CN102430905B - Automatic clamping device and method for reel - Google Patents
Automatic clamping device and method for reel Download PDFInfo
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- CN102430905B CN102430905B CN 201110249269 CN201110249269A CN102430905B CN 102430905 B CN102430905 B CN 102430905B CN 201110249269 CN201110249269 CN 201110249269 CN 201110249269 A CN201110249269 A CN 201110249269A CN 102430905 B CN102430905 B CN 102430905B
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Abstract
The invention relates to automatic clamping device and method for a reel, belonging to the technical field of mechanical production automation. The automatic clamping device comprises a clamping mechanism, an unlocking mechanism and a box body, wherein the clamping mechanism comprises a locating jaw, a linear bearing, an optical axis guide rail, a self-locking cylinder and a cylinder support frame; the unlocking mechanism comprises an unlocking sleeve, a cylinder for unlocking, a mobile slide block, an optical axis guide rail, a linear bearing, a spring, an optical axis fixing seat and a cross beam. According to the invention, the jaw is directly driven by the self-locking cylinder, effective and reliable clamping work can be realized by using close fit between a workpiece and the locating jaw, and a safety lock can be operated through the unlocking mechanism while clamping is proceeded. The automatic clamping device has the advantages of simple structure, environment friendliness, economy, convenience and reliability for use and the like.
Description
Technical field
The present invention relates to a kind of reel automatic clamping device and method, belong to the machinery production technical field of automation.
Background technology
in manufacturing enterprise, the material handling amount is large and required expense is high, account for product cost up to 25% left and right, the material handling appropriation of labour power is many, in mechanization degree not high enterprise, the porter often accounts for more than 15% of work force, at the incompetent weight of a dead lift, high temperature or have under the radioactive substance environment, must utilize machinery to carry, to reduce labor intensity, reduce damaged products, the protection workers ' health, raise labour productivity and product quality, reduce production costs, the mechanical handing device of exploitation material handling has great significance in actual production.
steel wire rope reel automatic conveying device is the important component part of Wire Rope Production equipment automatization, but at present in China a lot of Wire Rope Production factory, the reel workpiece handling is not to carry by automated mechanical, but reel is positioned on the station of braiding machine by the mode of a dead lift, whole process not only efficient is low, labourer's working strength is large, and in production process, every safety can not get ensureing, for this reason, carry out industrial upgrading on the basis of existing equipment, the conveying robot equipment of exploitation automation becomes one of current vital task.
Summary of the invention
The object of the invention is to overcome in existing Wire Rope Production and utilize a dead lift mode to place the series of problems that reel produces, a kind of automated handling device for actual production is provided, propose a kind of reel automatic clamping device and method.
The present invention is achieved by the following technical solutions.
a kind of reel automatic clamping device of the present invention, comprise clamping device, unlocking mechanism and casing three parts, its ancillary equipment is reel to be held, wheel shaft and safety lock, wherein the outer rim of reel two ends circular configuration is extended laterally for coordinate realization fixing with clamping device, the wheel shaft of reel pins by the suppression of safety lock, safety lock is rectangular-shaped device, also namely two limits become 90 degree, wherein horizontal direction is on one side in order to push down the wheel shaft of reel, vertical direction can drive safety lock side-to-side movement in the horizontal direction on one side under external force, be release after horizontal direction is left reel on one side in motion process,
Wherein casing is to be fixedly connected with a uncovered that surrounds, bottomless rectangular structure by four blocks of square metal plates, is used for the non-moving component of fixing and holding mechanism and unlocking mechanism; Clamping device is made of left location claw, right location claw, the first linear bearing 1, the second linear bearing 2, the 3rd linear bearing 3, the 4th linear bearing 4, primary optic axis guide rail 1, the second optical axis guide rail 2, the first self-locking cylinder 1, the second self-locking cylinder 2, the first cylinder supports frame 1, the second cylinder supports frame 2; Unlocking mechanism is unblanked to unblank to consist of with cylinder 4, the first moving slider 1, the second moving slider 2, the 3rd optical axis guide rail 3, the 4th optical axis guide rail 4, the 5th linear bearing 5, the 6th linear bearing 6, the first spring 1, the second spring 2, primary optic axis holder 1, the second optical axis holder 2, the 3rd optical axis holder 3, the 4th optical axis holder 4 and crossbeam with cylinder 3, the 4th by first sleeve pipe 1, second sleeve pipe 2, the 3rd of unblanking of unblanking;
in above-mentioned clamping device each parts annexation and externally annexation be: it is circular arc 8-20mm, that cambered surface makes progress that the part that the bottom of left location claw and right location claw is used for clamping is thickness, and the outer rim extension laterally of its upper surface and reel two ends circular configuration coordinates realizes clamping, all there are 2 pilot holes and each pilot hole to be installed with respectively the first linear bearing 1 in all on left location claw and right location claw, the second linear bearing 2, the 3rd linear bearing 3 and the 4th linear bearing 4, primary optic axis guide rail 1 and the second optical axis guide rail 2 pass the linear bearing in the pilot hole of left location claw and right location claw and are fixed on casing, the first linear bearing 1, the second linear bearing 2, the 3rd linear bearing 3 and the 4th linear bearing 4 are arranged on primary optic axis guide rail 1 and the second optical axis guide rail 2 and form sliding pair, linear bearing coordinates with optical axis guide rail claw is led and supports to guarantee that claw moves steadily and accurately, right location claw is fixedly connected with the piston rod of the first self-locking cylinder 1 and the second self-locking cylinder 2 respectively with left location claw, the first self-locking cylinder 1 and the second self-locking cylinder 2 are separately fixed on the first cylinder supports frame 1 and the second cylinder supports frame 2, can realize cylinder self-locking at an arbitrary position, and the rear clip position that guarantees to die is constant, and the first cylinder supports frame 1 and the second cylinder supports frame 2 are fixedly installed on casing, right location claw and left location claw under the promotion of the first self-locking cylinder 1 and the second self-locking cylinder 2, can along primary optic axis guide rail 1 and the second optical axis guide rail 2 left and right linear slide, be realized the clamping of reel and unclamp respectively,
in above-mentioned unlocking mechanism, each parts annexation and external annexation are: primary optic axis holder 1, the second optical axis holder 2, the 3rd optical axis holder 3 and the 4th optical axis holder 4 are fixedly installed on casing, the 3rd optical axis guide rail 3 is fixed by the locating hole of primary optic axis holder 1 and the second optical axis holder 2, the 4th optical axis guide rail 4 is fixed by the locating hole of the 3rd optical axis holder 3 and the 4th optical axis holder 4, the first moving slider 1 and the second moving slider 2 that the 5th linear bearing 5 and the 6th linear bearing 6 and the respectively with five linear bearing 5 and the 6th linear bearing 6 connect are housed respectively on the 3rd optical axis guide rail 3 and the 4th optical axis guide rail 4, the 3rd unblanks unblanks to be fixedly connected with the second moving slider 2 with the first moving slider 1 respectively with cylinder 4 with cylinder 3 and the 4th, the first spring 1 is installed between primary optic axis holder 1 and the first moving slider 1 and is enclosed within on the 3rd optical axis guide rail 3, the second spring 2 is installed between the second optical axis holder 2 and the second moving slider 2 and is enclosed within on the 4th optical axis guide rail 4, unblank sleeve pipe be the sleeve pipe of vertical direction and the vertical direction that can entangle in the course of the work safety lock on one side, unblank in sleeve pipe all with contact-making switch, first unblank sleeve pipe 1 and second unblank sleeve pipe 2 respectively with the 3rd unblank with cylinder 3 and the 4th unblank that piston with cylinder 4 is connected and under the promotion of cylinder piston along continuous straight runs move to realize unlocking function, first unblank sleeve pipe 1 be connected the sleeve pipe 2 of unblanking and connect by crossbeam,
Can change after the claw wearing and tearing of above-mentioned location;
A kind of reel automatic clamping device of the present invention, its method that realizes the automatic clamping function is:
1) packing in the braiding machine at scene when twining the reel of full steel wire, the steps include:
Move to and place the reel bin position twine full steel wire 1.1 at first control casing, control two location claws by the cylinder in clamping device and clamp reels, and control casing move make reel be positioned at braiding machine directly over;
Drive the motion straight down of left and right location claw do 1.2 control casing, the vertical direction of safety lock progresses in the sleeve pipe of unblanking of unlocking mechanism on one side, touches when safety lock to control casing after the contact-making switch of the sleeve pipe of unblanking and drive left and right location claw and stop moving down;
Do the horizontal direction extension 1.3 promote the corresponding sleeve pipe of unblanking by cylinder in unlocking mechanism, open safety lock;
1.4 the wheel shaft of reel is put into axle bed, and control casing drive left and right location claw continuation and do motion straight down, this moment unlocking mechanism the 3rd unblank relative with equipment static with unblank use cylinder 4, the first moving slider 1, the second moving slider 2 of cylinder 3, the 4th, also namely keep motionless at vertical direction, cause the spring of unlocking mechanism to be compressed and to make clamping device to move along the 3rd optical axis guide rail 3 and the 4th optical axis guide rail 4;
1.5 after reel enters the position, control casing and drive on the claw of left and right location and move, after the contact-making switch in the sleeve pipe of unblanking leaves safety lock, control casing and drive left and right location claw and move on stopping, the unblanking of unlocking mechanism drives with cylinder the sleeve pipe of unblanking and shrinks in the horizontal direction, the closed safe lock;
1.6, control in casing drive left and right location claw continuation and move, complete the installation of reel.
2) when reel be empty, in the time of need to unloading from the braiding machine at scene, the steps include:
Keep releasing orientation 2.1 control left and right location claw by self-locking cylinder, and control casing move make reel be positioned at reel directly over;
Drive the motion straight down of left and right location claw do 2.2 control casing, the vertical direction of safety lock progresses in the sleeve pipe of unblanking of unlocking mechanism on one side, touches when safety lock to control casing after the contact-making switch of the sleeve pipe of unblanking and drive left and right location claw and stop moving down;
Do the horizontal direction extension 2.3 promote the corresponding sleeve pipe of unblanking by cylinder in unlocking mechanism, open safety lock;
Drive the motion straight down of left and right location claw do 2.4 control casing, when left and right location claw is positioned at clamping reel station, reel is clamped, and stop moving downward;
2.5 the control casing drives left and right location claw and does motion straight up, makes reel break away from station, after the contact-making switch in the sleeve pipe of unblanking leaves safety lock, and makes horizontal direction by the sleeve pipe of unblanking corresponding to cylinder promotion in unlocking mechanism and shrinks, the closed safe lock;
Drive left and right location claw and move on continuing 2.6 control casing, and reel is positioned over the bin position, complete the loading and unloading that are positioned at braiding machine hollow reel.
Beneficial effect
The present invention directly drives claw by self-locking cylinder, utilize workpiece and the circular arc of location claw to closely cooperate, can realize effective, reliable holding workpiece, also can operate safety lock by unlocking mechanism in clamping, have simple in structure, environmental protection and economy, the advantage such as easy to use and reliable, can replace a dead lift workpiece in actual production, satisfy the plant produced needs, have good economic worth and social benefit.
Description of drawings
Fig. 1 is automatic clamping device integral installation figure in the present invention;
Fig. 2 is the schematic three dimensional views of clamping device clamping reel in the present invention;
In Fig. 2,1 is reel, and 2 is primary optic axis guide rail 1,3 is that the second optical axis guide rail 2,4 is that the first linear bearing 1,5 is the second linear bearing 2,6 is right location claw, 7 is that the first self-locking cylinder 1,8 is that the first cylinder supports frame 1,9 is the second self- locking cylinder 2,10 is the second cylinder supports frame 2,11 is left location claw, and 12 is that the 3rd linear bearing 3,13 is the 4th linear bearing 4;
Fig. 3 is the present invention left location claw schematic three dimensional views;
Fig. 4 is the present invention right location claw schematic three dimensional views;
Fig. 5 is the schematic three dimensional views in unlocking mechanism front in the present invention;
In Fig. 5,14 is crossbeam, and 15 is primary optic axis holder 1,16 be the 3rd unblank with cylinder 3,17 be that the first moving slider 1,18 is the 5th linear bearing 5,19 is that the 3rd optical axis guide rail 3,20 is that the first spring 1,21 is the second optical axis holder 2,22 for being that the 3rd optical axis holder 3,23 is that the second spring 2,24 is the 4th optical axis guide rail 4,25 is the 6th linear bearing 6,26 be the second moving slider 2,27 be the 4th unblank with cylinder 4,28 be the 4th optical axis holder 4;
Fig. 6 is the schematic three dimensional views of unlocking mechanism side in the present invention;
In Fig. 6,29 is that first sleeve pipe 1,30 of unblanking is second sleeve pipe 2 of unblanking;
Fig. 7 is the principle schematic of unblanking of unlocking mechanism.
The specific embodiment
The present invention will be further described below in conjunction with drawings and Examples.
a kind of reel automatic clamping device, comprise clamping device, unlocking mechanism and casing three parts, its integral installation figure as shown in Figure 1, its ancillary equipment is reel to be held, wheel shaft and safety lock, wherein the outer rim of reel two ends circular configuration is extended laterally for coordinate realization fixing with clamping device, the wheel shaft of reel pins by the suppression of safety lock, safety lock is rectangular-shaped device, also namely two limits become 90 degree, wherein horizontal direction is on one side in order to push down the wheel shaft of reel, vertical direction can drive safety lock side-to-side movement in the horizontal direction on one side under external force, be release after horizontal direction is left reel on one side in motion process,
wherein casing is to be fixedly connected with a uncovered that surrounds, bottomless rectangular structure by four blocks of square metal plates, is used for the non-moving component of fixing and holding mechanism and unlocking mechanism, clamping device is made of left location claw, right location claw, the first linear bearing 1, the second linear bearing 2, the 3rd linear bearing 3, the 4th linear bearing 4, primary optic axis guide rail 1, the second optical axis guide rail 2, the first self-locking cylinder 1, the second self-locking cylinder 2, the first cylinder supports frame 1, the second cylinder supports frame 2, and the schematic three dimensional views of clamping device clamping reel as shown in Figure 2, unlocking mechanism is by first sleeve pipe 1 of unblanking, second sleeve pipe 2 of unblanking, the 3rd unblanks with cylinder 3, the 4th unblanks with cylinder 4, the first moving slider 1, the second moving slider 2, the 3rd optical axis guide rail 3, the 4th optical axis guide rail 4, the 5th linear bearing 5, the 6th linear bearing 6, the first spring 1, the second spring 2, primary optic axis holder 1, the second optical axis holder 2, the 3rd optical axis holder 3, the 4th optical axis holder 4 and crossbeam consist of, the front of unlocking mechanism and the schematic three dimensional views of side are respectively as shown in Figure 5 and Figure 6, unlocking mechanism unblank principle schematic as shown in Figure 7, in Fig. 7, unlocking mechanism can be realized moving up and down, when moving downward the sleeve pipe of unblanking and contact with safety lock, unlocking mechanism moves downward and stops, the cylinder of unblanking is opened safety lock, unlocking mechanism and safety lock become one, after opening, safety lock constantly realizes that by Compress Spring automatic clamping mechanism continues to move down when continuing to move downward.
Embodiment 1
To take turns as example from braiding machine unloading line.In the time of directly over automatic clamping device is positioned at the braiding machine station, and after being moved down into the workpiece lockset position of coupler, the automatic clamping device stop motion, unlocking mechanism is opened safety lock, after safety lock is opened, device continues to move down, clamping device is with the crawl of the wheel of the line in braiding machine, and be moved upwards up to wire wheel axis and break away from the safety lock scope, safety lock is closed by unlocking mechanism after wire wheel axis breaks away from fully, and automatics moves up, and other parts of cooperative mechanical hand are transported to the bin position with ceases to be busy wheel, then clamp structure unclamps, and completes the empty reel operation of unloading.
Braiding machine dress reel was example in the past.When automatic clamping device moves to when placing the reel bin position twine full steel wire, clamping device grasps it, then other componental movements of cooperative mechanical hand backward lower motion directly over the braiding machine, when arriving lockset position of coupler, the automatic clamping device stop motion, after opening safety lock Deng unlocking mechanism, device continues to move downward until after reel was positioned over station, clamping device unclamped.Then device moves upward, and unlocking mechanism cuts out safety lock, after whole device movement travel peak, completes being loaded with full the reel operation.
The above is preferred embodiment of the present invention, and the present invention should not be confined to the disclosed content of this embodiment and accompanying drawing.Everyly do not break away from the equivalence of completing under spirit disclosed in this invention or revise, all falling into the scope of protection of the invention.
Claims (4)
1. reel automatic clamping device, its ancillary equipment is reel to be held, wheel shaft and safety lock, wherein the outer rim of reel two ends circular configuration is extended laterally for coordinate realization fixing with clamping device, the wheel shaft of reel pins by the suppression of safety lock, safety lock is rectangular-shaped device, also namely two limits become 90 degree, wherein horizontal direction is on one side in order to push down the wheel shaft of reel, vertical direction can drive safety lock side-to-side movement in the horizontal direction on one side under external force, be release after horizontal direction is left reel on one side in motion process, it is characterized in that:
Automatic clamping device comprises clamping device, unlocking mechanism and casing three parts, and wherein casing is to be fixedly connected with a uncovered that surrounds, bottomless rectangular structure by four blocks of square metal plates, is used for the non-moving component of fixing and holding mechanism and unlocking mechanism; Clamping device is configured to by left location claw, right location claw, the first linear bearing, the second linear bearing, the 3rd linear bearing, the 4th linear bearing, primary optic axis guide rail, the second optical axis guide rail, the first self-locking cylinder, the second self-locking cylinder, the first cylinder supports frame, the second cylinder supports; Unlocking mechanism is unblanked to unblank to consist of with cylinder, the first moving slider, the second moving slider, the 3rd optical axis guide rail, the 4th optical axis guide rail, the 5th linear bearing, the 6th linear bearing, the first spring, the second spring, primary optic axis holder, the second optical axis holder, the 3rd optical axis holder, the 4th optical axis holder and crossbeam with cylinder, the 4th by first sleeve pipe, second sleeve pipe, the 3rd of unblanking of unblanking;
in above-mentioned clamping device each parts annexation and externally annexation be: all have 2 pilot holes and each pilot hole to be installed with respectively the first linear bearing in all on left location claw and right location claw, the second linear bearing, the 3rd linear bearing and the 4th linear bearing, primary optic axis guide rail and the second optical axis guide rail pass the linear bearing in the pilot hole of left location claw and right location claw and are fixed on casing, the first linear bearing, the second linear bearing, the 3rd linear bearing and the 4th linear bearing are arranged on primary optic axis guide rail and the second optical axis guide rail and form sliding pair, linear bearing coordinates with optical axis guide rail claw is led and supports, right location claw is fixedly connected with the piston rod of the first self-locking cylinder with the second self-locking cylinder respectively with left location claw, the first self-locking cylinder and the second self-locking cylinder are separately fixed on the first cylinder supports frame and the second cylinder supports frame, realize cylinder self-locking at an arbitrary position, the first cylinder supports frame and the second cylinder supports frame are fixedly installed on casing, right location claw and left location claw can along primary optic axis guide rail and the second optical axis guide rail left and right linear slide, be realized the clamping of reel and unclamp respectively under the promotion of the first self-locking cylinder and the second self-locking cylinder,
in above-mentioned unlocking mechanism, each parts annexation and external annexation are: the primary optic axis holder, the second optical axis holder, the 3rd optical axis holder and the 4th optical axis holder are fixedly installed on casing, the 3rd optical axis guide rail is fixed by the locating hole of primary optic axis holder and the second optical axis holder, the 4th optical axis guide rail is fixed by the locating hole of the 3rd optical axis holder and the 4th optical axis holder, the first moving slider and the second moving slider that the 5th linear bearing and the 6th linear bearing and the respectively with five linear bearing and the 6th linear bearing connect are housed respectively on the 3rd optical axis guide rail and the 4th optical axis guide rail, the 3rd unblanks unblanks to be fixedly connected with the second moving slider with the first moving slider respectively with cylinder with cylinder and the 4th, the first spring fitting is between primary optic axis holder and the first moving slider and be enclosed within on the 3rd optical axis guide rail, the second spring fitting is between the second optical axis holder and the second moving slider and be enclosed within on the 4th optical axis guide rail, unblank sleeve pipe be the sleeve pipe of vertical direction and the vertical direction that can entangle in the course of the work safety lock on one side, unblank in sleeve pipe all with contact-making switch, first unblank sleeve pipe and second unblank sleeve pipe respectively with the 3rd unblank with cylinder and the 4th unblank that piston with cylinder is connected and under the promotion of cylinder piston along continuous straight runs move to realize unlocking function, first unblank sleeve pipe be connected the sleeve pipe of unblanking and connect by crossbeam.
2. a kind of reel automatic clamping device according to claim 1, it is characterized in that: the part that the bottom of left location claw and right location claw is used for clamping is the circular arc that cambered surface makes progress, and the outer rim extension laterally of described circular arc upper surface and reel two ends circular configuration coordinates realizes clamping.
3. a kind of reel automatic clamping device according to claim 2, it is characterized in that: the thickness of the bottom circular arc of described left location claw and right location claw is 8-20mm.
4. according to claim 1,2 or 3 described a kind of reel automatic clamping devices is characterized in that its method that realizes the automatic clamping function is:
1) packing in the braiding machine at scene when twining the reel of full steel wire, the steps include:
Move to and place the reel bin position twine full steel wire 1.1 at first control casing, control two location claws by the cylinder in clamping device and clamp reels, and control casing move make reel be positioned at braiding machine directly over;
Drive the motion straight down of left and right location claw do 1.2 control casing, the vertical direction of safety lock progresses in the sleeve pipe of unblanking of unlocking mechanism on one side, touches when safety lock to control casing after the contact-making switch of the sleeve pipe of unblanking and drive left and right location claw and stop moving down;
Do the horizontal direction extension 1.3 promote the corresponding sleeve pipe of unblanking by cylinder in unlocking mechanism, open safety lock;
1.4 the wheel shaft of reel is put into axle bed, and control casing drive left and right location claw continuation and do motion straight down, this moment unlocking mechanism the 3rd unblank relative with equipment static with unblank use cylinder, the first moving slider, the second moving slider of cylinder, the 4th, also namely keep motionless at vertical direction, cause the spring of unlocking mechanism to be compressed and to make clamping device to move along the 3rd optical axis guide rail and the 4th optical axis guide rail;
1.5 after reel enters the position, control casing and drive on the claw of left and right location and move, after the contact-making switch in the sleeve pipe of unblanking leaves safety lock, control casing and drive left and right location claw and move on stopping, the unblanking of unlocking mechanism drives with cylinder the sleeve pipe of unblanking and shrinks in the horizontal direction, the closed safe lock;
1.6, control in casing drive left and right location claw continuation and move, complete the installation of reel;
2) when reel be empty, in the time of need to unloading from the braiding machine at scene, the steps include:
Keep releasing orientation 2.1 control left and right location claw by self-locking cylinder, and control casing move make reel be positioned at reel directly over;
Drive the motion straight down of left and right location claw do 2.2 control casing, the vertical direction of safety lock progresses in the sleeve pipe of unblanking of unlocking mechanism on one side, touches when safety lock to control casing after the contact-making switch of the sleeve pipe of unblanking and drive left and right location claw and stop moving down;
Do the horizontal direction extension 2.3 promote the corresponding sleeve pipe of unblanking by cylinder in unlocking mechanism, open safety lock;
Drive the motion straight down of left and right location claw do 2.4 control casing, when left and right location claw is positioned at clamping reel station, reel is clamped, and stop moving downward;
2.5 the control casing drives left and right location claw and does motion straight up, makes reel break away from station, after the contact-making switch in the sleeve pipe of unblanking leaves safety lock, and makes horizontal direction by the sleeve pipe of unblanking corresponding to cylinder promotion in unlocking mechanism and shrinks, the closed safe lock;
Drive left and right location claw and move on continuing 2.6 control casing, and reel is positioned over the bin position, complete the loading and unloading that are positioned at braiding machine hollow reel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110249269 CN102430905B (en) | 2011-08-26 | 2011-08-26 | Automatic clamping device and method for reel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110249269 CN102430905B (en) | 2011-08-26 | 2011-08-26 | Automatic clamping device and method for reel |
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| CN102430905A CN102430905A (en) | 2012-05-02 |
| CN102430905B true CN102430905B (en) | 2013-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201110249269 Expired - Fee Related CN102430905B (en) | 2011-08-26 | 2011-08-26 | Automatic clamping device and method for reel |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104006650B (en) * | 2014-04-29 | 2016-01-13 | 青岛金智高新技术有限公司 | A kind of removable cover picking and placeing part |
| CN105965744B (en) * | 2016-07-13 | 2017-12-26 | 邓满新 | A kind of automatic vinyl machine is uncapped and cover locking device |
| CN108788643A (en) * | 2018-06-21 | 2018-11-13 | 海安金锻工业有限公司 | A kind of hub spindle wheel processing method and system of processing |
| CN109129551A (en) * | 2018-11-05 | 2019-01-04 | 哈尔滨岛田大鹏工业股份有限公司 | A kind of robot clamp with the tight device of spring self-lock |
| CN110002275B (en) * | 2019-04-16 | 2023-11-17 | 武汉楚星光纤应用技术有限公司 | Automatic optical fiber wiping surrounding equipment |
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| US4404740A (en) * | 1979-08-09 | 1983-09-20 | Asea Aktiebolag | Method for mounting a winding in a transformer |
| CN201002258Y (en) * | 2006-10-25 | 2008-01-09 | 哈尔滨工程大学 | Colliding type automatic grasping mechanical arm |
| CN101508066A (en) * | 2008-02-13 | 2009-08-19 | 巴特勒工程商用股份公司 | Bead releasing device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5311005B2 (en) * | 2008-07-11 | 2013-10-09 | 株式会社Ｉｈｉ | Robot hand |
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2011
- 2011-08-26 CN CN 201110249269 patent/CN102430905B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4404740A (en) * | 1979-08-09 | 1983-09-20 | Asea Aktiebolag | Method for mounting a winding in a transformer |
| CN201002258Y (en) * | 2006-10-25 | 2008-01-09 | 哈尔滨工程大学 | Colliding type automatic grasping mechanical arm |
| CN101508066A (en) * | 2008-02-13 | 2009-08-19 | 巴特勒工程商用股份公司 | Bead releasing device |
Non-Patent Citations (1)
| Title |
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| JP特开2010-17815A 2010.01.28 |
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