CN101537563B - Multi-shaft symmetric flexible assembly system for synchronous automatic-screwed screws - Google Patents
Multi-shaft symmetric flexible assembly system for synchronous automatic-screwed screws Download PDFInfo
- Publication number
- CN101537563B CN101537563B CN2008100198835A CN200810019883A CN101537563B CN 101537563 B CN101537563 B CN 101537563B CN 2008100198835 A CN2008100198835 A CN 2008100198835A CN 200810019883 A CN200810019883 A CN 200810019883A CN 101537563 B CN101537563 B CN 101537563B
- Authority
- CN
- China
- Prior art keywords
- screw
- platform
- assembly system
- slide block
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The invention discloses a multi-shaft symmetric flexible assembly system for synchronous automatic-screwed screws, which comprises a working-equipment base, a workpiece-bearing platform, at least two sets of screw-tightening devices and at least one strut which is perpendicular to the working-equipment base and is arranged outside a space region of the workpiece-bearing platform. The strut is connected with at least one assembly shaft; each assembly shaft is further in slip connection with at least two sliders; and the two sliders can slide on the same assembly shaft at respective speeds, in respective directions and with mutual non-interference, wherein the inner side of each slider is provided with a rotor of an axis motor; stator magnetic rods of the axis motor are inlaid in the assembly shafts respectively; and through software of a control system, the rotors of the axis motor is controlled to slide on the stator magnetic rods and to drive the screw-tightening devices to assemble at least two axially symmetric synchronous automatic-screwed screws of a preassembly workpiece in the same direction.
Description
Technical field
The present invention relates to a kind of industrial assembly system, relate in particular to and a kind ofly can flexibility realize that based on the axle center motor multiaxis symmetrical expression send the assembly system of lock screw synchronously automatically.
Background technology
The screw assembling is still one of current industrial machinery or the very important assembling means of electron trade, is widely used in various aspects such as fastening various frame for movement, PCB assembling and shell encapsulation.And in order to enhance productivity, the effective way that adopts is the mode that the multiaxis symmetrical expression send the assembling of lock screw synchronously automatically.As follows with regard to its implementation of the present state of the art:
As depicted in figs. 1 and 2, be prior art be used to realize the multiaxis symmetrical expression send automatically synchronously the lock screw two kinds of multi-form assembly systems overlook configuration diagram.Can be clear that by Fig. 1: the operation purpose of this assembly system realizes in conjunction with two cover screw-driving apparatus by utilizing two SCARA type manipulators, the both sides mechanical arm stretches, curves by the joint, move flexibly above the work mounting s platform, aligning frock position is served screw and is tightened.Can be clear that by Fig. 2: the operation purpose of this assembly system realizes in conjunction with two cover screw-driving apparatus by utilizing two X, Y rectangular co-ordinate slide rail support arm, connect on the slide rail support arm and establish slide block, screw-driving apparatus is embedded in the slide block down, at this moment, what this assembly system adopted is traditional step-by-step movement drive motors, drive leading screw, gear or belt transmission with this, uniformly-spaced aligning frock position, distance ground is served screw and is tightened.Wherein, described screw-driving apparatus is by screw arrangement units, letter sorting unit, supply unit, pre-grip unit and tighten the unit and form.
Yet, the assembly system of above-mentioned two kinds of forms, though can realize that many screws on the same direction of workpiece are carried out symmetrical expression to be tightened synchronously, but it is not perfect, no matter be SCARA type manipulator or slide rail support arm, all can't realize workpiece the screw matching requirements more than the diaxon and assemble ability of flexibility in same plane.And this assembly system, in case installation is come into operation, for the screw assembly process needs that adapt to diversification carry out complicated repacking, this obviously runs counter to designer's original intention.In addition, the screw assembly system with two SCARA type manipulators shown in Figure 1 though done partly improvement at the flexibility fit on, have certain advantage relatively, yet its huge manipulator makes whole assembly system take a large amount of space costs.So seek a kind of breakthrough modification method, a real problem for industry inner bolt symmetrical expression assembling solution that the field presses for.
Summary of the invention
The deficiency that exists in view of the aforementioned technical background, purpose of the present invention aims to provide a kind of multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws, solve the lock screw that send automatically synchronously that only limits to when existing screw assembly system is assembled diaxon on the same direction of workpiece and assemble, many screws on the same direction are carried out tightening synchronously of symmetrical expression thereby the realization diaxon is above.And improve the flexibility assemble ability of assembly system, on same equipment, have the ability that multiple close product is assembled.
Creation purpose of the present invention, will realize by following technical solution:
Multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws comprises:
The frock pedestal is in order to support the also stability of the whole assembly system of balance;
The work mounting s platform is in order to display the prepackage workpiece of required assembling;
At least one pillar is set in the area of space outside of work mounting s platform perpendicular to the frock pedestal, be provided with at least one assembled shaft on it, and each assembled shaft slidely connects at least two slide blocks further, and described two slide blocks can slide with speed and direction mutually noninterfere ground separately on same assembled shaft;
At least two cover screw-driving apparatus;
Wherein, described each slide block inboard is respectively equipped with the mover of axle center motor, all be embedded with the stator bar magnet of axle center motor in the described arbitrary load axle, the mover of the software operating shaft electrocardiograph by control system slides on the stator bar magnet, and drives screw-driving apparatus and realize at least two axial symmetrical lock screws assemblings of sending automatically synchronously on the same direction of prepackage workpiece.
By implementing technical scheme of the present invention, its retrievable beneficial effect is:
1, the multiaxis of building based on the axle center motor technology is with the application in the screw-driving field of the robot platform of driven portal mechanism, realize the plural number motion of single shaft multi-slide easily, the diaxon that relative two SCARA robots are built can dwindle about 50% size and reduce by 50% system cost with moving platform.
2, diaxon or four etc. are a plurality of send tightening the unit can tighten assembling synchronously to what the equidirectional a plurality of screws of workpiece carried out symmetrical expression according to default separately location parameter and path on above-mentioned robot platform of lock screw automatically, the assembling speed of this system is 2～4 times of single shaft robot tightening system, has avoided simultaneously because the asymmetric assembling deflection of the product that causes, the quality problems of screw thread change in torque of tightening of single shaft robot.
3, based on the flexibility degree height of the synchronous screw thread tightening system of the multiaxis of above-mentioned platform, at same series products, only need configure each location parameter of tightening the unit and path to robot platform, just can realize various close products on the same streamline are realized the assembling work of flexibility, can avoid the overlapping investment cost of equipment like this.
Description of drawings
Fig. 1 is that an embodiment of the screw assembly system of prior art overlooks configuration diagram;
Fig. 2 is that another embodiment of the screw assembly system of prior art overlooks configuration diagram;
Fig. 3 is that configuration diagram is overlooked in assembly system one preferred embodiment of the present invention;
Fig. 4 is assembly system one a preferred embodiment stereo appearance figure of the present invention;
Fig. 5 is that configuration diagram is overlooked in another preferred embodiment of assembly system of the present invention;
Fig. 6 is another preferred embodiment stereo appearance figure of assembly system of the present invention;
Fig. 7 is that configuration diagram is overlooked in the another preferred embodiment of assembly system of the present invention;
Fig. 8 is the side cross-sectional schematic diagram of assembly system of the present invention.
The implication of each Reference numeral is among the above figure:
1 frock pedestal 2a base type work mounting s platform
3 pillars, 4 assembling main shafts
4a prior art assembled shaft 5 assembling countershafts
61 connecting shaft slide blocks, 62 frock slide blocks
7 SCARA type manipulators, 71 manipulator joints
72 manipulator folding arms, 8 screw-driving apparatus
9 prepackage workpiece 10a axle center motor stator bar magnets
10b axle center electric mover
A～h prepackage workpiece is treated each screw of screw assembling
The specific embodiment
A kind of multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws provided by the invention comprises:
Work mounting s platform 2 is in order to display the prepackage workpiece 9 of required assembling; It can be the common base type platform that is close on the frock pedestal 1, also can make the mounting plate of unsettled suspension type by suspension apparatus.For multifarious prepackage workpiece, described work mounting s platform has the space bearing capacity that adapts with it.
At least one pillar 3 is set in the area of space outside of work mounting s platform 2 perpendicular to frock pedestal 1, be provided with at least one assembled shaft on it, and each assembled shaft slidely connects at least two slide blocks further, and described two slide blocks can slide with speed and direction mutually noninterfere ground separately on same assembled shaft; Especially, this slide block mainly comprises connecting shaft slide block 61 and 62 liang of classes of frock slide block.
At least two cover screw-driving apparatus 8; This every suit screw-driving apparatus 8 is by screw arrangement units, letter sorting unit, supply unit, pre-grip unit and tighten unit composition (not shown).
Shown in the sectional view of assembly system of the present invention as shown in Figure 8; core as the present invention's creation and required protection: each slide block inboard is respectively equipped with the mover of axle center motor in this multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws; all be embedded with the stator bar magnet of axle center motor in the described arbitrary load axle; the mover of the software operating shaft electrocardiograph by control system slides on the stator bar magnet, and drives screw-driving apparatus and realize at least two axial symmetrical lock screws assemblings of sending automatically synchronously on the same direction of prepackage workpiece.
Purpose, feature and the advantage of multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws of the present invention will be done further to specifically describe in conjunction with respective drawings by following a plurality of preferred embodiments, to deepen the understanding to essence of the present invention.
Embodiment one
As shown in Figure 3 and Figure 4, be that configuration diagram and stereo appearance figure are overlooked in assembly system one preferred embodiment of the present invention.By this accompanying drawing as seen, this multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws includes frock pedestal 1, work mounting s platform 2a, at least two cover screw-driving apparatus 8 and a plurality of pillar 3 are set in work mounting s platform 2 perpendicular to frock pedestal 1 the area of space outside.In the present embodiment, this assembled shaft is three, link to each other by connecting shaft slide block 61 right angles in turn and be surrounded by half in work mounting s platform 2, defining its middle assembled shaft is main shaft 4 (X axis), and the assembled shaft that is connected with of both sides forms countershaft 5 (Y1, Y2 are axial) with it, only is equiped with a frock slide block 62 respectively towards work mounting s platform 2 on each countershaft 5.Wherein, described each connecting shaft slide block 61 and frock slide block 62 inboards are respectively equipped with the mover of axle center motor, all are embedded with the stator bar magnet of axle center motor in the described arbitrary load axle.In addition, the mover 10b of the software operating shaft electrocardiograph by control system realizes that two assembling countershafts 5 mutually noninterfere ground on assembling main shaft 4 slides sliding on the stator bar magnet 10a, and drives screw-driving apparatus and realize sending the assembling of lock screw synchronously automatically to two axial symmetrical and mutually noninterferes on the same direction of prepackage workpiece.Prepackage workpiece 9 as shown in the figure has eight screw pilot holes of a～h, two axial pilot hole b and g for the synchronous assembling of any needs, can slide to corresponding y shaft position by the connecting shaft slide block 62 on the main shaft 4, and then the frock slide block 61 that is driven on the both sides countershaft 5 by software again slides to corresponding x shaft position, after treating the complete contraposition of coordinate position, realize that by screw-driving apparatus 8 symmetrical expression send lock screw flexibility assembling synchronously automatically.
Embodiment two
As shown in Figure 5 and Figure 6, be that configuration diagram and stereo appearance figure are overlooked in another preferred embodiment of assembly system of the present invention.By this accompanying drawing as seen, this multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws includes frock pedestal 1, work mounting s platform 2a, at least two cover screw-driving apparatus 8 and a plurality of pillar 3 are set in work mounting s platform 2 perpendicular to frock pedestal 1 the area of space outside.In the present embodiment, this assembled shaft is two, be mutually the continuous work mounting s platform 2 that is surrounded by half in right angle by connecting shaft slide block 61, a definition wherein assembled shaft is main shaft 4 (X axis), and in addition the assembled shaft that is connected with of side forms countershaft 5 (Y-axis to), only is equiped with two frock slide blocks 62 respectively towards work mounting s platform 2 on each countershaft 5.Wherein, described each connecting shaft slide block 61 and frock slide block 62 inboards are respectively equipped with the mover of axle center motor, all are embedded with the stator bar magnet of axle center motor in the described arbitrary load axle.In addition, the mover of the software operating shaft electrocardiograph by control system realizes that assembling countershaft 5 slides sliding on the stator bar magnet on assembling main shaft 4, and drives screw-driving apparatus and realize sending the assembling of lock screw synchronously automatically to two axial symmetrical and mutually noninterferes on the same direction of prepackage workpiece.Prepackage workpiece 9 as shown in the figure has eight screw pilot holes of a～h, for two that will assemble synchronously axial pilot hole a and e, can slide to corresponding y shaft position by the connecting shaft slide block 62 on the main shaft 4, and then the frock slide block 61 that is driven on the both sides countershaft 5 by software again slides to corresponding x shaft position, after treating the complete contraposition of coordinate position, realize that by screw-driving apparatus 8 symmetrical expression send lock screw flexibility assembling synchronously automatically.
Embodiment three
As shown in Figure 7, be assembly system of the present invention again a preferred embodiment overlook configuration diagram.By this accompanying drawing as seen, this multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws includes frock pedestal 1, work mounting s platform 2a, at least two overlaps screw-driving apparatus 8 and a pillar 3 is set in outside the area of space of work mounting s platform 2 perpendicular to frock pedestal 1.In the present embodiment, a described pillar 3 is provided with a SCARA type manipulator 7, and is connected with an assembled shaft 4 based on the axle center motor in manipulator folding arm 72 ends, and assembled shaft 4 is equiped with at least two incorgruous frock slide blocks 62 towards work mounting s platform 2.Wherein, these frock slide block 62 inboards are respectively equipped with the mover of axle center motor, all are embedded with the stator bar magnet of axle center motor in this assembled shaft.The mover of the software operating shaft electrocardiograph by control system realizes that two assembling countershafts 5 mutually noninterfere ground on assembling main shaft 4 slides sliding on the stator bar magnet, and drives screw-driving apparatus and realize sending the assembling of lock screw synchronously automatically to two axial symmetrical and mutually noninterferes on the same direction of prepackage workpiece.Prepackage workpiece 9 as shown in the figure has eight screw pilot holes of a～h, for two axial pilot hole ah of any needs assembling synchronously or the matching requirements of cf, can drive assembled shaft 4 by software control rotation SCARA manipulator joint and arrive suitable angle of assembling, two frock slide blocks 61 that driven on it by software slide to rigging position location accurately again, and then realize that by screw-driving apparatus 8 symmetrical expression send lock screw flexibility assembling synchronously automatically.
This work mounting s platform 2 also can be made the mounting plate of unsettled suspension type by suspension apparatus except that being the horizontal base formula.Moreover this assembled shaft also is not limited to three, and the right angle in the same plane links to each other.Vertically link to each other by the connecting shaft slide block, this assembled shaft can constitute the three-dimensional assembly system of a three-dimensional multiaxis (＞4).Workpiece is carried out the three-dimensional multi-shaft symmetrical expression with under the driving of control system software, driving the screw-driving apparatus mutually noninterfere and send the assembling of lock screw-driving synchronously automatically.
By using multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws of the present invention, its retrievable considerable beneficial effect:
1, the multiaxis of building based on the axle center motor technology is with the application in the screw-driving field of the platform of driven portal mechanism, realize the plural number motion of single shaft multi-slide easily, the diaxon that relative two SCARA robots are built can dwindle about 50% size and reduce by 50% system cost with moving platform.
2, diaxon or four etc. are a plurality of send tightening the unit can tighten assembling synchronously to what the equidirectional a plurality of screws of workpiece carried out symmetrical expression according to default separately location parameter and path on above-mentioned platform of lock screw automatically, the assembling speed of this system is 2～4 times of single shaft robot tightening system, has avoided simultaneously because the asymmetric assembling deflection of the product that causes, the quality problems of screw thread change in torque of tightening of single shaft robot.
3, based on the flexibility degree height of the synchronous screw thread tightening system of the multiaxis of above-mentioned platform, at same series products, only need configure each location parameter of tightening the unit and path to platform, just can realize various close products on the same streamline are realized the assembling work of flexibility, can avoid the overlapping investment cost of equipment like this.
To sum up for the detailed description of a plurality of embodiment features, being intended to deepen the understanding of the present invention, is not scope and the polytropy that limits this patent application implementation with this.So every structure conversion equivalent or approximate with respect to the above embodiment of the present invention can realize the object of the invention design, all should be regarded as belonging to the category of patent protection of the present invention.
Claims (12)
1. multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws comprises:
The frock pedestal is in order to support the also stability of the whole assembly system of balance;
The work mounting s platform is in order to display the prepackage workpiece of required assembling;
At least one pillar is set in the area of space outside of work mounting s platform perpendicular to the frock pedestal, be provided with at least one assembled shaft on it, and each assembled shaft slidely connects at least two slide blocks further, and described slide block can slide with speed and direction mutually noninterfere ground separately on same assembled shaft;
At least two cover screw-driving apparatus;
Wherein, described slide block inboard is respectively equipped with the mover of axle center motor, all be embedded with the stator bar magnet of axle center motor in the described assembled shaft, the mover of the software operating shaft electrocardiograph by control system slides on the stator bar magnet, and drives screw-driving apparatus and realize at least two axial symmetrical lock screws assemblings of sending automatically synchronously on the same direction of prepackage workpiece.
2. multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws according to claim 1 is characterized in that: described work mounting s platform is the horizontal base formula, or is unsettled suspension type.
3. multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws according to claim 1, it is characterized in that: the described slide block that is equiped with the axle center electric mover comprises connecting shaft slide block and frock slide block two classes, and described screw-driving apparatus respectively one by one correspondence be installed on frock slide block side.
4. multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws according to claim 1 is characterized in that: described at least one pillar is static being fixedly arranged on the frock pedestal.
5. according to claim 1 or 4 described multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws, it is characterized in that: described pillar supporting that at least two rectangular shapes are connected with and around the assembled shaft in the work mounting s platform outside, link to each other with the connecting shaft slide block mutually between the described assembled shaft, and be equiped with the slide block that does not interfere with each other each other towards the work mounting s platform respectively on arbitrary assembled shaft.
6. multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws according to claim 5, it is characterized in that: described assembled shaft is two, be mutually the continuous work mounting s platform that is surrounded by half in right angle, a definition wherein assembled shaft is main shaft (X axis), and the assembled shaft that is connected with it is countershaft (Y-axis to), only on countershaft, be equiped with two frock slide blocks towards the work mounting s platform, drive under the driving of control system software screw-driving apparatus mutually noninterfere ground to workpiece on the same direction two axially carry out symmetry and send the assembling of lock screw synchronously automatically.
7. multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws according to claim 5, it is characterized in that: described assembled shaft is three, form the continuous work mounting s platform that is surrounded by half in right angle in turn, defining its middle assembled shaft is main shaft (X axis), and the assembled shaft that is connected with of both sides forms countershaft (Y1 with it, Y2 is axial), only on each countershaft, be equiped with a frock slide block respectively towards the work mounting s platform, drive under the driving of control system software screw-driving apparatus mutually noninterfere ground to workpiece on the same direction two axially carry out symmetry and send the assembling of lock screw synchronously automatically.
8. according to claim 1 or 4 described multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws, it is characterized in that: a described pillar is provided with a SCARA type manipulator, and be connected with an assembled shaft based on the axle center motor in arm end, and assembled shaft is equiped with at least two opposing frock slide blocks towards the work mounting s platform.
9. multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws according to claim 1 is characterized in that: described screw-driving apparatus is by screw arrangement units, letter sorting unit, supply unit, pre-grip unit and tighten the unit and form.
10. multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws according to claim 1 is characterized in that: for multifarious prepackage workpiece, described work mounting s platform has the space bearing capacity that adapts with it.
11. multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws according to claim 1, it is characterized in that: mix being equiped with connecting shaft slide block and frock slide block on the described assembled shaft, when frock slide block guiding screw-driving apparatus assembled, the connecting shaft slide block can carry out another axial sliding process fully uninterruptedly.
12. multiaxis symmetrical expression flexible assembly system for synchronous automatic-screwed screws according to claim 1 and 2, it is characterized in that: the unsettled frock pedestal sky that is hung on of described work mounting s platform, and described assembled shaft is greater than three, and vertically link to each other by the connecting shaft slide block each other, on the work mounting s platform, be equiped with screw-driving apparatus on the frock slide block of following both sides respectively towards the work mounting s platform, drive under the driving of control system software screw-driving apparatus mutually noninterfere ground to workpiece on the same direction a plurality of symmetries of axially carrying out send the assembling of lock screw synchronously automatically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100198835A CN101537563B (en) | 2008-03-20 | 2008-03-20 | Multi-shaft symmetric flexible assembly system for synchronous automatic-screwed screws |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100198835A CN101537563B (en) | 2008-03-20 | 2008-03-20 | Multi-shaft symmetric flexible assembly system for synchronous automatic-screwed screws |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101537563A CN101537563A (en) | 2009-09-23 |
| CN101537563B true CN101537563B (en) | 2010-09-01 |
Family
ID=41121069
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100198835A Expired - Fee Related CN101537563B (en) | 2008-03-20 | 2008-03-20 | Multi-shaft symmetric flexible assembly system for synchronous automatic-screwed screws |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101537563B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102744597A (en) * | 2011-04-22 | 2012-10-24 | 苏州启睿达自动化设备有限公司 | Intelligent tightening equipment for double nuts of solar junction box |
| CN102601603B (en) * | 2012-03-06 | 2015-05-20 | 昆山巨林科教实业有限公司 | Assembly system and assembly method thereof |
| CN103009032A (en) * | 2012-12-10 | 2013-04-03 | 深圳市神拓机电设备有限公司 | Screw thread screwing device in filter element assembly |
| CN104384910A (en) * | 2014-09-26 | 2015-03-04 | 安徽巨一自动化装备有限公司 | MDOF (Multiple Degree Of Freedom) pitch control mechanism of tightening shafts |
| CN104589045A (en) * | 2014-12-31 | 2015-05-06 | 大连运明自动化技术有限公司 | Automatic workpiece taking and placing module for fastening robot |
| CN104801961B (en) * | 2015-04-24 | 2017-01-18 | 吴中区木渎蒯斌模具加工厂 | Screw transposition screw-in mechanism of micro reduction motor assembling machine |
| CN105923358B (en) * | 2016-05-31 | 2018-03-30 | 济南鑫捷瑞电气有限公司 | The mixing feed device of two kinds of specification screws can be supplied simultaneously |
| CN106799586B (en) * | 2016-12-16 | 2019-01-29 | 杭州吉众机电股份有限公司 | A kind of chassis backplane puts bolt device and its application method automatically |
| CN109986323B (en) * | 2019-04-01 | 2020-12-25 | 南京睿易智能科技有限公司 | Flexible screw automatic feeding device and method |
| CN112589425A (en) * | 2020-12-02 | 2021-04-02 | 泉州芸台科技有限公司 | Climb automatic lock net workstation of frame net |
| CN114986108A (en) * | 2022-04-21 | 2022-09-02 | 安徽科达机电股份有限公司 | Evaporate foster bottom plate bracing piece dismouting equipment |
| CN114986139A (en) * | 2022-06-01 | 2022-09-02 | 北京航天控制仪器研究所 | Precise synchronous automatic tightening device and method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201244727Y (en) * | 2008-03-20 | 2009-05-27 | 苏州铂电自动化科技有限公司 | Flexible assembling system for multiaxial symmetric synchronous automatic screwing bolt |
-
2008
- 2008-03-20 CN CN2008100198835A patent/CN101537563B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201244727Y (en) * | 2008-03-20 | 2009-05-27 | 苏州铂电自动化科技有限公司 | Flexible assembling system for multiaxial symmetric synchronous automatic screwing bolt |
Non-Patent Citations (3)
| Title |
|---|
| JP昭62-181844A 1987.08.10 |
| JP特开2004-223672A 2004.08.12 |
| JP特开平11-77451A 1999.03.23 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101537563A (en) | 2009-09-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101537563B (en) | Multi-shaft symmetric flexible assembly system for synchronous automatic-screwed screws | |
| CN201244727Y (en) | Flexible assembling system for multiaxial symmetric synchronous automatic screwing bolt | |
| CN106217364A (en) | A kind of six-shaft industrial robot of fast assembling-disassembling | |
| CN103433918A (en) | Series-parallel industrial robot with five degrees of freedom | |
| CN102962848A (en) | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot | |
| CN205674202U (en) | A kind of four axle heavy duty swing arm articulated robots | |
| CN103198747B (en) | Electromechanical and pneumatic integrated production training system | |
| CN102837308A (en) | Robot | |
| CN105014664B (en) | It is applicable to the light modularized mechanical arm of small space | |
| CN104786211B (en) | A kind of Six-DOF industrial robot containing ball screw assembly, | |
| CN102303313B (en) | Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism | |
| CN103753355A (en) | Multi-axis linkage device capable of realizing five-surface machining | |
| CN106363616A (en) | Six-degree-of-freedom parallel robot | |
| CN108557493B (en) | Metamorphic mechanism type stacking robot | |
| CN103659793A (en) | Three-horizontal-moving parallel mechanism with single branch chains containing closed rings | |
| CN112091946B (en) | Overhead multi-degree-of-freedom rope-driven parallel robot | |
| CN204525461U (en) | A kind of novel three freedom degree manipulator | |
| CN210389181U (en) | Parallel structure with three-dimensional movement | |
| CN109531552B (en) | Two-degree-of-freedom pure rotation parallel mechanism | |
| CN110355740B (en) | Parallel mechanism with two motion modes of 1R1T and 3T | |
| CN101224577A (en) | Two degrees of freedom high speed translation parallel robot mechanism by rotating subsidiary drive | |
| CN202241271U (en) | Asymmetric full isotropy three degree-of-freedom space parallel robot mechanism | |
| CN200945556Y (en) | Five-coordinate numerical control machine machining center based on three-coordinate power head | |
| CN205148316U (en) | Parallel robot | |
| CN208132965U (en) | A kind of motor driven multiaxis combined machine arm system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100901 Termination date: 20110320 |