CN108621184A - A kind of machinery prefastening electric drive manipulator - Google Patents
A kind of machinery prefastening electric drive manipulator Download PDFInfo
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- CN108621184A CN108621184A CN201810289187.XA CN201810289187A CN108621184A CN 108621184 A CN108621184 A CN 108621184A CN 201810289187 A CN201810289187 A CN 201810289187A CN 108621184 A CN108621184 A CN 108621184A
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- fixture block
- worm screw
- spring
- synchronous pulley
- screw
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- 238000013016 damping Methods 0.000 claims abstract description 44
- 230000001360 synchronised effect Effects 0.000 claims abstract description 41
- 230000036316 preload Effects 0.000 claims abstract description 28
- 239000004579 marble Substances 0.000 claims abstract description 22
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 3
- 239000006096 absorbing agent Substances 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 239000003921 oil Substances 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 230000006835 compression Effects 0.000 abstract description 3
- 238000007906 compression Methods 0.000 abstract description 3
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- 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
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0286—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by chains, cables or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mechanical prefastening electric drive manipulators, including support guide unit, driving unit and catching unit；Support guide unit includes supporting rack, two sliding blocks；Driving unit includes motor, synchronous belt, small synchronous pulley, big synchronous pulley, two worm screws；Catching unit includes two baffle rings, two preloading springs, two fixture blocks, two preload pistons, two Buddhist nun's chambers；The present invention is that contact pre-tightens symmetrical catching robot, and the screw rod for innovatively using two rotation directions different realizes symmetrical crawl, ensures that the displacement of two sliding blocks is identical；Big synchronous pulley and left and right worm screw fixing assembling are at an entirety, and simple and compact for structure, reliability is high；Pass through the left rotation and right rotation of baffle ring so that amount of spring compression changes, and then changes the damped coefficient of spring damping second-order system, to adapt to the clamping of different weight object；Marble screw on fixture block surface can make adaptability Light deformation according to the shape of caught object, increase the stability and reliability of gripping.
Description
Technical field
The invention belongs to manipulator technical field more particularly to a kind of mechanical prefastening electric drive manipulators.
Background technology
Currently, in the manipulator of various grippings, the main shape that object is deacclimatized using addition sensor, flexible material etc.
Shape realizes the purpose of crawl object by rigid contact.However rigid crawl is unreliable, fault rate is high；Sensor complexity is high,
To environmental requirement height, disturbing factor is more.Being still far from perfect as the development of the manipulator of auxiliary tool at this stage, existing machinery
Hand is not only expensive, and has a single function, though certain gripping action can be completed, the scope of application for gripping object is small,
It is very poor to the body form adaptability of gripping as the paw section of manipulator important component, rectangle object can be gripped
Manipulator, it is desirable to well gripping cylindrical object with regard to extremely difficult, vice versa.And existing paw is not set mostly
Overload protection function is set, the chucking power of paw is all controlled by sensor, causes the cost of paw section high, and is clamped reliable
Property is low.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of mechanical prefastening electric drive manipulator.
In order to solve the technical problem, the technical solution adopted by the present invention is：A kind of machinery prefastening electric drive machinery
Hand, including support guide unit, driving unit and catching unit；
The support guide unit includes supporting rack, left slider and right sliding block；Support frame as described above is fixed by bottom plate and vertically
Side plate in bottom plate both sides is integrally formed；The first straight line sliding rail being mutually parallel and second is fixed on the bottom plate of support frame as described above directly
Line sliding rail；Left slider and right sliding block can move towards across on two line slide rails along two line slide rails；Supporting rack
Bottom plate on be also equipped with motor mount；
The driving unit includes motor, synchronous belt, small synchronous pulley, big synchronous pulley, left worm screw and right worm screw；Motor
It is fixedly connected on motor mount, small synchronous pulley, one end of one end of left worm screw and right worm screw is housed on motor output shaft
It is each passed through left slider, right sliding block is mounted on two side plates of supporting rack, the other end of the other end of left worm screw and right worm screw
It is fixedly connected with big synchronous pulley；Small synchronous pulley passes through synchronous band connection with big synchronous pulley；Left worm screw and the rotation of right worm screw
To on the contrary, driving left slider and right sliding block move towards；
The catching unit includes left baffle ring, right baffle ring, left preloading spring, right preloading spring, left fixture block, right fixture block, a left side
Pre-tighten piston, right preload piston, left damping cavity and right damping cavity；The left fixture block can be slided along left slider, the right fixture block
It can be slided along right sliding block；Left damping cavity is fixed on left slider, the right end screw thread of left damping cavity installs left baffle ring, left preload piston
One end is fixed on left fixture block, and the other end stretches into left damping cavity, can be moved left and right, and left preload is socketed on left preload piston
Spring；Right damping cavity is fixed on right sliding block, the left end screw thread of right damping cavity installs right baffle ring, and right preload piston one end is fixed on the right side
On fixture block, the other end stretches into right damping cavity, can move left and right, and right preloading spring is socketed on right preload piston；Left fixture block
Several marble screws are all had with the surface of right fixture block.
Further, two side plates of support frame as described above are symmetrically installed first flange bearing, second flange bearing；Left worm screw
Across first flange bearing, limited by left clamp spring；Right worm screw passes through second flange bearing, is limited by right clamp spring.
Further, the marble screw is steel alloy material, and each marble screw has the Light deformation of 0.5mm, when grabbing
When taking regular object, each marble screw deformation is identical；When capturing irregularly shaped object, different marble screw deformations are different, shape
At an arc-shaped enveloping surface, ensures face contact, increase chucking power.
Further, No. 375 shock absorber oils of 10ml are housed, cooperation line footpath 1mm, internal diameter 12mm, outer diameter 14mm in damping cavity
Spring provides the function of damping and shock-absorbing.
Further, it is provided with sliding groove on the left slider and right sliding block, left fixture block and right fixture block are made short on sliding groove
Distance is mobile.
Further, baffle ring rotation is turned around, and spring is compressed, and the resistance that spring-damper system provides improves 10N, is ensured
Manipulator has been pre-adjusted the decrement of spring according to different gripping objects.
A method of object being gripped using above-mentioned manipulator, including：When manipulator captures object, motor passes through small synchronization
Belt wheel drives big synchronous pulley rotation, and gripping object is moved towards via left worm screw and right worm drive left slider and right sliding block；
After left slider and right sliding block are with object contact is grabbed, left fixture block and right fixture block are forced outwardly respectively, and then are compressed and pre-tightened
Spring, spring are gradually compressed, and left preload piston, right preload piston generate movement, resistance in left damping cavity, right damping cavity respectively
Buddhist nun's liquid provides some resistance, and the pretightning force of object is grabbed in pairs in the interaction downlink of power, tightly clamp object, wave at this time
Sub- screw makes the Light deformation of adaptability under the action of gripping power, promotes the reliability of crawl.
Beneficial effects of the present invention：
(1) screw rod for innovatively using two rotation directions different realizes symmetrical crawl, can be exhausted under the premise of ignoring assembly precision
Displacement to ensureing two sliding blocks is identical.Big synchronous pulley and left and right worm screw fixing assembling become an entirety, simple and compact for structure,
Reliability is high.
(2) pass through the left rotation and right rotation of baffle ring so that amount of spring compression increases or reduces, and then changes spring damping second order
The damped coefficient of system, to adapt to the clamping of the object of different weight.
(3) several marble screws on fixture block surface can make the Light deformation of adaptability, shape according to the shape of caught object
At enveloping surface, and then increase the stability and reliability of gripping.
(4) the invention manipulator can be applied to the crawl of the daily necessities such as cup, books, and certain to being provided by gripping object
Mechanical pretightning force, realize reliable crawl.Relative to standard machinery hand, it is excellent to have that adjustable, crawl is reliable, stability is high
Point.
(5) transportable workpiece production line, friction pulley symmetric emission device and the part of being applied to of the invention manipulator measures
In device, relative to other manipulators, object of different shapes, good operability can adapt to.
Description of the drawings
Fig. 1 is the stereogram of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the vertical view of the present invention；
In figure：Left clamp spring 1.1, right clamp spring 1.2, supporting rack 2.1, left slider 3.1, right sliding block 3.2, left baffle ring 4.1, right gear
Ring 4.2, left preloading spring 5.1, right preloading spring 5.2, left fixture block 6.1, right fixture block 6.2, marble screw 7.1, motor 8.1,
One line slide rail 9.1, second straight line sliding rail 9.2, synchronous belt 10.1, left screw rod 11.1, right screw rod 11.2, hexagon socket head cap screw
12.1, left preload piston 13.1, right preload piston 13.2, left damping cavity 14.1, right damping cavity 14.2, big synchronous pulley 15.1,
Small synchronous pulley 16.1, motor mount 17.1.
Specific implementation mode
Invention is further described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figs. 1-3, a kind of mechanical prefastening electric drive manipulator provided by the invention, including support guide unit,
Driving unit and catching unit；
The support guide unit includes supporting rack 2.1, left slider 3.1 and right sliding block 3.2；Support frame as described above 2.1 is the bottom of by
Plate and the side plate for being vertically fixed on bottom plate both sides are integrally formed；Fixed first to be mutually parallel on the bottom plate of support frame as described above 2.1
Line slide rail 9.1 and second straight line sliding rail 9.2；Left slider 3.1 and right sliding block 3.2, can across on two line slide rails
It being moved towards along two line slide rails, left slider 3.1 and right sliding block 3.2 can adjust left and right position according to the width of caught object,
Double sliding rail is that the translation of sliding block has gripped fixed function；Motor mount 17.1 is also equipped on the bottom plate of supporting rack 2.1；
The driving unit includes motor 8.1, synchronous belt 10.1, small synchronous pulley 16.1, big synchronous pulley 15.1, left snail
Bar 11.1 and right worm screw 11.2；Motor 8.1 is fixedly connected on by hexagon socket head cap screw 12.1 on motor mount 17.1, motor
Small synchronous pulley 16.1 is housed, one end of one end of left worm screw 11.1 and right worm screw 11.2 is each passed through left cunning on 8.1 output shafts
Block 3.1, right sliding block 3.2 are mounted on two side plates of supporting rack 2.1, the other end of left worm screw 11.1 and right worm screw 11.2 it is another
One end is fixedly connected with big synchronous pulley 15.1；Small synchronous pulley 16.1 and big synchronous pulley 15.1 are connected by synchronous belt 10.1
It connects；Left worm screw 11.1 and right worm screw 11.2 are oppositely oriented, and left slider 3.1 and right sliding block 3.2 is driven to move towards；8.1 band of motor
Dynamic small synchronous pulley 16.1 rotates, and big synchronous pulley 15.1 is transmitted power to via synchronous belt 10.1, to drive left worm screw
11.1 and right worm screw 11.2 rotate, drive left slider 3.1 and right sliding block 3.2 to move towards；Driving unit is by a left side for two kinds of rotation directions
Worm screw 11.1 and right worm screw 11.2, and big synchronous pulley 15.1 are combined, compact-sized, are carried out to the object gripped
Reliable crawl；
The catching unit includes left baffle ring 4.1, right baffle ring 4.2, left preloading spring 5.1, right preloading spring 5.2, Zuo Jia
Block 6.1, right fixture block 6.2, left preload piston 13.1, right preload piston 13.2, left damping cavity 14.1 and right damping cavity 14.2；It is described
Left fixture block 6.1 can be slided along left slider 3.1, and the right fixture block 6.2 can be slided along right sliding block 3.2；It is fixed on left slider 3.1
The right end screw thread of left damping cavity 14.1, left damping cavity 14.1 installs left baffle ring 4.1, and left 13.1 one end of preload piston is fixed on left folder
On block 6.1, the other end stretches into left damping cavity 14.1, can move left and right, and left preload bullet is socketed on left preload piston 13.1
Spring 5.1；Right damping cavity 14.2 is fixed on right sliding block 3.2, the left end screw thread of right damping cavity 14.2 installs right baffle ring 4.2, right preload
13.2 one end of piston is fixed on right fixture block 6.2, and the other end stretches into right damping cavity 14.2, can be moved left and right, in right preload
Right preloading spring 5.2 is socketed on piston 13.2；The surface of left fixture block 6.1 and right fixture block 6.2 all has several marble screws 7.1,
The different shape of object is adapted to by the Light deformation of the steel ball at 7.1 top of marble screw；Pass through left baffle ring 4.1 and right baffle ring 4.2
Rotation adjustment spring-damper system damped coefficient, and then adjust gripping dynamics；The catching unit is capable of providing enough
Big pretightning force pre-tightens the preloading spring for being applied in combination, damped coefficient being adjusted of piston and damping cavity, the marble spiral shell of Light deformation
Silk, three parts are that the reliable crawl of object provides safeguard, specially：When left and right, fixture block touches object, sliding block and fixture block it
Between preloading spring and damping fluid work simultaneously, most pretightning force is provided for the crawl of object, when fixture block compressed spring
When to maximum, the marble screw on fixture block face is compressed, and provides least a portion of pretightning force for the gripping of object, double pretightning forces are total to
Same-action is that the gripping of object generates sufficiently large frictional force.
Further, two side plates of support frame as described above 2.1 are symmetrically installed first flange bearing, second flange bearing；It is left
Worm screw 11.1 passes through first flange bearing, is limited by left clamp spring 1.1；Right worm screw 11.2 passes through second flange bearing, passes through the right side
Clamp spring 1.2 limits.
Further, the marble screw 7.1 is steel alloy material, each marble screw 7.1 being slightly variable with 0.5mm
Shape, the active force of 2-5N, when rules for grasping object, each marble screw 7.1 deforms identical；When capturing irregularly shaped object,
Different marble screws 7.1 deform difference, form an arc-shaped enveloping surface, ensure face contact, increase chucking power, improve
The reliability of clamping.
Further, No. 375 shock absorber oils of 10ml are housed, cooperation line footpath 1mm, internal diameter 12mm, outer diameter 14mm in damping cavity
Spring provides the function of damping and shock-absorbing.
Further, it is provided with sliding groove on the left slider 3.1 and right sliding block 3.2, left fixture block 6.1 and right fixture block 6.2 exist
Make short-distance movement on sliding groove.
Further, baffle ring rotation is turned around, and spring is compressed, and the resistance that spring-damper system provides improves 10N, is ensured
Manipulator has been pre-adjusted the decrement of spring according to different gripping objects.
It is specially using the method that manipulator of the present invention grips object：
(1) when manipulator crawl object, motor 8.1 drives big synchronous pulley 15.1 to rotate by small synchronous pulley 16.1,
Left slider 3.1 and right sliding block 3.2 is driven to move towards gripping object via left worm screw 11.1 and right worm screw 11.2；
(2) when left slider 3.1 and right sliding block 3.2 and after grabbed object contact, left fixture block 6.1 and right fixture block 6.2 respectively by
To outside power, and then the left preloading spring 5.1 of compression and right preloading spring 5.2, spring are gradually compressed, left preload piston
13.1, right preload piston 13.2 generates movement in left damping cavity 14.1, right damping cavity 14.2 respectively, and damping fluid provides part and hinders
Power is grabbed the pretightning force of object in pairs in the interaction downlink of power, tightly clamp object；
(3) after object is clamped by the left fixture block 6.1 and right fixture block 6.2 of pretightning force, the marble screw 7.1 on fixture block surface
The Light deformation of adaptability can be made under the action of gripping power, further promote the reliability of crawl.
It is finally noted that above description is only the specific case of the present invention, it is every without departing from the technology of the present invention original
Under the premise of reason, according to the technical essence of the invention to embodiment of above made it is any it is simple modification, equivalent variations with change
Type all shall fall within the protection scope of the present invention.
Claims (7)
1. a kind of machinery prefastening electric drive manipulator, which is characterized in that single including support guide unit, driving unit and gripping
Member；
The support guide unit includes supporting rack (2.1), left slider (3.1) and right sliding block (3.2)；Support frame as described above (2.1)
It is integrally formed by bottom plate and the side plate for being vertically fixed on bottom plate both sides；Fixation is mutually parallel on the bottom plate of support frame as described above (2.1)
First straight line sliding rail (9.1) and second straight line sliding rail (9.2)；Left slider (3.1) and right sliding block (3.2) are across straight at two
On line sliding rail, it can be moved towards along two line slide rails；It is also equipped with motor mount on the bottom plate of supporting rack (2.1)
(17.1)；
The driving unit include motor (8.1), synchronous belt (10.1), small synchronous pulley (16.1), big synchronous pulley (15.1),
Left worm screw (11.1) and right worm screw (11.2)；Motor (8.1) is fixedly connected on motor mount (17.1), and motor (8.1) is defeated
Small synchronous pulley (16.1) is housed, one end of left worm screw (11.1) and one end of right worm screw (11.2) are each passed through left cunning on shaft
Block (3.1), right sliding block (3.2) are mounted on two side plates of supporting rack (2.1), the other end of left worm screw (11.1) and right worm screw
(11.2) the other end is fixedly connected with big synchronous pulley (15.1)；Small synchronous pulley (16.1) and big synchronous pulley (15.1)
It is connected by synchronous belt (10.1)；Left worm screw (11.1) and right worm screw (11.2) are oppositely oriented, driving left slider (3.1) and right cunning
Block (3.2) moves towards；
The catching unit include left baffle ring (4.1), right baffle ring (4.2), left preloading spring (5.1), right preloading spring (5.2),
Left fixture block (6.1), right fixture block (6.2), left preload piston (13.1), right preload piston (13.2), left damping cavity (14.1) and the right side
Damping cavity (14.2)；The left fixture block (6.1) can be slided along left slider (3.1), and the right fixture block (6.2) can be along right sliding block
(3.2) it slides；Left damping cavity (14.1) is fixed on left slider (3.1), the right end screw thread of left damping cavity (14.1) installs left baffle ring
(4.1), left preload piston (13.1) one end is fixed on left fixture block (6.1), and the other end stretches into left damping cavity (14.1), can
It moves left and right, left preloading spring (5.1) is socketed on left preload piston (13.1)；Right damping cavity is fixed on right sliding block (3.2)
(14.2), the left end screw thread of right damping cavity (14.2) installs right baffle ring (4.2), and right preload piston (13.2) one end is fixed on right folder
On block (6.2), the other end stretches into right damping cavity (14.2), can move left and right, and is socketed on right preload piston (13.2) right
Preloading spring (5.2)；The surface of left fixture block (6.1) and right fixture block (6.2) all has several marble screws (7.1).
2. a kind of mechanical prefastening electric drive manipulator according to claim 1, which is characterized in that support frame as described above
(2.1) two side plates are symmetrically installed first flange bearing, second flange bearing；Left worm screw (11.1) passes through first flange axis
It holds, is limited by left clamp spring (1.1)；Right worm screw (11.2) passes through second flange bearing, is limited by right clamp spring (1.2).
3. a kind of mechanical prefastening electric drive manipulator according to claim 1, which is characterized in that the marble screw
(7.1) it is steel alloy material, each marble screw (7.1) has the Light deformation of 0.5mm, when rules for grasping object, Mei Gebo
Sub- screw (7.1) deformation is identical；When capturing irregularly shaped object, different marble screw (7.1) deformations are different, form a circular arc
The enveloping surface of shape ensures face contact, increases chucking power.
4. a kind of mechanical prefastening electric drive manipulator according to claim 1, which is characterized in that be equipped in damping cavity
No. 375 shock absorber oils of 10ml coordinate the spring of line footpath 1mm, internal diameter 12mm, outer diameter 14mm, provide the function of damping and shock-absorbing.
5. a kind of mechanical prefastening electric drive manipulator according to claim 1, which is characterized in that the left slider
(3.1) and on right sliding block (3.2) it is provided with sliding groove, left fixture block (6.1) and right fixture block (6.2) make short distance shifting on sliding groove
It is dynamic.
6. a kind of mechanical prefastening electric drive manipulator according to claim 1, which is characterized in that baffle ring rotation is turned around,
Spring is compressed, and the resistance that spring-damper system provides improves 10N, ensures that manipulator is pre-adjusted according to different gripping objects
The decrement of good spring.
7. a kind of method gripping object using any one of the claim 1-6 manipulators, which is characterized in that including：Machinery
When hand captures object, motor (8.1) drives big synchronous pulley (15.1) to rotate by small synchronous pulley (16.1), via left worm screw
(11.1) and right worm screw (11.2) drives left slider (3.1) and right sliding block (3.2) to move towards gripping object；Work as left slider
(3.1) and right sliding block (3.2) with grabbed after object contacts, left fixture block (6.1) and right fixture block (6.2) are forced outwardly respectively,
And then preloading spring is compressed, spring is gradually compressed, and left preload piston (13.1), right preload piston (13.2) are respectively in left damping
Movement is generated in chamber (14.1), right damping cavity (14.2), damping fluid provides some resistance, in the interaction downlink quilt in pairs of power
Grab the pretightning force of object, tightly clamp object, marble screw (7.1) makes the micro- of adaptability under the action of gripping power at this time
Deformation, promotes the reliability of crawl.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810289187.XA CN108621184B (en) | 2018-04-03 | 2018-04-03 | Mechanical pre-tightening type electric driving manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810289187.XA CN108621184B (en) | 2018-04-03 | 2018-04-03 | Mechanical pre-tightening type electric driving manipulator |
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| CN108621184A true CN108621184A (en) | 2018-10-09 |
| CN108621184B CN108621184B (en) | 2023-11-10 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109128222A (en) * | 2018-10-18 | 2019-01-04 | 宁波正丰机器人科技有限公司 | A kind of lathe manipulator and Full-automatic numerical-control lathe |
| CN110176830A (en) * | 2019-05-29 | 2019-08-27 | 中国电子科技集团公司第十六研究所 | A kind of superconduction flywheel head shaft positioning device and its application method |
| CN111591505A (en) * | 2020-06-05 | 2020-08-28 | 天津津亚电子有限公司 | Manipulator clamping jaw device for grabbing tundish box and using method thereof |
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| CN111591505B (en) * | 2020-06-05 | 2024-07-12 | 天津津亚电子有限公司 | Manipulator clamping jaw device for grabbing tundish medicine box and using method thereof |
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