CN111376291B - Workpiece machining clamp power starting device - Google Patents
Workpiece machining clamp power starting device Download PDFInfo
- Publication number
- CN111376291B CN111376291B CN201910378580.0A CN201910378580A CN111376291B CN 111376291 B CN111376291 B CN 111376291B CN 201910378580 A CN201910378580 A CN 201910378580A CN 111376291 B CN111376291 B CN 111376291B
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- Prior art keywords
- cylinder
- starting
- door opening
- positioning
- support plate
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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
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Auxiliary Devices For Machine Tools (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention relates to the technical field of industrial robot end effector application, in particular to a workpiece processing clamp power starting device which comprises a conveying frame, a positioning starting mechanism, a door opening mechanism and an air blowing mechanism, wherein the conveying frame comprises a mounting block and a support plate, the air blowing mechanism is arranged on the support plate, the positioning starting mechanism and the door opening mechanism are arranged on the mounting block, the door opening mechanism is provided with a lifting door opening push plate, the positioning starting mechanism comprises a positioning cylinder, a starting cylinder and an electric interface, the starting cylinder is driven to lift by the positioning cylinder, a positioning column is arranged at the lower side of the starting cylinder, the electric interface is driven to horizontally move by the starting cylinder, and the air blowing mechanism is provided with a lifting nozzle. The automatic fixture mechanism can automatically complete the power starting and blowing cleaning work of the fixture mechanism, and the automation degree is greatly improved.
Description
Technical Field
The invention relates to the technical field of industrial robot end picking device application, in particular to a power starting device of a workpiece processing clamp.
Background
The annular workpiece is a common part in machining, for the fields like aerospace, the required annular workpiece is generally complex in structure and large in geometric dimension, and most of the annular workpiece belongs to thin-wall parts, the precision requirement is high, the machining is very difficult due to the characteristics of poor rigidity, weak strength and the like of the precise thin-wall annular workpiece, the workpiece is very easy to deform in the machining process, the shape and position errors of the part are increased, the machining precision requirement of the part is difficult to ensure by adopting a traditional clamping method, a clamping structural scheme meeting the requirement is often required to be designed according to the geometric structure of the part, and along with the gradual improvement of the automation level of industrial production, the production line assembly operation of a plurality of types of workpieces is realized at present, so that the production efficiency is improved, the machining quality of the workpieces is also ensured, but for the workpieces with high precision and difficult machining like the aerospace annular workpiece, the clamp mechanism is designed according to the situation of the part, and procedures like mechanism starting and blowing cleaning are finished by manual control, so that the clamp mechanism is difficult to be connected with an automatic production line.
Disclosure of Invention
The invention aims to provide a power starting device for a workpiece processing clamp, which can automatically finish the power starting and blowing cleaning work of a clamp mechanism by driving movement of a manipulator or other transmission devices, and greatly improves the automation degree.
The aim of the invention is realized by the following technical scheme:
the utility model provides a work piece adds clamping apparatus power starting drive, includes conveying frame, location actuating mechanism, mechanism and the mechanism of blowing of opening the door, the conveying frame includes installation piece and extension board, and the mechanism of blowing is located on the extension board, location actuating mechanism and the mechanism of opening the door are located on the installation piece, the mechanism of opening the door is equipped with liftable push pedal that opens the door, location actuating mechanism includes location cylinder, actuating cylinder and electrical interface, and wherein the actuating cylinder passes through location cylinder drive goes up and down, just the actuating cylinder downside is equipped with the reference column, electrical interface passes through actuating cylinder drive horizontal migration, be equipped with liftable nozzle on the mechanism of blowing.
The end of the cylinder rod of the positioning cylinder is provided with a moving plate, and an error compensation device is arranged between the moving plate and the starting cylinder.
The error compensation device comprises an upper fixing block, an upper sliding block, a lower fixing block and a lower sliding block, wherein an upper fixing block inner sliding groove is formed in the lower side of the upper fixing block along the Y direction, the upper sliding block slides along the upper fixing block inner sliding groove, a Y-direction spring connected with the upper sliding block is arranged in the upper fixing block inner sliding groove, a pressure sensor is arranged at the end part of the Y-direction spring, a lower fixing block inner sliding groove is formed in the lower side of the lower fixing block along the X direction, the lower sliding block slides along the lower fixing block inner sliding groove, an X-direction spring connected with the lower sliding block is arranged in the lower fixing block inner sliding groove, and a pressure sensor is also arranged at the end part of the X-direction spring.
The positioning cylinder is fixedly arranged on the mounting block of the conveying frame, a guide sliding rod is arranged at the free end of the moving plate, and the upper end of the guide sliding rod penetrates through the support plate of the conveying frame.
The support plate is internally provided with an oil-free bushing in a through hole for the guide slide bar to pass through, and the upper end of the guide slide bar is provided with a limit flange.
The door opening mechanism comprises a door opening cylinder and a door opening push plate, the door opening cylinder is fixedly arranged on the mounting block, and the door opening push plate is arranged at the end part of a cylinder rod of the door opening cylinder.
The blowing mechanism comprises a nozzle driving cylinder, a cylinder mounting plate and a nozzle support plate, wherein the cylinder mounting plate is mounted at the end part of the support plate of the conveying frame, the nozzle driving cylinder is mounted on the cylinder mounting plate, the nozzle support plate is mounted at the end part of the cylinder rod of the nozzle driving cylinder, and a nozzle is arranged on the nozzle support plate.
The nozzle support plate is L-shaped, one end of the nozzle support plate is provided with a first nozzle, and the other end of the nozzle support plate is provided with a second nozzle.
And a connecting rod is arranged on the upper side of the support plate.
The locating column of start cylinder downside cooperates with the locating hole in the electric box front side backup pad of control jig mechanism, just electric box open the door through open the push pedal pushes up, electric interface passes through start cylinder drive inserts in the socket that corresponds in the electric box.
The invention has the advantages and positive effects that:
1. according to the invention, the manipulator or other transmission devices are used for driving movement, the door opening mechanism is used for opening the door of the electric box, the positioning starting mechanism is used for accurately positioning and inserting the electric interface into the corresponding socket in the electric box to finish starting, after the workpiece is processed, the manipulator or other transmission devices are used for moving and using the blowing mechanism for blowing cleaning operation, manual participation is not needed in the whole process, the power starting and blowing cleaning operation of the clamp mechanism can be automatically finished, and the degree of automation is greatly improved.
2. According to the invention, the error compensation device is arranged between the movable plate at the end part of the cylinder rod of the positioning cylinder and the starting cylinder, so that the positioning error can be fed back in real time, the positioning accuracy is ensured, and the plugging accuracy of the electrical interface is further ensured.
Drawings
Figure 1 is a schematic perspective view of the present invention,
figure 2 is a front view of the invention of figure 1,
figure 3 is a schematic diagram of the error compensation device of figure 2,
figure 4 is a schematic view of a clamp mechanism to which the present invention is applied,
figure 5 is a schematic view of the working state of the present invention,
fig. 6 is a second schematic diagram of the working state of the present invention.
Wherein 1 is a conveying frame, 101 is a connecting rod, 102 is a mounting block, 103 is a support plate, 104 is an oilless bushing, 2 is an air blowing mechanism, 201 is a nozzle driving cylinder, 202 is a cylinder mounting plate, 203 is a first nozzle, 204 is a nozzle support plate, 205 is a second nozzle, 3 is a positioning starting mechanism, 301 is a positioning cylinder, 302 is a starting cylinder, 303 is a positioning column, 304 is an electrical interface, 305 is a moving plate, 306 is a guide slide bar, 4 is a door opening mechanism, 401 is a door opening cylinder, 402 is a door opening push plate, 5 is an error compensation device, 501 is an upper fixing block, 502 is a lower slide block, 503 is a lower fixing block, 504 is an upper slide block, 505 is a connecting block, 506 is an upper fixing block inner slide groove, 507 is a lower fixing block inner slide groove, 6 is a workpiece, 7 is a numerical control machine tool processing table, 701 is a centering plate, 702 is a horizontal moving push plate, 703 is an elastic push block, 704 is an outer swing rod fixing device, 705 is a chassis, 8 is a control component, 801 is an electrical box 803, 804 is a support plate, and 804 is a positioning hole.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1-2, the invention comprises a conveying frame 1, a positioning starting mechanism 3, a door opening mechanism 4 and an air blowing mechanism 2, wherein the conveying frame 1 comprises a connecting rod 101, a mounting block 102 and a supporting plate 103, the supporting plate 103 and the mounting block 102 are connected in an L shape, the connecting rod 101 is arranged on the horizontal supporting plate 103 and is used for being connected with a manipulator or other transmission devices, the air blowing mechanism 2 is arranged at the free end of the supporting plate 103, the positioning starting mechanism 3 and the door opening mechanism 4 are both arranged on the mounting block 102, the door opening mechanism 4 is provided with a lifting door opening push plate 402, as shown in fig. 4-5, the door opening push plate 402 is used for pushing the door opening 801 of an electric box 802 of a clamp mechanism, the positioning starting mechanism 3 comprises a positioning cylinder 301, a starting cylinder 302 and an electric interface 304, wherein the starting cylinder 302 drives to lift through the positioning cylinder 301, the lower side of the starting cylinder 302 is provided with a positioning column 303, the electric interface 304 is arranged at the end part of a cylinder rod of the starting cylinder 302 and is driven to horizontally move by the starting cylinder 302, as shown in fig. 4-5, the positioning column 303 is used for being positioned with a positioning hole 804 on a supporting plate 802 at the front side of the electric box 802, after the positioning is finished, the electric interface 304 is driven to horizontally move and be inserted into a corresponding socket in the electric box 802 by the starting cylinder 302, so that the power line of a clamp mechanism is communicated, the clamp mechanism starts to work, the air blowing mechanism 2 is provided with a liftable nozzle, as shown in fig. 6, after the workpiece 6 is processed, the air blowing mechanism 2 is driven to move to the upper side of the workpiece 6 by a manipulator or other transmission devices, and the precision of the next processing of the workpiece is ensured by utilizing metal scraps after the nozzle air blowing and cleaning. The electrical interface 304 is well known in the art and is a commercially available product.
As shown in fig. 1-2, a positioning cylinder 301 in the positioning starting mechanism 3 is fixedly arranged on the mounting block 102 of the conveying frame 1, a moving plate 305 is arranged at the end of a cylinder rod of the positioning cylinder 301, the starting cylinder 302 is driven to lift by the moving plate 305, a guide slide bar 306 is arranged at the free end of the moving plate 305, the upper end of the guide slide bar 306 passes through a support plate 103 of the conveying frame 1, an oilless bushing 104 is arranged in a through hole in the support plate 103 for the guide slide bar 306 to pass through to ensure smooth sliding of the guide slide bar 306, the oilless bushing 104 is a well-known technology in the field, and in addition, a limit flange is arranged at the upper end of the guide slide bar 306 to prevent the guide slide bar from being separated from the support plate 103, so as to limit the descending range of the moving plate 305.
As shown in fig. 1-2, an error compensation device 5 is disposed between the moving plate 305 and the starting cylinder 302, as shown in fig. 3, the error compensation device 5 includes an upper fixed block 501, an upper sliding block 504, a lower fixed block 503 and a lower sliding block 502, an upper sliding block inner chute 506 is disposed at the lower side of the upper fixed block 501 along the Y direction, the upper sliding block 504 slides along the upper sliding block inner chute 506, a Y-direction spring connected with the upper sliding block 504 is disposed in the upper sliding block inner chute 506, a pressure sensor is disposed at the end of the Y-direction spring, a lower sliding block inner chute 507 is disposed at the lower side of the lower fixed block 503 along the X direction, an X-direction spring connected with the lower sliding block 502 is disposed in the lower sliding block inner chute 507, and a pressure sensor is also disposed at the end of the X-direction spring. The upper fixing block 501 and the lower fixing block 503 are fixedly connected to each other at one side thereof by a connecting block 505 and are mounted on the mounting block 102 of the conveyor frame 1. Such pressure sensors are well known in the art and are commercially available products.
When an error in coaxiality occurs between the positioning column 303 at the lower side of the starting cylinder 302 and the positioning hole 804 on the front side supporting plate 803 of the electric box 802, the error compensating device 5 receives an indefinite force F, the force F is decomposed into FX, FY and FZ along the X direction, the Y direction and the Z direction perpendicular to the X-Y plane (the sliding direction of the lower slider 35 is defined as the X direction, the sliding direction of the upper slider 501 is defined as the Y direction in this embodiment), FZ is balanced by the thrust of the positioning cylinder 301, the FY can make the upper slider 501 slide along the Y direction, so as to compress the Y-direction spring installed in the sliding groove 506 in the upper fixed block, when FY is equal to the spring force F, the upper slider 501 stops sliding, the pressure sensor at the bottom end of the spring detects the value of the F spring and feeds back the control system, the control system can calculate the spring compression amount Δy according to the spring force formula f=k·Δy, and the Δy is also indicative of the sliding travel of the upper slider 501, and the error offset amount of the positioning column 303 in the Y direction is calculated as the corresponding spring compression amount Δx. The control system fine-adjusts the position of the invention through a manipulator or other used transmission devices according to the obtained error offset Deltax and Deltay, thereby realizing the dynamic error compensation of any direction of the X-Y plane.
As shown in fig. 1 to 2, the door opening mechanism 4 includes a door opening cylinder 401 and a door opening push plate 402, the door opening cylinder 401 is mounted on the mounting block 102 of the conveying frame 1, and the door opening push plate 402 is mounted on the end of the cylinder rod of the door opening cylinder 401 and is driven to lift by the door opening cylinder 401.
As shown in fig. 1-2, the air blowing mechanism 2 includes a nozzle driving cylinder 201, a cylinder mounting plate 202 and a nozzle support plate 204, the cylinder mounting plate 202 is L-shaped and mounted at the end of the support plate 103 of the conveying frame 1, the nozzle driving cylinder 201 is mounted on the cylinder mounting plate 202, the nozzle support plate 204 is mounted at the end of the cylinder rod of the nozzle driving cylinder 201 and driven to lift by the nozzle driving cylinder 201, the nozzle support plate 204 is L-shaped and provided with a first nozzle 203 at one end and a second nozzle 205 at the other end, the first nozzle 203 and the second nozzle 205 are axially vertical, the first nozzle 203 blows air along the thin wall of the annular workpiece 6, and the second nozzle 205 blows air toward the thin wall side of the annular workpiece 6.
The working principle of the invention is as follows:
as shown in fig. 4 to 6, the working principle of the invention is illustrated by taking a clamp mechanism of an aerospace annular workpiece 6 as an example, the clamp mechanism is arranged on a chassis 705 of a numerical control machine tool processing table 7, and comprises a centering disc 701, a horizontal moving push plate 702 and an outer swing rod fixing device 704, when in operation, a centering cylinder pushes the centering disc 701 to move upwards, the outer circumferential surface of the centering disc 701 is inclined and contacts with the inclined surfaces of the tail ends of the four horizontal moving push plates 702, the centering disc 701 rises, namely the four horizontal moving push plates 702 are driven to move outwards to bear against the inner wall of the workpiece 6, an elastic push block 703 is arranged at the end part of the horizontal moving push plate 702 to prevent the workpiece 6 from being scratched, a plurality of outer swing rod fixing devices 704 are uniformly distributed on the outer side of the workpiece 6 along the circumferential direction, swing rods are arranged to assist to press the workpiece 6 from the outer side, and the mechanism is difficult to be combined with a production line, and the blowing cleaning operation after the processing is started is usually completed manually.
As shown in fig. 4 to 6, when the invention works, the manipulator moves to a preset position on the front side of the electric box 802 in the control assembly 8 of the clamp mechanism, the door opening mechanism 4 is started to enable the door opening push plate 402 to firstly open the door opening 801 of the electric box 802 and expose the electric socket, then the positioning cylinder 301 in the positioning starting mechanism 3 is started to drive the starting cylinder 302 to descend, the positioning column 303 on the lower side of the starting cylinder 302 is inserted into the positioning hole 804 on the supporting plate 803 on the front side of the electric box 802, in the inserting process, the error compensation device 5 can timely adjust and ensure accurate positioning by feeding back the error value in real time, and after the positioning is completed, the starting cylinder 302 is started to drive the electric interface 304 to horizontally move and be inserted into the corresponding electric socket on the electric box 802, so that the power line of the clamp mechanism is communicated, and the clamp mechanism starts to work.
After the processing of the workpiece 6 is finished, the air cylinder 302 is started to drive the electric interface 304 to exit, the door opening mechanism 4 drives the door opening push plate 402 to descend to close the door opening 801 of the electric box 802, then as shown in fig. 6, the manipulator moves the workpiece 6 to the upper side of the workpiece 6, the first nozzle 203 in the air blowing mechanism 2 is aligned with the upper edge of the thin wall of the workpiece 6, then air blowing is started, the first nozzle 203 blows air to the upper edge of the thin wall of the workpiece 6, and the second nozzle 205 blows air to the side surface of the thin wall of the annular workpiece 6 to clean metal scraps, so that the next processing precision of the workpiece 6 is ensured.
Claims (7)
1. The utility model provides a work piece adds clamping apparatus power starting drive which characterized in that: the automatic lifting device comprises a conveying frame (1), a positioning starting mechanism (3), a door opening mechanism (4) and a blowing mechanism (2), wherein the conveying frame (1) comprises a mounting block (102) and a support plate (103), the blowing mechanism (2) is arranged on the support plate (103), the positioning starting mechanism (3) and the door opening mechanism (4) are arranged on the mounting block (102), the door opening mechanism (4) is provided with a lifting door opening push plate (402), the positioning starting mechanism (3) comprises a positioning cylinder (301), a starting cylinder (302) and an electrical interface (304), the starting cylinder (302) is driven to lift through the positioning cylinder (301), a positioning column (303) is arranged on the lower side of the starting cylinder (302), the electrical interface (304) is driven to horizontally move through the starting cylinder (302), and the blowing mechanism (2) is provided with a lifting nozzle;
the end part of the cylinder rod of the positioning cylinder (301) is provided with a moving plate (305), and an error compensation device (5) is arranged between the moving plate (305) and the starting cylinder (302);
the error compensation device (5) comprises an upper fixing block (501), an upper sliding block (504), a lower fixing block (503) and a lower sliding block (502), wherein an upper fixing block inner sliding groove (506) is formed in the lower side of the upper fixing block (501) along the Y direction, the upper sliding block (504) slides along the upper fixing block inner sliding groove (506), a Y-direction spring connected with the upper sliding block (504) is arranged in the upper fixing block inner sliding groove (506), a pressure sensor is arranged at the end part of the Y-direction spring, a lower fixing block inner sliding groove (507) is formed in the lower side of the lower fixing block (503) along the X direction, an X-direction spring connected with the lower sliding block (502) is arranged in the lower fixing block inner sliding groove (507), and a pressure sensor is also arranged at the end part of the X-direction spring;
the positioning column (303) at the lower side of the starting cylinder (302) is matched with the positioning hole (804) on the front side supporting plate (803) of the electric box (802) of the control clamp mechanism, the door opening (801) of the electric box (802) is pushed up through the door opening push plate (402), and the electric interface (304) is driven to be inserted into a corresponding socket in the electric box (802) through the starting cylinder (302).
2. The workpiece machining fixture power actuation device of claim 1, wherein: the positioning cylinder (301) is fixedly arranged on the mounting block (102) of the conveying frame (1), a guide sliding rod (306) is arranged at the free end of the moving plate (305), and the upper end of the guide sliding rod (306) penetrates through the support plate (103) of the conveying frame (1).
3. The workpiece machining fixture power activation device of claim 2, wherein: an oilless bushing (104) is arranged in a through hole of the support plate (103) for the guide slide bar (306) to pass through, and a limit flange is arranged at the upper end of the guide slide bar (306).
4. The workpiece machining fixture power actuation device of claim 1, wherein: the door opening mechanism (4) comprises a door opening cylinder (401) and a door opening push plate (402), the door opening cylinder (401) is fixedly arranged on the mounting block (102), and the door opening push plate (402) is arranged at the end part of a cylinder rod of the door opening cylinder (401).
5. The workpiece machining fixture power actuation device of claim 1, wherein: the blowing mechanism (2) comprises a nozzle driving air cylinder (201), an air cylinder mounting plate (202) and a nozzle support plate (204), wherein the air cylinder mounting plate (202) is mounted at the end part of the support plate (103) of the conveying frame (1), the nozzle driving air cylinder (201) is mounted on the air cylinder mounting plate (202), the nozzle support plate (204) is mounted at the end part of a cylinder rod of the nozzle driving air cylinder (201), and a nozzle is arranged on the nozzle support plate (204).
6. The workpiece machining fixture power actuation device of claim 5, wherein: the nozzle support plate (204) is L-shaped, one end of the nozzle support plate is provided with a first nozzle (203), and the other end of the nozzle support plate is provided with a second nozzle (205).
7. The workpiece machining fixture power actuation device of claim 1, wherein: the upper side of the support plate (103) is provided with a connecting rod (101).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811648278 | 2018-12-30 | ||
| CN2018116482784 | 2018-12-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111376291A CN111376291A (en) | 2020-07-07 |
| CN111376291B true CN111376291B (en) | 2023-10-20 |
Family
ID=68964639
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920648327.8U Expired - Fee Related CN209868633U (en) | 2018-12-30 | 2019-05-08 | Power starting device for workpiece machining clamp |
| CN201910378580.0A Active CN111376291B (en) | 2018-12-30 | 2019-05-08 | Workpiece machining clamp power starting device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920648327.8U Expired - Fee Related CN209868633U (en) | 2018-12-30 | 2019-05-08 | Power starting device for workpiece machining clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN209868633U (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209868633U (en) * | 2018-12-30 | 2019-12-31 | 沈阳自动化研究所(昆山)智能装备研究院 | Power starting device for workpiece machining clamp |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07246583A (en) * | 1994-03-10 | 1995-09-26 | Daiwa Kogyo Kk | Air connection device of robot hand and work clamp jig |
| CN2808472Y (en) * | 2005-06-01 | 2006-08-23 | 中国第一汽车集团公司 | Manipulator with inside locking button of switch |
| CN105058375A (en) * | 2015-08-11 | 2015-11-18 | 苏州鸿普精密模具有限公司 | Testing mechanical arm of automobile window rising guide rail testing machine |
| CN106625731A (en) * | 2017-01-17 | 2017-05-10 | 重庆长安汽车股份有限公司 | Grip fixture of robot for cleaning engine cylinder cover casting |
| CN206357255U (en) * | 2016-11-01 | 2017-07-28 | 深圳市大乾自动化技术有限公司 | A kind of robot tool apparatus for fast switching |
| CN107214722A (en) * | 2017-07-31 | 2017-09-29 | 深圳市创智自动化有限公司 | The manipulator sucker mounting blocks of carrying jig blowning installation |
| CN207127503U (en) * | 2017-09-04 | 2018-03-23 | 中国科学院沈阳自动化研究所 | A kind of automotive gear shifter core bar erecting device |
| CN108621182A (en) * | 2018-06-15 | 2018-10-09 | 王正才 | The manipulator fixture and its application method of inflatable automated cleaning |
| CN209868633U (en) * | 2018-12-30 | 2019-12-31 | 沈阳自动化研究所(昆山)智能装备研究院 | Power starting device for workpiece machining clamp |
-
2019
- 2019-05-08 CN CN201920648327.8U patent/CN209868633U/en not_active Expired - Fee Related
- 2019-05-08 CN CN201910378580.0A patent/CN111376291B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07246583A (en) * | 1994-03-10 | 1995-09-26 | Daiwa Kogyo Kk | Air connection device of robot hand and work clamp jig |
| CN2808472Y (en) * | 2005-06-01 | 2006-08-23 | 中国第一汽车集团公司 | Manipulator with inside locking button of switch |
| CN105058375A (en) * | 2015-08-11 | 2015-11-18 | 苏州鸿普精密模具有限公司 | Testing mechanical arm of automobile window rising guide rail testing machine |
| CN206357255U (en) * | 2016-11-01 | 2017-07-28 | 深圳市大乾自动化技术有限公司 | A kind of robot tool apparatus for fast switching |
| CN106625731A (en) * | 2017-01-17 | 2017-05-10 | 重庆长安汽车股份有限公司 | Grip fixture of robot for cleaning engine cylinder cover casting |
| CN107214722A (en) * | 2017-07-31 | 2017-09-29 | 深圳市创智自动化有限公司 | The manipulator sucker mounting blocks of carrying jig blowning installation |
| CN207127503U (en) * | 2017-09-04 | 2018-03-23 | 中国科学院沈阳自动化研究所 | A kind of automotive gear shifter core bar erecting device |
| CN108621182A (en) * | 2018-06-15 | 2018-10-09 | 王正才 | The manipulator fixture and its application method of inflatable automated cleaning |
| CN209868633U (en) * | 2018-12-30 | 2019-12-31 | 沈阳自动化研究所(昆山)智能装备研究院 | Power starting device for workpiece machining clamp |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111376291A (en) | 2020-07-07 |
| CN209868633U (en) | 2019-12-31 |
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Address after: Room 507, no.1699, South Zuchongzhi Road, Kunshan City, Suzhou City, Jiangsu Province 215300 Applicant after: Kunshan Intelligent Equipment Research Institute Applicant after: SHENYANG INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Address before: Room 507, no.1699, South Zuchongzhi Road, Kunshan City, Suzhou City, Jiangsu Province 215300 Applicant before: KUNSHAN INTELLIGENT ROBOT R & D CENTER, SHENYANG INSTITUTE OF AUTOMATION Applicant before: SHENYANG INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES |
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