CN103817593A - Pneumatic upright horizontal automatic sand wheel replacing manipulator - Google Patents
Pneumatic upright horizontal automatic sand wheel replacing manipulator Download PDFInfo
- Publication number
- CN103817593A CN103817593A CN201410085794.6A CN201410085794A CN103817593A CN 103817593 A CN103817593 A CN 103817593A CN 201410085794 A CN201410085794 A CN 201410085794A CN 103817593 A CN103817593 A CN 103817593A
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- emery wheel
- housed
- cylinder
- paw
- support
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a pneumatic upright horizontal automatic sand wheel replacing manipulator. A lifting cylinder and four guide shafts are arranged on a support; linear bearings are arranged on a support plate and are sleeved on the guide shafts; the lifting cylinder is arranged at the bottom side of the support plate by a floating joint; a support seat and a rotary cylinder are arranged on the support plate; a buckling shield is arranged on the support seat; a flange shaft is arranged on the rotary cylinder; a bidirectional thrust bearing is arranged between the flange and the buckling shield; an end cover is arranged on the flange shaft; a support plate is arranged at the end cover; a magnetic coupling rodless cylinder is arranged on the support plate and is provided with a hinging support seat; the hinging support seat is provided with a sand wheel replacing hand pawl, one end of a hand pawl gesture converting cylinder is arranged on the hinging support seat while the other end is arranged on the sand wheel replacing hand pawl. The manipulator can be switched between upright and horizontal gestures, so the automatic replacement of an upright grinding head sand wheel and a horizontal grinding head sand wheel is realized.
Description
Technical field
The present invention relates to a kind ofly certainly move abrasive machine tool hand for vertical sleeping compound many bistriques grinding center.
Background technology
Vertical sleeping compound many bistriques grinding center is a kind of high-performance multifunctional grinder, and the inner circle, cylindrical, end face that can complete part in clamped one time be the grinding of multiple machined surfaces such as the conical surface even, has that processing is efficient, low cost and other advantages.But vertical sleeping compound many bistriques grinding center has Vertical Mill head and horizontal wheelhead simultaneously, existing automatic replacing demand of changing emery wheel manipulator and can not meet simultaneously Vertical Mill head and horizontal wheelhead emery wheel, therefore, it is low that emery wheel is changed efficiency, reduced production efficiency.
Summary of the invention
The object of this invention is to provide a kind of pneumatic type of automatically changing for vertical sleeping compound many bistriques grinding center emery wheel vertical sleeping compound from moving abrasive machine tool hand, manipulator paw can be that monodactyle can be also two pawls; This manipulator paw can automatically be changed in vertical, sleeping two kinds of attitudes, thereby realizes the automatic replacing of Vertical Mill head and horizontal wheelhead emery wheel.
Technical scheme of the present invention is, a kind of pneumatic type is vertical sleeping compound from moving abrasive machine tool hand, lift cylinder and 4 axis of guides are housed on support, linear bearing is housed in gripper shoe, linear bearing is enclosed within on the axis of guide, lift cylinder is contained in the bottom side of gripper shoe by floating junction, supporting seat and rotary cylinder are housed in gripper shoe, button cover is housed on supporting seat, flange shaft is housed on rotary cylinder, between flange shaft and button cover, two-direction thrust bearing is housed, end cap is housed in flange shaft, supporting plate is housed on end cap, magnetic coupling formula Rodless cylinder is housed on supporting plate, on magnetic coupling formula Rodless cylinder, hinged-support is housed, on hinged-support, be equipped with and change emery wheel paw, paw attitude cylinder switching one end is contained on hinged-support, the other end is contained in and changes on emery wheel paw.
Elevating movement magnetic stroke switch is housed on lift cylinder.
Annulus is equipped with on top at 4 axis of guides.
On magnetic coupling formula Rodless cylinder, horizontal movement magnetic stroke switch is housed.
A magnetic coupling formula Rodless cylinder is respectively housed at the two ends of supporting plate, on magnetic coupling formula Rodless cylinder, hinged-support is housed, be equipped with and change emery wheel paw on hinged-support, paw attitude cylinder switching one end is contained on hinged-support, and the other end is contained in and changes on emery wheel paw.
The present invention has following technique effect, pneumatic type is vertical sleeping compoundly mainly comprises four motions from the emery wheel Renewal process of moving abrasive machine tool hand: change that emery wheel paw is vertical, prone position state converting motion, horizontal direction stretching motion, elevating movement with rotatablely move, can realize conversion vertical, horizontal wheelhead emery wheel replacing function.While changing emery wheel first watch for Vertical Mill, change emery wheel paw and change horizontal attitude into, while changing emery wheel for horizontal wheelhead, change emery wheel paw and change vertical attitude into.Changing emery wheel paw stretching motion is in the horizontal direction to realize by the action of magnetic coupling formula Rodless cylinder, paw stretching motion in the horizontal direction can realize horizontal wheelhead emery wheel Renewal process dress, pull out emery wheel action.The action of changing the elevating movement of emery wheel paw and be the lift cylinder by manipulator bottom realizes, change emery wheel paw and by the cooperation of the axis of guide and linear bearing, its elevating movement is led, the elevating movement of changing emery wheel paw can realize the dress of vertical grinding head grinding wheel Renewal process, pull out emery wheel action.Realize and change rotatablely moving of emery wheel paw by rotary cylinder, to realize the automatic replacing of emery wheel storehouse and Vertical Mill head or horizontal wheelhead emery wheel.
Accompanying drawing explanation
Fig. 1 is the structural representation of monodromy emery wheel paw of the present invention.
Fig. 2 is that the present invention is the schematic diagram that horizontal wheelhead is changed emery wheel.
Fig. 3 is that the present invention is the schematic diagram that Vertical Mill changes emery wheel first watch.
Fig. 4 is the two structural representations that change emery wheel paw of the present invention.
In figure: 1, support; 2, the axis of guide; 3, elevating movement magnetic stroke switch; 4, lift cylinder; 5, floating junction; 6, gripper shoe; 7, linear bearing; 8, annulus; 9, supporting plate; 10, horizontal movement magnetic stroke switch; 11, magnetic coupling formula Rodless cylinder; 12, end cap; 13, hinged-support; 14, paw attitude cylinder switching; 15, change emery wheel paw; 16, rotary cylinder; 17, flange shaft; 18, supporting seat; 19, two-direction thrust bearing; 20, button cover; 21, emery wheel assembly; 22, emery wheel storehouse.
The specific embodiment
Embodiment 1
As Fig. 1, Fig. 2, shown in Fig. 3, a kind of pneumatic type of monodromy emery wheel paw is vertical sleeping compound from moving abrasive machine tool hand, 4 and 4 axis of guides 2 of lift cylinder are housed on support 1, linear bearing 7 is housed in gripper shoe 6, linear bearing 7 is enclosed within on the axis of guide 2, lift cylinder 4 is contained in the bottom side of gripper shoe 6 by floating junction 5, supporting seat 18 and rotary cylinder 16 are housed in gripper shoe 6, button cover 20 is housed on supporting seat 18, flange shaft 17 is housed on rotary cylinder 16, between flange shaft 17 and button cover 20, two-direction thrust bearing 19 is housed, end cap 12 is housed in flange shaft 17, one end of supporting plate 9 is contained on end cap 12, magnetic coupling formula Rodless cylinder 11 is housed on supporting plate 9, on magnetic coupling formula Rodless cylinder 11, hinged-support 13 is housed, on hinged-support 13, be equipped with one and change emery wheel paw 15, paw attitude cylinder switching 14 one end are contained on hinged-support 13, the other end is contained in and changes on emery wheel paw 15, elevating movement magnetic stroke switch 3 is housed on lift cylinder 4, on the top of 4 axis of guides 2, annulus 8 is housed, on magnetic coupling formula Rodless cylinder 11, horizontal movement magnetic stroke switch 10 is housed.
The pneumatic type of monodromy emery wheel paw is vertical sleeping compound as follows from moving the abrasive machine tool hand course of work:
1. horizontal wheelhead emery wheel is changed sequence of movement: horizontal wheelhead is changed emery wheel as shown in Figure 2.The vertical sleeping compound abrasive machine tool hand of certainly moving of pneumatic type receives after horizontal wheelhead emery wheel replacing instruction, changes emery wheel paw 15 in vertical attitude.
It is as follows that horizontal wheelhead changes emery wheel sequence of movement:
Action (1), horizontal wheelhead moves to emery wheel and changes location point;
Action (2), rotary cylinder 16 driving mechanical hand half-twists, then, magnetic coupling formula Rodless cylinder 11 promotes to change emery wheel paw 15 and stretches out, and makes to change emery wheel paw 15 and is parked in horizontal wheelhead emery wheel assembly 21 belows, position;
Action (3), the extend action of magnetic coupling formula Rodless cylinder 11 triggers horizontal movement magnetic stroke switch 10 and sends signal, make lift cylinder 4 drive gripper shoe to move upward along the axis of guide 2, arriving after assigned address, change emery wheel paw 15 and catch horizontal wheelhead emery wheel assembly 21;
Action (4), the vertical motion of lift cylinder 4 triggers elevating movement magnetic stroke switch 3 and sends signal, makes magnetic coupling formula Rodless cylinder 11 bands move emery wheel paw 15 and bounces back, and extracts horizontal wheelhead emery wheel assembly 21;
Action (5), the retraction action triggers magnetic switch 10 of magnetic coupling formula Rodless cylinder 11 also sends signal, 180 ° of rotary cylinder 16 driving mechanical hand reverse rotations;
Action (6), magnetic coupling formula Rodless cylinder 11 promotes to change emery wheel paw 15 and stretches out, and emery wheel assembly 21 is installed to emery wheel storehouse 22;
Action (7), magnetic coupling formula Rodless cylinder 11 stretches out motion triggers horizontal movement magnetic stroke switch 10 and sends signal, and lift cylinder 4 declines;
Action (8), the descending motion of lift cylinder 4 triggers elevating movement magnetic stroke switch 3 and sends signal, and emery wheel storehouse rotates to emery wheel assembly 21 to be changed to change emery wheel position, and forwards emery wheel assembly 21 to be changed to horizontal attitude;
Action (9), lift cylinder 4 drives gripper shoe to move upward along the axis of guide 2, arrives after assigned address, changes emery wheel paw 15 and catch the emery wheel assembly 21 to be changed in emery wheel storehouse;
Action (10), the ascending motion of lift cylinder 4 triggers elevating movement magnetic stroke switch 3 and sends signal, makes magnetic coupling formula Rodless cylinder 11 bands move emery wheel paw 15 and bounces back, and extracts emery wheel storehouse emery wheel assembly 21 to be changed;
Action (11), bounce back action triggers magnetic switch 10 send signal of magnetic coupling formula Rodless cylinder 11, makes rotary cylinder 16 driving mechanical hand Rotate 180s °;
Action (12), magnetic coupling formula Rodless cylinder 11 promotes to change emery wheel paw 15 and stretches out, and emery wheel assembly 21 is installed on horizontal wheelhead, completes the action of horizontal wheelhead sand loading wheel;
Action (13), magnetic coupling formula Rodless cylinder 11 stretches out motion triggers horizontal movement magnetic stroke switch 10 and sends signal, and lift cylinder 4 is declined;
Action (14), the descending motion of lift cylinder 4 triggers elevating movement magnetic stroke switch 3 and sends signal, make magnetic coupling formula Rodless cylinder 11 band move emery wheel paw 15 and retract, meanwhile, original position is got back in 90 ° of rotary cylinder 16 driving mechanical hand opposite spins;
Action (15), emery wheel storehouse 22 returns are to change and prepare for next emery wheel, and meanwhile, horizontal wheelhead is got back to operating position.So far, the equal homing of each mechanism, completes the automatic replacing of horizontal wheelhead emery wheel.
2. vertical grinding head grinding wheel is changed sequence of movement: Vertical Mill changes emery wheel as shown in Figure 3 first watch.The vertical sleeping compound abrasive machine tool hand of certainly moving of pneumatic type receives after vertical grinding head grinding wheel replacing instruction, changes emery wheel paw in vertical attitude.
It is as follows that Vertical Mill head changes emery wheel sequence of movement:
Action (1), Vertical Mill head moves to emery wheel and changes location point;
Action (2), rotary cylinder 16 driving mechanical hand half-twists, then, lift cylinder 4 drives gripper shoe to move upward along the axis of guide 2, stops after being raised to assigned address;
Action (3), lift cylinder 4 moves upward and triggers magnetic switch 3 and send signal, paw attitude cylinder switching 14 piston rods stretch out, change emery wheel paw 15 attitudes and change horizontal attitude into, then, magnetic coupling formula Rodless cylinder 11 promotes to change emery wheel paw 15 and stretches out, and changes emery wheel paw 15 and catches vertical grinding head grinding wheel assembly 21;
Action (4), the extend action of magnetic coupling formula Rodless cylinder 11 triggers horizontal movement magnetic stroke switch 10, and lift cylinder 4 declines, and extracts vertical grinding head grinding wheel assembly 21;
Action (5), lift cylinder 4 down maneuvers trigger magnetic switch 3 and send signal, 180 ° of rotary cylinder 16 driving mechanical hand reverse rotations;
Action (6), lift cylinder 4 rises, and the emery wheel assembly 21 on Vertical Mill head is installed to emery wheel storehouse 22;
Action (7), the vertical motion of lift cylinder 4 triggers elevating movement magnetic stroke switch 3 and sends signal, and magnetic coupling formula Rodless cylinder 11 bands are moved emery wheel paw 15 and are retracted;
Action (8), the retraction action triggers horizontal movement magnetic stroke switch 10 of magnetic coupling formula Rodless cylinder 11 also sends signal, and emery wheel storehouse rotates to emery wheel assembly 21 to be changed to change emery wheel position, and forwards emery wheel assembly 21 to vertical attitude;
Action (9), magnetic coupling formula Rodless cylinder 11 bands are moved emery wheel paw 15 and are stretched out, and catch emery wheel storehouse emery wheel assembly 21 to be changed;
Action (10), the extend action of magnetic coupling formula Rodless cylinder 11 triggers horizontal movement magnetic stroke switch 10 and sends signal, and lift cylinder 4 declines, and extracts emery wheel storehouse emery wheel assembly 21 to be changed;
Action (11), lift cylinder 4 down maneuvers trigger magnetic switch 3 and send signal, rotary cylinder 16 driving mechanical hand Rotate 180s °;
Action (12), after rotary cylinder Rotate 180 °, lift cylinder 4 rises, and emery wheel assembly 21 is installed on Vertical Mill head, completes the action of Vertical Mill head sand loading wheel;
Action (13), the vertical motion of lift cylinder 4 triggers elevating movement magnetic stroke switch 3, and magnetic coupling formula Rodless cylinder 11 bands are moved emery wheel paw 15 and are retracted;
Action (14), the retraction action triggers horizontal movement magnetic stroke switch 10 of magnetic coupling formula Rodless cylinder 11, lift cylinder 4 declines, then, rotary cylinder 16 counter-rotates 90 ° and is back to original position, and the piston rod retraction of paw attitude cylinder switching 14 makes to change emery wheel paw 15 attitudes and is converted to vertical attitude;
Action (15), emery wheel storehouse 22 returns, to prepare for changing emery wheel next time, meanwhile, Vertical Mill head is got back to operating position.So far, pneumatic type is vertical sleeping compound from moving the equal homing of abrasive machine Xie Shouge mechanism, completes the automatic replacing of vertical grinding head grinding wheel.
Embodiment 2
As shown in Figure 4, a kind of two vertical sleeping compound abrasive machine tool hand of certainly moving of pneumatic type that changes emery wheel paw, 4 and 4 axis of guides 2 of lift cylinder are housed on support 1, linear bearing 7 is housed in gripper shoe 6, linear bearing 7 is enclosed within the axis of guide 2, lift cylinder 4 is contained in the bottom side of gripper shoe 6 by floating junction 5, supporting seat 18 and rotary cylinder 16 are housed in gripper shoe 6, button cover 20 is housed on supporting seat 18, flange shaft 17 is housed on rotary cylinder 16, between flange shaft 17 and button cover 20, two-direction thrust bearing 19 is housed, end cap 12 is housed in flange shaft 17, one end of supporting plate 9 is contained on end cap 12, a magnetic coupling formula Rodless cylinder 11 is respectively housed at the two ends of supporting plate 9, on magnetic coupling formula Rodless cylinder 11, a hinged-support 13 is respectively housed, 1 sand is respectively housed on each hinged-support 13 and changes wheel paw 15, paw attitude cylinder switching 14 one end are contained on hinged-support 13, the other end is contained in and changes on emery wheel paw 15.
Two pneumatic types of changing emery wheel paw are stood sleeping compound as follows from moving the abrasive machine tool hand course of work:
1. horizontal wheelhead emery wheel is changed sequence of movement: the vertical sleeping compound abrasive machine tool hand of certainly moving of pneumatic type receives after horizontal wheelhead emery wheel replacing instruction, and emery wheel storehouse will rotate required emery wheel assembly to horizontal attitude, change emery wheel paw in vertical attitude.
It is as follows that horizontal wheelhead changes emery wheel sequence of movement:
Action (1), horizontal wheelhead moves to emery wheel and changes location point;
Action (2), rotary cylinder 16 driving mechanical hand half-twists, then, two magnetic coupling formula Rodless cylinders 11 promote to change emery wheel paw 15 and stretch out, change after emery wheel paw 15 extend out to assigned address and trigger horizontal movement magnetic stroke switch 10, make to change emery wheel paw 15 and be parked in and grab emery wheel position below;
Action (3), horizontal movement magnetic stroke switch 10 sends signal, make lift cylinder 4 drive gripper shoe to move upward along the axis of guide 2, arrive after assigned address, two are changed emery wheel paw 15 and catch respectively the emery wheel assembly 21 on emery wheel storehouse and horizontal wheelhead, complete and grab emery wheel action, trigger elevating movement magnetic stroke switch 3 simultaneously;
Action (4), elevating movement magnetic stroke switch 3 sends signal, makes two magnetic coupling formula Rodless cylinders 11 retract to original position, realizes and pulls out emery wheel action;
Action (5), the magnetic coupling formula Rodless cylinder 11 action triggers magnetic switch 10 that bounces back, rotary cylinder 16 counter-rotates 180 °;
Action (6), magnetic coupling formula Rodless cylinder 11 stretches out, and emery wheel assembly 21 is installed to respectively on emery wheel storehouse 22 and horizontal wheelhead, completes the action of sand loading wheel, thereby completes the automatic replacing of emery wheel storehouse and vertical grinding head grinding wheel;
Action (7), magnetic coupling formula Rodless cylinder 11 stretches out motion triggers horizontal movement magnetic stroke switch 10, and lift cylinder 4 declines;
Action (8), the down maneuver of lift cylinder 4 triggers elevating movement magnetic stroke switch 3, and magnetic coupling formula Rodless cylinder 11 is retracted, and meanwhile, rotary cylinder 16 half-twists are got back to original position;
Action (9), the new clothes emery wheel assembly return in emery wheel storehouse 22 is to change and prepare for next emery wheel, and meanwhile, horizontal wheelhead is got back to operating position.So far, the equal homing of the each mechanism of manipulator, completes the automatic replacing of horizontal wheelhead emery wheel.
2. vertical grinding head grinding wheel replacing sequence of movement: the vertical sleeping compound abrasive machine tool hand of certainly moving of pneumatic type receives after vertical grinding head grinding wheel replacing instruction, and emery wheel storehouse will rotate required emery wheel assembly to vertical attitude.
It is as follows that Vertical Mill head changes emery wheel sequence of movement:
Action (1), Vertical Mill head moves to emery wheel and changes location point;
Action (2), rotary cylinder 16 driving mechanical hand half-twists, then, lift cylinder 4 drives gripper shoe to move upward along the axis of guide 2, stops after being raised to assigned address;
Action (3), the vertical motion of lift cylinder 4 triggers magnetic switch 3, and paw attitude cylinder switching 14 piston rods stretch out, change emery wheel paw 15 attitudes and change horizontal attitude into, then, magnetic coupling formula Rodless cylinder 11 moves, promotion is changed emery wheel paw 15 and is stretched out, and completes and grabs emery wheel action;
Action (4), changes after emery wheel paw 15 extend out to assigned address and triggers horizontal movement magnetic stroke switch 10, and lift cylinder 4 declines, and completes and pulls out emery wheel action;
Action (5), the down maneuver of lift cylinder 4 triggers magnetic switch 3, and rotary cylinder 16 counter-rotates 180 °;
Action (6), after rotary cylinder counter-rotates 180 °, lift cylinder 4 rises, and completes the action of sand loading wheel, thereby completes the automatic replacing of emery wheel storehouse and vertical grinding head grinding wheel, and the vertical motion of lift cylinder 4 triggers elevating movement magnetic stroke switch 3;
Action (7), elevating movement magnetic stroke switch 3 sends signal, and magnetic coupling formula Rodless cylinder 11 bands are moved emery wheel paw and are retracted to original position;
Action (8), lift cylinder 4 declines, and is retracted into original position, and then, rotary cylinder 16 half-twists are back to original position, and the piston rod retraction of paw attitude cylinder switching 14 makes to change emery wheel paw 15 attitudes and is converted to vertical attitude;
Action (9), the new clothes emery wheel assembly return in emery wheel storehouse 22 is to change and prepare for next emery wheel, and meanwhile, Vertical Mill head is got back to operating position.So far, pneumatic type is vertical sleeping compound from moving the equal homing of abrasive machine Xie Shouge mechanism, completes the automatic replacing of vertical grinding head grinding wheel.
Claims (5)
1. a pneumatic type is vertical sleeping compound from moving abrasive machine tool hand, it is characterized in that: lift cylinder (4) and 4 axis of guides (2) are housed on support (1), linear bearing (7) is housed in gripper shoe (6), linear bearing (7) is enclosed within the axis of guide (2), lift cylinder (4) is contained in the bottom side of gripper shoe (6) by floating junction (5), supporting seat (18) and rotary cylinder (16) are housed in gripper shoe (6), button cover (20) is housed on supporting seat (18), flange shaft (17) is housed on rotary cylinder (16), between flange shaft (17) and button cover (20), two-direction thrust bearing (19) is housed, end cap (12) is housed in flange shaft (17), supporting plate (9) is housed on end cap (12), magnetic coupling formula Rodless cylinder (11) is housed on supporting plate (9), hinged-support (13) is housed on magnetic coupling formula Rodless cylinder (11), on hinged-support (13), be equipped with and change emery wheel paw (15), paw attitude cylinder switching (14) one end is contained on hinged-support (13), the other end is contained in and changes on emery wheel paw (15).
2. a kind of pneumatic type according to claim 1 is vertical sleeping compound from moving abrasive machine tool hand, it is characterized in that: elevating movement magnetic stroke switch (3) is housed on lift cylinder (4).
3. a kind of pneumatic type according to claim 1 is vertical sleeping compound from moving abrasive machine tool hand, it is characterized in that: on the top of 4 axis of guides (2), annulus (8) is housed.
4. a kind of pneumatic type according to claim 1 is vertical sleeping compound from moving abrasive machine tool hand, it is characterized in that: horizontal movement magnetic stroke switch (10) is housed on magnetic coupling formula Rodless cylinder (11).
5. a kind of pneumatic type according to claim 1 is vertical sleeping compound from moving abrasive machine tool hand, it is characterized in that: at the two ends of supporting plate (9), a magnetic coupling formula Rodless cylinder (11) is respectively housed, hinged-support (13) is housed on magnetic coupling formula Rodless cylinder (11), on hinged-support (13), be equipped with and change emery wheel paw (15), it is upper that paw attitude cylinder switching (14) one end is contained in hinged-support (13), and the other end is contained in and changes on emery wheel paw (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410085794.6A CN103817593B (en) | 2014-03-07 | 2014-03-07 | Pneumatic type is vertical sleeping compound from moving abrasive machine tool hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410085794.6A CN103817593B (en) | 2014-03-07 | 2014-03-07 | Pneumatic type is vertical sleeping compound from moving abrasive machine tool hand |
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| CN103817593A true CN103817593A (en) | 2014-05-28 |
| CN103817593B CN103817593B (en) | 2016-05-18 |
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| CN201410085794.6A Expired - Fee Related CN103817593B (en) | 2014-03-07 | 2014-03-07 | Pneumatic type is vertical sleeping compound from moving abrasive machine tool hand |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215980A (en) * | 2015-11-11 | 2016-01-06 | 芜湖天金机械有限公司 | A kind of external ball cage of universal joint axle head clamping manipulator |
| CN105328565A (en) * | 2015-12-09 | 2016-02-17 | 苏州金逸康自动化设备有限公司 | Rotating and rising module for heavy spherical shell grinding machine |
| CN105345841A (en) * | 2015-11-24 | 2016-02-24 | 北京精密机电控制设备研究所 | Air flotation supporting device for space manipulator |
| CN106985069A (en) * | 2017-04-26 | 2017-07-28 | 广州番禺职业技术学院 | A kind of automatic replacing grinding head device |
| CN108161722A (en) * | 2018-01-29 | 2018-06-15 | 苏州温特金刚石滚轮有限公司 | Automation feeding-system based on diamond roller trimming grinding machine |
| CN111203802A (en) * | 2020-02-28 | 2020-05-29 | 河北工业大学 | Automatic trade grinding device of emery wheel |
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| JP2013006259A (en) * | 2011-06-27 | 2013-01-10 | Iai:Kk | Industrial robot |
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| CN2607225Y (en) * | 2003-01-21 | 2004-03-24 | 陕西科技大学 | Cam-type vertical and horizontal dual-purpose cutter change robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215980A (en) * | 2015-11-11 | 2016-01-06 | 芜湖天金机械有限公司 | A kind of external ball cage of universal joint axle head clamping manipulator |
| CN105345841A (en) * | 2015-11-24 | 2016-02-24 | 北京精密机电控制设备研究所 | Air flotation supporting device for space manipulator |
| CN105328565A (en) * | 2015-12-09 | 2016-02-17 | 苏州金逸康自动化设备有限公司 | Rotating and rising module for heavy spherical shell grinding machine |
| CN106985069A (en) * | 2017-04-26 | 2017-07-28 | 广州番禺职业技术学院 | A kind of automatic replacing grinding head device |
| CN106985069B (en) * | 2017-04-26 | 2018-11-06 | 广州番禺职业技术学院 | A kind of automatic replacement grinding head device |
| CN108161722A (en) * | 2018-01-29 | 2018-06-15 | 苏州温特金刚石滚轮有限公司 | Automation feeding-system based on diamond roller trimming grinding machine |
| CN108161722B (en) * | 2018-01-29 | 2023-12-08 | 苏州温特金刚石滚轮有限公司 | Automatic feed supplement system based on diamond roller finishing grinding machine |
| CN111203802A (en) * | 2020-02-28 | 2020-05-29 | 河北工业大学 | Automatic trade grinding device of emery wheel |
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| Publication number | Publication date |
|---|---|
| CN103817593B (en) | 2016-05-18 |
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