CN103817593B - Pneumatic type is vertical sleeping compound from moving abrasive machine tool hand - Google Patents
Pneumatic type is vertical sleeping compound from moving abrasive machine tool hand Download PDFInfo
- Publication number
- CN103817593B CN103817593B CN201410085794.6A CN201410085794A CN103817593B CN 103817593 B CN103817593 B CN 103817593B CN 201410085794 A CN201410085794 A CN 201410085794A CN 103817593 B CN103817593 B CN 103817593B
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- housed
- emery wheel
- cylinder
- paw
- support
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Classifications
-
- 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
Abstract
The invention discloses a kind of pneumatic type 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. this manipulator 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.
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, can be complete in clamped one timeThe inner circle, cylindrical, end face that becomes part be the grinding of multiple machined surfaces such as the conical surface even, have processing efficient,Low cost and other advantages. But vertical sleeping compound many bistriques grinding center has Vertical Mill head and horizontal wheelhead, existing simultaneouslyThe automatic replacing demand of changing emery wheel manipulator and can not meet simultaneously Vertical Mill head and horizontal wheelhead emery wheel having, 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 gas of automatically changing for vertical sleeping compound many bistriques grinding center emery wheelDynamic formula is vertical sleeping compound from moving abrasive machine tool hand, and manipulator paw can be that monodactyle can be also two pawls; This machineTool hand paw can automatically be changed in vertical, sleeping two kinds of attitudes, thereby realizes Vertical Mill head and horizontal wheelhead emery wheel oneselfMoving replacing.
Technical scheme of the present invention is that a kind of pneumatic type is vertical sleeping compound from moving abrasive machine tool hand, on support, fillsHave lift cylinder and 4 axis of guides, 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, be equipped with twoAxial thrust bearing is equipped with end cap in flange shaft, and supporting plate is housed on end cap, and magnetic coupling formula is housed on supporting plateRodless cylinder is equipped with hinged-support on magnetic coupling formula Rodless cylinder, is equipped with and changes emery wheel paw, hand on hinged-supportPawl attitude cylinder switching one end is contained on hinged-support, and 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, is equipped with hingedSeat is equipped with and changes emery wheel paw on hinged-support, and paw attitude cylinder switching one end is contained on hinged-support, anotherEnd is contained in and changes on emery wheel paw.
The present invention has following technique effect, and the vertical sleeping compound emery wheel from moving abrasive machine tool hand of pneumatic type moreThe process of changing mainly comprises four motions: change that emery wheel paw is vertical, prone position state converting motion, the flexible fortune of horizontal directionMoving, elevating movement with rotatablely move, can realize conversion vertical, horizontal wheelhead emery wheel replacing function. For Vertical Mill headWhile changing emery wheel, change emery wheel paw and change horizontal attitude into, while changing emery wheel for horizontal wheelhead, change emery wheel pawChange vertical attitude into. Change emery wheel paw stretching motion in the horizontal direction by magnetic coupling formula Rodless cylinderAction realize, paw stretching motion in the horizontal direction can realize horizontal wheelhead emery wheel Renewal process dress, pull outEmery 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, change emery wheel pawElevating movement can realize vertical grinding head grinding wheel Renewal process dress, pull out emery wheel action. Realize by rotary cylinderChange rotatablely moving of emery wheel paw, to realize the automatic replacing of emery wheel storehouse and Vertical Mill head or horizontal wheelhead emery wheel.
Brief description of the drawings
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 magneticTravel switch; 11, magnetic coupling formula Rodless cylinder; 12, end cap; 13, hinged-support; 14, paw attitude conversionCylinder; 15, change emery wheel paw; 16, rotary cylinder; 17, flange shaft; 18, supporting seat; 19, two-wayThrust bearing; 20, button cover; 21, emery wheel assembly; 22, emery wheel storehouse.
Detailed description of the invention
Embodiment 1
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of pneumatic type of monodromy emery wheel paw is vertical sleeping compound from moving sandWheel mechanical hand is equipped with 4 and 4 axis of guides 2 of lift cylinder on support 1, in gripper shoe 6, straight line is housedBearing 7, linear bearing 7 is enclosed within on the axis of guide 2, and lift cylinder 4 is contained in gripper shoe 6 by floating junction 5Bottom side, supporting seat 18 and rotary cylinder 16 are housed in gripper shoe 6, button cover is housed on supporting seat 1820, flange shaft 17 is housed on rotary cylinder 16, between flange shaft 17 and button cover 20, bidirectional propulsion is housedBearing 19 is equipped with end cap 12 in flange shaft 17, and one end of supporting plate 9 is contained on end cap 12, at supporting plate 9On magnetic coupling formula Rodless cylinder 11 is housed, on magnetic coupling formula Rodless cylinder 11, hinged-support 13 is housed, at hinged-supportOn 13, be equipped with one and change emery wheel paw 15, paw attitude cylinder switching 14 one end are contained on hinged-support 13, anotherOne end is contained in to be changed on emery wheel paw 15; Elevating movement magnetic stroke switch 3 is housed on lift cylinder 4; ?Annulus 8 is equipped with on the top of 4 axis of guides 2; On magnetic coupling formula Rodless cylinder 11, horizontal movement magnetic row is housedCheng Kaiguan 10.
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. Pneumatic type is vertical sleeping multipleClose from moving abrasive machine tool hand and receive after horizontal wheelhead emery wheel replacing instruction, change emery wheel paw 15 in vertical appearanceState.
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 promotesChange emery wheel paw 15 and stretch out, make to change emery wheel paw 15 and be 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 alsoSend signal, make lift cylinder 4 drive gripper shoe to move upward along the axis of guide 2, arrive 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,Make magnetic coupling formula Rodless cylinder 11 bands move emery wheel paw 15 and bounce back, extract 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, revolves180 ° of rotaring 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 toEmery wheel storehouse 22;
Action (7), it is concurrent that magnetic coupling formula Rodless cylinder 11 stretches out motion triggers horizontal movement magnetic stroke switch 10Go out signal, lift cylinder 4 declines;
Action (8), the descending motion of lift cylinder 4 triggers elevating movement magnetic stroke switch 3 and sends signal,Emery wheel storehouse rotates to emery wheel assembly 21 to be changed to change emery wheel position, and emery wheel assembly 21 to be changed is forwarded to horizontalAttitude;
Action (9), lift cylinder 4 drives gripper shoe to move upward along the axis of guide 2, arrives after assigned address,Change 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,Make magnetic coupling formula Rodless cylinder 11 bands move emery wheel paw 15 and bounce back, extract 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 to revolveRotaring 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 filledTo horizontal wheelhead, complete the action of horizontal wheelhead sand loading wheel;
Action (13), it is concurrent that magnetic coupling formula Rodless cylinder 11 stretches out motion triggers horizontal movement magnetic stroke switch 10Go out signal, 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 bands move emery wheel paw 15 and retract, meanwhile, rotary cylinder 16 driving mechanical handsOriginal position is got back in 90 ° of 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 toOperating 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. Pneumatic type is vertical sleeping multipleClose from moving abrasive machine tool hand and receive after vertical grinding head grinding wheel replacing instruction, change 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 shoeMove upward along the axis of guide 2, stop after being raised to assigned address;
Action (3), lift cylinder 4 moves upward and triggers magnetic switch 3 and send signal, the conversion of paw attitudeCylinder 14 piston rods stretch out, and change emery wheel paw 15 attitudes and change horizontal attitude into, and then, magnetic coupling formula is without barCylinder 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, risesSending down abnormally ascending 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, rotary cylinder 16180 ° of 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,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 alsoSend signal, emery wheel storehouse rotates to emery wheel assembly 21 to be changed to change emery wheel position, and emery wheel assembly 21 is turnedTo 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 sand to be changedWheel assembly 21;
Action (10), the extend action of magnetic coupling formula Rodless cylinder 11 triggers horizontal movement magnetic stroke switch 10 alsoSend signal, 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 16Driving mechanical hand Rotate 180 °;
Action (12), after rotary cylinder Rotate 180 °, lift cylinder 4 rises, and emery wheel assembly 21 is installed to verticalOn bistrique, complete 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, magnetic coupling formula withoutBar 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, and then, rotary cylinder 16 counter-rotates 90 ° and is back to original position, paw attitude conversion gasThe piston rod retraction of cylinder 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 returnsTo operating position. So far, pneumatic type is vertical sleeping compound from moving the equal homing of abrasive machine Xie Shouge mechanism, completeSet up the automatic replacing of grinding head grinding wheel.
Embodiment 2
As shown in Figure 4, a kind of two vertical sleeping compound abrasive machine tool hands of certainly moving of pneumatic type that change emery wheel paw,4 and 4 axis of guides 2 of lift cylinder are housed on support 1, linear bearing 7 are housed in gripper shoe 6, straight lineBearing 7 is enclosed within the axis of guide 2, and lift cylinder 4 is contained in the bottom side of gripper shoe 6 by floating junction 5, is supportingSupporting seat 18 and rotary cylinder 16 are housed on plate 6, button cover 20 are housed on supporting seat 18, at rotary cylinderFlange shaft 17 is housed on 16, between flange shaft 17 and button cover 20, two-direction thrust bearing 19 is housed, at flangeEnd cap 12 is housed on axle 17, and one end of supporting plate 9 is contained on end cap 12, is respectively equipped with one at the two ends of supporting plate 9Individual magnetic coupling formula Rodless cylinder 11 is respectively equipped with a hinged-support 13, each on magnetic coupling formula Rodless cylinder 111 sand is respectively housed on hinged-support 13 and changes wheel paw 15, paw attitude cylinder switching 14 one end are contained in hinged-supportOn 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: pneumatic type is vertical sleeping compoundly to be received sleeping from moving abrasive machine tool handGrinding head grinding wheel is changed after instruction, and emery wheel storehouse will rotate required emery wheel assembly to horizontal attitude, change emery wheel paw placeIn 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 11Promotion is changed emery wheel paw 15 and is stretched out, and changes after emery wheel paw 15 extend out to assigned address and triggers horizontal movement magneticTravel switch 10, makes to change emery wheel paw 15 and is parked in and grabs emery wheel position below;
Action (3), horizontal movement magnetic stroke switch 10 sends signal, makes lift cylinder 4 drive gripper shoe edgeThe axis of guide 2 moves upward, arrive after assigned address, two change emery wheel paw 15 catch respectively emery wheel storehouse withEmery wheel assembly 21 on horizontal wheelhead, completes and grabs emery wheel action, triggers 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 timesBe reduced to original position, realize and pull out emery wheel action;
Action (5), the magnetic coupling formula Rodless cylinder 11 action triggers magnetic switch 10 that bounces back, rotary cylinder 16 is reverseRotate 180 °;
Action (6), magnetic coupling formula Rodless cylinder 11 stretches out, and emery wheel assembly 21 is installed to respectively to emery wheel storehouse 22 and sleepingOn bistrique, complete the action of sand loading wheel, thereby complete 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, liftingCylinder 4 declines;
Action (8), the down maneuver of lift cylinder 4 triggers elevating movement magnetic stroke switch 3, and magnetic coupling formula is without barCylinder 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, meanwhile,Horizontal wheelhead is got back to operating position. So far, the equal homing of the each mechanism of manipulator, complete horizontal wheelhead emery wheel fromMoving replacing.
2. vertical grinding head grinding wheel is changed sequence of movement: pneumatic type is vertical sleepingly compoundly to be received vertical from moving abrasive machine tool handGrinding head grinding wheel is changed after 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 shoeMove upward along the axis of guide 2, stop 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 is livedStopper rod stretches out, and changes emery wheel paw 15 attitudes and changes horizontal attitude into, and then, magnetic coupling formula Rodless cylinder 11 is movingDo, promote to change emery wheel paw 15 and stretch out, complete and grab emery wheel action;
Action (4), changes after emery wheel paw 15 extend out to assigned address and triggers horizontal movement magnetic stroke switch 10,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-rotates180°；
Action (6), after rotary cylinder counter-rotates 180 °, lift cylinder 4 rises, and completes the action of sand loading wheel,Thereby complete the automatic replacing of emery wheel storehouse and vertical grinding head grinding wheel, the vertical motion of lift cylinder 4 triggers lifting fortuneMoving magnetic stroke switch 3;
Action (7), elevating movement magnetic stroke switch 3 sends signal, and magnetic coupling formula Rodless cylinder 11 bands are moved sandWheel paw is 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 toOriginal position, the piston rod retraction of paw attitude cylinder switching 14 makes to change emery wheel paw 15 attitudes and is converted to vertical appearanceState;
Action (9), the new clothes emery wheel assembly return in emery wheel storehouse 22 is to change and prepare for next emery wheel, meanwhile,Vertical Mill head is got back to operating position. So far, pneumatic type is vertical sleeping compoundly all replys from moving abrasive machine Xie Shouge mechanismOriginal position, completes the automatic replacing of vertical grinding head grinding wheel.
Claims (3)
1. pneumatic type is vertical sleeping compound from moving an abrasive machine tool hand, it is characterized in that: at the upper dress of support (1)There are lift cylinder (4) and 4 axis of guides (2), linear bearing (7) is housed in gripper shoe (6), straightBobbin holds (7) and is enclosed within the axis of guide (2), and lift cylinder (4) is contained in gripper shoe (6) by floating junction (5)Bottom side, supporting seat (18) and rotary cylinder (16) are housed in gripper shoe (6), in supporting seat (18)On button cover (20) is housed, flange shaft (17) is housed on rotary cylinder (16), flange shaft (17) withBetween 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), is equipped with and changes 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 emery wheelOn paw (15); Elevating movement magnetic stroke switch (3) is housed on lift cylinder (4); In magnetic coupling formulaHorizontal movement magnetic stroke switch (10) is housed on Rodless cylinder (11).
2. a kind of pneumatic type according to claim 1 is vertical sleeping compound from moving abrasive machine tool hand, its featureBe: on the top of 4 axis of guides (2), annulus (8) is housed.
3. a kind of pneumatic type according to claim 1 is vertical sleeping compound from moving abrasive machine tool hand, its featureBe: at the two ends of supporting plate (9), a magnetic coupling formula Rodless cylinder (11) is respectively housed, in magnetic coupling formula without bar gasHinged-support (13) is housed on cylinder (11), on hinged-support (13), is equipped with and changes emery wheel paw (15), pawIt is upper that attitude cylinder switching (14) one end is contained in hinged-support (13), and the other end is contained in and changes emery wheel paw (15)On.
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 |
Applications Claiming Priority (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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| CN103817593A CN103817593A (en) | 2014-05-28 |
| CN103817593B true 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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Families Citing this family (5)
| 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 |
| CN105345841B (en) * | 2015-11-24 | 2017-05-10 | 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 |
| 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 |
| 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 |
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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 |
| CN201231419Y (en) * | 2008-07-23 | 2009-05-06 | 大连华根机械有限公司 | Vertical and horizontal composite tool changing device |
| CN101708578A (en) * | 2009-08-12 | 2010-05-19 | 江苏齐航数控机床有限责任公司 | Tool changing manipulator of numerical control machine tool, and control method and tool changing method thereof |
| JP2013006259A (en) * | 2011-06-27 | 2013-01-10 | Iai:Kk | Industrial robot |
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2014
- 2014-03-07 CN CN201410085794.6A patent/CN103817593B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2607225Y (en) * | 2003-01-21 | 2004-03-24 | 陕西科技大学 | Cam-type vertical and horizontal dual-purpose cutter change robot |
| CN201231419Y (en) * | 2008-07-23 | 2009-05-06 | 大连华根机械有限公司 | Vertical and horizontal composite tool changing device |
| CN101708578A (en) * | 2009-08-12 | 2010-05-19 | 江苏齐航数控机床有限责任公司 | Tool changing manipulator of numerical control machine tool, and control method and tool changing method thereof |
| JP2013006259A (en) * | 2011-06-27 | 2013-01-10 | Iai:Kk | Industrial robot |
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Granted publication date: 20160518 |