CN114227643B - Assembly positioning structure, robot arm and robot - Google Patents
Assembly positioning structure, robot arm and robot Download PDFInfo
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- CN114227643B CN114227643B CN202111532403.7A CN202111532403A CN114227643B CN 114227643 B CN114227643 B CN 114227643B CN 202111532403 A CN202111532403 A CN 202111532403A CN 114227643 B CN114227643 B CN 114227643B
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- inflatable rubber
- assembly
- positioning structure
- speed reducer
- motor
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an assembly positioning structure, a robot arm and a robot, relates to the technical field of robots, and solves the technical problems of high machining precision and low installation efficiency in the prior art of the installation mode of a speed reducer on a large arm of a traditional robot. The structure comprises a support connecting frame, an inflatable rubber mat and an air supply assembly, wherein the inflatable rubber mat is arranged on the support connecting frame, and the air supply assembly is connected with the inflatable rubber mat; the three or more inflatable rubber mats are connected to the mounting component, and the air supply component is used for filling air into the inflatable rubber mats, so that the component to be positioned can be positioned on the mounting component under the extrusion of the inflatable rubber mats. According to the invention, the mounting procedure of the speed reducer can be simplified, and the speed reducer is positioned and regulated by regulating the inflation amount in the inflatable rubber cushion, so that the coaxiality of the speed reducer and the assembly parts of the speed reducer is regulated, the damage of the speed reducer caused by the eccentric phenomenon is prevented, the labor cost of the speed reducer in mounting or dismounting is reduced, and the mounting efficiency of the speed reducer can be improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an assembly positioning structure, a robot arm and a robot.
Background
The speed reducer is universally applied to the robot joint transmission for speed reduction operation, and the speed reducer for the industrial robot has the advantages of small volume, high power, light weight and the like. The robot has higher requirement on the installation of the speed reducer, the surface machining precision of parts which are matched with the speed reducer is high, and the flatness and coaxiality of the parts can be detected after the speed reducer is installed.
Fig. 1 is an exploded view of a conventional reducer assembly, and the reducer assembly structure illustrated in fig. 1 includes a large arm 6, a reducer 8, a motor assembly 7 (J2 motor assembly) and other main components, and the conventional reducer is installed by arranging an installed threaded hole on the large arm, fixing the reducer on the large arm by using a screw, and centering the large arm and the reducer by using a processing boss of the large arm before fixing the screw, so as to ensure coaxiality of the large arm and the reducer, and simultaneously realize radial positioning of the reducer, and connection of the motor assembly 7 and the reducer 8 is also realized by using a fixing screw. The mounting mode has higher requirements on the assembly process and the assembly precision, and the speed reducer is difficult to mount due to the fact that the machining errors of parts are not up to the allowable errors. The phenomenon that the reducer is not coaxial and eccentric with the matched part of the reducer in the installation process can influence the damage of the reducer caused by uneven stress of teeth of the reducer during operation, and the service life of the reducer is shortened. In addition, the motor component fixing screw shakes loose when the robot runs, so that the motor component and the speed reducer are eccentric, and the speed reducer is damaged.
Disclosure of Invention
The invention aims to provide an assembly positioning structure, a robot arm and a robot, which solve the technical problems of high machining precision and low installation efficiency required in the traditional installation mode of a reducer on a robot arm in the prior art. The preferred technical solutions of the technical solutions provided by the present invention can produce a plurality of technical effects described below.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the invention provides an assembly positioning structure which comprises a support connecting frame, an inflatable rubber cushion and an air supply assembly, wherein the inflatable rubber cushion is arranged on the support connecting frame, and the air supply assembly is connected with the inflatable rubber cushion; the three or more inflatable rubber mats are distributed along the circumferential direction of the part to be positioned and are connected to the mounting part, and the part to be positioned can be positioned on the mounting part under the extrusion of the inflatable rubber mats by filling gas into the inflatable rubber mats through the gas supply assembly.
Further, the support connecting frame and the installation component are of an integrated structure or the support connecting frame and the installation component are detachably connected.
Further, the support connecting frame comprises more than three connecting frame units which are independent of each other, each connecting frame unit is provided with an inflatable rubber mat, the connected connecting frame units and the inflatable rubber mat form a clamping jaw adjusting part, and the clamping jaw adjusting parts are distributed along the circumference of the part to be positioned.
Further, an elastic plate structure is arranged on the supporting connecting frame, the elastic plate structure can deform in the process of installing the part to be positioned, and after the part to be positioned is installed in place, the elastic plate structure is contacted with the end face or the stepped end face of the part to be positioned.
Further, the elastic plate structure comprises a claw fixing top plate and an elastic sheet, one end of the claw fixing top plate is connected with the supporting connecting frame, the elastic sheet is connected with the claw fixing top plate and the supporting connecting frame, and when the free end of the claw fixing top plate is bent downwards to deform, the elastic sheet is in a compressed state.
Further, elastic pads are arranged on the upper plate surface and/or the lower plate surface of the claw fixing top plate.
Further, the support link includes the link unit of more than three mutually independent, the link unit includes jack catch PMKD and jack catch stand, the vertical setting of jack catch stand, jack catch PMKD with the elastic plate structure sets up respectively the both ends of jack catch stand, aerify the cushion setting in corresponding on the link unit just aerify the cushion setting and be in the jack catch stand orientation on the side of waiting to fix a position the part, the elastic plate structure is located aerify the top of cushion.
Further, the claw fixing base plate and the elastic plate structure extend in opposite directions on the connection frame unit, respectively.
Further, the mounting component is a large arm of the robot arm or a motor component of the robot arm, and the component to be positioned is a speed reducer of the robot arm.
The invention provides a robot arm which comprises a large arm, a speed reducer and a motor assembly, wherein an assembly positioning structure arranged on the motor assembly is a motor positioning structure, the motor positioning structure is connected with the motor assembly and the speed reducer, the assembly positioning structure on the large arm is a large arm positioning structure, and the large arm positioning structure is connected with the large arm and the speed reducer.
Further, the motor assembly comprises a motor mounting plate, and the supporting connecting frame of the motor positioning structure is connected to the lower plate surface of the motor mounting plate.
Further, the bottom of the supporting connecting frame of the big arm positioning structure is connected with the threaded hole on the big arm through a screw, and the elastic plate structure at the top of the supporting connecting frame of the big arm positioning structure is contacted with the step surface end of the speed reducer.
The robot comprises the robot arm.
The invention provides an assembly positioning structure, which comprises the following structures: the inflatable cushion is arranged on the support connecting frame, and the air supply assembly is connected with the inflatable cushion; the more than three inflatable rubber mats are distributed along the circumferential direction and are connected to the mounting part, and the air supply assembly is used for filling air into the inflatable rubber mats, so that the part to be positioned is positioned on the mounting part under the extrusion of the inflatable rubber mats. The installation component here can be big arm or motor assembly (J motor assembly), and the part of waiting to fix a position can be the reduction gear (J axle reduction gear), and this structure can simplify reduction gear installation process, through the volume of aerifing in the regulation inflatable cushion, carry out the location adjustment to the reduction gear to adjust the axiality of reduction gear and its assembly part, prevent because the phenomenon of decentering leads to the damage of reduction gear, improve the life of reduction gear, reduce the human cost of reduction gear when installing or dismantling, can improve the installation effectiveness of reduction gear effectively, can easily adjust the axiality of reduction gear and its installation part, and the location structure that the invention provided is applicable to the installation of reduction gear of different models on different fields such as robot.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an exploded view of a conventional decelerator assembly;
fig. 2 is a schematic front view of a robot arm according to an embodiment of the present invention;
FIG. 3 is a schematic top view of a robotic arm according to an embodiment of the present invention;
fig. 4 is a schematic front view of a robot arm according to an embodiment of the present invention (the decelerator is not connected to the motor assembly);
fig. 5 is a schematic view of a jaw adjustment assembly provided in an embodiment of the invention.
1-a connector unit in the figure; 11-clamping jaw fixing bottom plate; 12-claw columns; 2-inflating rubber cushion; 3-clamping jaw fixing top plate; 4-elastic sheet; 5-an elastic pad; 6-big arm; 7-a motor assembly; 71-a motor mounting plate; 8-a speed reducer; 9-an electromagnetic valve; 10-decelerator wave generator.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
Fig. 1 is an exploded view of a conventional reducer assembly, and the reducer assembly structure illustrated in fig. 1 includes a large arm 6, a reducer 8, a motor assembly 7 (J2 motor assembly) and other main components, and the conventional reducer is installed by arranging an installed threaded hole on the large arm, fixing the reducer on the large arm by using a screw, and centering the large arm and the reducer by using a processing boss of the large arm before fixing the screw, so as to ensure coaxiality of the large arm and the reducer, and simultaneously realize radial positioning of the reducer, and connection of the motor assembly 7 and the reducer 8 is also realized by using a fixing screw. The mounting mode has higher requirements on the assembly process and the assembly precision, and the speed reducer is difficult to mount due to the fact that the machining errors of parts are not up to the allowable errors. The phenomenon that the reducer is not coaxial and eccentric with the matched part of the reducer in the installation process can influence the damage of the reducer caused by uneven stress of teeth of the reducer during operation, and the service life of the reducer is shortened. In addition, the motor component fixing screw shakes loose when the robot runs, so that the motor component and the speed reducer are eccentric, and the speed reducer is damaged. Based on the above, the invention provides an assembly positioning structure, which comprises the following structures: the inflatable cushion comprises a supporting connecting frame, an inflatable cushion 2 and an air supply assembly, wherein the inflatable cushion 2 is arranged on the supporting connecting frame, and the air supply assembly is connected with the inflatable cushion 2; the more than three inflatable rubber mats 2 are distributed along the circumferential direction of the part to be positioned and are connected to the mounting part, and the part to be positioned can be positioned on the mounting part under the extrusion of the inflatable rubber mats 2 by filling gas into the inflatable rubber mats 2 through the gas supply assembly. The installation component here can be big arm 6 or motor assembly 7 (J2 motor assembly), and the part to be positioned can be reduction gear 8 (J2 axle reduction gear), and this structure can simplify reduction gear installation process, through the volume of aerifing in the regulation inflatable cushion 2, carry out the location adjustment to reduction gear 8 to adjust the axiality of reduction gear and its assembled parts, prevent because the eccentric phenomenon leads to the damage of reduction gear, improve the life of reduction gear, reduce the human cost when the reduction gear is installed or is dismantled, can effectively improve the installation effectiveness of reduction gear, can easily adjust the axiality of reduction gear and its installed part, and the location structure that the invention provided is applicable to the installation of reduction gear of different models in different fields such as robot.
The air supply assembly is not limited too much, and an existing air supply structure is adopted. An air pipeline of the air supply assembly is provided with an electromagnetic valve 9, the electromagnetic valve 9 can be opened when the air cushion 2 is inflated, and the electromagnetic valve 9 is closed after the inflation is completed; when the gas in the inflatable cushion 2 needs to be exhausted, the electromagnetic valve 9 is opened.
Example 1:
an assembly positioning structure, the structure is as follows: the inflatable cushion comprises a supporting connecting frame, an inflatable cushion 2 and an air supply assembly, wherein the inflatable cushion 2 is arranged on the supporting connecting frame, and the air supply assembly is connected with the inflatable cushion 2; the more than three inflatable rubber mats 2 are distributed along the circumferential direction of the part to be positioned and are connected to the mounting part, and the part to be positioned can be positioned on the mounting part under the extrusion of the inflatable rubber mats 2 by filling gas into the inflatable rubber mats 2 through the gas supply assembly. The mounting part is a motor assembly 7 and the part to be positioned may be a decelerator 8.
With respect to the support link, the support link and the mounting member are of an integrally formed structure. Referring to fig. 4, the motor assembly 7 includes a motor mounting plate 71, and a support link is connected to a lower plate surface of the motor mounting plate 71, and the support link and the motor mounting plate 71 are integrally formed.
The support connecting frame comprises more than three mutually independent connecting frame units 1, each connecting frame unit 1 is provided with an inflatable rubber cushion 2, the connected connecting frame units 1 and the inflatable rubber cushion 2 form a clamping jaw adjusting part, and the clamping jaw adjusting parts are distributed along the circumference of the part to be positioned. Referring to fig. 2, an inflatable cushion 2 is schematically provided on the inner side of a plate-shaped connector unit 1. The three jaw adjustment members are provided on the motor mounting plate 71, and of course, the number of jaw adjustment members provided on the motor mounting plate 71 is not limited to only three. The three jaw adjustment members are evenly distributed in the circumferential direction of the reduction gear 8. During installation, the position of the motor assembly 7 relative to the speed reducer 8 is set, and then the air inflow entering each inflatable cushion 2 is adjusted, so that when the speed reducer 8 is positioned on the motor assembly 8 under the extrusion of the inflatable cushion 2, the installation axis of the speed reducer 8 coincides with the axis of the motor shaft of the motor assembly 8.
Example 2:
an assembly positioning structure, the structure is as follows: the inflatable cushion comprises a supporting connecting frame, an inflatable cushion 2 and an air supply assembly, wherein the inflatable cushion 2 is arranged on the supporting connecting frame, and the air supply assembly is connected with the inflatable cushion 2; the more than three inflatable rubber mats 2 are distributed along the circumferential direction of the part to be positioned and are connected to the mounting part, and the part to be positioned can be positioned on the mounting part under the extrusion of the inflatable rubber mats 2 by filling gas into the inflatable rubber mats 2 through the gas supply assembly. The mounting part is a large arm 6 and the part to be positioned may be a decelerator 8 (J2 axis decelerator).
With respect to the support link, the support link is detachably connected with the mounting member. When the support link is fixed to the large arm 6, screws may be used to attach the support link to the large arm 6.
The support connecting frame comprises more than three mutually independent connecting frame units 1, each connecting frame unit 1 is provided with an inflatable rubber cushion 2, the connected connecting frame units 1 and the inflatable rubber cushion 2 form a clamping jaw adjusting part, and the clamping jaw adjusting parts are distributed along the circumference of the part to be positioned. Referring to fig. 1, an inflatable cushion 2 is schematically provided inside a connector unit 1. Referring to fig. 3, three jaw adjustment members are provided on the large arm 6, and of course, the number of jaw adjustment members provided on the large arm 6 is not limited to only three. The three jaw adjustment members are evenly distributed in the circumferential direction of the reduction gear 8.
The connecting frame unit 1 is provided with an elastic plate structure, and after the elastic plate structure can deform in the process of installing the part to be positioned and the part to be positioned is installed in place, the elastic plate structure is contacted with the end face or the step end face of the part to be positioned. Referring to fig. 2, the top of the connector unit 1 is shown provided with a resilient plate structure for limiting the axial orientation of the reducer 8.
The structure of the elastic plate is specifically described as follows: referring to fig. 5, the elastic plate structure includes a claw fixing top plate 3 and an elastic sheet 4, the claw fixing top plate 3 is also made of an elastic material, one end of the claw fixing top plate 3 is connected with the supporting connection frame, the elastic sheet 4 is connected with the claw fixing top plate 3 and the supporting connection frame, and when the free end of the claw fixing top plate 3 is bent downwards to deform, the elastic sheet 4 is in a compressed state. In the process of installing the speed reducer 8 from top to bottom, under the extrusion of the speed reducer 8, the claw fixing top plate 3 can deform, the elastic sheet 4 is compressed, after the speed reducer 8 is installed in place downwards, under the action of the elastic sheet 4, when the speed reducer 8 does not extrude the elastic sheet 4, the claw fixing top plate 3 can reset under the action of the elastic sheet 4, and when the claw fixing top plate 3 resets, the claw fixing top plate 3 is contacted with the stepped end face of the speed reducer 8. The jaw-fixing top plate 3 restricts the axial orientation of the speed reducer 8, and in the axial direction, the speed reducer 8 is restricted between the large arm and each jaw adjustment member.
The elastic pad 5 is arranged on the upper plate surface and/or the lower plate surface of the claw fixing top plate 3, the elastic pad 5 can be a silica gel cushion, and the elastic pad 5 is preferably arranged on the upper plate surface and the lower plate surface of the claw fixing top plate 3, so that the abrasion phenomenon of the speed reducer 8 and assembly parts during installation can be avoided, the friction force can be increased, and the better fixation of the speed reducer can be realized.
The structure of the connector unit 1 is specifically as follows: referring to fig. 5, the connection frame unit 1 includes a claw fixing base plate 11 and a claw column 12, the claw column 12 is vertically disposed, the claw fixing base plate 11 and an elastic plate structure are respectively disposed at two ends of the claw column 12, the inflatable rubber pad 2 is disposed on the corresponding connection frame unit 1 and the inflatable rubber pad 2 is disposed on a side surface of the claw column 12 facing the component to be positioned, the elastic plate structure is disposed above the inflatable rubber pad 2, and the claw fixing base plate 11 and the elastic plate structure extend in opposite directions on the connection frame unit 1. Screw holes are formed in the claw fixing base plate 11, and the supporting connecting frame is fixed on the large arm 6 through the claw fixing base plate 11.
Example 3:
the robot arm comprises a large arm 6, a speed reducer 8 and a motor assembly 7, wherein the motor assembly 7 is provided with the assembly positioning structure described in the embodiment 1 and is called a motor positioning structure, the motor positioning structure is connected with the motor assembly 7 and the speed reducer 8, the large arm 6 is provided with the assembly positioning structure described in the embodiment 2 and is called a large arm positioning structure, and the large arm positioning structure is connected with the large arm 6 and the speed reducer 8. The motor positioning structure and the large arm positioning structure simplify the installation procedure of the speed reducer, and the speed reducer 8 is positioned and regulated by regulating the inflation amount in the inflatable rubber cushion 2, so that the coaxiality of the speed reducer and assembly parts thereof is regulated, the damage of the speed reducer caused by the eccentric phenomenon is prevented, the service life of the speed reducer is prolonged, the labor cost of the speed reducer in installation or disassembly is reduced, the installation efficiency of the speed reducer can be effectively improved, the coaxiality of the speed reducer and installation parts thereof can be easily regulated, and the positioning structure provided by the invention is suitable for the installation of the speed reducer of different types in different fields of robots and the like.
The motor assembly 7 comprises a motor mounting plate 71, a connecting frame unit 1 of a motor positioning structure is connected to the lower plate surface of the motor mounting plate 71, and the connecting frame unit 1 of the motor positioning structure and the motor mounting plate 71 are of an integrated structure. The bottom of the connecting frame unit 1 of the large arm positioning structure is connected with a threaded hole on the large arm 6 through a screw. The elastic plate structure at the top of the large arm positioning structure connecting frame unit 1 is contacted with the step surface end of the speed reducer 8.
In addition, the air supply component of the motor positioning structure and the air supply component of the large arm positioning structure are connected and can simultaneously use the same driving air pump.
Example 4:
a robot comprising the robot arm described in embodiment 3.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (12)
1. An assembling and positioning structure is characterized by comprising a supporting connecting frame, an inflatable rubber mat (2) and an air supply assembly, wherein,
the inflatable rubber cushion (2) is arranged on the supporting connecting frame, and the air supply assembly is connected with the inflatable rubber cushion (2); more than three inflatable rubber mats (2) are distributed along the circumferential direction of a part to be positioned and are connected to a mounting part, and the part to be positioned can be positioned on the mounting part under the extrusion of the inflatable rubber mats (2) by filling gas into the inflatable rubber mats (2) through the gas supply assembly;
the elastic plate structure is arranged on the supporting connecting frame, the elastic plate structure can deform in the process of installing the part to be positioned, and after the part to be positioned is installed in place, the elastic plate structure is contacted with the step end face of the part to be positioned.
2. The assembly positioning structure according to claim 1, wherein the support link is an integral structure with the mounting member or the support link is detachably connected with the mounting member.
3. The assembly positioning structure according to claim 1, wherein the support connection frame comprises more than three mutually independent connection frame units (1), the inflatable rubber cushion (2) is arranged on each connection frame unit (1), the connected connection frame units (1) and the inflatable rubber cushion (2) form a clamping jaw adjusting part, and the clamping jaw adjusting parts are distributed along the circumferential direction of the part to be positioned.
4. The assembly positioning structure according to claim 1, wherein the elastic plate structure comprises a claw fixing top plate (3) and an elastic sheet (4), one end of the claw fixing top plate (3) is connected with the supporting connection frame (1), the elastic sheet (4) is connected with the claw fixing top plate (3) and the supporting connection frame (1), and when the free end of the claw fixing top plate (3) is bent downwards to deform, the elastic sheet (4) is in a compressed state.
5. The assembly positioning structure according to claim 4, wherein elastic pads (5) are provided on the upper plate surface and/or the lower plate surface of the claw fixing top plate.
6. The assembly positioning structure according to claim 3, wherein the connection frame unit (1) comprises a claw fixing base plate (11) and a claw upright (12), the claw upright (12) is vertically arranged, the claw fixing base plate (11) and the elastic plate structure are respectively arranged at two ends of the claw upright (12), the inflatable rubber pad (2) is arranged on the corresponding connection frame unit (1) and the inflatable rubber pad (2) is arranged on the side surface, facing the component to be positioned, of the claw upright (12), and the elastic plate structure is arranged above the inflatable rubber pad (2).
7. The assembly positioning structure according to claim 6, characterized in that the claw fixing base plate (11) and the elastic plate structure extend in opposite directions on the connection frame unit (1), respectively.
8. The assembly positioning structure according to claim 1, characterized in that the mounting part is a large arm (6) of a robot arm and the part to be positioned is a decelerator (8) of the robot arm.
9. A robot arm, characterized by comprising a large arm (6), a speed reducer (8) and a motor assembly (7), wherein the motor assembly (7) is provided with a motor positioning structure, the motor positioning structure is connected with the motor assembly (7) and the speed reducer (8), the large arm (6) is provided with an assembly positioning structure according to any one of claims 4-8 and is called a large arm positioning structure, and the large arm positioning structure is connected with the large arm (6) and the speed reducer (8);
the motor positioning structure comprises a supporting connecting frame, an inflatable rubber mat (2) and an air supply assembly, wherein the inflatable rubber mat (2) is arranged on the supporting connecting frame, and the air supply assembly is connected with the inflatable rubber mat (2); more than three inflatable rubber mats (2) are distributed along the circumferential direction of the part to be positioned and are connected to the mounting part, and the part to be positioned can be positioned on the mounting part under the extrusion of the inflatable rubber mats (2) by filling gas into the inflatable rubber mats (2) through the gas supply assembly.
10. A robotic arm as claimed in claim 9, characterized in that the motor assembly (7) comprises a motor mounting plate (71), the support connection frame (1) of the motor positioning structure being connected to the lower plate surface of the motor mounting plate (71).
11. The robot arm according to claim 9, characterized in that the bottom of the large arm positioning structure supporting connection frame is connected with the threaded hole on the large arm (6) through a screw, and the elastic plate structure at the top of the large arm positioning structure supporting connection frame is contacted with the stepped surface end of the speed reducer (8).
12. A robot comprising a robot arm according to any of claims 9-11.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111532403.7A CN114227643B (en) | 2021-12-15 | 2021-12-15 | Assembly positioning structure, robot arm and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111532403.7A CN114227643B (en) | 2021-12-15 | 2021-12-15 | Assembly positioning structure, robot arm and robot |
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| CN114227643B true CN114227643B (en) | 2023-08-22 |
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| US4884670A (en) * | 1988-03-15 | 1989-12-05 | Eoa Systems, Inc. | Variable compliance device |
| CN107414448A (en) * | 2017-08-25 | 2017-12-01 | 北京理工大学 | A kind of airbag holder for the lossless clamping of Low rigidity skeleton class part |
| CN207709909U (en) * | 2017-12-05 | 2018-08-10 | 东莞市垒昊五金制品有限公司 | A kind of abnormal shape hardware workpiece turning jig |
| CN207840185U (en) * | 2017-11-21 | 2018-09-11 | 重庆交通职业学院 | A kind of thin-wall pipe clamp for machining |
| CN109356820A (en) * | 2018-12-28 | 2019-02-19 | 浙江荣捷特科技有限公司 | A kind of double leaf spring piston support structures, sterlin refrigerator and generator |
| CN113523883A (en) * | 2021-06-29 | 2021-10-22 | 吉安职业技术学院 | Multi-functional intelligent three clamping jaws of machine tool machining usefulness |
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2021
- 2021-12-15 CN CN202111532403.7A patent/CN114227643B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4884670A (en) * | 1988-03-15 | 1989-12-05 | Eoa Systems, Inc. | Variable compliance device |
| CN107414448A (en) * | 2017-08-25 | 2017-12-01 | 北京理工大学 | A kind of airbag holder for the lossless clamping of Low rigidity skeleton class part |
| CN207840185U (en) * | 2017-11-21 | 2018-09-11 | 重庆交通职业学院 | A kind of thin-wall pipe clamp for machining |
| CN207709909U (en) * | 2017-12-05 | 2018-08-10 | 东莞市垒昊五金制品有限公司 | A kind of abnormal shape hardware workpiece turning jig |
| CN109356820A (en) * | 2018-12-28 | 2019-02-19 | 浙江荣捷特科技有限公司 | A kind of double leaf spring piston support structures, sterlin refrigerator and generator |
| CN113523883A (en) * | 2021-06-29 | 2021-10-22 | 吉安职业技术学院 | Multi-functional intelligent three clamping jaws of machine tool machining usefulness |
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| Publication number | Publication date |
|---|---|
| CN114227643A (en) | 2022-03-25 |
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