CN104551592A - Passive smoothening device for automatic assembly or butt joint - Google Patents
Passive smoothening device for automatic assembly or butt joint Download PDFInfo
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- CN104551592A CN104551592A CN201410710888.8A CN201410710888A CN104551592A CN 104551592 A CN104551592 A CN 104551592A CN 201410710888 A CN201410710888 A CN 201410710888A CN 104551592 A CN104551592 A CN 104551592A
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- 210000001503 joint Anatomy 0.000 title abstract 3
- 238000000034 method Methods 0.000 claims abstract description 17
- 230000008569 process Effects 0.000 claims abstract description 14
- 238000003032 molecular docking Methods 0.000 claims description 54
- 238000006073 displacement reaction Methods 0.000 claims description 16
- 238000004904 shortening Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000005266 casting Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000010791 quenching Methods 0.000 description 1
- 230000000171 quenching effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
- B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a passive smoothening device for automatic assembly or butt joint. The passive smoothening device comprises a body, a plurality of jacking pins, a plurality of force sensors, a plurality of springs, a plurality of screw plugs and a movable body, wherein the body is provided with four side planes, a bottom plane and a concave body part, the concave body part is arranged in the center position of the body, two through holes are formed in each side plane of the body, each jacking pin, each force sensor and each spring are sequentially arranged in the corresponding through hole, the corresponding screw plug is screwed into the tail end of each through hole, the movable body is arranged in the concave body part, the bottom surface of the movable body is in contact with the bottom surface of the concave body part, each side plane of the movable body is in contact with the corresponding jacking pin, a tooling used for installing and clamping a part assembly to be assembled is connected onto the movable body, and each force sensor is used for detecting the assembly resistance in the assembly or butt joint process. The passive smoothening device has the advantages that the large-range regulation can be carried out in the multiple moving and rotating directions, the smoothening characteristics are adjustable, the structure is simple and reliable, the service life is long, and the limitation of a traditional passive smoothening device is overcome.
Description
Technical field
The invention belongs to mechanical automation mounting technology field, is a kind of passive compliance device docked for Automated assembly or automation.
Background technology
In mechanical automation assembling process or in automation docking operation, due to precision (pose accuracy and the repeatability) error of automated execution device or robot, accessory size, form and position tolerance and transmit the assembling and positioning error that the combined factors such as the periphery auxiliary equipment errors such as clamping are formed and often exceed one or two order of magnitude than the fit clearance of assembling object.If rigidity is carried out assembling by force and can be produced larger reaction force to automated execution device or robot during assembling, automated execution device or robot and target spare part may be damaged, so that assembling cannot complete smoothly.As the mechanical automation system of nonlinearity, highly coupling, the Accurate Position Control problem of automated execution device or robot is comparatively complicated.Simple dependence improves automated execution device, robot, part and periphery auxiliary equipment precision and solves problems, realizes very difficult technically, also uneconomical in enforcement, and is difficult to reach desirable implementation result.But making automated execution device or robot have certain passive compliance ability is a kind of economical and practical approach realizing reliable and effective Fine Boring.This passive compliance ability is generally the submissive system of adding by means of automated execution device or robot outside, according to the situation of assembling spare part Interaction Force, its relative pose of passive adjustment, reduce even to eliminate rigging error, thus reach maximum assembly force in restriction assembling or docking operation, make the object that assembling or docking operation complete smoothly.This mode generally have functional reliability high, respond the advantages such as fast.
Current similar passive compliance device is widely used and by the producing in serial form of ATI company, its name is called Remote Center Compliance Device (RCC), the submissive device in Ji Yuan center.RCC is most important to be characterized as: the lower end spaces of this device exists a compliant control point, and can produce suitable lateral displacement and angular displacement according to assembly force.But this submissive device is because have employed by sheet metal and sheet rubber is alternate curing combines flexible unit, and this unit has larger axial rigidity and less lateral rigidity, but its compliant characteristic is uncontrollable, cannot adapt to and multiple different environment.And without force sensor apparatus, the assembling resistance in assembling or docking operation cannot be monitored.
Summary of the invention
(1) technical problem that will solve
The object of the invention is to there is the uncontrollable problem of compliant characteristic for the passive compliance device that uses in existing Automated assembly or docking, a kind of passive compliance device for Automated assembly or docking is provided.
(2) technical scheme
A first aspect of the present invention, a kind of passive compliance device towards Automated assembly or docking is provided, this device comprises: a body, multiple ejector pin, multiple force snesor, multiple spring, multiple plug screw, a mobile, wherein: body, there is four side planes, a baseplane and a concave volume portion; Be provided with a concave volume portion in the center of body, each side plane of body is provided with two through holes; Each ejector pin, force snesor, spring are sequentially placed in corresponding through hole, corresponding plug screw is screwed at the end of each through hole, mobile is positioned in concave volume portion, the bottom surface of mobile contacts with the bottom surface in concave volume portion, each side plane of mobile contacts with corresponding ejector pin, and mobile connects the frock of clamping spare part to be assembled; Force snesor, for the assembling resistance of checkout gear in assembling or docking operation.
A second aspect of the present invention, provides a kind of passive compliance method towards Automated assembly or docking, comprises step as follows:
Step S1: when passive compliance device realizes compliance function in different translation direction, utilize the passive compliance device towards Automated assembly or docking, part ejector pin is used to compress corresponding spring, corresponding spring is stressed shortening, and mobile is to different directions translation, and all the other ejector pins and spring keep original position constant, by detecting corresponding force snesor, assembled or the value of assembling resistance in docking operation, until the assembling realized in different translation direction or docking, then it is submissive to terminate translation direction;
Step S2: when passive compliance mechanism realizes passive compliance function in different rotary direction and diverse location, in mobile clamping spare part to be assembled frock assembling or docking resistance extrude different multiple ejector pins, each ejector pin compresses corresponding multiple springs respectively, each spring is stressed shortening, mobile occur suitable/be rotated counterclockwise, complete different rotary direction and diverse location passive compliance process, by detecting corresponding multiple force snesor, obtain the value of the corresponding power suffered by ejector pin, measure the angular displacement of assembling or docking operation again, can show that corresponding ejector pin acts on the arm of force of mobile, this arm of force and the product of power are multiplied by the value that the quantity participating in the ejector pin contacted is the assembling moment of resistance in this assembling process or docking operation, until passive compliance device different rotary direction and diverse location assembling or dock submissive end.
(3) technique effect
Facts have proved, the features such as the present invention is compared with traditional passive compliance device, and it is large that the present invention has adjustable range, and compliant characteristic is adjustable, simple and reliable for structure, and the life-span is long, overcome the limitation of traditional passive compliance device to a certain extent.
The present invention can realize the passive compliance function of certain limit on multiple free degree direction.Because the frock of clamping spare part to be assembled is arranged in mobile, in assembling or docking operation, assembling or docking end, when namely needing the spare part assembling or dock to occur " dislocation " situation, clamped spare part is subject to assembling resistance, and this resistance can make the mobile of apparatus of the present invention stressed, and make ejector pin stressed, Compress Spring, mobile completes the corresponding displacement in corresponding free degree direction, namely translation, rotation occurs or translation had both occurred also to rotate.The passive compliance function of the certain limit in multiple free degree direction can be realized thus.And can according to assembling or the situation of docking, the screw-in depth of adjustment plug screw, adjusts the pretightning force of the spring of different directions, adapts to actual operating mode better.
Between each ejector pin and spring, force snesor is installed in the present invention, by eight force snesor, the initial pretightning force of spring can be obtained accurately, regulate different pretightning forces, the operating mode of more how different complexity can be adapted to.We can also carry out monitor and forecast to the maximum assembly force in assembling in addition, prevent whole assembly system or docking system overload.Have very important significance in this automatic production line in reality or docking system and act on.
Accompanying drawing explanation
Fig. 1 a is structure cross-sectional schematic of the present invention;
Fig. 1 b is ejector pin of the present invention, spring, plug screw embodiment structural representation;
Fig. 2 is that the present invention realizes the schematic diagram of passive compliance in in-plane displancement direction;
Fig. 3 is that the present invention realizes the schematic diagram of passive compliance in angular displacement direction.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in further detail.
Please refer to Fig. 1 a, the structure cross-sectional schematic of the present invention towards the passive compliance device embodiment of Automated assembly or docking is shown; This device comprises: body 1, eight ejector pin 2, eight force snesor 3, eight springs 4, eight plug screws 5, mobile 6, wherein:
One body 1, has four side planes, 11, baseplane and a concave volume portion; Be provided with a concave volume portion 12 in the center of body 1, each side plane 11 of body 1 is respectively equipped with two through holes 13; Each ejector pin 2, force snesor 3, spring 4 are sequentially placed in corresponding through hole 13, corresponding plug screw 5 is screwed at the end of each through hole 13, mobile 6 is positioned in concave volume portion 12, the bottom surface of mobile 6 contacts with the bottom surface in concave volume portion 12, each side plane of mobile 6 contacts with corresponding ejector pin 2, and mobile 6 connects the frock of clamping spare part to be assembled; Force snesor 3, for the assembling resistance of checkout gear in assembling or docking operation.Mobile 6 does not have relative motion in the normal orientation of body 1.Fig. 1 is the signal of the ideal situation that the mobile 6 of passive compliance device does not stress, and each ejector pin 2 contacts mobile 6, but does not have active force each other, and now mobile 6 is in the center of body 1.
It is into a single integrated structure that body 1 needs to carry out accurate machining.Process the activity space of inner wall space as mobile 6 in concave volume portion 12 in advance, the bulk of the inwall composition in concave volume portion 12 is greater than the external dimensions of mobile 6; Be provided with indent step at each through hole 13 near the inside, one end in concave volume portion 12, be provided with internal thread at each through hole 13 near the position of one end of the side plane 11 of body 1.One end of each ejector pin 2 is a step, the other end of ejector pin 2 is made into dome-type structure, and carries out suitable heat treatment, produces the surface of high rigidity and high-wearing feature, step is positioned at above the indent step of through hole 13, is matched in clearance between each ejector pin 2 and corresponding through hole 13.Ejector pin 2 itself has unidirectional limit function, can only move to side plane 11 direction of body 1.Ejector pin 2 and through hole 13 are matched in clearance (fit tolerance H11/h9), can freely-movable, but can not produce obvious radial direction and rock.A force snesor 3 is configured between each ejector pin 2 and the spring 4 of correspondence.After through hole 13 puts into spring 4, can screw in each plug screw 5 is fixed among the through hole 13 of the correspondence of body 1 by the ejector pin 2 of correspondence, force snesor 3, spring 4, and the length of each internal thread is greater than the compressible length of corresponding spring 4, internal thread screws in plug screw 5, the degree of depth of plug screw 5 in through hole 13 is adjusted by lasting screw-in plug screw 5, regulate the pretightning force of each spring 4, in order to the stiffness coefficient of adjusting device.Mobile 6, when not by assembly force, is contacted by eight ejector pins 2 but is not stressed.The frock of the spare part that one end of mobile 6 is to be assembled with clamping is connected.Mobile 6 can realize translation displacements and swing offset in concave volume portion 13.
What the compressible length of spring 4 was greater than apparatus of the present invention setting can compensating length.Spring 4 can select different coefficient of elasticity.The maximum of the assembly force that coefficient of elasticity k=N/s, N allow for system when assembling or docking, s is the maximum of the adjusting range of the setting of apparatus of the present invention.
Described ejector pin 2 is distributed in the inwall in concave volume portion 12, and some ejector pin 2 contacts with mobile 6 all the time.
Force snesor 3 is installed between ejector pin 2 and spring 4, the assembling resistance in assembling or docking operation can be detected.Force snesor 3 is unidirectional force sensor.
The assembling resistance of clamping spare part frock to be assembled that mobile 6 connects makes spring 4 compressive deformation, makes mobile 6 produce the translation displacements of opposing body 1 multiple directions, the translation of rotation displacement or superposition mutually and rotation displacement.
The embodiment of the structure of eight ejector pins, 2, eight force snesor, 3, eight springs, 4, eight plug screws 5 please refer to Fig. 1 b:
Described eight ejector pins 2 comprise top ejector pin 21, top ejector pin 22, right part ejector pin 23, right part ejector pin 24, bottom ejector pin 25, bottom ejector pin 26, left part ejector pin 27 and left part ejector pin 28;
Described eight force snesor 3 comprise top force snesor 31, top force snesor 32, right part force snesor 33, right part force snesor 34, bottom force snesor 35, bottom force snesor 36, left part force snesor 37 and left part force snesor 38;
Described eight springs 4 comprise upper springs 41, upper springs 42, right part spring 43, right part spring 44, lower springs 45, lower springs 46, left part spring 47 and left part spring 48;
Described eight plug screws 5 comprise: top plug screw 51, top plug screw 52, right part plug screw 53, right part plug screw 54, bottom plug screw 55, bottom plug screw 56, left part plug screw 57 and left part plug screw 58.
Please refer to Fig. 2 be passive compliance device to realize compliance function in translation direction time signal.Assembling or the docking resistance of the clamping spare part frock to be assembled that mobile 6 connects extrude left part ejector pin 27 and left part ejector pin 28, and left part ejector pin 27 and left part ejector pin 28 compress left part spring 47 and left part spring 48, left part spring 47 and left part spring 48 are stressed and shorten, mobile 6 is moved to the left, all the other ejector pins and spring keep original position constant, complete passive compliance process.The present invention, by detecting left part force snesor 37 and left part force snesor 38, obtains the value of the assembling resistance in this assembling process or docking operation.Except above-mentioned points, when passive compliance device realizes compliance function in different translation direction, then different ejector pin compresses again corresponding spring, corresponding spring is stressed shortening, mobile 6 is to different directions translation, and all the other ejector pins and spring keep original position constant, complete passive compliance process.The present invention, by detecting corresponding force snesor, obtains the value of the assembling resistance in this assembling process or docking operation, until the assembling of passive compliance device in different translation direction or dock submissive end.
Be the signal of passive compliance mechanism when direction of rotation realizes passive compliance function please refer to Fig. 3.The assembling of the clamping spare part frock to be assembled that mobile 6 connects or docking resistance extruding top ejector pin 21, right part ejector pin 23, bottom ejector pin 25 and left part ejector pin 27, each ejector pin is by compressing upper springs 41 respectively, right part spring 43, lower springs 45 and left part spring 47, make each spring be stressed shortening, mobile 6 turns clockwise, and completes direction of rotation passive compliance process.The present invention is by detecting top force snesor 31, right part force snesor 33, bottom force snesor 35 and left part force snesor 37, obtain the value of the power suffered by each ejector pin, measure the angular displacement of this assembling or docking operation again, can show that each ejector pin acts on the arm of force of mobile 6, four times of this arm of force and power product are the value of the assembling moment of resistance in this assembling process or docking operation.Except above-mentioned direction of rotation and position of rotation, when passive compliance mechanism realizes passive compliance function in different rotary direction and diverse location; Assembling or the docking resistance of the clamping spare part to be assembled frock that mobile 6 connects extrude different multiple ejector pins, each ejector pin compresses corresponding multiple springs respectively, each spring is stressed shortening, mobile 6 occur suitable/be rotated counterclockwise, complete passive compliance process.The present invention is by detecting corresponding multiple force snesor, obtain the value of the corresponding power suffered by multiple ejector pins, measure the angular displacement of this assembling or docking operation again, can show that corresponding ejector pin acts on the arm of force of mobile 6, the quantity that this arm of force and power product are multiplied by the ejector pin contacted is the value of the assembling moment of resistance in this assembling or docking operation, until passive compliance device different rotary direction and diverse location assembling or dock submissive end.
In above case, body 1 adopts material to be 45# Fine Steel Casting iron, adopts modified heat treatment mode; Ejector pin 2 adopts material to be 40Cr, adopts the heat treatment mode of quenching, requires that case hardness reaches HRC60 ~ HRC65; Force snesor 3 model is LCM901-6-20KN, and maximum range is 20KN; Spring 4 adopts 65Mn material, central diameter 10mm, spring wire diameter 1.2mm, and length time uncompressed is 40mm; Plug screw 5 adopts hexagonal flush end holding screw in GB; Mobile 6 adopts material to be 45# Fine Steel Casting iron, adopts modified heat treatment mode; 7 is the ring flange in mobile 6, for installing the frock of clamping spare part to be assembled.
Except above-described embodiment, the quantity of described ejector pin 2, described force snesor 3, described spring 4, described plug screw 5 is not limited to eight, can increase according to the structure actual conditions of spare part to be assembled or reduce the quantity of described ejector pin 2, described force snesor 3, described spring 4, described plug screw 5 and through hole 13.
The above; be only the detailed description of the invention in the present invention, but protection scope of the present invention is not limited thereto, any people being familiar with this technology is in the technical scope disclosed by the present invention; the conversion or replacement expected can be understood, all should be encompassed in of the present invention comprising within scope.
Claims (10)
1. the passive compliance device towards Automated assembly or docking, it is characterized in that, this device comprises: a body, multiple ejector pin, multiple force snesor, multiple spring, multiple plug screw, a mobile, wherein: body, has four side planes, a baseplane and a concave volume portion; Be provided with a concave volume portion in the center of body, each side plane of body is provided with two through holes; Each ejector pin, force snesor, spring are sequentially placed in corresponding through hole, corresponding plug screw is screwed at the end of each through hole, mobile is positioned in concave volume portion, the bottom surface of mobile contacts with the bottom surface in concave volume portion, each side plane of mobile contacts with corresponding ejector pin, and mobile connects the frock of clamping spare part to be assembled; Force snesor, for the assembling resistance of checkout gear in assembling or docking operation.
2. according to claim 1 towards the passive compliance device of Automated assembly or docking, it is characterized in that, the bulk of the inwall composition in described concave volume portion is greater than the external dimensions of mobile.
3., according to claim 1 towards the passive compliance device of Automated assembly or docking, it is characterized in that, at described each through hole, indent step is set near the inside of one end, concave volume portion; At each through hole, internal thread is set near the position of one end of respective side plane.
4. according to claim 1 towards the passive compliance device of Automated assembly or docking, it is characterized in that, one end of described each ejector pin has a step, the other end of each ejector pin is dome-type structure, step is positioned at above the indent step of through hole, is matched in clearance between each ejector pin and corresponding through hole.
5. according to claim 1 towards the passive compliance device of Automated assembly or docking, it is characterized in that, the length of each internal thread is greater than the length of corresponding spring compressible, by screwing in the plug screw adjustment plug screw degree of depth in through-holes, regulate the pretightning force of each spring, in order to adjust the stiffness coefficient of described device.Mobile, when not by assembly force, is contacted by eight ejector pins, but is not stressed.
6., according to claim 1 towards the passive compliance device of Automated assembly or docking, it is characterized in that, one end of mobile is connected with the frock of clamping spare part to be assembled; Activity physical efficiency realizes the displacement of translation direction and swing offset in concave volume portion.
7. according to claim 1 towards the passive compliance device of Automated assembly or docking, it is characterized in that, what the variation length of described spring was greater than the setting of described device can compensating length, different coefficient of elasticity selected by spring, coefficient of elasticity k=N/s, the maximum of the assembly force that N allows for described device when assembling or docking, s is the maximum of the adjusting range of described device setting.
8., according to claim 1 towards the passive compliance device of Automated assembly or docking, it is characterized in that, described ejector pin is distributed in the inwall in concave volume portion, and some ejector pin contacts with mobile all the time.
9. according to claim 1 towards the passive compliance device of Automated assembly or docking, it is characterized in that, assembling or the docking resistance of the clamping band assembling spare part frock in described mobile make spring compressive deformation, make the translation displacements of activity physical efficiency generation opposing body multiple directions, rotation displacement or the translation mutually superposed and rotation displacement.
10. to use described in claim 1 towards the Automated assembly of passive compliance device of Automated assembly or docking or the passive compliance method of docking, comprise step as follows:
Step S1: when passive compliance device realizes compliance function in different translation direction, utilize the passive compliance device towards Automated assembly or docking, part ejector pin is used to compress corresponding spring, corresponding spring is stressed shortening, mobile is to different directions translation, all the other ejector pins and spring keep original position constant, by detecting corresponding force snesor, obtain the value of the assembling resistance in assembling process or docking operation, until realize assembling in different translation direction or docking, then it is submissive to terminate translation direction;
Step S2: when passive compliance mechanism realizes passive compliance function in different rotary direction and diverse location, the assembling or the docking resistance that mobile clamp spare part frock to be assembled extrude different multiple ejector pins, each ejector pin compresses corresponding multiple springs respectively, each spring is stressed shortening, mobile occur suitable/be rotated counterclockwise, complete different rotary direction and diverse location passive compliance process, by detecting corresponding multiple force snesor, obtain the value of the corresponding power suffered by ejector pin, measure the angular displacement of assembling or docking operation again, can show that corresponding ejector pin acts on the arm of force of mobile, this arm of force and the product of power are multiplied by the value that the quantity participating in the ejector pin contacted is the assembling moment of resistance in this assembling or docking operation, until passive compliance device different rotary direction and diverse location assembling or dock submissive end.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410710888.8A CN104551592A (en) | 2014-11-28 | 2014-11-28 | Passive smoothening device for automatic assembly or butt joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410710888.8A CN104551592A (en) | 2014-11-28 | 2014-11-28 | Passive smoothening device for automatic assembly or butt joint |
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| CN104551592A true CN104551592A (en) | 2015-04-29 |
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| CN201410710888.8A Pending CN104551592A (en) | 2014-11-28 | 2014-11-28 | Passive smoothening device for automatic assembly or butt joint |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105397464A (en) * | 2015-11-30 | 2016-03-16 | 北京天宜上佳新材料有限公司 | Rapid assembling device for brake pads |
| CN105835084A (en) * | 2015-12-31 | 2016-08-10 | 广东工业大学 | Rigidity-adjustable multi-dimensional passive compliance device |
| CN106799728A (en) * | 2017-03-16 | 2017-06-06 | 天津工业大学 | A kind of passive compliance device |
| CN107139213A (en) * | 2017-06-14 | 2017-09-08 | 京信通信系统（中国）有限公司 | Mechanical device with error compensation function |
| CN108343392A (en) * | 2018-03-28 | 2018-07-31 | 中海石油(中国)有限公司湛江分公司 | Auxiliary installation increases the device and application process of pipe |
| CN110002009A (en) * | 2019-04-12 | 2019-07-12 | 北京控制工程研究所 | A kind of passive compliance component and in-orbit add interface arrangement |
| CN110814968A (en) * | 2019-11-24 | 2020-02-21 | 重庆大学 | Abrasive belt grinding device with active and passive compliant mechanism switching |
| CN111266961A (en) * | 2019-12-31 | 2020-06-12 | 彭茶妹 | Cambered surface grinding device |
| CN112936172A (en) * | 2020-12-08 | 2021-06-11 | 格力电器（杭州）有限公司 | Alignment mechanism for aligning first component and second component |
| CN114291567A (en) * | 2022-01-17 | 2022-04-08 | 嘉控电力股份有限公司 | Automatic assembly production line for complete set of electric power cabinet |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397464A (en) * | 2015-11-30 | 2016-03-16 | 北京天宜上佳新材料有限公司 | Rapid assembling device for brake pads |
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| CN108343392A (en) * | 2018-03-28 | 2018-07-31 | 中海石油(中国)有限公司湛江分公司 | Auxiliary installation increases the device and application process of pipe |
| CN110002009A (en) * | 2019-04-12 | 2019-07-12 | 北京控制工程研究所 | A kind of passive compliance component and in-orbit add interface arrangement |
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Application publication date: 20150429 |