CN101537859B - Vibration and suction mechanism with adjustable eccentric wheels - Google Patents
Vibration and suction mechanism with adjustable eccentric wheels Download PDFInfo
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- CN101537859B CN101537859B CN200910081832XA CN200910081832A CN101537859B CN 101537859 B CN101537859 B CN 101537859B CN 200910081832X A CN200910081832X A CN 200910081832XA CN 200910081832 A CN200910081832 A CN 200910081832A CN 101537859 B CN101537859 B CN 101537859B
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Abstract
The invention discloses a vibration and suction mechanism with adjustable eccentric wheels. The vibration and suction mechanism comprises a vibration unit, a driving unit and a base; the vibration unit comprises four levers, four suckers, four guiding columns and a plurality of pins; and the driving unit consists of two motors, a worm, a piston, eccentric wheels and a guiding frame. The vibration and suction mechanism realizes vibration and suction of the four suckers by one motor, while the other motor can change vibration amplitude by changing the eccentric wheels. By matched use of the worm and the piston, the vibration and suction mechanism can realize fine adjustment of the offset of the eccentric wheels, thus improving the precision and controllability of vibration amplitude changing.
Description
Technical field
The present invention relates to a kind of mechanism that uses sucker to vibrate absorption, more particularly say, be meant a kind of vibration and suction mechanism with adjustable eccentric of vibration and amplitude mutually noninterfere.
Background technology
Vibration in a broad sense is meant the process that the parameter (as displacement, voltage) of descriptive system state changes at its a reference value alternatively up and down.Narrow sense be meant mechanical vibration, i.e. vibration in the mechanical system.If residing state was a state of equilibrium when sucker chamber internal gas pressure equaled external atmosphere pressure, sucker is when its shirt rim well contacts with wall under state of nature, make it highly be balance height, sucker makes its height under the effect of external force be the center with the balance height, with the phenomenon of wall absorption, be called vibration absorption with certain amplitude vibration.
Negative-pressure adsorption comprises initiatively absorption and passive absorption.Initiatively absorption is meant the formation of vacuum and keeps the active suction that all dependence comes from the outside, and generally adopts vacuum generating device to produce negative pressure in sucker.The negative pressure value that this mode produces is bigger, and the relative vacuum degree generally can reach-80KPa～-90KPa (the relative pressure of standard atmosphere is 0KPa).This negative pressure value can guarantee that sucker produces enough adsorption affinitys, needs the very long tracheae of traction but shortcoming is a vacuum generating device, makes the entire machine human body become heavy, is unfavorable for realizing the miniaturization of robot.Passive absorption is to produce negative pressure by the sucker dilatation, does not need vacuum generating device and tracheae, realizes the miniaturization of robot body easily, but shortcoming is that the negative pressure that produces is less, because the gas leak phenomenon of sucker and wall exists, the safety of robot is reduced, can not be adsorbed on the wall constantly.
Summary of the invention
The purpose of this invention is to provide a kind of vibration and suction mechanism with adjustable eccentric, this vibration and suction mechanism is by the vibration absorption of four suckers of a motor realization, and another motor can be by changing eccentric offset and then changing amplitude.By being used of worm screw, piston, can realizing the fine setting of eccentric wheel offset, thereby improve precision and controllability that amplitude changes.
A kind of vibration and suction mechanism with adjustable eccentric of the present invention is made of vibration unit 1, driver element 2 and pedestal 10; Vibration unit 1 is made up of four levers, four suckers, four guideposts and a plurality of pin; Driver element 2 is made up of A motor 21, B motor 24, worm screw 26, piston 25, eccentric wheel 22 and guide frame 23;
Four suckers are meant A sucker 41, B sucker 42, C sucker 43 and D sucker 44;
Four guideposts are meant A guidepost 51, B guidepost 52, C guidepost 53 and D guidepost 54;
Four levers are meant A lever 11, B lever 12, C lever 13 and D lever 14;
One end of A lever 11 is provided with A chute 111, the other end of A lever 11 is provided with B chute 112, the centre of A lever 11 has A through hole 113, A chute 111 is used for K pin 541 and slides within it, B chute 112 is used for E pin 511 and slides within it, A through hole 113 is used for A pin 151 and passes, and A lever 11 is that balance pivot rotates with A bearing 101;
One end of B lever 12 is provided with C chute 121, the other end of B lever 12 is provided with D chute 122, the centre of B lever 12 has B through hole 123, C chute 121 is used for F pin 512 and slides within it, D chute 122 is used for H pin 522 and slides within it, B through hole 123 is used for B pin 152 and passes, and B lever 12 is that balance pivot rotates with B bearing 102;
One end of C lever 13 is provided with E chute 131, the other end of C lever 13 is provided with F chute 132, the centre of C lever 13 has C through hole 133, E chute 131 is used for G pin 521 and slides within it, F chute 132 is used for I pin 531 and slides within it, C through hole 133 is used for C pin 153 and passes, and C lever 13 is that balance pivot rotates with C bearing 103;
One end of D lever 14 is provided with G chute 141, the other end of D lever 14 is provided with H chute 142, the centre of D lever 14 has D through hole 143, G chute 141 is used for J pin 532 and slides within it, H chute 142 is used for L pin 542 and slides within it, D through hole 143 is used for D pin 154 and passes, and D lever 14 is that balance pivot rotates with D bearing 104;
The center of the eccentric wheel 22 in the driver element 2 is provided with eccentric orfice 221, is provided with counter sink 223 on the side plate face of eccentric orfice 221, and the wheel rim of eccentric wheel 22 is provided with square hole 222, and the square hole line of centers of this square hole 222 is crossed the center of circle of eccentric wheel 22;
The chamber, the side of being provided with, center 231 of the guide frame 23 in the driver element 2, the upper end of guide frame 23 is provided with guide arm 233, the leading section of guide arm 233 has chute 232, can realize the upper end of B guidepost 52 and being connected of guide frame 23 by holding screw is installed in this chute 232;
The center of the piston 25 in the driver element 2 is provided with piston hole 251, and the top of piston 25 is provided with projection 252, and piston hole 251 is used to install the output shaft 211 of A motor 21, and projection 252 is used for and worm screw 26 engagements;
The A motor 21 of driver element 2 is installed on the motor cabinet 110, motor cabinet 110 is provided with a through hole, the output shaft 211 that this through hole is used for A motor 21 passes, and A motor 21 is positioned, and the output shaft 211 of A motor 21 is connected in the piston hole 251 of piston 25 after passing described through hole; Projection 252 on the piston 25 is installed in the eccentric orfice 221 of eccentric wheel 22 after meshing with worm screw 26, and the two ends of piston 25 place in the square hole 222; The end of worm screw 26 places in the counter sink 223, and the other end of worm screw 26 is connected with the coupling end of micro-module 241; Eccentric wheel 22 places in the square chamber 231 of guide frame 23;
Four angles of pedestal 10 have four bearing holes, and are provided with a bearing between per two bearing holes, in each bearing hole bearing are installed; Four bearing holes are meant A bearing hole 105, B bearing hole 106, C bearing hole 107 and D bearing hole 108; A bearing 161 is installed in the A bearing hole 105, B bearing 162 is installed in the B bearing hole 106, C bearing 163 is installed in the C bearing hole 107, D bearing 164 is installed in the D bearing hole 108;
Be A bearing 101 between A bearing hole 105 and the B bearing hole 106, the top of this A bearing 101 is provided with a through hole, and this through hole is used to install A pin 151;
Be B bearing 102 between B bearing hole 106 and the C bearing hole 107, the top of this B bearing 102 is provided with a through hole, and this through hole is used to install B pin 152;
Be C bearing 103 between C bearing hole 107 and the D bearing hole 108, the top of this C bearing 103 is provided with a through hole, and this through hole is used to install C pin 153;
Be D bearing 104 between D bearing hole 108 and the A bearing hole 105, the top of this D bearing 104 is provided with a through hole, and this through hole is used to install D pin 154;
Be provided with U-shaped spare 109 and described motor cabinet 110 on the diagonal line of A bearing hole 105 and C bearing hole 107, U-shaped spare 109 is used to install guide frame 23.
A kind of vibration and suction mechanism of the present invention with adjustable eccentric, the vibration processes of its vibration unit 1 is: guide frame 23 drives B guidepost 52 and B sucker 42 up-down vibration, and B guidepost 52 drives A guidepost 51 and A sucker 41 and C guidepost 53 and C sucker 43 up-down vibration by B lever 12 and C lever 13; A guidepost 51 and C guidepost 53 drive D guidepost 54 and D sucker 44 up-down vibration by A lever 11 and D lever 14 respectively.
A kind of advantage with vibration and suction mechanism of adjustable eccentric of the present invention is:
(1) adopt two DC servo motor as drive source, the vibration of four suckers of motor-driven absorption, another motor by with being used an of miniature reducer, realized the fine setting of amplitude.
(2) adopt being used of worm screw and piston, guaranteed the precision of amplitude variations, improved the controllability of vibration and suction mechanism of the present invention.
(3) adopt four levers to coordinate the interlock design on the top of pedestal, can improve the alerting ability of mechanism kinematic with the transfer of vibration of a terminal sucker to its excess-three end.
Description of drawings
Fig. 1 is the constructional drawing that the present invention has the vibration and suction mechanism of adjustable eccentric.
Fig. 2 is the exploded drawings of vibration unit of the present invention.
Fig. 3 is the exploded drawings of driver element of the present invention.
Fig. 3 A is the eccentric constructional drawing of the present invention.
Fig. 3 B is eccentric another visual angle constructional drawing of the present invention.
Fig. 4 is the assembly drowing of sucker of the present invention and guidepost.
Among the figure: 1. vibration unit 10. pedestal 101.A bearing 102.B bearings
103.C bearing 104.D bearing 105.A bearing hole 106.B bearing hole 107.C bearing hole
108.D bearing hole 109.U shape part 110. motor cabinet 11.A lever 111.A chutes
112.B chute 113.A through hole 12.B lever 121.C chute 122.D chute
123.B through hole 13.C lever 131.E chute 132.F chute 133.C through hole
14.D lever 141.G chute 142.H chute 143.D through hole 151.A pin
152.B pin 153.C pin 154.D pin 161.A bearing 162.B bearing
163.C bearing 164.D bearing 2. driver element 21.A motors 211. output shafts
22. eccentric wheel 221. eccentric orfices 222. square holes 223. counter sinks 23. guide frames
231. square chamber 232. chutes, 233. guide arm 24.B motors, 241. coupling ends
24a. retarder 25. pistons 251. piston holes 252. projections 26. worm screws
41.A sucker 42.B sucker 43.C sucker 44.D sucker 51.A guidepost
52.B guidepost 53.C guidepost 54.D guidepost 511.E pin 512.F pin
521.G pin 522.H pin 531.I pin 532.J pin 541.K pin 542.L pin
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Referring to shown in Figure 1, a kind of vibration and suction mechanism with adjustable eccentric of the present invention is made of vibration unit 1, driver element 2 and pedestal 10.Vibration unit 1 is made up of four levers, four suckers, four guideposts and a plurality of pin.Driver element 2 is made up of A motor 21, B motor 24, worm screw 26, piston 25, eccentric wheel 22 and guide frame 23.
(1) vibration unit 1
Referring to Fig. 1, shown in Figure 4, four suckers are meant A sucker 41, B sucker 42, C sucker 43 and D sucker 44.
Four guideposts are meant A guidepost 51, B guidepost 52, C guidepost 53 and D guidepost 54.The upper end of each guidepost is provided with two through holes, and these two through holes adopt vertical mode to offer.
In the present invention, the lower end of each guidepost is installed on the sucker, and the upper end of guidepost realizes an end of guidepost and two levers to assemble by two vertical two pins placing after passing bearing in the bearing hole that is installed in pedestal 10.Guidepost and sucker be connected to conventional mounting means, be about to the guidepost lower end and insert in the sucker, when motion, guidepost pull-up and put down the realization sucker and separate with driving surface (as ground, metope etc.) and contact.
Four levers are meant A lever 11, B lever 12, C lever 13 and D lever 14.The two ends of each lever are provided with chute, and the centre is provided with through hole, realize that by place pin in through hole lever cooperates with axis hole between the bearing, and this flexibly connects and is lever and can rotates around pin.
One end of A lever 11 is provided with A chute 111, the other end of A lever 11 is provided with B chute 112, the centre of A lever 11 has A through hole 113, A chute 111 is used for K pin 541 and slides within it, B chute 112 is used for E pin 511 and slides within it, A through hole 113 is used for A pin 151 and passes, in the present invention, be installed in the through hole of A bearing 101 after passing A through hole 113 by A pin 151, thereby realize that the A lever 11 and the flexible assembly of A bearing 101 concern that promptly A lever 11 is that balance pivot rotates with A bearing 101.
One end of B lever 12 is provided with C chute 121, the other end of B lever 12 is provided with D chute 122, the centre of B lever 12 has B through hole 123, C chute 121 is used for F pin 512 and slides within it, D chute 122 is used for H pin 522 and slides within it, B through hole 123 is used for B pin 152 and passes, in the present invention, be installed in the through hole of B bearing 102 after passing B through hole 123 by B pin 152, thereby realize that the B lever 12 and the flexible assembly of B bearing 102 concern that promptly B lever 12 is that balance pivot rotates with B bearing 102.
One end of C lever 13 is provided with E chute 131, the other end of C lever 13 is provided with F chute 132, the centre of C lever 13 has C through hole 133, E chute 131 is used for G pin 521 and slides within it, F chute 132 is used for I pin 531 and slides within it, C through hole 133 is used for C pin 153 and passes, in the present invention, be installed in the through hole of C bearing 103 after passing C through hole 133 by C pin 153, thereby realize that the C lever 13 and the flexible assembly of C bearing 103 concern that promptly C lever 13 is that balance pivot rotates with C bearing 103.
One end of D lever 14 is provided with G chute 141, the other end of D lever 14 is provided with H chute 142, the centre of D lever 14 has D through hole 143, G chute 141 is used for J pin 532 and slides within it, H chute 142 is used for L pin 542 and slides within it, D through hole 143 is used for D pin 154 and passes, in the present invention, be installed in the through hole of D bearing 104 after passing D through hole 143 by D pin 154, thereby realize that the D lever 14 and the flexible assembly of D bearing 104 concern that promptly D lever 14 is that balance pivot rotates with D bearing 104.
In the present invention, the vibration processes of vibration unit 1 is: guide frame 23 drives B guidepost 52 and B sucker 42 up-down vibration, and B guidepost 52 drives A guidepost 51 and A sucker 41 and C guidepost 53 and C sucker 43 up-down vibration by B lever 12 and C lever 13.A guidepost 51 and C guidepost 53 drive D guidepost 54 and D sucker 44 up-down vibration by A lever 11 and D lever 14 respectively.
(2) driver element 2
Shown in Fig. 1, Fig. 3, Fig. 3 A, Fig. 3 B, the center of the eccentric wheel 22 in the driver element 2 is provided with eccentric orfice 221, be provided with counter sink 223 on the side plate face of eccentric orfice 221, the wheel rim of eccentric wheel 22 is provided with square hole 222, and the square hole line of centers of this square hole 222 is crossed the center of circle of eccentric wheel 22.
The chamber, the side of being provided with, center 231 of the guide frame 23 in the driver element 2, the upper end of guide frame 23 is provided with guide arm 233, the leading section of guide arm 233 has chute 232, can realize the upper end of B guidepost 52 and being connected of guide frame 23 by holding screw is installed in this chute 232.
The center of the piston 25 in the driver element 2 is provided with piston hole 251, and the top of piston 25 is provided with projection 252, and piston hole 251 is used to install the output shaft 211 of A motor 21, and projection 252 is used for and worm screw 26 engagements.
The A motor 21 (DC servo motor) of driver element 2 is installed on the motor cabinet 110, motor cabinet 110 is provided with a through hole, the output shaft 211 that this through hole is used for A motor 21 passes, and the output shaft 211 of A motor 21 passed position, the output shaft 211 of A motor 21 is connected in the piston hole 251 of piston 25 after passing described through hole; Projection 252 on the piston 25 is installed in the eccentric orfice 221 of eccentric wheel 22 after meshing with worm screw 26, and the two ends of piston 25 place in the square hole 222; The end of worm screw 26 places in the counter sink 223, and the other end of worm screw 26 is connected with the coupling end of micro-module 241; Eccentric wheel 22 places in the square chamber 231 of guide frame 23.
In the present invention, B motor 24 (DC servo motor) and retarder 24a are a micro-module, are connected with the other end of worm screw 26 on the coupling end 241 of this micro-module.Retarder 24a can reduce the rotating speed of B motor 24 and increase the output torque of B motor 24.
In the present invention, B motor 24 drives worm screw 26 rotations, the position of adjusting piston 25 in eccentric wheel 22.A motor 21 drives piston 25 and rotates, and then 22 rotations of drive eccentric wheel make guide frame 23 up-and-down movement in U-shaped spare 109.
(3) pedestal 10
Referring to Fig. 1, shown in Figure 2, four angles of pedestal 10 have four bearing holes, and are provided with a bearing between per two bearing holes, in each bearing hole bearing are installed.Four bearing holes are meant A bearing hole 105, B bearing hole 106, C bearing hole 107 and D bearing hole 108.A bearing 161 is installed in the A bearing hole 105, B bearing 162 is installed in the B bearing hole 106, C bearing 163 is installed in the C bearing hole 107, D bearing 164 is installed in the D bearing hole 108.
Be A bearing 101 between A bearing hole 105 and the B bearing hole 106, the top of this A bearing 101 is provided with a through hole, and this through hole is used to install A pin 151.
Be B bearing 102 between B bearing hole 106 and the C bearing hole 107, the top of this B bearing 102 is provided with a through hole, and this through hole is used to install B pin 152.
Be C bearing 103 between C bearing hole 107 and the D bearing hole 108, the top of this C bearing 103 is provided with a through hole, and this through hole is used to install C pin 153.
Be D bearing 104 between D bearing hole 108 and the A bearing hole 105, the top of this D bearing 104 is provided with a through hole, and this through hole is used to install D pin 154.
On the diagonal line of A bearing hole 105 and C bearing hole 107, be provided with U-shaped spare 109 and described motor cabinet 110, U-shaped spare 109 is used to install guide frame 23, can can not realize the motion of left and right directions at the upper and lower upward movement by 23 on restricted guidance frame, play spacing effect.
Claims (3)
1. vibration and suction mechanism with adjustable eccentric is characterized in that: this vibration and suction mechanism is made of vibration unit (1), driver element (2) and pedestal (10); Vibration unit (1) is made up of four levers, four suckers, four guideposts and a plurality of pin; Driver element (2) is made up of A motor (21), B motor (24), worm screw (26), piston (25), eccentric wheel (22) and guide frame (23); Four suckers are meant A sucker (41), B sucker (42), C sucker (43) and D sucker (44); Four guideposts are meant A guidepost (51), B guidepost (52), C guidepost (53) and D guidepost (54);
Four levers are meant A lever (11), B lever (12), C lever (13) and D lever (14); One end of A lever (11) is provided with A chute (111), the other end of A lever (11) is provided with B chute (112), the centre of A lever (11) has A through hole (113), A chute (111) is used for K pin (541) and slides within it, B chute (112) is used for E pin (511) and slides within it, A through hole (113) is used for A pin (151) and passes, and A lever (11) is that balance pivot rotates with A bearing (101);
One end of B lever (12) is provided with C chute (121), the other end of B lever (12) is provided with D chute (122), the centre of B lever (12) has B through hole (123), C chute (121) is used for F pin (512) and slides within it, D chute (122) is used for H pin (522) and slides within it, B through hole (123) is used for B pin (152) and passes, and B lever (12) is that balance pivot rotates with B bearing (102);
One end of C lever (13) is provided with E chute (131), the other end of C lever (13) is provided with F chute (132), the centre of C lever (13) has C through hole (133), E chute (131) is used for G pin (521) and slides within it, F chute (132) is used for I pin (531) and slides within it, C through hole (133) is used for C pin (153) and passes, and C lever (13) is that balance pivot rotates with C bearing (103);
One end of D lever (14) is provided with G chute (141), the other end of D lever (14) is provided with H chute (142), the centre of D lever (14) has D through hole (143), G chute (141) is used for J pin (532) and slides within it, H chute (142) is used for L pin (542) and slides within it, D through hole (143) is used for D pin (154) and passes, and D lever (14) is that balance pivot rotates with D bearing (104);
The center of the eccentric wheel (22) in the driver element (2) is provided with eccentric orfice (221), on the side plate face of eccentric orfice (221), be provided with counter sink (223), the wheel rim of eccentric wheel (22) is provided with square hole (222), and the square hole line of centers of this square hole (222) is crossed the center of circle of eccentric wheel (22);
The chamber, the side of being provided with, center (231) of the guide frame (23) in the driver element (2), the upper end of guide frame (23) is provided with guide arm (233), the leading section of guide arm (233) has chute (232), can realize the upper end of B guidepost (52) and being connected of guide frame (23) by holding screw is installed in this chute (232);
The center of the piston (25) in the driver element (2) is provided with piston hole (251), and the top of piston (25) is provided with projection (252), and piston hole (251) is used to install the output shaft (211) of A motor (21), and projection (252) is used for and worm screw (26) engagement;
The A motor (21) of driver element (2) is installed on the motor cabinet (110), motor cabinet (110) is provided with a through hole, the output shaft (211) that this through hole is used for A motor (21) passes, and A motor (21) positioned, the output shaft (211) of A motor (21) is connected in the piston hole (251) of piston (25) after passing described through hole; Projection (252) on the piston (25) is installed in the eccentric orfice (221) of eccentric wheel (22) after meshing with worm screw (26), and the two ends of piston (25) place in the square hole (222); The end of worm screw (26) places in the counter sink (223), and the other end of worm screw (26) is connected with the coupling end (241) of micro-module; Eccentric wheel (22) places in the square chamber (231) of guide frame (23);
Four angles of pedestal (10) have four bearing holes, and are provided with a bearing between per two bearing holes, in each bearing hole bearing are installed; Four bearing holes are meant A bearing hole (105), B bearing hole (106), C bearing hole (107) and D bearing hole (108); A bearing (161) is installed in the A bearing hole (105), B bearing (162) is installed in the B bearing hole (106), C bearing (163) is installed in the C bearing hole (107), D bearing (164) is installed in the D bearing hole (108);
Be A bearing (101) between A bearing hole (105) and the B bearing hole (106), the top of this A bearing (101) is provided with a through hole, and this through hole is used to install A pin (151);
Be B bearing (102) between B bearing hole (106) and the C bearing hole (107), the top of this B bearing (102) is provided with a through hole, and this through hole is used to install B pin (152);
Be C bearing (103) between C bearing hole (107) and the D bearing hole (108), the top of this C bearing (103) is provided with a through hole, and this through hole is used to install C pin (153);
Be D bearing (104) between D bearing hole (108) and the A bearing hole (105), the top of this D bearing (104) is provided with a through hole, and this through hole is used to install D pin (154);
Be provided with U-shaped spare (109) and described motor cabinet (110) on the diagonal line of A bearing hole (105) and C bearing hole (107), U-shaped spare (109) is used to install guide frame (23).
2. the vibration and suction mechanism with adjustable eccentric according to claim 1, it is characterized in that: the vibration processes of vibration unit (1) is: guide frame (23) drives B guidepost (52) and B sucker (42) up-down vibration, and B guidepost (52) drives A guidepost (51) and A sucker (41) and C guidepost (53) and C sucker (43) up-down vibration by B lever (12) and C lever (13); A guidepost (51) and C guidepost (53) drive D guidepost (54) and D sucker (44) up-down vibration by A lever (11) and D lever (14) respectively.
3. the vibration and suction mechanism with adjustable eccentric according to claim 1 is characterized in that: B motor (24) in the driver element (2) drives worm screw (26) rotation, can the position of adjusting piston (25) in eccentric wheel (22); A motor (21) drives piston (25) and rotates, and then drive eccentric wheel (22) rotation makes guide frame (23) up-and-down movement in U-shaped spare (109).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910081832XA CN101537859B (en) | 2009-04-13 | 2009-04-13 | Vibration and suction mechanism with adjustable eccentric wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910081832XA CN101537859B (en) | 2009-04-13 | 2009-04-13 | Vibration and suction mechanism with adjustable eccentric wheels |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101537859A CN101537859A (en) | 2009-09-23 |
| CN101537859B true CN101537859B (en) | 2010-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910081832XA Expired - Fee Related CN101537859B (en) | 2009-04-13 | 2009-04-13 | Vibration and suction mechanism with adjustable eccentric wheels |
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| CN (1) | CN101537859B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105571628B (en) * | 2015-12-15 | 2019-03-29 | 重庆大学 | A kind of vibration adsorption experiment platform in underwater and air |
| CN114474124A (en) * | 2022-03-10 | 2022-05-13 | 苏州天准科技股份有限公司 | Pick-up device for bulky components in a heat exchanger of a motor vehicle |
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Granted publication date: 20100811 Termination date: 20110413 |