving of power unit, engaged transmission, with move toward one another (that is, the pinching action of clamp system) or phase
Unlucky dynamic (that is, the expansion action of clamp system), finally realizes the clamping or release of workpiece.Therefore, it is all be that by it is above-mentioned
The structure of function can be as the present embodiment signified master arm 11 or slave arm 12.
Master arm 11 and slave arm 12 are pivotally connected with pedestal 2, driving section and the driving rotation of master arm 11 of master arm 11
Power unit is connected, specifically, can be that pedestal 2 includes two pieces of installing plates being oppositely arranged, one end of two pieces of installing plates is fixed
Link together, and above-mentioned intermeshing master arm 11 and slave arm 12 are articulated between two pieces of installing plates.Power unit is consolidated
Surely one piece of side of installing plate is disposed therein, and is fixedly connected with the pivotal axis of master arm 11.Can also be pedestal 2 only by one
Block installing plate composition, master arm 11 and slave arm 12 are articulated in the same side of installing plate, and the two is intermeshed, and power unit is solid
Surely be arranged on installing plate the side opposite with master arm 11 and slave arm 12, and be fixedly connected with the pivotal axis of master arm 11 or
Person is fixedly installed on installing plate the side near master arm 11 and slave arm 12, and fixes company with the pivotal axis of master arm 11
Connect.In the present embodiment, only illustrated in case of said base 2 includes two pieces of installing plates.
In the present embodiment, power unit can include drive component and transmission component, and transmission component includes and master arm
First gear 3 that 11 driving sections are fixedly connected and the second gear 4 engaged with first gear 3；Second gear 4 is rotated with its is driven
Drive component connection.
The first gear 3 that setting is fixedly connected with the driving section of master arm 11, then the second tooth being connected with drive component is set
Wheel 4, drive component drives second gear 4 to rotate, and drive master arm 11 is engaged by between first gear 3 and second gear 4
Opposite base 2 is pivoted, then drives the pivot of 12 opposite base of slave arm 2 with indirectly engaging for driven tooth by driving tooth, so that
Realize the folding of clamping jaw 1.Drive component drives master arm 11 with respect to base by intermeshing first gear 3 and second gear 4
Seat 2 pivot, not only torque and the transmission of rotating speed are more steady, but also can be according to difference the need for, select different drive ratios
First gear 3 and second gear 4, and then make clamp system clamping jaw 1 clamp speeds meet require.
First gear 3 can be fixedly connected with the pivotal axis of master arm 11, it is also possible to the driving section of master arm 11 other
Position is fixedly connected.Transmission component (that is, first gear 3 and second gear 4) can be arranged at two pieces of installing plates with drive component
Not homonymy, as shown in Figure 2, it is also possible to be arranged at two pieces of the same sides of installing plate.
In the present embodiment, drive component can include motor 5 and the decelerator 6 matched with motor 5, the output of motor 5
Axle is fixedly connected with the power intake of decelerator 6；Second gear 4 is fixedly connected with the output shaft of decelerator 6.
The rotating speed of motor 5 is reduced by decelerator 6, increases the moment of torsion of motor 5, the clamping force of clamp system can be made more
Greatly.
In the present embodiment, motor 5 can be servomotor.
Using servomotor as power source, can be by the moment of torsion control to servomotor, speed control, Bit andits control reality
The control of clamping force, the control of clamp speeds and the control of the opening range size of clamping jaw 1 now to clamping jaw 1, carry the present embodiment
The scope of application of the clamp system of confession is wider.
When servomotor and clamping jaw respectively positioned at the both sides of pedestal 2 when, if part to be held is heated work pieces, pedestal 2 can be every
Exhausted a part of heat, reduces the heat radiation that servomotor is subject to, while the heat that servomotor operating is produced can also dissipate rapidly
It is dealt into air.Therefore the clamp system can clamp the workpiece after heating.
In the present embodiment, decelerator 6 is right-angle reduction device.
Right-angle reduction device is set, servomotor is be arranged in parallel with pedestal 2, servomotor is smaller beyond the length of pedestal 2,
Not only make the more compact structure of clamp system, also helping reduces the possibility that servomotor is interfered with other equipment.
In the present embodiment, first gear 3 is sector gear.
The Main Function of first gear 3 is to be engaged with second gear 4, with the mating reaction of second gear 4 by the torque of motor 5
It is transferred to master arm 11.Therefore, all structures for being that by above-mentioned functions, can be as the first signified tooth of the present embodiment
Wheel 3.Because master arm 11 is generally only the reciprocating rotation in certain angle, so first gear 3 need not be whole round tooth
Wheel, is sector gear.Sector gear not only taken up room as first gear 3 it is smaller, it is also more cost-effective.
In the present embodiment, the arch section of master arm 11 and the gearratio of the arch section of slave arm 12 are 1：1.
The flank profil of the flank profil of the driving tooth of the arch section of master arm 11 and the driven tooth of the arch section of slave arm 12 is conjugation
Flank profil, gearratio therebetween is 1：1.Driving tooth is 1 with the gearratio of driven tooth：When 1, in the torque of drive component input
In the case of constant, master arm 11 can be made consistent with the velocity of rotation of slave arm 12, make the process of clamping or release workpiece
It is more steady.
In the present embodiment, a splined shaft is articulated with pedestal 2, master arm 11 and first gear 3 are closely sheathed on flower
On the axle key of key axle.
Master arm 11 and first gear 3 are closely sheathed on the axle key of splined shaft, make the transmission of torque therebetween more
It is reliable.
Specifically, can be that installing plate is two pieces, one end of two pieces of installing plates is fixed together, and two pieces of installing plates
Between be articulated with above-mentioned intermeshing master arm 11 and slave arm 12.One end (smooth shaft without spline) of splined shaft is articulated in
On one of installing plate, the other end is pivotally connected with another piece of installing plate, and passes the installing plate.Master arm 11 is closely arranged and flower
On axle key between two pieces of installing plates, first gear 3 is closely sheathed on the axle that splined shaft passes one end of installing plate to key axle position
On key.
In the present embodiment, the clamping part of master arm 11 and slave arm 12 is respectively installed with one is used for the gripping block of clamping workpiece
7, two gripping blocks 7 are oppositely arranged.
The required precision of clamp system retained part is general higher, directly adds on the clamping part of active wall or slave arm
Work is molded, relatively costly.By setting gripping block 7, high accuracy processing is carried out to gripping block 7, then high-precision gripping block 7 is consolidated
Located at the relevant position of clamping part, the control of cost is more beneficial for.
Depending on the shape and size of gripping block 7 can be according to the shape and size of workpiece to be held, specifically, gripping block 7
Breach can be " V " font (as shown in Figure 4 and Figure 6) or arc (as shown in Figure 5), etc..
Can be for detachable fixation even between gripping block 7 and the clamping part of corresponding master arm 11 or slave arm 12
Connect, or non-dismountable formula is fixedly connected.Preferably, gripping block 7 and corresponding master arm 11 or the folder of slave arm 12
It is detachable being fixedly connected to hold between portion.It is between gripping block 7 and the clamping part of corresponding master arm 11 or slave arm 12
It is detachable when being fixedly connected, by the gripping block 7 for changing different shape and size, you can to realize to different shape, size
Workpiece clamping.
Embodiment two
Another clamp system that the present invention is provided includes：Clamping jaw 1 and power unit, clamping jaw 1 is by the master that is oppositely arranged
The slave arm 12 of swing arm 11 and is constituted,
Master arm 11 and slave arm 12 include clamping part and driving section, and are articulated in pedestal 2 by respective driving section
On；Driving section at least partially arc, the driving section arch section of master arm 11 is provided with driving tooth, the transmission of slave arm 12
Portion's arch section is provided with the driven tooth engaged with driving tooth, engaged transmission between master arm 11 and slave arm 12；Power
Unit includes servomotor and transmission component, and transmission component includes being fixedly arranged on the first gear 3 of the driving section of master arm 11 and with the
The second gear 4 of the engagement of one gear 3；Second gear 4 is fixedly connected with the output shaft of servomotor.
During work, master arm opposite base is driven to pivot by power unit, on the driving tooth and slave arm on master arm
Driven tooth is engaged, so as to drive slave arm to rotate, by engaging for driving tooth and driven tooth, makes that master arm is synchronous with slave arm to be transported
It is dynamic, realize the folding of clamping jaw.Simple structure and compact, cost is relatively low.And using servomotor as power source, Ke Yitong
Moment of torsion control, speed control, the Bit andits control realization to servomotor are crossed to the control of the clamping force of clamping jaw, the control of clamp speeds
The control of system and jaw openings range size.The rotating speed of servomotor is reduced further through right-angle reduction device, increases servomotor
Moment of torsion, make the clamping force of clamp system bigger.Additionally, because being right-angle reduction device, servomotor is parallel with pedestal to be set
Put, the length beyond pedestal is smaller, not only make the more compact structure of clamp system, also help reduction servomotor and set with other
The standby possibility for interfering.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of clamp system, it is characterised in that including：Clamping jaw (1), the clamping jaw (1) is by the master arm that is oppositely arranged
(11) constituted with a slave arm (12)；The master arm (11) and the slave arm (12) include clamping part and driving section, and
It is articulated on pedestal (2) by the respective driving section；The driving section at least partially arc, the master arm (11)
Driving section arch section be provided with driving tooth, the driving section arch section of the slave arm (12) is provided with and the master
The driven tooth of dynamic tooth engagement, engaged transmission between the master arm (11) and the slave arm (12)；
The master arm (11) is connected with the power unit for driving it to rotate.
2. clamp system according to claim 1, it is characterised in that the power unit includes drive component and transmission group
Part, the transmission component include the first gear (3) that is fixedly connected with the master arm (11) driving section and with first tooth
The second gear (4) of wheel (3) engagement；The second gear (4) is connected with the drive component for driving it to rotate.
3. clamp system according to claim 2, it is characterised in that the drive component include motor (5) and with it is described
The decelerator (6) of motor (5) matching, the output shaft of the motor (5) is fixed with the power intake of the decelerator (6) and connected
Connect；The second gear (4) is fixedly connected with the output shaft of the decelerator (6).
4. clamp system according to claim 3, it is characterised in that the motor (5) is servomotor.
5. the clamp system according to claim 3 or 4, it is characterised in that the decelerator (6) is right-angle reduction device.
6. clamp system according to claim 5, it is characterised in that the first gear (3) is sector gear.
7. clamp system according to claim 5, it is characterised in that the arch section of the master arm (11) with it is described from
The gearratio of the arch section of swing arm (12) is 1：1.
8. clamp system according to claim 5, it is characterised in that be installed with a splined shaft on the pedestal (2), it is described
Master arm (11) and the first gear (3) are closely sheathed on the axle key of the splined shaft.
9. the clamp system according to any one of claim 1 or 2, it is characterised in that the master arm (11) and it is described from
The clamping part of swing arm (12) is respectively installed with one is used for the gripping block (7) of clamping workpiece, and two gripping blocks (7) are oppositely arranged.
10. a kind of clamp system, it is characterised in that including：Clamping jaw (1) and power unit, the clamping jaw (1) is by what is be oppositely arranged
One master arm (11) and a slave arm (12) are constituted, and the master arm (11) and the slave arm (12) include clamping part and biography
Dynamic portion, and be articulated on pedestal (2) by the respective driving section；The driving section at least partially arc, the master
The driving section arch section of swing arm (11) is provided with driving tooth, and the driving section arch section of the slave arm (12) is provided with
The driven tooth engaged with the driving tooth, engaged transmission between the master arm (11) and the slave arm (12)；
The power unit includes servomotor and transmission component, and the transmission component includes being fixedly arranged on the master arm (11) biography
The first gear (3) in dynamic portion and the second gear (4) engaged with the first gear (3)；The second gear (4) is watched with described
The output shaft for taking motor is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710062614.6A CN106737793A (en) | 2017-01-23 | 2017-01-23 | Clamp system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710062614.6A CN106737793A (en) | 2017-01-23 | 2017-01-23 | Clamp system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737793A true CN106737793A (en) | 2017-05-31 |
Family
ID=58956171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710062614.6A Withdrawn CN106737793A (en) | 2017-01-23 | 2017-01-23 | Clamp system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737793A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107650136A (en) * | 2017-10-06 | 2018-02-02 | 深圳供电局有限公司 | Four-point type electric holder |
| CN107695792A (en) * | 2017-09-29 | 2018-02-16 | 金华市佛尔泰精密机械制造有限公司 | A kind of control method of intelligent fixture |
| CN109048418A (en) * | 2018-09-03 | 2018-12-21 | 上海莘翔自动化科技有限公司 | Surrounding clamp system and operating method |
-
2017
- 2017-01-23 CN CN201710062614.6A patent/CN106737793A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107695792A (en) * | 2017-09-29 | 2018-02-16 | 金华市佛尔泰精密机械制造有限公司 | A kind of control method of intelligent fixture |
| CN107650136A (en) * | 2017-10-06 | 2018-02-02 | 深圳供电局有限公司 | Four-point type electric holder |
| CN109048418A (en) * | 2018-09-03 | 2018-12-21 | 上海莘翔自动化科技有限公司 | Surrounding clamp system and operating method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106737793A (en) | Clamp system | |
| CN107042522A (en) | A kind of robot end self-clamping module of servo driving | |
| CN215967045U (en) | Rotary welding device for house building pipeline | |
| CN101380737B (en) | Initiative hook joint mechanism with output driving shaft inside | |
| CN207494881U (en) | Three axis positioners of robot | |
| CN206588972U (en) | Clamp system | |
| CN214561039U (en) | Multi-degree-of-freedom mechanical arm for machine tool | |
| CN107932532A (en) | A kind of crucible available for high temperature furnace clamps special manipulator | |
| CN205764554U (en) | A kind of welding gun switching mechanism | |
| CN107650136A (en) | Four-point type electric holder | |
| CN205342884U (en) | Steel tube clamping device | |
| CN207414557U (en) | A kind of gas furnace pipeline arc welding equipment | |
| CN207103933U (en) | A kind of grooving machine tool | |
| CN105643506A (en) | Steel pipe clamping device | |
| CN213841075U (en) | Multi-angle adjustment industrial fan heater with mesh enclosure | |
| CN213206480U (en) | Modularization motor drive assembly and arm | |
| CN113146671A (en) | Multi-degree-of-freedom mechanical arm for machine tool | |
| CN108031974A (en) | One kind uses laser welding processing technology welding equipment | |
| CN212265081U (en) | Automobile transmission shaft universal joint assembly press-fitting tool | |
| CN204711635U (en) | Reducing gear | |
| CN211564978U (en) | Double-shaft welding positioner | |
| CN209035872U (en) | A kind of twin shaft positioner | |
| CN208644491U (en) | A kind of clamping device and the welder using the clamping device | |
| CN220112662U (en) | Auxiliary device | |
| CN207548243U (en) | A kind of five-axle linkage High-speed machining workbench |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170531 |