CN112520404A - A intelligent centre gripping handling device for engine cylinder lid cleaning machine - Google Patents
A intelligent centre gripping handling device for engine cylinder lid cleaning machine Download PDFInfo
- Publication number
- CN112520404A CN112520404A CN202011326242.1A CN202011326242A CN112520404A CN 112520404 A CN112520404 A CN 112520404A CN 202011326242 A CN202011326242 A CN 202011326242A CN 112520404 A CN112520404 A CN 112520404A
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- Prior art keywords
- clamping
- frame
- cylinder cover
- driving
- engine cylinder
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses an intelligent clamping and carrying device of an engine cylinder cover cleaning machine, which comprises a frame, clamping pieces arranged on two sides of the frame and a clamping driving mechanism for driving the two clamping pieces to move close to or away from each other; the clamping driving mechanism is arranged on the frame and positioned between the two clamping pieces, and comprises two driving rods, a rotating arm and a rotating power source for driving the rotating arm to rotate; the center of the rotating arm is rotatably connected with the frame, one end of each of the two driving rods is rotatably connected with two ends of the rotating arm respectively, and the other end of each of the two driving rods is rotatably connected with the two clamping pieces respectively. The invention has compact structure, high clamping precision and good stability, and is beneficial to realizing the transfer and the turnover of the cylinder cover.
Description
Technical Field
The invention relates to engine part processing equipment, in particular to an intelligent clamping and carrying device for an engine cylinder cover cleaning machine.
Background
In the process of machining the cylinder cover of the engine, the parts of the cylinder cover which are machined or partially machined need to be cleaned, so that the subsequent machining and assembling precision is ensured. In the cleaning process, in order to be able to sufficiently perform effective cleaning on each surface and different positions of the cylinder cover, the cylinder cover needs to be transferred or turned over between stations, so that the cleaning machine can be cleaned conveniently. When carrying or upset, need adopt clamping device to carry out effectual clamp to the cylinder cap to prevent that the cylinder cap from dropping.
Among the prior art, generally adopt pneumatic fixture to realize the clamp of cylinder cap tightly, specifically, two holders set up relatively, and one of them holder is fixed to be set up, and another holder is portable to be set up, when pressing from both sides tight the cylinder cap, drives mobilizable holder through the cylinder for interval between two holders reduces, thereby realizes pressing from both sides tight the cylinder cap, for example the utility model patent "a pneumatic fixture that is used for engine cylinder cap to move and carries the assembly" that the grant bulletin is CN 205290286U. However, such a clamping manner has a problem of poor precision, and because one of the clamping members is fixedly arranged, when the cylinder cover is clamped, the other movable clamping member can push the cylinder cover to move towards one side of the fixedly arranged clamping member, so that the clamping of the cylinder cover can be realized, the precision of the position of the cylinder cover can be undoubtedly influenced, and the cylinder cover is damaged even in the sliding process of the cylinder cover.
In addition, in order to improve the clamping precision, a clamping mechanism driven in two directions appears in the prior art, wherein two clamping pieces can move, and two cylinders are arranged to respectively drive the two clamping pieces to move close to or away from each other, so that the cylinder cover is clamped and loosened. Although the position of the cylinder cover can be ensured to a certain extent by the clamping mode, the clamping by the two cylinders cannot ensure enough clamping force, and the phenomenon of loosening is easy to occur particularly during overturning or large-amplitude transfer; if need promote the clamp force, then need adopt the great cylinder of drive power, can lead to the cost to improve this moment to the relative grow of the volume of equipment is unfavorable for cooperating with cleaning machine or other equipment.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an intelligent clamping and carrying device for an engine cylinder cover cleaning machine, which is compact in structure, high in clamping precision, good in stability and beneficial to realizing the transfer and the turnover of a cylinder cover.
The purpose of the invention is realized by the following technical scheme:
an intelligent clamping and carrying device of an engine cylinder cover cleaning machine comprises a frame, clamping pieces arranged on two sides of the frame and a clamping driving mechanism for driving the two clamping pieces to move close to or away from each other; the clamping driving mechanism is arranged on the frame and positioned between the two clamping pieces, and comprises two driving rods, a rotating arm and a rotating power source for driving the rotating arm to rotate; the center of the rotating arm is rotatably connected with the frame, one end of each of the two driving rods is rotatably connected with two ends of the rotating arm respectively, and the other end of each of the two driving rods is rotatably connected with the two clamping pieces respectively.
The working principle of the intelligent clamping and carrying device of the engine cylinder cover cleaning machine is as follows:
firstly, in work, under the drive of a manipulator or a driving mechanism, the clamping and carrying device is moved to the position of a cylinder cover to be clamped, and two clamping pieces are positioned on two sides of the cylinder cover to realize alignment before clamping; then, the rotating power source drives the rotating arm to rotate, and drives the two driving rods to move inwards, so that the two clamping pieces are pulled to be close to each other, and the cylinder cover is clamped; in the clamping process, the two clamping pieces are close to and move simultaneously, the position accuracy of the cylinder cover is effectively guaranteed, the cylinder cover can be clamped only by adopting one rotation power source to drive the rotating arm to rotate, the structure is simple, the cost is reduced, and the driving force can be saved by adopting a mode that the rotating arm drives the driving rod to move.
In a preferred embodiment of the present invention, the rotary power source is an air cylinder, a cylinder body of the air cylinder is rotatably connected to the frame, and an end of a telescopic member of the air cylinder is rotatably connected to one end of the rotary arm.
Preferably, the rotation connection point of the rotation arm and the frame is eccentrically arranged with respect to the center of the frame.
According to a preferred scheme of the invention, two groups of guide shaft assemblies are arranged on the frame and are respectively arranged on two sides of the rotating arm; the lower ends of the two clamping pieces are respectively connected with the two groups of guide shaft assemblies in a sliding mode.
In a preferred embodiment of the present invention, the driving rod is provided with a plurality of mounting holes, and the plurality of mounting holes are arranged along a length direction of the driving rod.
According to a preferable scheme of the invention, the clamping piece is provided with a positioning assembly, and the positioning assembly comprises two positioning blocks; the two positioning blocks are diagonally arranged on the clamping piece, and each positioning block is provided with a right-angle positioning groove; when the clamping piece clamps the cylinder cover, two opposite corners of the side surface of the cylinder cover are matched with the right-angle positioning grooves in the two positioning blocks.
Preferably, a hollow hole is formed in the clamping piece, and two positioning blocks of the positioning assembly are arranged at two opposite angle corresponding positions of the hollow hole.
Preferably, the clamping part is further provided with a plurality of positioning columns, the positioning columns are arranged on the clamping surface of the clamping part, and the positioning columns are arranged corresponding to the outer contour of the side surface of the cylinder cover.
Preferably, the clamping member comprises a connecting member and a clamping frame; the connecting piece is arranged at the bottom of the clamping frame and is in rotary connection with the driving rod; the clamping frame comprises a connecting portion and a clamping portion, the connecting portion is arranged between the clamping portion and the connecting piece, the connecting portion extends vertically, and the clamping portion is arranged in an inclined mode.
In a preferred embodiment of the present invention, the frame includes an inner frame and an outer frame, the inner frame is disposed inside the outer frame, and the inner frame is located in the middle of the outer frame; the rotor arm and the power of rotation source all set up on the inner tower, the end connection of the one end of actuating lever and rotor arm, the other end of actuating lever passes extend to the holder after the inner tower and correspond the department.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has compact structure, realizes the simultaneous movement of two clamping pieces by adopting one power source, is favorable for improving the clamping precision and has good stability, thereby being favorable for realizing the transfer and the turnover of the engine cylinder cover.
2. The clamping mechanism adopts a rotating arm mode to drive the driving rod to move, so that clamping and loosening of the clamping piece are realized, the structure is ingenious, the load of a rotating power source can be effectively reduced, the clamping force is effectively improved, and the cost is reduced. The rotating arm and the driving rod form a crank-link mechanism, and the two driving rods move simultaneously under the driving of the rotating arm, so that the two clamping pieces are driven to move synchronously, the synchronism is good, and the clamping precision and the clamping force are further improved.
3. The two clamping pieces can move by using one power source, so that the space is saved, and the whole device is more compact and lighter in structure.
Drawings
Fig. 1 to fig. 4 are schematic structural views of an intelligent clamping and conveying device of an engine cylinder head cleaning machine according to an embodiment of the present invention, where fig. 1 is a perspective view including a cylinder head, fig. 2 is a perspective view, fig. 3 is a top view, and fig. 4 is a perspective view from another perspective view.
Detailed Description
The present invention will be further described with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1 to 4, the intelligent clamping and carrying device of the engine cylinder head cleaning machine of the embodiment includes a frame, clamping members disposed on two sides of the frame, and a clamping driving mechanism for driving the two clamping members to move close to or away from each other; the clamping driving mechanism is arranged on the frame and positioned between the two clamping pieces, and comprises two driving rods, a rotating arm 4 and a rotating power source 5 for driving the rotating arm 4 to rotate; the center of the rotating arm 4 is rotatably connected with the frame, one end of each of the two driving rods is rotatably connected with two ends of the rotating arm 4, and the other end of each of the two driving rods is rotatably connected with the two clamping pieces. In this embodiment, the two driving rods are the first driving rod 7 and the second driving rod 6, wherein the longer one is the first driving rod 7, and the shorter one is the second driving rod 6.
Referring to fig. 1-3, the rotary power source 5 is a cylinder, the cylinder body of which is rotatably connected to the frame, the end of the telescopic member of the cylinder is rotatably connected to one end of the rotary arm 4, and the end of the rotary arm 4 connected to the cylinder telescopic member is also rotatably connected to the second driving rod 6. In this embodiment, the tip of the extensible member of cylinder is equipped with rotates connecting piece 15, should rotate connecting piece 15 and be the setting of C type, the one end setting of rotor arm 4 is in the opening part of rotating connecting piece 15, and realize rotating the connection through the pin. The air cylinder is used as a rotary power source 5 to drive the rotary arm 4 to be connected in a rotary mode, the structure is simple, and the air cylinder is convenient to mount on the frame, so that the whole structure is more compact; in addition, more importantly, the linear driving mode of the air cylinder is adopted to drive the rotating arm 4 to rotate back and forth, the driving force is larger and more stable, and the clamping of the cylinder cover is facilitated; simultaneously, cylinder drive rotor arm 4 rotates, forms the connecting rod structure, and when rotor arm 4 is longer, the drive power of required cylinder is less, consequently adopts the cylinder to carry out the mode of linear drive, can effectively alleviate the load of cylinder to can choose for use the cylinder that drive power is littleer, save the cost, realize that little power presss from both sides tight heavy cylinder cap, design benefit.
Referring to fig. 1 to 3, the pivotal connection point of the pivotal arm 4 to the frame is eccentrically located with respect to the center of the frame. Therefore, enough space can be reserved for installing the air cylinder or other parts at the center of the frame, the space is saved, and meanwhile, the gravity center of the device is located at the center of the whole frame as much as possible, so that the gravity center of the whole device is more stable; more importantly, a sufficient space is left in the center of the frame for installing the air cylinder, and the length of the rotating arm 4 can be prolonged so as to be connected with a telescopic piece of the air cylinder, meanwhile, the arm of force can be prolonged, the driving force is further reduced, and the load when the air cylinder is driven is reduced. In this embodiment, the length of the two driving rods is different because the rotating arm 4 is offset from the center of the frame.
Referring to fig. 1-4, two sets of guide shaft assemblies are disposed on the frame, and are respectively disposed on two sides of the rotating arm 4; the lower ends of the two clamping pieces are respectively connected with the two groups of guide shaft assemblies in a sliding mode. In this embodiment, the guiding axle assembly includes a fixed axle 11 and a sliding seat 12, the fixed axle 11 is fixedly connected to the frame, and the sliding seat 12 is connected to the clamping member. Through the setting of guiding axle subassembly for the removal of two holders is more stable, and the precision is higher.
Referring to fig. 1 to 4, a plurality of mounting holes 13 are formed in each of the first driving rod 7 and the second driving rod 6, and the plurality of mounting holes 13 are arranged in a row along the length direction of the driving rod. Through setting up a plurality of mounting holes 13, improve and the rotor arm 4 be connected the flexibility, can adjust the connection of actuating lever according to the size type of different cylinder caps to shorten or prolong the centre gripping distance between two holders, with the different cylinder caps of adaptation, convenient operation, and effectual. In this embodiment, both ends of two actuating levers all are equipped with a plurality of mounting holes 13, like this simultaneously can conveniently with the regulation erection joint of holder.
Referring to fig. 1-3, the rotating arm 4 includes a connecting seat 18 and two connecting plates 19 disposed opposite to each other, the connecting seat 18 is disposed between the two connecting plates 19 and located in the middle of the connecting plates 19, the connecting seat 18 is rotatably connected to the frame through a rotating structure, and the driving rod is disposed between the two connecting plates 19 and rotatably connected through a rotating shaft.
Referring to fig. 1 to 4, a positioning assembly is arranged on the clamping member, and the positioning assembly comprises two positioning blocks 10; the two positioning blocks 10 are diagonally arranged on the clamping piece, and each positioning block 10 is provided with a right-angle positioning groove 17; when the clamping piece clamps the cylinder cover, two opposite corners of the side surface of the cylinder cover are matched with the right-angle positioning grooves 17 on the two positioning blocks 10. Through the arrangement of the positioning assembly, the cylinder cover can be positioned and limited, and the clamping precision is improved, so that the position precision of the cylinder cover before clamping and after clamping and loosening is effectively maintained, and the processing or high-precision cleaning before and after carrying is facilitated; on the other hand, through locating component's setting, press from both sides tightly the side of cylinder cap through locating piece 10, effectively reduce with the area of contact of cylinder cap side to improve the clamp force, and make and press from both sides tight stability better, reduce with the area of contact of cylinder cap side, can protect the cylinder cap. In this embodiment, locating component can set up two sets ofly, can let the cylinder cap of holder adaptation different side corner sizes like this, and adaptability is better. In this embodiment, the corner of right angle constant head tank 17 is equipped with dodges the fillet, can avoid the corner of collision damage cylinder cap like this, effectively protects the cylinder cap.
Referring to fig. 1-4, a hollow hole 9 is formed in the clamping member, and two positioning blocks 10 of the positioning assembly are disposed at two opposite corners of the hollow hole 9. Through the setting of fretwork hole 9, dodge the side of cylinder cap, ensure that only locating piece 10 contacts with the cylinder cap side when pressing from both sides tight cylinder cap to can let the arch of cylinder cap side be arranged in fretwork hole 9, avoid interfering.
Referring to fig. 2 and 4, the clamping member is further provided with a plurality of positioning columns 16, the positioning columns 16 are arranged on the clamping surface of the clamping member, and the positioning columns 16 are arranged corresponding to the outer contour of the side surface of the cylinder cover. Through the setting of reference column 16, can carry on spacingly to the side of cylinder cap to improve the positioning accuracy when pressing from both sides tightly, and can improve the stability when pressing from both sides tightly, avoid the cylinder cap to take place the skew when overturning or shifting, ensure the position accuracy of cylinder cap. In this embodiment, the positioning columns 16 are mainly disposed on two sides of the hollow hole 9, and are disposed in a matching manner with the two positioning blocks 10, and positioning parts are disposed at four corners of the hollow hole 9, so that high-precision positioning and limiting are effectively performed on the side surface of the cylinder cover, and the precision of the cylinder cover is ensured. In this embodiment, the positioning post 16 is a positioning screw, which is convenient for disassembly and changing positions.
Referring to fig. 1-4, the clamp includes a connector 8 and a clamp holder; the connecting piece 8 is arranged at the bottom of the clamping frame, the connecting piece 8 is rotatably connected with the driving rod, and the connecting piece 8 is fixedly connected with the sliding seat 12; the clamping frame comprises a connecting portion 1 and a clamping portion 2, the connecting portion 1 is arranged between the clamping portion 2 and a connecting piece 8, the connecting portion 1 is vertically extended and arranged, the clamping portion 2 is obliquely arranged, and the positioning column 16, the positioning assembly and the hollow groove are arranged on the clamping portion 2. The clamping piece is arranged to be conveniently connected with the frame and the driving rod; in addition, 2 slopes of clamping part set up for when the centre gripping cylinder cap with loosen the cylinder cap, cooperate with other transfer chain or processing equipment more conveniently, adaptability is good.
Referring to fig. 1 to 3, the frame includes an inner frame 14 and an outer frame 3, the inner frame 14 is disposed inside the outer frame 3, and the inner frame 14 is located at the middle of the outer frame 3; the rotating arm 4 and the rotating power source 5 are both arranged on the inner frame 14, one end of the driving rod is connected with the end part of the rotating arm 4, and the other end of the driving rod penetrates through the inner frame 14 and then extends to the corresponding position of the clamping piece (the connecting piece 8). In this embodiment, a mounting platform 20 is provided on the back of the inner frame 14, and the mounting platform 20 is used for connecting with a robot or other mobile equipment.
Referring to fig. 1-4, the working principle of the intelligent clamping and carrying device of the engine cylinder head cleaning machine of the embodiment is as follows:
firstly, in work, under the drive of a manipulator or a driving mechanism, the clamping and carrying device is moved to the position of a cylinder cover to be clamped, and two clamping pieces are positioned on two sides of the cylinder cover to realize alignment before clamping; then, the rotating power source 5 drives the rotating arm 4 to rotate, and drives the two driving rods to move inwards, so that the two clamping pieces are pulled to be close to each other, and the cylinder cover is clamped; in the clamping process, the two clamping pieces are close to and move simultaneously, the position accuracy of the cylinder cover is effectively guaranteed, the cylinder cover can be clamped only by adopting one rotating power source 5 to drive the rotating arm 4 to rotate, the structure is simple, the cost is reduced, and the driving force can be saved by adopting the mode that the rotating arm 4 drives the driving rod to move. Rotor arm 4, first actuating lever 7 and second actuating lever 6 in this embodiment constitute crank link mechanism, and first actuating lever 7 and the 6 symmetry settings of second actuating lever of this embodiment, the guide shaft subassembly on the frame leads two actuating levers, and when rotor arm 4 rotated, it opens or presss from both sides tightly simultaneously to drive two holders through two actuating levers in step to realize the clamp of cylinder cap and loosen, and the synchronism is good, is favorable to improving the centre gripping precision of cylinder cap.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. An intelligent clamping and carrying device of an engine cylinder cover cleaning machine comprises a frame, clamping pieces arranged on two sides of the frame and a clamping driving mechanism for driving the two clamping pieces to move close to or away from each other; the clamping driving mechanism is arranged on the frame and positioned between the two clamping pieces, and comprises two driving rods, a rotating arm and a rotating power source for driving the rotating arm to rotate; the center of the rotating arm is rotatably connected with the frame, one end of each of the two driving rods is rotatably connected with two ends of the rotating arm respectively, and the other end of each of the two driving rods is rotatably connected with the two clamping pieces respectively.
2. The intelligent clamping and carrying device of the engine cylinder cover washing machine as claimed in claim 1, wherein the rotary power source is an air cylinder, a cylinder body of the air cylinder is rotatably connected with the frame, and an end of a telescopic piece of the air cylinder is rotatably connected with one end of the rotary arm.
3. The intelligent clamping and carrying device for the engine cylinder head cleaning machine as claimed in claim 1 or 2, wherein the rotating connection point of the rotating arm and the frame is eccentrically arranged with the center of the frame.
4. The intelligent clamping and carrying device of the engine cylinder cover cleaning machine as claimed in claim 1, wherein two sets of guide shaft assemblies are arranged on the frame, and are respectively arranged on two sides of the rotating arm; the lower ends of the two clamping pieces are respectively connected with the two groups of guide shaft assemblies in a sliding mode.
5. The intelligent clamping and carrying device of the engine cylinder cover cleaning machine as claimed in claim 1, wherein the driving rod is provided with a plurality of mounting holes, and the mounting holes are arranged along the length direction of the driving rod.
6. The intelligent clamping and carrying device of the engine cylinder cover cleaning machine as recited in claim 1, wherein a positioning assembly is arranged on the clamping member, and the positioning assembly comprises two positioning blocks; the two positioning blocks are diagonally arranged on the clamping piece, and each positioning block is provided with a right-angle positioning groove; when the clamping piece clamps the cylinder cover, two opposite corners of the side surface of the cylinder cover are matched with the right-angle positioning grooves in the two positioning blocks.
7. The intelligent clamping and carrying device of the engine cylinder cover cleaning machine as recited in claim 6, wherein a hollowed hole is formed in the clamping member, and two positioning blocks of the positioning assembly are arranged at two opposite corners of the hollowed hole.
8. The intelligent clamping and conveying device of the engine cylinder head cleaning machine as claimed in claim 1 or 6, wherein a plurality of positioning columns are further arranged on the clamping piece, the positioning columns are arranged on the clamping surface of the clamping piece, and the positioning columns are arranged corresponding to the outer contour of the side surface of the cylinder head.
9. The intelligent clamping and handling device of the engine cylinder cover washing machine as recited in claim 1, wherein the clamping member comprises a connecting member and a clamping frame; the connecting piece is arranged at the bottom of the clamping frame and is in rotary connection with the driving rod; the clamping frame comprises a connecting portion and a clamping portion, the connecting portion is arranged between the clamping portion and the connecting piece, the connecting portion extends vertically, and the clamping portion is arranged in an inclined mode.
10. The intelligent clamping and handling device of the engine cylinder head washing machine as recited in claim 1, wherein the frame comprises an inner frame and an outer frame, the inner frame is arranged in the outer frame, and the inner frame is located in the middle of the outer frame; the rotor arm and the power of rotation source all set up on the inner tower, the end connection of the one end of actuating lever and rotor arm, the other end of actuating lever passes extend to the holder after the inner tower and correspond the department.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011326242.1A CN112520404A (en) | 2020-11-23 | 2020-11-23 | A intelligent centre gripping handling device for engine cylinder lid cleaning machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011326242.1A CN112520404A (en) | 2020-11-23 | 2020-11-23 | A intelligent centre gripping handling device for engine cylinder lid cleaning machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112520404A true CN112520404A (en) | 2021-03-19 |
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ID=74992866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011326242.1A Pending CN112520404A (en) | 2020-11-23 | 2020-11-23 | A intelligent centre gripping handling device for engine cylinder lid cleaning machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112520404A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2564139A1 (en) * | 1984-05-10 | 1985-11-15 | Peugeot | DEVICE FOR MOUNTING VALVES IN THE CYLINDER HEAD OF AN INTERNAL COMBUSTION ENGINE |
| CN102374266A (en) * | 2010-08-04 | 2012-03-14 | 徐静 | Crank-link mechanism capable of adjusting stroke freely |
| CN203002547U (en) * | 2012-12-05 | 2013-06-19 | 中山市君禾机电设备有限公司 | Swinger with extension spring type pulley structure |
| CN203048015U (en) * | 2012-12-12 | 2013-07-10 | 宁波大学 | Stepping feeding mechanism with adjustable travel |
| CN107322629A (en) * | 2017-07-03 | 2017-11-07 | 中国农业大学 | Flexible mechanical formula paw and the transfer robot with the flexible mechanical formula paw |
| CN206717892U (en) * | 2017-05-05 | 2017-12-08 | 李正生 | A kind of industry mechanical arm clamping limb |
| CN208744869U (en) * | 2018-08-10 | 2019-04-16 | 苏州哈工英飒智能技术有限公司 | A kind of general parallel clamping device |
| CN110281230A (en) * | 2019-07-28 | 2019-09-27 | 南京昱晟机器人科技有限公司 | A kind of robot claw |
-
2020
- 2020-11-23 CN CN202011326242.1A patent/CN112520404A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2564139A1 (en) * | 1984-05-10 | 1985-11-15 | Peugeot | DEVICE FOR MOUNTING VALVES IN THE CYLINDER HEAD OF AN INTERNAL COMBUSTION ENGINE |
| CN102374266A (en) * | 2010-08-04 | 2012-03-14 | 徐静 | Crank-link mechanism capable of adjusting stroke freely |
| CN203002547U (en) * | 2012-12-05 | 2013-06-19 | 中山市君禾机电设备有限公司 | Swinger with extension spring type pulley structure |
| CN203048015U (en) * | 2012-12-12 | 2013-07-10 | 宁波大学 | Stepping feeding mechanism with adjustable travel |
| CN206717892U (en) * | 2017-05-05 | 2017-12-08 | 李正生 | A kind of industry mechanical arm clamping limb |
| CN107322629A (en) * | 2017-07-03 | 2017-11-07 | 中国农业大学 | Flexible mechanical formula paw and the transfer robot with the flexible mechanical formula paw |
| CN208744869U (en) * | 2018-08-10 | 2019-04-16 | 苏州哈工英飒智能技术有限公司 | A kind of general parallel clamping device |
| CN110281230A (en) * | 2019-07-28 | 2019-09-27 | 南京昱晟机器人科技有限公司 | A kind of robot claw |
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Application publication date: 20210319 |